A stable conductive mechanical arm

Abstract

The present invention relates to the field of mechanical arms, and in particular to a stable conductive mechanical arm, comprising a plurality of arm rods, wherein adjacent arm rods are connected via a rotating joint, and the connecting ends of two adjacent arm rods are axially displaced to form an axial gap, and a ring sleeve is fixed on the surface of the arm rod in the axial gap, and a plurality of electrode rings are axially distributed on the outer surface of the ring sleeve, and a ring shell A and a ring shell B are respectively sleeved on the surfaces of the two ring sleeves in the axial gap, and a plurality of electrode pieces which are in one-to-one contact with the electrode rings are arranged on the surface of the ring shell A, and a plurality of bent guide pieces are annularly distributed inside the ring shell B, and the ring sleeve is arranged at the joint part of the present invention for installing the electrode ring, and the two separate ring shells A and B are tightened and fixed on the outside of the ring sleeve by tangential screws, so that the bent guide piece and the conductor ring are respectively in position contact with the electrode rings on both sides, and the bent guide piece is in rotational contact with the conductor ring to realize circuit conduction, and the conduction circuit is externalized to facilitate installation, disassembly and maintenance.

Description

Technical Field

[0001] The present invention relates to the field of mechanical arms, and in particular to a stable conductive mechanical arm. Background Art

[0002] The robotic arm is an important equipment for intelligent industrial production. It can replace manual labor to implement industrial production through the free movement of multiple joints. The robotic arm controls the free movement of each part through the electric drive equipment at each joint. High efficiency and high stability are the important advantages of the robotic arm.

[0003] There are two main ways to power the electric drive devices at each joint of the robot arm. The first way is to directly use flexible lines to fix the drive devices at each joint. However, fixed lines will limit the freedom of movement of each part of the robot arm, and long-term bending movements will cause fatigue and breakage of the lines. The second way is to use conductive slip rings instead of flexible lines, which can maintain a greater freedom of movement of the robot arm. Wear is the biggest disadvantage of conductive slip rings, and conductive slip rings need to be replaced and maintained regularly. However, traditional conductive slip rings are built into the rotating joints of the robot arm, and disassembly and maintenance are more troublesome. Summary of the invention

[0004] The purpose of the present invention is to solve the following problems existing in the prior art: the low stability and maintenance convenience of the electric drive joints of the traditional robotic arm.

[0005] In order to solve the problems existing in the prior art, the present invention provides a stable conductive mechanical arm, including a plurality of arm rods, adjacent arm rods are connected by rotating joints, the connecting ends of two adjacent arm rods are axially offset to form an axial gap, the surface of the arm rod is located in the axial gap and a ring sleeve is fixed thereon, a plurality of electrode rings are axially distributed on the outer surface of the ring sleeve, two ring sleeve surfaces in the axial gap are respectively sleeved with a ring shell A and a ring shell B, the surface of the ring shell A is provided with a plurality of electrode parts which are in one-to-one contact with the electrode rings, a plurality of bent guide sheets are annularly distributed inside the ring shell B, the bent guide sheets are in one-to-one contact with the electrode rings, the ring shell A and the ring shell B are axially fitted together, so that the bent guide sheets are in one-to-one contact with the electrode parts.

[0006] Preferably, the electrode member comprises a conductor ring, which is concentrically arranged on the end surface of the ring shell A, and a conductive rod is fixed to the conductor ring, which extends to the inner surface of the ring shell A and contacts the electrode ring.

[0007] Preferably, the annular shell A and the annular shell B are both composed of two semi-annular shells, the butt joints of the two semi-annular shells are tightened and fixed by screws extending tangentially, and the end faces of the semi-annular shells are concavely and convexly fitted.

[0008] Preferably, a plurality of telescopic cavities are distributed in an annular manner on the surface of the ring shell B, and the end face of the ring shell B has a through opening that passes through the telescopic cavity. The bending guide piece is arranged in the telescopic cavity, and the bending guide piece is an elastically deformable right-angle shape. The axially extending portion of the bending guide piece is fixed to the bottom of the telescopic cavity and contacts the electrode ring, and the radially extending portion of the bending guide piece is aligned with the through opening. A contact block is fixed on the surface of the bending guide piece, and the contact block passes through the through opening and elastically contacts the conductor ring.

[0009] Preferably, a sphere is elastically and radially slidably arranged in the telescopic cavity, the radially extending end of the bending guide plate is bent at an acute angle toward the sphere to form a warping piece, and the end face of the ring shell A has a sleeve portion, which covers the outside of the ring shell B and radially squeezes the sphere to shrink into the telescopic cavity, so that the sphere squeezes the warping piece to elastically deform in the direction of the ring shell A.

