Active arm unit

Abstract

In order to solve the problem of high cost in the field of movable arms, the present invention discloses a movable arm unit, including: a first tube body and a second tube body; a first rotating mechanism connecting the first tube body and the second tube body, the first rotating mechanism is used to drive the second tube body to rotate relative to the first tube body; the center line of the first tube body and the center line of the second tube body are both inclined to the rotation center line of the first rotating mechanism. The movable arm unit sets the center line of the driven tube body to be inclined with the rotation center line of the rotating mechanism, so that the rotating mechanism can drive the driven tube body to rotate along a conical trajectory around the rotation center line. This rotation mode can form a movable arm system by connecting in series, that is, it can realize that multiple units of the same structure can be connected in series to form a movable arm system, which is convenient for the production, assembly, installation and transportation of products. In this mode, the movable arm unit can be made very small, and the shape can also be designed in the direction of bionics, and the application scenarios and application fields can be expanded.

Description

Technical Field

[0001] The invention relates to a movable arm unit and can be applied to the fields of industry, toys, teaching aids, engineering and the like. Background Art

[0002] Currently common movable arms, such as the most common six-axis robotic arm, extend multi-stage connecting arms through the base, integrating 6 rotational degrees of freedom, including 3 swing degrees of freedom and 3 rotation degrees of freedom. The axes of adjacent swing degrees of freedom and rotation degrees of freedom are perpendicular. This model is difficult to form a unit modular structure, and the production, assembly, installation and transportation costs of the product are high, and the application scenarios and fields will also be subject to certain restrictions. Summary of the invention

[0003] The present invention provides a movable arm unit, aiming to solve at least one of the technical problems existing in the prior art, reduce costs and improve application capabilities.

[0004] The technical solution of the present invention is a movable arm unit, and the movable arm unit includes:

[0005] the first tube body and the second tube body;

[0006] A first rotating mechanism is connected to the first tube body and the second tube body, and the first rotating mechanism is used to drive the second tube body to rotate relative to the first tube body;

[0007] The center line of the first tube body and the center line of the second tube body are both inclined with respect to the rotation center line of the first rotating mechanism.

[0008] The movable arm unit of the present invention sets the center line of the driven tube body to be inclined with the rotation center line of the rotating mechanism, so that the rotating mechanism can drive the driven tube body to rotate along a conical trajectory around the rotation center line. This rotation mode can form a movable arm system by connecting in series, that is, multiple units of the same structure can be connected in series to form a movable arm system, which is convenient for the production, assembly, installation and transportation of the product. In this mode, the movable arm unit can be made very small, and the shape can also be designed in a bionic direction, and the application scenarios and application fields can be expanded.

[0009] Further, the end surface of the first tube body facing away from the second tube body is set as the first rear end surface, the end surface of the first tube body facing the second tube body is set as the first front end surface, the end surface of the second tube body facing the first tube body is set as the second rear end surface, and the end surface of the second tube body facing away from the first tube body is set as the second front end surface;

[0010] The first front end face and the second rear end face are both perpendicular to the rotation center line of the first rotating mechanism, the first rear end face is perpendicular to the center line of the first tube body, and the second front end face is perpendicular to the center line of the second tube body;

[0011] The first front end face and the second rear end face both have circular contours;

[0012] The articulating arm unit also includes:

[0013] The first bearing member is disposed between the first front end surface and the second rear end surface.

[0014] Furthermore, the movable arm unit further comprises:

[0015] third tube body;

[0016] A second rotating mechanism is connected to the second tube body and the third tube body, and the second rotating mechanism is used to drive the third tube body to rotate relative to the second tube body;

[0017] The center line of the second tube body and the center line of the third tube body are both inclined with respect to the rotation center line of the second rotating mechanism.

[0018] Furthermore, a rotation center line of the first rotating mechanism is not parallel to a rotation center line of the second rotating mechanism.

[0019] Furthermore, the inclination angle between the rotation center line of the first rotating mechanism and the center line of the second tube body is [22.5°, 45°], and the inclination angle between the rotation center line of the second rotating mechanism and the center line of the second tube body is [22.5°, 45°].

[0020] Furthermore, the inclination angle between the rotation center line of the first rotating mechanism and the center line of the second tube body is equal to the inclination angle between the rotation center line of the second rotating mechanism and the center line of the second tube body.

