Mechanical arm anti-deviation structure and mechanical hand

Abstract

This application relates to the field of photovoltaic installation technology, providing a robotic arm anti-deviation structure and a robotic hand. The robotic arm anti-deviation structure includes a double-ended bolt with oppositely oriented threads at both ends; a rotating shaft passing through one end of the robotic arm and two side plates oppositely positioned on both sides of the robotic arm, allowing the robotic arm to rotate relative to the side plates via the rotating shaft; a fixing member for connecting the double-ended bolt and the rotating shaft, the fixing member having a screw hole and a insertion hole, the axis of the screw hole being parallel to the axis of the insertion hole; one end of the double-ended bolt is threadedly connected to the robotic arm, and the other end of the double-ended bolt is threadedly connected to the fixing member through the screw hole; the end of the rotating shaft is inserted into the insertion hole and abuts against the fixing member, allowing the fixing member to rotate around the rotating shaft via the insertion hole. The robotic hand includes the aforementioned robotic arm anti-deviation structure. This application has a simple structure and ingenious design, which can limit the relative movement between the robotic arm and the base, prevent the robotic arm from deviating, reduce the impact on the positioning accuracy of the robotic arm's end effector, and ensure installation or handling accuracy.

Description

Technical Field

[0001] This application relates to the field of photovoltaic technology, and in particular to a robotic arm anti-deviation structure and robotic hand. Background Technology

[0002] Solar energy is an inexhaustible and renewable resource, and with the energy crisis becoming increasingly severe, photovoltaic power generation is attracting more and more attention. The construction of photovoltaic power stations requires a significant amount of manpower and resources, especially the installation of photovoltaic panels. Currently, most of this work is still done manually, with only a small portion automated by machinery. Automated installation can save on the costs of manual installation and reduce the risk of accidents, but it requires high precision from both the automated installation and handling equipment.

[0003] Most current automated installation and handling equipment uses robotic arms to perform installation and handling actions. However, when installing a robotic arm, there is an installation gap between the robotic arm and the base or other components. During the movement, the robotic arm will move relative to the base or other connecting components due to the installation gap, that is, it will be offset, which seriously affects the positioning accuracy of the robotic arm end (the end that performs installation or handling), and thus affects the installation or handling accuracy. Summary of the Invention

[0004] To address the aforementioned problems, this application provides a robotic arm anti-deviation structure and a robotic hand. The structure is simple and ingeniously designed, effectively limiting the relative movement between the robotic arm and the base, preventing robotic arm deviation, reducing the impact on the positioning accuracy of the robotic arm's end effector, and ensuring installation or handling accuracy. The technical solution adopted in this application is as follows:

[0005] A robotic arm anti-offset structure for limiting the axial offset of the robotic arm, comprising:

[0006] A double-ended bolt, with threads in opposite directions at both ends;

[0007] A pivot is inserted through one end of the robotic arm and two side plates opposite to each other on both sides of the robotic arm, allowing the robotic arm to rotate relative to the side plates via the pivot.

[0008] A fastener is used to connect the double-ended bolt to the rotating shaft. The fastener has a screw hole and a insertion hole, and the axial direction of the screw hole is parallel to the axial direction of the insertion hole.

[0009] One end of the double-ended bolt is threaded to the robotic arm, and the other end of the double-ended bolt is threaded to the fixing member through the threaded hole; the end of the rotating shaft is inserted into the insertion hole and the rotating shaft abuts against the fixing member, and the fixing member can rotate around the rotating shaft through the insertion hole.

[0010] The anti-offset structure is ingeniously designed and simple in structure. It can limit the relative movement between the robotic arm and the base, prevent the robotic arm from deviating, reduce the impact on the positioning accuracy of the robotic arm end, and ensure the accuracy of installation or handling. In the anti-offset structure, by setting threads with opposite directions of rotation at both ends of the double-ended bolt, when the double-ended bolt is turned in one direction, the threads at both ends of the double-ended bolt will turn in or out at the same time, which facilitates the installation and disassembly of the double-ended bolt.