[0010] Preferably, the end of the lift piece is bent inwardly to form a bent portion.

[0011] Preferably, the edge of the ring shell B away from the ring shell A has a chamfered portion, and the end portion of the sleeve portion is a constricted shape adapted to the chamfered portion.

[0012] Preferably, a plurality of conductor wires are linearly extended from the surface of the arm, and two ends of the conductor wires are aligned and connected to electrode rings at two ends of the arm.

[0013] Preferably, the rotating joint includes a shaft and a motor, the shaft is fixedly connected to one arm and rotationally connected to the other arm, the motor is arranged on the surface of the arm, the motor is connected to the shaft through a gear transmission, and the motor is powered by a conductor wire.

[0014] Compared with the related art, the stable conductive mechanical arm provided by the present invention has the following beneficial effects:

[0015] 1. The joint part of the present invention is provided with a ring sleeve for installing the electrode ring, and the two separate ring shells A and B are tightened and fixed to the outside of the ring sleeve by tangential screws, so that the bent guide piece and the conductor ring are respectively positioned and contacted with the electrode rings on both sides, and the bent guide piece and the conductor ring are rotationally contacted to realize circuit conduction. The externalization of the conduction circuit facilitates installation and disassembly and maintenance;

[0016] 2. The present invention first installs the ring shell B and then the ring shell A. The sphere is squeezed into the telescopic cavity by the sleeve portion. The sphere squeezes the warping piece and the bent guide piece elastically deforms in the direction of the conductor ring, so that the contact block elastically squeezes and contacts the conductor ring, thereby improving the contact stability. When disassembling for maintenance, the power can be automatically cut off by the elastic reset of the bent guide piece, thereby improving the maintenance safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 It is a schematic diagram of the rotating joint part of the present invention;

[0019] Figure 3 It is a schematic diagram of the electrode ring installation structure of the present invention;

[0020] Figure 4 This is a schematic diagram of the installation structure of the ring shell A and the ring shell B of the present invention;

[0021] Figure 5 for Figure 4 A magnified image of point A;

[0022] Figure 6 It is a schematic diagram of the contact conductor circle of the spherical extrusion bending guide piece of the present invention;

[0023] Figure 7 It is a schematic diagram of the non-extrusion disconnection state of the bent conductor of the present invention;

[0024] Figure 8 This is one of the structural schematic diagrams of the ring shell A and the ring shell B of the present invention;

[0025] Fig. 9 This is the second structural schematic diagram of the ring shell A and the ring shell B of the present invention.

[0026] Numbers in the figure: 1, arm; 2, shaft; 3, ring shell A; 31, conductor ring; 32, conductive rod; 4, ring sleeve; 41, electrode ring; 42, conductor wire; 5, ring shell B; 51, bending guide piece; 52, contact block; 53, tilting piece; 54, sphere; 55, telescopic cavity; 56, bending part. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0028] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0029] like Figure 1 As shown, the stable conductive robot arm has a plurality of arm rods 1, and adjacent arm rods 1 are connected by rotating joints, such as Figure 2 , Figure 3 As shown, the rotary joint includes a shaft rod 2 and a motor. The connecting ends of two adjacent arms 1 are axially misaligned to form an axial gap. The shaft rod 2 is located in the axial gap. The right end of the shaft rod 2 is fixedly connected to the right arm rod 1. The left end of the shaft rod 2 is rotatably connected to the left arm rod 1 through a bearing. The motor is arranged on the surface of the left arm rod 1. The motor is connected to the shaft rod 2 through a gear transmission, and is used to drive the shaft rod 2 to drive the arm rod 1 to rotate.

[0030] like Figure 3 , Figure 4 As shown, the surface of the arm 1 is located in the axial gap and the ring sleeve 4 is fixed, the shaft 2 passes through the inner side of the ring sleeve 4, and the outer surfaces of the two ring sleeves 4 are axially distributed with a plurality of electrode rings 41, and the surface of the arm 1 is provided with a wiring groove, and a plurality of straight-extending conductor wires 42 are arranged in the wiring groove, and the two ends of the conductor wire 42 are aligned and connected to the electrode rings 41 at the two ends of the arm 1;

[0031] like Figure 8 , Fig. 9 As shown, a ring shell B5 is arranged outside the left ring sleeve 4, and a ring shell A3 is arranged outside the right ring sleeve 4. The ring shell A3 and the ring shell B5 are both composed of two semi-ring shells. The butt joint of the two semi-ring shells is tightened and fixed by screws extending tangentially, so that the ring shell A3 and the ring shell B5 can both form a complete annular sleeve on the outside of the ring sleeve 4. The end faces of the semi-ring shells are concave and convex, so that the two semi-ring shells can accurately form a circular ring.