[0021] Further, the end surface of the first tube body facing away from the second tube body is set as a first rear end surface, the end surface of the first tube body facing the second tube body is set as a first front end surface, the end surface of the second tube body facing the first tube body is set as a second rear end surface, the end surface of the second tube body facing the third tube body is set as a second front end surface, the end surface of the third tube body facing the second tube body is set as a third rear end surface, and the end surface of the third tube body facing away from the second tube body is set as a third front end surface;

[0022] The first front end face and the second rear end face are both perpendicular to the rotation center line of the first rotating mechanism, the second front end face and the third rear end face are both perpendicular to the rotation center line of the second rotating mechanism, the first rear end face is perpendicular to the center line of the first tube body, and the third front end face is perpendicular to the center line of the third tube body;

[0023] The first front end face and the second rear end face are circular contours, and the second front end face and the third rear end face are circular contours;

[0024] The articulating arm unit also includes:

[0025] A first bearing member is disposed between the first front end surface and the second rear end surface;

[0026] The second bearing member is arranged between the second front end surface and the third rear end surface.

[0027] Furthermore, during the process of the second tube body rotating relative to the first tube body, the center line of the second tube body is parallel to the center line of the first tube body;

[0028] During the process of the third tube body rotating relative to the second tube body, the center line of the third tube body is parallel to the center line of the second tube body.

[0029] Furthermore, the movable arm unit further comprises:

[0030] An end rotating mechanism is connected to the first tube body and the base, and is used to drive the first tube body to rotate relative to the base;

[0031] The center line of the first tube is parallel to the rotation center line of the end rotation mechanism;

[0032] The articulating arm system also includes:

[0033] The end bearing member is arranged between the first tube body and the base. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 1 is a perspective structural diagram of embodiment A of the movable arm unit in state A, where the center line of the first tube body is parallel to the center line of the second tube body;

[0035] Figure 2 is a perspective structural diagram of embodiment A of the movable arm unit in state B, where the state B is a state in which the inclination angle between the center line of the first tube body and the center line of the second tube body is the largest;

[0036] Figure 3 1 is a perspective structural diagram of embodiment B of the movable arm unit in state A, where the center line of the first tube body, the center line of the second tube body and the center line of the third tube body are parallel;

[0037] Figure 4 is a perspective structural schematic diagram of embodiment B of the movable arm unit in state B, where the state B is a state in which the inclination angle between the center line of the first tube body and the center line of the second tube body and the inclination angle between the center line of the second tube body and the center line of the third tube body are both at the maximum;

[0038] Figure 5 is a schematic structural diagram of an embodiment of a movable arm system in a linearly extended state;

[0039] Figure 6 is a schematic structural diagram of an embodiment of a movable arm system under bending and extension;

[0040] Figure 7is a schematic structural diagram of an embodiment of a movable arm system in an S-shaped bending and extension state;

[0041] Figure 8 It is a structural schematic diagram of an embodiment in which an intermediate bearing member is arranged between movable arm units.

[0042] Reference numerals: first tube body 110, first front end face 111, first rear end face 112, second tube body 120, second front end face 121, second rear end face 122, third tube body 130, third front end face 131, third rear end face 132, first rotating mechanism 210, second rotating mechanism 220, intermediate rotating mechanism 230, end rotating mechanism 240,

[0043] The center line 310 of the first tube, the center line 320 of the second tube, the center line 330 of the third tube, the rotation center line 340 of the first rotating mechanism, the rotation center line 350 of the second rotating mechanism, the rotation center line 360 ​​of the middle rotating mechanism, the rotation center line 370 of the end rotating mechanism,

[0044] Intermediate bearing 400,

[0045] A front movable arm unit 510 and a rear movable arm unit 520 . DETAILED DESCRIPTION

[0046] The following content will describe several embodiments of the present invention, including embodiments corresponding to the drawings. It can be understood that the drawings are used to assist in understanding the technical features and technical solutions of the present invention, and should not be understood as limiting the scope of protection of the present invention.

[0047] The following will be combined with the embodiments and drawings to clearly and completely describe the concept, specific structure and technical effects of the present invention, so as to fully understand the purpose, scheme and effect of the present invention. It should be noted that the embodiments and features in the embodiments of this application can be combined with each other without conflict.

[0048] It should be noted that, unless otherwise clearly defined, when a feature is referred to as "fixed", "connected" or "installed" on another feature, it can be directly fixed or connected to another feature, or it can be indirectly fixed or connected to another feature. The words "fixed", "connected" or "installed" should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meaning of the above words in the present invention in combination with the specific content of the technical solution.

[0049] It should be noted that the description of the orientation or position relationship indicated by up, down, left, right, top, bottom, front, back, inside, outside, etc. used in the present invention is based on the orientation or position relationship of the drawings or embodiments, and is only for the convenience of describing the present invention and simplifying the description, and does 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 cannot be understood as a limitation on the present invention.