[0011] In some embodiments, the middle portion of the double-ended bolt is provided with a screwing portion to facilitate screwing the double-ended bolt.

[0012] By providing a tightening part, an operating position is provided for tightening the double-ended bolt, avoiding damage to its threads when tightening the double-ended bolt due to the absence of a tightening part, thus preventing the double-ended bolt from being used normally.

[0013] In some embodiments, both ends of the double-ended bolt are fitted with lock nuts that are adapted to the threads at both ends of the double-ended bolt.

[0014] By setting a lock nut, the double-ended bolts can be tightened after they are installed in place, preventing them from loosening or even falling off.

[0015] In some embodiments, a mounting nut is also included, which is fixed to the robotic arm and threaded to the end of the double-ended bolt away from the fixing member, thereby securing the double-ended bolt to the robotic arm.

[0016] By setting an installation nut, the installation nut can be installed on the double-ended bolt first, and then the installation nut can be welded or threaded onto the robotic arm. This avoids the installation of the double-ended bolt being affected by the positional deviation of the threaded hole pre-drilled on the robotic arm. On the other hand, setting an installation nut makes it easier to modify the robotic arm that did not originally have an anti-offset structure for lifting and lowering. The double-ended bolt can be connected to the robotic arm by welding the installation nut to the robotic arm.

[0017] In some embodiments, a bushing is provided between the end of the shaft and the insertion hole.

[0018] By installing bushings, the rotational friction between the shaft and the fixed component can be reduced, thereby lowering the risk of wear on the shaft and fixed component and minimizing the impact on the accuracy of the robotic arm.

[0019] In some embodiments, the bushing is an oil-free bushing.

[0020] By using oil-free bushings, the maintenance cost of bushings can be reduced and maintenance can be made easier.

[0021] In some embodiments, the shaft and the double-ended bolt are made of metals with the same coefficient of thermal expansion.

[0022] In robotic arms, the pivot and the double-ended bolt are made of metals with the same coefficient of thermal expansion, which reduces the risk of the robotic arm loosening due to mismatch in deformation between the pivot and the double-ended bolt.

[0023] In some embodiments, each of the two side plates is provided with a kit near the corresponding fastener. The kit is fitted over the pivot and has a socket along its radial direction. The pivot has a slot corresponding to the socket. The kit is connected to the pivot key through the cooperation of the socket and the slot, so that the kit abuts against the side of the corresponding side plate.

[0024] On the other hand, this application provides a robotic arm, including the aforementioned robotic arm anti-deviation structure, the robotic arm, and a mounting base composed of the two side plates;

[0025] The robotic arm is equipped with anti-offset structures on both sides near the side plate to limit the offset of the robotic arm relative to the side plates on both sides.

[0026] In some embodiments, the material strength of both the robotic arm and the double-ended bolt is greater than the material strength of the mounting nut.

[0027] In the robotic arm, the material strength of both the robotic arm and the double-ended bolt is greater than that of the mounting nut. This makes the risk of damage at the connection between the robotic arm and the mounting nut, as well as the risk of damage at the connection between the double-ended bolt and the mounting nut, lower than the risk of damage to the mounting nut. The mounting nut will be the first to fail. However, the mounting nut is inexpensive to produce and easy to replace, which reduces the maintenance costs of the anti-displacement structure and the robotic arm.

[0028] The robotic arm anti-deviation structure and robotic hand provided in this application have at least the following beneficial effects:

[0029] 1. The robotic arm anti-deviation structure and robotic hand provided in this application have a simple structure and ingenious design. They can limit the relative movement between the robotic arm and the base, prevent the robotic arm from deviating, reduce the impact on the positioning accuracy of the robotic arm end, and ensure the installation or handling accuracy.