[0032] like Figure 5 , Figure 6 As shown, a plurality of electrode members are arranged on the surface of the ring shell A3, and the electrode members include a conductor ring 31, and the conductor ring 31 is concentrically arranged on the end surface of the ring shell A3, and a conductive rod 32 is fixed to the conductor ring 31, and the conductive rod 32 extends to the inner surface of the ring shell A3. When the ring shell A3 is fixed to the outside of the right ring sleeve 4, the conductive rod 32 is in one-to-one contact with the electrode ring 41;

[0033] like Figure 5 , Figure 6 As shown, a plurality of telescopic cavities 55 are provided in an annular distribution on the surface of the ring shell B5, and the telescopic cavities 55 pass through the outer surface of the ring shell B5. The end surface of the ring shell B5 has a through opening that passes through the telescopic cavity 55. The bending guide piece 51 is arranged in the telescopic cavity 55, and the bending guide piece 51 is in an elastically deformable right-angle shape. The axially extending portion of the bending guide piece 51 is fixedly connected to the bottom of the telescopic cavity 55, and the radially extending portion of the bending guide piece 51 is aligned with the through opening and is in a deformable free state. The surface of the bending guide piece 51 is fixed with a contact block 52, and the elastic force of the bending guide piece 51 causes the contact block 52 to pass through the through opening and elastically contact with the conductor ring 31. When the ring shell B5 is fixed to the outside of the left ring sleeve 4, the axially extending portion of the bending guide piece 51 is aligned with the electrode ring 41 one by one.

[0034] The power supply is arranged at the mounting seat of the robot arm, and then the motors and other auxiliary electrical equipment at each joint are supplied with power in turn through the conductor line 42. The power supply principle of the joint is as follows:

[0035] The bent guide piece 51 contacts the electrode ring 41 on the left, and the conductor ring 31 and the conductive rod 32 contact the electrode ring 41 on the right. The bent guide piece 51 slides in contact with the conductor ring 31 through the contact block 52 to achieve circuit conduction. The circuit is rotated and connected during the movement of the arm 1. When maintaining the conductive parts of the joint, the screws are directly removed to separate the two half-ring shells of the ring shell A3 and the ring shell B5 without removing the remaining parts of the joint.

[0036] The conductive joint has the function of self-power-off when disassembled, as follows:

[0037] like Figure 6 , Figure 7 As shown, the radially extending portion of the bent guide piece 51 is deflected toward the inner side of the telescopic cavity 55 in a free state, so that the contact block 52 does not contact the conductor ring 31, and the ball 54 is installed in the telescopic cavity 55 by using a spring elastic sliding, and the radially extending end of the bent guide piece 51 is bent at an acute angle toward the ball 54 to form a warping piece 53, and the ball 54 is in contact with the warping piece 53;

[0038] First, the ring shell B5 is installed on the surface of the ring sleeve 4 on the left side. At this time, the ball 54 protrudes from the port of the telescopic cavity 55, and then the ring shell A3 is installed on the surface of the ring sleeve 4 on the right side. The end face of the ring shell A3 has a sleeve portion extending to the left. During the tightening and fixing process of the two semi-ring shells of the ring shell A3, the sleeve portion gradually covers the outer side of the ring shell B5. The ball 54 overcomes the elastic force and moves into the telescopic cavity 55 through the extrusion of the sleeve portion. The ball 54 gradually squeezes the paddle 53, so that the paddle 53 pushes the radial extension of the bent guide piece 51 to elastically deflect to the right, thereby forcing the contact block 52 to elastically squeeze and contact the conductor ring 31 to achieve circuit conduction. When maintaining and disassembling the conductive joint, the ring shell A3 is first disassembled. When the ball 54 loses the pressure of the sleeve portion, it moves to the outside of the telescopic cavity 55, and the paddle 53 loses the pressure of the ball 54 and elastically resets to the left together with the radial extension of the bent guide piece 51, so that the contact block 52 is automatically separated from the conductor ring 31 and the power is cut off, thereby improving the safety of maintenance work.