[0050] It should be noted that the term "and / or" used in the present invention includes any combination of one or more related listed items, "above", "below", "within", etc. are understood to include the number itself.

[0051] It should be noted that, in the present invention, the description of first and second is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the sequence of the indicated technical features.

[0052] It should be noted that, unless otherwise clearly defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art. The terms used in this specification are only for describing specific embodiments and are not intended to limit the present invention.

[0053] The movable arm system is designed to provide a new movable arm mode, which can be applied to multiple fields such as industry, automation, toys, teaching, engineering, etc. For example, it can be used for industrial robotic arms for processing, assembly, material transportation, etc. in industrial production, such as welding robotic arms, material transportation robotic arms, etc.; the movable arm system can be used to pass through complex pipelines, can be used for material transportation, can be used for product assembly and processing. When used in this field, the power transmission components in the movable arm system can use high-precision components; the movable arm system can also be a structure used on toys, such as the motion structure of bionic toys, and the picking structure on material picking toys When used in this field, the power transmission components in the movable arm system can relatively use components with low precision requirements; the movable arm system can also be used in teaching, and can be applied to teaching aids to teach the principles of the movable arm system, specifically, the principle of the movable arm system composed of a multi-stage driving axis and the axis of the driven component is inclined to each other. Teaching; further, the movable arm system can also be used in products, for example, it can be applied to products in the medical field, specifically endoscope products; the movable arm system can also be used in the engineering field, for example, it can be applied to some engineering machinery.

[0054] The basic embodiment of the movable arm system is shown in the attached Figure 1 -Attached Figure 7, including a plurality of movable arm units connected in series,

[0055] Among them, refer to Figure 1 and Figure 2 , the movable arm unit includes:

[0056] The first tube body 110 and the second tube body 120;

[0057] A first rotating mechanism 210, connecting the first tube body 110 and the second tube body 120, and the first rotating mechanism 210 is used to drive the second tube body 120 to rotate relative to the first tube body 110;

[0058] The center line 310 of the first tube body and the center line 320 of the second tube body are both inclined with respect to the rotation center line 340 of the first rotating mechanism;

[0059] The movable arm system further comprises at least one intermediate rotating mechanism 230, and the intermediate rotating mechanism 230 is connected between at least one pair of adjacent movable arm units, and the intermediate rotating mechanism 230 is used to drive one of the two adjacent movable arm units to rotate relative to the other.

[0060] It can be understood that one end of the movable arm system can be set as a fixed end, and the fixed end can be understood as one end of the movable arm system can be connected to a certain position, and one end of the movable arm system can be rotatably connected to the fixed end, and the fixed end can be connected to the corresponding structure as required. Specifically, the fixed end can be installed on the base; the other end of the movable arm system can be set as a movable end, and the movable end can be connected to the corresponding structure as required. Specifically, the movable end can be installed with a clamping device or a welding device.

[0061] It is understood that, in order to facilitate understanding of this scheme, reference is made to Figure 1-Figure 4 , set the direction toward the movable end of the movable arm unit as the forward direction, and the direction toward the fixed end as the backward direction; refer to Figure 8 , set the direction toward the movable end in the movable arm system as the forward direction, and the direction toward the fixed end as the rearward direction.

[0062] Reference Figure 1 and Figure 2 The movable arm unit drives the second tube body 120 to rotate relative to the first tube body 110 through the first rotating mechanism 210, and sets the rotation center line 340 of the first rotating mechanism to be inclined with the center line 310 of the first tube body and the center line 320 of the second tube body, so that the movable arm unit can achieve regional coverage at a certain angle, that is, the second tube body 120 can rotate around the rotation center line 340 of the first rotating mechanism at a set angle.

[0063] The movable arm unit of the basic embodiment sets the center line of the driven tube body to be inclined with the rotation center line of the rotating mechanism, so that the rotating mechanism can drive the driven tube body to rotate along a conical trajectory around the rotation center line. This rotation mode can form a movable arm system by connecting in series, that is, multiple units of the same structure can be connected in series to form a movable arm system, which is convenient for the production, assembly, installation and transportation of the product. In this mode, the movable arm unit can be made very small, and the shape can also be designed in a bionic direction, and the application scenarios and application fields can be expanded.