[0030] 2. The robotic arm anti-deviation structure and robotic hand provided in this application, by setting threads with opposite directions at both ends of the double-ended bolt, so that when the double-ended bolt is screwed in or out at both ends simultaneously, it is convenient to install and disassemble the double-ended bolt.

[0031] 3. The robotic arm anti-deviation structure and robotic hand provided in this application provide an operating position for tightening double-ended bolts by setting a tightening part, so as to avoid damage to the threads of double-ended bolts when tightening them due to the absence of a tightening part, which would affect the normal use of double-ended bolts;

[0032] 4. The robotic arm anti-deviation structure and robotic hand provided in this application, by setting a locking nut, can lock the double-ended bolts after they are installed in place, thereby preventing the double-ended bolts from loosening or even falling off;

[0033] 5. The robotic arm anti-deviation structure and robotic hand provided in this application can be installed by setting an installation nut, which can be installed on the double-ended bolt first, and then the installation nut can be welded or threaded to the robotic arm. This can avoid the installation of the double-ended bolt being affected by the positional deviation of the threaded hole pre-drilled on the robotic arm. On the other hand, setting an installation nut can facilitate the lifting and lowering modification of the robotic arm that did not originally have an anti-deviation structure. The double-ended bolt can be connected to the robotic arm by welding the installation nut to the robotic arm.

[0034] 6. The robotic arm anti-deviation structure and robotic hand provided in this application can reduce the rotational friction between the rotating shaft and the fixed part by setting a bushing, thereby reducing the wear risk of the rotating shaft and the fixed part and reducing the impact on the accuracy of the robotic arm;

[0035] 7. The robotic arm anti-deviation structure and robotic hand provided in this application can reduce the maintenance cost of the bushing by setting an oil-free bushing, and facilitate maintenance.

[0036] 8. The robotic arm anti-deviation structure and robotic hand provided in this application are made of metals with the same coefficient of thermal expansion for the rotating shaft and the double-ended bolt, which can reduce the risk of the robotic arm loosening due to the deformation incompatibility between the rotating head and the double-ended bolt;

[0037] 9. The robotic arm anti-deviation structure and robotic hand provided in this application have a material strength of the robotic arm and the double-ended bolt that is greater than the material strength of the mounting nut. This makes the risk of damage at the connection between the robotic arm and the mounting nut and the connection between the double-ended bolt and the mounting nut less than the risk of damage to the mounting nut. The mounting nut will be damaged first. The mounting nut has low production cost and is easy to replace, which can reduce the maintenance cost of the anti-deviation structure and the robotic arm.

[0038] 10. The robotic arm anti-deviation structure and robotic hand provided in this application, by fixing kits on both side plates near the corresponding fixing parts, can make the connection between the rotating shaft and the side plates more stable, restrict the axial movement of the rotating shaft, and further restrict the axial deviation when the robotic arm rotates. Attached Figure Description

[0039] The preferred embodiments will be described below in a clear and easy-to-understand manner, with reference to the accompanying drawings, to further explain the above-mentioned characteristics, technical features, advantages, and implementation methods of a robotic arm anti-deviation structure and a robotic hand:

[0040] Figure 1 This is a schematic diagram of the overall structure of an embodiment of this application;

[0041] Figure 2 yes Figure 1 A magnified view of part A in the middle;

[0042] Figure 3 This is an exploded view of some components in an embodiment of this application.

[0043] Explanation of icon numbers:

[0044] 1. Robotic arm, 2. Rotary shaft, 3. Side plate, 4. Double-ended bolt, 41. Tightening part, 5. Fixing part, 51. Screw hole, 52. Insertion hole, 6. Locking nut, 7. Mounting nut, 8. Bushing, 9. Kit. Detailed Implementation

[0045] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the specific implementation methods of this application will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without creative effort.

[0046] To keep the drawings concise, each drawing only schematically shows the parts relevant to this application, and they do not represent the actual structure of the product. Furthermore, for ease of understanding, in some drawings, only one of the components with the same structure or function is schematically shown, or only one is labeled. In this document, "one" not only means "only one," but can also mean "more than one."