[0039] The end of the lift piece 53 is bent inward to form a bent portion 56. When the lift piece 53 is squeezed by the ball 54 and elastically displaced to the right, the bent portion 56 abuts against the radially extending portion of the bending guide piece 51, thereby promoting the radially extending portion of the bending guide piece 51 to also shift to the right, thereby preventing only the lift piece 53 from shifting to the right, causing irreversible deformation transition between the lift piece 53 and the bending guide piece 51.

[0040] like Figure 5 , Figure 6As shown, the edge of the ring shell B5 on one side away from the ring shell A3 has a chamfered portion, and the port portion of the sleeve portion is a constricted shape that matches the chamfered portion. The ring shell B5 is first fixed to the surface of the ring sleeve 4 on the left. During the installation of the ring shell A3, the constricted port of the sleeve portion contacts the inclined surface of the chamfered portion of the ring shell B5, forming a thrust to the left on the ring shell A3, causing the ring shell A3 to shift to the left during the fixing process, so that the contact block 52 is in stable extrusion contact with the conductor ring 31.

Claims

1. A stable conductive mechanical arm, comprising a plurality of arm rods (1), wherein adjacent arm rods (1) are connected via a rotating joint, and the connecting ends of two adjacent arm rods (1) are axially misaligned to form an axial gap, characterized in that: A ring sleeve (4) is fixed on the surface of the arm (1) in the axial gap, a plurality of electrode rings (41) are axially distributed on the outer surface of the ring sleeve (4), a ring shell A (3) and a ring shell B (5) are respectively sleeved on the surfaces of the two ring sleeves (4) in the axial gap, a plurality of electrode parts that are in one-to-one contact with the electrode rings (41) are arranged on the surface of the ring shell A (3), a plurality of bending guide pieces (51) are annularly distributed inside the ring shell B (5), the bending guide pieces (51) are in one-to-one contact with the electrode rings (41), the ring shell A (3) and the ring shell B (5) are axially fitted, so that the bending guide pieces (51) are in one-to-one contact with the electrode parts; The electrode member comprises a conductor ring (31), the conductor ring (31) being concentrically arranged on the end surface of the annular shell A (3), a conductive rod (32) being fixed to the conductor ring (31), and the conductive rod (32) extending to the inner surface of the annular shell A (3) to contact the electrode ring (41); A plurality of telescopic cavities (55) are distributed in an annular manner on the surface of the annular shell B (5); an end surface of the annular shell B (5) has a through opening that penetrates the telescopic cavity (55); the bending guide piece (51) is arranged in the telescopic cavity (55); the bending guide piece (51) is in an elastically deformable right-angle shape; an axially extending portion of the bending guide piece (51) is fixed to the bottom of the telescopic cavity (55) and contacts the electrode ring (41); a radially extending portion of the bending guide piece (51) is aligned with the through opening; a contact block (52) is fixed on the surface of the bending guide piece (51); the contact block (52) passes through the through opening and elastically contacts the conductor ring (31); A sphere (54) is elastically and slidably arranged in the telescopic cavity (55) in a radial direction. The radially extending end of the bending guide piece (51) is bent at an acute angle in the direction of the sphere (54) to form a warping piece (53). The end surface of the ring shell A (3) has a sleeve portion, which is covered on the outside of the ring shell B (5) and radially squeezes the sphere (54) to shrink into the telescopic cavity (55), so that the sphere (54) squeezes the warping piece (53) to elastically deform in the direction of the ring shell A (3).

2. The stable conductive mechanical arm according to claim 1, characterized in that: The annular shell A (3) and the annular shell B (5) are both composed of two semi-annular shells. The butt joints of the two semi-annular shells are tightened and fixed by screws extending tangentially, and the end faces of the semi-annular shells are concavely and convexly fitted.

3. The stable conductive mechanical arm according to claim 1, characterized in that: The end of the lift piece (53) is bent inwardly to form a bent portion (56).

4. The stable conductive mechanical arm according to claim 1, characterized in that: The edge of the ring shell B (5) on one side away from the ring shell A (3) has a chamfered portion, and the end portion of the sleeve portion is in a constricted shape adapted to the chamfered portion.

5. The stable conductive mechanical arm according to claim 1, characterized in that: A plurality of conductor wires (42) are linearly extended from the surface of the arm (1), and two ends of the conductor wires (42) are aligned and connected to electrode rings (41) at two ends of the arm (1).

6. The stable conductive mechanical arm according to claim 5, characterized in that: The rotary joint comprises a shaft (2) and a motor; the shaft (2) is fixedly connected to one arm (1) and is rotatably connected to the other arm (1); the motor is arranged on the surface of the arm (1), the motor is connected to the shaft (2) via a gear transmission, and the motor is powered via a conductor wire (42).

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