[0064] The movable arm system of the basic embodiment has a completely different driving mode compared to the currently common movable arms. In existing industrial robotic arms, toy products, teaching aids, engineering and other products, the degree of freedom is usually integrated by integrating multiple mutually perpendicular rotation modes of axes in a multi-section connecting arm, or directly and simply superimposing X, Y, Z axis movement modes and X, Y, Z axis rotation modes to achieve integration of degree of freedom. The basic embodiment achieves integration of degree of freedom by integrating multiple rotation modes of inclined driving axes and axes of driven components in multiple movable arm units, wherein each power drive is a rotational degree of freedom, and the rotation structure based on the same principle can meet the needs of movable arms in the fields of industry, toys, teaching aids, engineering, etc., and can achieve more flexible degree of freedom integration. The more movable arm units there are, the higher the degree of freedom, and it is easy to achieve a higher degree of freedom.

[0065] The multiple movable arm units in the movable arm system of the basic embodiment can be based on the same principle or even the same structure. The processing difficulty and assembly difficulty of the entire movable arm system are much lower than those of the current common movable arms, and it is easier to achieve modular transportation and assembly; the higher degree of freedom allows the movable arm system as a whole to include a long tube shape, which can simulate an animal shape, or be made into a multi-section curved shape. It can pass more flexibly in some environments with many obstacles or complex environments, and can adapt to complex environments. It can be used in industrial production fields, medical fields, and even in toys and teaching aids fields; further, the movable arm units are connected by a number of tube bodies, and the power components, transmission components, and control systems can be arranged inside the tube bodies, which can well protect these components, and it is also easy to achieve sealing between the tube bodies, and it is easy to install bearings. The movable arm system is easy to use in dust-free environments or scenes with high environmental requirements. If necessary, the movable arm system can also be conveniently equipped with an isolation sleeve; in summary, the movable arm system of the basic embodiment is powerful and widely used.

[0066] It is understandable that, with reference to Figure 1 and attached Figure 2In this basic embodiment, the first rotating mechanism 210 can be a first motor, which can be installed in the first tube 110, and the output end of the first motor can be connected to the second tube 120. Under this setting, the first motor is installed in the first tube 110, and the intermediate motor can be installed in the second tube 120. The space required to be set in the first tube 110 and the second tube 120 is equivalent. Therefore, the shapes of the first tube 110 and the second tube 120 can also be set to be similar or the same. This setting is convenient for the production, assembly, transportation, etc. of the components. It is also convenient to install bearings or seals between the first tube 110 and the second tube 120. The overall shape of the movable arm system is relatively regular and beautiful.

[0067] It can be understood that the power part in the movable arm system constitutes a movable arm drive assembly, which is applied to the movable arm unit; the movable arm drive assembly includes:

[0068] A first rotating mechanism 210, connecting the first tube body 110 and the second tube body 120, and the first rotating mechanism 210 is used to drive the second tube body 120 to rotate relative to the first tube body 110;

[0069] The center line 310 of the first tube and the center line 320 of the second tube are both inclined with respect to the rotation center line 340 of the first rotating mechanism.

[0070] It is understandable that the movable arm drive assembly further includes: a first harmonic reducer, which is disposed between the first motor and the second tube 120. Under this configuration, the high transmission ratio of the harmonic reducer can be utilized to make the rotation of the second tube 120 relative to the first tube 110 more stable and the rotation control more precise.

[0071] For the expansion of the basic implementation example, refer to Figure 1 and Figure 2 The two movable arm units connected with the intermediate rotating mechanism 230 are set as the front movable arm unit and the rear movable arm unit. The intermediate rotating mechanism 230 connects the first tube body 110 of the front movable arm unit and the second tube body 120 of the rear movable arm unit. The center line 310 of the first tube body of the front movable arm unit, the center line 320 of the second tube body of the rear movable arm unit and the rotation center line 360 ​​of the intermediate rotating mechanism are parallel. Under this setting, the mutually adjacent tube bodies of the two adjacent movable arm units can rotate relative to each other under mutually parallel axes, which is convenient for connecting the movable arm units, facilitating the installation of bearings and seals between the movable arm units, and facilitating the setting and control of the range of motion of the entire movable arm system. The range of motion of each movable arm unit can be integrated into the range of motion of the entire movable arm system in a relatively direct manner.

[0072] It can be understood that two adjacent movable arm units can also rotate relative to each other in a mode in which the center lines of the tubes approaching each other are tilted to the rotation center line of the intermediate rotation mechanism. This arrangement further improves the degree of freedom of the movable arm system.

[0073] For the expansion of the basic implementation example, refer to Figure 8 , the movable arm system also includes:

[0074] The middle bearing member 400 is disposed between the first tube body 110 of the front movable arm unit and the second tube body 120 of the rear movable arm unit. Under this arrangement, the adjacent tube bodies of the adjacent movable arm units can rotate relatively more stably.