[0047] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0048] In this document, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0049] Furthermore, in the description of this application, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0050] To prevent the robotic arm 1 from moving along the axis of rotation 2 within the installation gap, and to prevent the robotic arm 1 from shifting, this improves the installation accuracy of the robotic arm 1 and reduces the impact of positional offset at one end of the robotic arm 1 on the positioning accuracy of its end effector (installation end or handling end), thereby improving installation or handling accuracy. This effect is more pronounced when the rotation radius of the robotic arm 1 is large; even a small offset at one end of the robotic arm 1 can cause a large error at the other end. For solutions to the above problems, please refer to the attached diagram in the instruction manual. Figures 1 to 3 This application provides a robotic arm anti-deviation structure for limiting the axial displacement of robotic arm 1 along a pivot 2. To clearly describe the structure and composition of this robotic arm anti-deviation structure, a usage scenario is provided. It should be understood that this usage scenario is not a limitation on the robotic arm anti-deviation structure. The usage scenario is as follows: One end of robotic arm 1 is positioned between two opposing side plates 3 via a pivot 2 and can rotate relative to the side plates 3. The robotic arm anti-deviation structure includes:

[0051] The double-ended bolt 4 has threads with opposite directions at both ends. By setting threads with opposite directions at both ends of the double-ended bolt 4, when the double-ended bolt 4 is screwed in or out at both ends simultaneously, it is convenient to install and disassemble the double-ended bolt 4.

[0052] A rotating shaft 2 passes through one end of the robotic arm 1 and two side plates 3 opposite to each other on both sides of the robotic arm 1. The robotic arm 1 can rotate relative to the side plates 3 via the rotating shaft 2.

[0053] The fastener 5 is used to connect the double-ended bolt 4 and the rotating shaft 2. The fastener 5 is provided with a screw hole 51 and a socket 52. The axial direction of the screw hole is parallel to the axial direction of the socket 52.

[0054] One end of the double-ended bolt 4 is threaded to the robotic arm 1, and the other end of the double-ended bolt 4 is threaded to the fixing member 5 through the screw hole 51; the end of the rotating shaft 2 is inserted into the insertion hole 52 and the rotating shaft 2 abuts against the fixing member 5. The fixing member 5 can rotate around the rotating shaft 2 through the insertion hole 52. It can be understood that the abutment between the rotating shaft 2 and the fixing member 5 can be achieved by the stepped shaft at one end of the rotating shaft 2, or by controlling the depth of the insertion hole 52 so that the end of the rotating shaft 2 abuts against the bottom of the insertion hole 52.

[0055] Understandably, the purpose of the fastener 5 abutting against the rotating shaft 2 is to restrict the relative movement of the fastener 5 towards the side plate 3. However, when there is relative movement space between the side plate 3 and the rotating shaft 2 along the axial direction of the rotating shaft 2, the fastener 5 needs to abut against the side plate 3, rather than against the rotating shaft 2. Under normal circumstances, there is no relative movement space between the rotating shaft 2 and the side plate 3 along the axial direction of the rotating shaft 2.

[0056] In other embodiments, each of the two side plates 3 may also be fixedly provided with a kit 9 ​​on the side near the corresponding fastener 5. The kit 9 ​​is sleeved on the rotating shaft 2. The kit 9 ​​has a socket (not shown in the figure) opened radially along its side. The rotating shaft 2 has a slot (not shown in the figure) corresponding to the socket. The kit 9 ​​is connected to the rotating shaft 2 by the cooperation of the socket and the slot.

[0057] In this embodiment, the kit 9 ​​abuts against the side of the corresponding side plate 3, and the connection between the kit 9 ​​and the rotating shaft 2 restricts the axial relative displacement between the kit 9 ​​and the rotating shaft 2, thereby restricting the relative displacement between the rotating shaft 2 and the side plate 3. In other words, the mounting base is sandwiched between the two kits 9, and there is no axial relative movement between the mounting base and the rotating shaft 2. In this embodiment, the kit 9 ​​can be a sliding kit or a bushing.