[0075] For the expansion of the basic implementation example, refer to Figure 1 and Figure 2 The end surface of the first tube body 110 facing away from the second tube body 120 is set as the first rear end surface 112, the end surface of the first tube body 110 facing the second tube body 120 is set as the first front end surface 111, the end surface of the second tube body 120 facing the first tube body 110 is set as the second rear end surface 122, and the end surface of the second tube body 120 facing away from the first tube body 110 is set as the second front end surface 121;

[0076] The first front end face 111 and the second rear end face 122 are both perpendicular to the rotation centerline 340 of the first rotating mechanism. The first rear end face 112 is perpendicular to the centerline 310 of the first tube body, and the second front end face 121 is perpendicular to the centerline 320 of the second tube body.

[0077] Under this setting, a smaller gap can be set between the first tube body 110 and the second tube body 120 to facilitate protection of the structure inside the tube body, and during the rotation of the second tube body 120 relative to the first tube body 110, the gap between the first tube body 110 and the second tube body 120 can remain unchanged, which is convenient for installing the bearing structure or the sealing structure.

[0078] It is understandable that, with reference to Figure 3 and attached Figure 4 The first rotating mechanism 210 is a first motor, the first motor is installed on the second tube body 120, and the output end of the first motor is connected to the first tube body 110;

[0079] The movable arm driving assembly also includes: a first harmonic reducer, disposed between the first motor and the second tube body;

[0080] The second rotating mechanism 220 is a second motor, which is installed on the second tube body 120, and the output end of the second motor is connected to the third tube body 130;

[0081] The movable arm driving assembly also includes: a second harmonic reducer, which is arranged between the second motor and the third tube body.

[0082] Under this configuration, the internal space of the second tube body 120 is fully utilized to simultaneously install the first motor and the second motor, the first tube body 110 may be provided with an end motor or no motor, the third tube body 130 may be provided with an intermediate motor, and the first tube body 110 and the third tube body 130 may be symmetrical in shape. The high transmission ratio of the harmonic reducer can make the rotation of the second tube body 120 relative to the first tube body 110 and the rotation of the third tube body 130 relative to the second tube body 120 more stable, and the rotation control more precise.

[0083] As an extension of the basic embodiment, the first front end face 111 and the second rear end face 122 are both circular in profile. Under this arrangement, it is convenient to arrange the bearing and the sealing member.

[0084] It can be understood that when the first front end face 111 and the second rear end face 122 are both circular in profile, the cross-sectional shape of the corresponding tube body perpendicular to the center line is an ellipse.

[0085] As an extension of the basic embodiment, the movable arm unit further includes: a first bearing member, which is arranged between the first front end surface 111 and the second rear end surface 122. Under this arrangement, the first tube body 110 and the second tube body 120 can rotate relatively more stably.

[0086] For the expansion of the basic implementation example, refer to Figure 3 and Figure 4 , the movable arm unit also includes:

[0087] third tube body 130;

[0088] A second rotating mechanism 220, connecting the second tube body 120 and the third tube body 130, and the second rotating mechanism 220 is used to drive the third tube body 130 to rotate relative to the second tube body 120;

[0089] The center line 320 of the second tube and the center line 330 of the third tube are both inclined with respect to the rotation center line 350 of the second rotation mechanism.

[0090] Compared with the basic embodiment including embodiment A, the present extended embodiment including embodiment B can have a higher degree of freedom of integration, and can realize a two-level relative rotation mode in which the driving axis and the axis of the driven component are inclined with each other in a single movable arm unit, and can meet higher technical requirements.

[0091] Reference Figure 5-Figure 7 It can be seen that the movable arm system composed of three tubular movable arm units can flexibly change its shape. The rotation mode in which the two-stage driving axis and the axis of the driven component in each movable arm unit are tilted is combined with the rotation freedom integration of several axes tilted in series formed by multiple movable arm units. Figure 5 The state of the straight line extension can be changed to Figure 6 The bending extension state can be changed to Figure 7 The movable arm system can form more forms in the S-shaped bending and extension state.

[0092] For further development of the basic implementation example, refer to Figure 3 and Figure 4 The two movable arm units connected with the intermediate rotating mechanism 230 are set as the front movable arm unit and the rear movable arm unit. The intermediate rotating mechanism 230 connects the first tube 110 of the front movable arm unit and the third tube 130 of the rear movable arm unit. The center line 310 of the first tube of the front movable arm unit, the center line 330 of the third tube of the rear movable arm unit and the rotation center line 360 ​​of the intermediate rotating mechanism are parallel. Under this setting, the tubes close to each other of the two adjacent movable arm units can rotate relative to each other under mutually parallel axes, which is convenient for setting and controlling the range of motion of the entire movable arm system. The range of motion of each unit can be integrated into the range of motion of the entire movable arm system in a relatively direct way.