[0058] The anti-offset structure is ingeniously designed and simple in structure. It can limit the relative movement between the robotic arm 1 and the base, prevent the robotic arm 1 from shifting axially, reduce the impact on the positioning accuracy of the end of the robotic arm 1, and ensure the accuracy of installation or handling.

[0059] It is worth noting that when the robotic arm 1 is installed on the outside of the two oppositely arranged side plates 3, and the robotic arm 1 and the rotating shaft 2 do not move axially relative to each other, one end of the double-headed bolt 4 is installed on the side plate 3, and the other end is still threadedly connected to the fixing part 5. The insertion hole 52 of the fixing part 5 is still rotatably connected to the rotating shaft 2 and abuts against the rotating shaft 2.

[0060] Refer to the attached diagram in the instruction manual. Figures 1 to 3 In one embodiment, the double-ended bolt 4 can also be connected to the robotic arm 1 by means of a mounting nut 7. The mounting nut 7 is installed on the robotic arm 1 by welding or threaded connection. The other end of the mounting nut 7 is threaded to the end of the double-ended bolt 4 away from the fixing member 5. The mounting nut 7 fixes the double-ended bolt 4 to the robotic arm 1. That is to say, the double-ended bolt 4 is not directly installed on the robotic arm 1, but is indirectly connected to the robotic arm 1 through the mounting nut 7.

[0061] In this embodiment, by providing the mounting nut 7, the mounting nut 7 can be first installed on the double-ended bolt 4, and then the mounting nut 7 can be welded or threaded onto the robotic arm 1. This avoids the installation of the double-ended bolt 4 being affected by the positional deviation of the threaded hole pre-drilled on the robotic arm 1. On the other hand, providing the mounting nut 7 facilitates the lifting and lowering modification of the robotic arm 1 that did not originally have an anti-deviation structure. Welding the mounting nut 7 to the robotic arm 1 connects the double-ended bolt 4 to the robotic arm 1. The mounting nut 7 also serves as a wear part, making it easy to replace and reducing the maintenance and repair costs of the anti-deviation structure.

[0062] Refer to the attached diagram in the instruction manual. Figures 1 to 3 In order to provide an operating position when tightening the double-ended bolt 4 and to avoid damage to the threads of the double-ended bolt 4 when clamping the double-ended bolt 4, thereby affecting the normal use of the double-ended bolt 4, in one embodiment, the middle part of the double-ended bolt 4 is provided with a tightening part 41 to facilitate tightening the double-ended bolt 4.

[0063] In one embodiment, both ends of the double-ended bolt 4 are fitted with lock nuts 6 that are adapted to the threads of the double-ended bolt 4. By providing lock nuts 6, the double-ended bolt 4 can be locked after it is installed in place, preventing it from loosening or even falling off.

[0064] Refer to the attached diagram in the instruction manual. Figure 3 It is understandable that a bushing 8 is provided between the end of the rotating shaft 2 and the insertion hole 52. By setting the bushing 8, the rotational friction between the rotating shaft 2 and the fixed part 5 can be reduced, the wear risk of the rotating shaft 2 and the fixed part 5 can be reduced, and the impact on the accuracy of the robotic arm 1 can be reduced.

[0065] In this embodiment, the bushing 8 is preferably an oil-free bushing 8, which is easy to maintain and can reduce maintenance costs.

[0066] In this embodiment, the rotating shaft 2 and the double-ended bolt 4 are preferably made of metals with the same coefficient of thermal expansion. Making the rotating shaft 2 and the double-ended bolt 4 of the same metal reduces the risk of the robotic arm 1 loosening due to mismatched deformation between the rotating head and the double-ended bolt 4.

[0067] Refer to the attached diagram in the instruction manual. Figures 1 to 3 This application also provides a robotic arm, including the aforementioned robotic arm anti-offset structure, a robotic arm 1 and a mounting base consisting of two side plates 3; the robotic arm 1 is equipped with robotic arm anti-offset structures on both sides near the side plates 3 to limit the offset of the robotic arm 1 relative to the side plates 3 on both sides.

[0068] The relevant features of the anti-deviation structure of the robotic arm have been introduced above and will not be repeated here.

[0069] Understandably, to ensure that the components in the robotic arm's anti-deviation structure that are easy to replace and have low replacement costs are damaged first, preferably, the material strength of both the robotic arm 1 and the double-ended bolt 4 is greater than that of the mounting nut 7. This makes the risk of damage at the connection between the robotic arm 1 and the mounting nut 7, and the risk of damage at the connection between the double-ended bolt 4 and the mounting nut 7, lower than the risk of damage to the mounting nut 7 itself. The mounting nut 7 will be damaged first, and since it has low production costs and is easy to replace, the maintenance costs of the anti-deviation structure and the robotic arm 1 can be reduced.

[0070] It should be noted that the above embodiments can be freely combined as needed. The above are merely preferred embodiments of this application. It should be pointed out that for those skilled in the art, several improvements and modifications can be made without departing from the principles of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A robotic arm anti-deviation structure for limiting the axial deviation of the robotic arm, characterized in that, include: A double-ended bolt, with threads in opposite directions at both ends; A pivot is inserted through one end of the robotic arm and two side plates opposite to each other on both sides of the robotic arm, allowing the robotic arm to rotate relative to the side plates via the pivot. A fastener is used to connect the double-ended bolt to the rotating shaft. The fastener has a screw hole and a insertion hole, and the axial direction of the screw hole is parallel to the axial direction of the insertion hole. One end of the double-ended bolt is threaded to the robotic arm, and the other end of the double-ended bolt is threaded to the fixing member through the threaded hole; the end of the rotating shaft is inserted into the insertion hole and the rotating shaft abuts against the fixing member, and the fixing member can rotate around the rotating shaft through the insertion hole; Each of the two side plates is fixedly provided with a kit on the side near the corresponding fastener. The kit is sleeved on the pivot. The kit has a hole in its radial direction. The pivot has a slot corresponding to the hole. The kit is connected to the pivot key through the cooperation of the hole and the slot, so that the kit abuts against the side of the corresponding side plate. The anti-deviation structure of the robotic arm also includes a mounting nut, which is fixed to the robotic arm. The mounting nut is threaded to the end of the double-ended bolt away from the fixing member, and the mounting nut fixes the double-ended bolt to the robotic arm.

2. The anti-deviation structure for a robotic arm according to claim 1, characterized in that, The double-ended bolt has a screwing part in the middle to facilitate screwing the double-ended bolt.

3. The anti-deviation structure for a robotic arm according to claim 1, characterized in that, Both ends of the double-ended bolt are fitted with lock nuts that are compatible with the threads at both ends of the double-ended bolt.

4. The anti-deviation structure for a robotic arm according to claim 1, characterized in that, A bushing is provided between the end of the rotating shaft and the insertion hole.

5. The anti-deviation structure for a robotic arm according to claim 4, characterized in that, The bushing is an oil-free bushing.

6. The anti-deviation structure for a robotic arm according to claim 1, characterized in that, The shaft and the double-ended bolt are made of metals with the same coefficient of thermal expansion.

7. A robotic arm, characterized in that, Includes the robotic arm anti-deviation structure as described in any one of claims 1-6, the robotic arm, and the mounting base composed of the two side plates; The robotic arm is equipped with anti-offset structures on both sides near the mounting base to limit the offset of the robotic arm relative to the mounting base.

8. A robotic arm according to claim 7, characterized in that, The material strength of the robotic arm and the double-ended bolt is greater than that of the mounting nut.

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