[0093] It can be understood that two adjacent movable arm units can also rotate relative to each other in a mode in which the center lines of the tubes approaching each other are tilted to the rotation center line of the intermediate rotation mechanism. This arrangement further improves the degree of freedom of the movable arm system.

[0094] It is understandable that, referring to Figure 1-Figure 4 The intermediate rotating mechanism 230 is an intermediate motor, which is installed in the rear movable arm unit, specifically in the third tube body 130 of the rear movable arm unit. The output end of the intermediate motor is connected to the front movable arm unit, specifically, it can be connected to the first tube body 110 of the front movable unit.

[0095] Correspondingly, the intermediate motor can also be installed in the front movable arm unit, specifically in the first tube 110 of the front movable arm unit, and the output end of the intermediate motor can be connected to the rear movable arm unit, specifically, the third tube 130 connected to the rear movable unit. Under this setting, the intermediate motor can be arranged inside the front movable arm unit or the rear movable arm unit to protect the intermediate motor.

[0096] It is understandable that the movable arm driving assembly further includes: an intermediate harmonic reducer, which is arranged between the intermediate motor and the front movable arm unit, and specifically can be arranged between the intermediate motor and the first tube of the front movable arm unit. Under this setting, the high transmission ratio of the harmonic reducer can make the rotation of the front movable arm unit relative to the rear movable arm unit more stable and the rotation control more precise.

[0097] For further development of the basic implementation example, refer to Figure 8 , the movable arm system also includes:

[0098] The middle bearing member 400 is disposed between the first tube body 110 of the front movable arm unit and the third tube body 130 of the rear movable arm unit. Under this arrangement, the adjacent tube bodies of the adjacent movable arm units can rotate relatively more stably.

[0099] For further development of the basic implementation example, refer to Figure 3 and Figure 4 , the rotation center line 340 of the first rotation mechanism is not parallel to the rotation center line 350 of the second rotation mechanism. Under this arrangement, the two rotation mechanisms in one movable arm unit can enable the movable arm unit to have a larger range of motion.

[0100] For further development of the basic implementation example, refer to Figure 8 , the inclination angle between the rotation centerline 340 of the first rotation mechanism and the centerline 320 of the second tube is [22.5°, 45°], and the inclination angle between the rotation centerline 350 of the second rotation mechanism and the centerline 320 of the second tube is [22.5°, 45°]. Under this setting, it can be better applied to the industrial field, and can ensure that the movable arm system has a larger range of motion and has a better load capacity.

[0101] It can be understood that the tilt angle is set within the range of 0°, 90°.

[0102] It can be understood that the inclination angle between the rotation center line of the first rotating mechanism and the center line of the second tube body, and the inclination angle between the rotation center line of the second rotating mechanism and the center line of the second tube body can be within the range outside [22.5°, 45°].

[0103] For further development of the basic implementation example, refer to Figure 3 and Figure 4 , the inclination angle between the rotation centerline 340 of the first rotation mechanism and the centerline 320 of the second tube body is equal to the inclination angle between the rotation centerline 350 of the second rotation mechanism and the centerline 320 of the second tube body. Under this setting, the rotation angle range driven by the two rotation mechanisms in one movable arm unit is the same, which facilitates setting the range of motion of the entire movable arm system.

[0104] For further development of the basic implementation example, refer to Figure 3 and Figure 4The end surface of the first tube body 110 facing away from the second tube body 120 is set as the first rear end surface 112, the end surface of the first tube body 110 facing the second tube body 120 is set as the first front end surface 111, the end surface of the second tube body 120 facing the first tube body 110 is set as the second rear end surface 122, the end surface of the second tube body 120 facing the third tube body 130 is set as the second front end surface 121, the end surface of the third tube body 130 facing the second tube body 120 is set as the third rear end surface 132, and the end surface of the third tube body 130 facing away from the second tube body 120 is set as the third front end surface 131;

[0105] The first front end face 111 and the second rear end face 122 are both perpendicular to the rotation centerline 340 of the first rotating mechanism, the second front end face 121 and the third rear end face 132 are both perpendicular to the rotation centerline 350 of the second rotating mechanism, the first rear end face 112 is perpendicular to the centerline 310 of the first tube body, and the third front end face 131 is perpendicular to the centerline 330 of the third tube body.

[0106] Under this arrangement, a smaller gap can be set between the first tube body 110 and the second tube body 120, and between the second tube body 120 and the third tube body 130, so as to protect the structure inside the tube body. In addition, during the rotation of the second tube body 120 relative to the first tube body 110, and during the rotation of the third tube body 130 relative to the second tube body 120, the gaps between the first tube body 110 and the second tube body 120, and between the second tube body 120 and the third tube body 130 can remain unchanged, so as to facilitate the installation of a bearing structure or a sealing structure.

[0107] As a further development of the basic embodiment, the first front end face and the second rear end face are circular profiles, and the second front end face and the third rear end face are circular profiles. Under this arrangement, it is convenient to arrange the bearing and the sealing member.

[0108] It can be understood that when the first front end face and the second rear end face are both circular in profile, the cross-sectional shape of the corresponding tube body perpendicular to the center line is an ellipse.

[0109] As a further development of the basic embodiment, the movable arm unit further includes: a first bearing member disposed between the first front end face and the second rear end face; and a second bearing member disposed between the second front end face and the third rear end face. Under this arrangement, the first tube body and the second tube body, and the second tube body and the third tube body can both rotate relatively more stably.

[0110] Further development of the basic embodiment, when the second tube body 120 rotates relative to the first tube body 110, the center line 320 of the second tube body is parallel to the center line 310 of the first tube body. When the third tube body 130 rotates relative to the second tube body 120, the center line 330 of the third tube body is parallel to the center line 320 of the second tube body. Under this setting, the movable arm unit can be in the adjacent Figure 1 and attached Figure 3 state, so that the movable arm system can be in the attached Figure 5 state, which is convenient for setting the initial position of the movable arm system.

[0111] For further development of the basic implementation example, refer to Figure 1-Figure 4 The movable arm system further includes: an end rotating mechanism 240, connecting the first tube body 110 and the base, and the end rotating mechanism 240 is used to drive the first tube body 110 to rotate relative to the base;

[0112] The center line 310 of the first tube is parallel to the rotation center line 370 of the end rotation mechanism.

[0113] Under this configuration, it is convenient for the movable arm system to be connected to an external structure, such as a base, and the degree of freedom of the entire movable arm system can be increased.

[0114] It can be understood that the base is a general feature and environmental feature, and the movable arm system can be connected to the base of the corresponding installation position according to needs.

[0115] It can be understood that in this further extended embodiment, the end rotating mechanism 240 is connected to the first tube body 110 in the movable arm unit of the movable arm system close to one end of the base.

[0116] It can be understood that the end rotating mechanism 240 is an end motor, which is installed on the base, and the output end of the end motor is connected to the first tube body 110. Under this setting, compared with installing the end motor in the first tube body 110, the installation difficulty of the end motor is reduced, the installation requirements of the base are relatively low, and the corresponding end motor can also be installed on the base.

[0117] It is understandable that the movable arm driving assembly further includes: an end harmonic reducer disposed between the end motor and the first tube body 110. The high transmission ratio of the harmonic reducer can make the rotation of the movable arm unit relative to the base more stable and the rotation control more precise.

[0118] As a further development of the basic embodiment, the movable arm system further includes: an end bearing member, which is arranged between the first tube body and the base. Under this arrangement, the first tube body and the base can rotate relative to each other more stably.

[0119] It can be understood that any of the first rotating mechanism, the second rotating mechanism, the intermediate rotating mechanism, and the end rotating mechanism can be electrically driven, such as a motor, pneumatically driven, such as a rotating cylinder, or hydraulically driven, such as a rotating hydraulic cylinder.

[0120] It can be understood that any one of the first rotating mechanism, the second rotating mechanism, the intermediate rotating mechanism, and the end rotating mechanism can be installed with a main body on a connecting structure, and the output end can be connected to another connecting structure, and the corresponding main body installation and output end connection can be converted into each other; for example, the main body of the first rotating mechanism can be installed on the first tube body, and the output end of the first rotating mechanism can be connected to the second tube body, and correspondingly, conversely, the main body of the first rotating mechanism can also be installed on the second tube body, and the output end of the first rotating mechanism can be connected to the first tube body; specifically, any one of the first rotating mechanism, the second rotating mechanism, the intermediate rotating mechanism, and the end rotating mechanism can be installed inside the corresponding connecting structure, for example, the first rotating mechanism can be installed inside the first tube body.

[0121] It can be understood that the first tube body, the second tube body, and the third tube body are all tubes with a center line. Specifically, the cross section of any of the first tube body, the second tube body, and the third tube body can be a circular ring or an elliptical ring. The overall shape of any of the first tube body, the second tube body, and the third tube body can be a cone tube shape or a straight tube shape. The center line of the tube body is the central axis of the tube body, which can be considered as the intersection of the long diameter and the short diameter of the cross section of the tube body that are perpendicular to each other.

[0122] It can be understood that the first bearing component, the second bearing component, the middle bearing component and the end bearing component are all universal bearing components.

[0123] It can be understood that the first harmonic reducer, the second harmonic reducer, the middle harmonic reducer, and the end harmonic reducers adopt a common connection method for harmonic reducers.

[0124] It is understandable that in Figure 1 and Figure 2 In the embodiment A, the first tube body 110 and the second tube body 120 can be set to the same shape. Figure 3 and Figure 4 In embodiment B, the first tube body 110 and the third tube body 130 can be set to the same shape.

[0125] It should be noted that in this specification, terms such as "one embodiment", "some embodiments", "basic embodiment", "extended embodiment" etc. may be used to describe several embodiments of the present invention. The specific features, structures, materials or characteristics of the several embodiments may be combined in accordance with the principles and purposes of the present invention.

[0126] Although some embodiments of the present invention have been shown and described in this specification, the present invention should not be limited to the above-mentioned embodiments. As long as the technical effects of the present invention are achieved by the same or equivalent means, any changes, modifications, equivalent substitutions and equivalent variations to these embodiments that are within the spirit and principles of the present disclosure and do not depart from the principles and purpose of the present invention should be included in the scope of protection of the present disclosure and should be deemed to be within the scope of protection of the present invention.

Claims

1. A movable arm unit, characterized in that: include: The first tube body (110), the second tube body (120), and the third tube body (130); a first rotating mechanism (210) connecting the first tube body (110) and the second tube body (120), the first rotating mechanism (210) being used to drive the second tube body (120) to rotate relative to the first tube body (110); a second rotating mechanism (220), connecting the second tube body (120) and the third tube body (130), the second rotating mechanism (220) being used to drive the third tube body (130) to rotate relative to the second tube body (120); The center line (310) of the first tube body and the center line (320) of the second tube body are both inclined with respect to the rotation center line (340) of the first rotation mechanism; The center line (320) of the second tube body and the center line (330) of the third tube body are both inclined with respect to the rotation center line (350) of the second rotation mechanism; The end surface of the first tube body (110) facing away from the second tube body (120) is set as a first rear end surface (112), the end surface of the first tube body (110) facing the second tube body (120) is set as a first front end surface (111), the end surface of the second tube body (120) facing the first tube body (110) is set as a second rear end surface (122), the end surface of the second tube body (120) facing away from the first tube body (110) is set as a second front end surface (121), the end surface of the third tube body (130) facing the second tube body (120) is set as a third rear end surface (132), and the end surface of the third tube body (130) facing away from the second tube body (120) is set as a third front end surface (131); The first front end face (111) and the second rear end face (122) are both circular profiles, the second front end face (121) and the third rear end face (132) are circular profiles, the first front end face (111) and the second rear end face (122) are both perpendicular to the rotation centerline (340) of the first rotating mechanism, and the rotation centerline (340) of the first rotating mechanism is located at the center of the first front end face (111) and the second rear end face (122), the first rear end face (112) is perpendicular to the centerline (310) of the first tube body, the second front end face (121) and the third rear end face (132) are both perpendicular to the rotation centerline (350) of the second rotating mechanism, and the rotation centerline (350) of the second rotating mechanism is located at the center of the second front end face (121) and the third rear end face (132), and the third front end face (131) is perpendicular to the centerline (330) of the third tube body; The movable arm unit also includes: A first bearing member is provided between the first front end surface (111) and the second rear end surface (122); The second bearing member is arranged between the second front end surface (121) and the third rear end surface (132).

2. The movable arm unit according to claim 1, characterized in that: The rotation center line (340) of the first rotation mechanism is not parallel to the rotation center line (350) of the second rotation mechanism.

3. The movable arm unit according to claim 1, characterized in that: The inclination angle between the rotation center line (340) of the first rotation mechanism and the center line (320) of the second tube body is [22.5°, 45°], and the inclination angle between the rotation center line (350) of the second rotation mechanism and the center line (320) of the second tube body is [22.5°, 45°].

4. The movable arm unit according to claim 1, characterized in that: The inclination angle between the rotation center line (340) of the first rotation mechanism and the center line (320) of the second tube body is equal to the inclination angle between the rotation center line (350) of the second rotation mechanism and the center line (320) of the second tube body.

5. The movable arm unit according to claim 1, characterized in that: During the process of the second tube body (120) rotating relative to the first tube body (110), the center line (320) of the second tube body is parallel to the center line (310) of the first tube body; During the process of the third tube body (130) rotating relative to the second tube body (120), the center line (330) of the third tube body is parallel to the center line (320) of the second tube body.

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