Mechanical arm capable of reducing smudginess

Abstract

The invention discloses a mechanical arm capable of reducing smudginess, which comprises an adsorption element, and the adsorption element obtains dust in an internal space of the mechanical arm so as to prevent internal parts from being polluted.

Description

Technical Field

[0001] The present invention relates to a mechanical arm, and in particular to a mechanical arm with reduced dirtiness to improve the reliability of the mechanical arm. Background Art

[0002] Generally, the robot arm uses an encoder module to detect the motion state. The encoder module usually includes an encoder disk and an encoder disk detector. However, the encoder disk and the encoder disk detector are easily affected by dust because of their location. Therefore, when the performance of the robot arm needs to be improved and a high-precision and high-resolution encoder disk is used, the encoder disk is even less susceptible to the influence of dust, and dust will make it difficult to improve the accuracy and performance of the robot arm. Alternatively, after years of use, the internal rotating parts of the robot arm will have the risk of dust. In this case, when dust enters the optical disk system of the encoder module, it is easy to cause anomalies and make the robot arm unusable, such as not meeting the specifications of the safety mechanism or the dirt detection mechanism and shutting down.

[0003] Based on the above problems, the present invention proposes a robot arm that reduces dirt to reduce the occurrence of the above problems. Summary of the invention

[0004] The object of the present invention is to provide a robot arm with reduced dirt, which utilizes an adsorption element to obtain dirt in the internal space of the robot arm, thereby reducing the dirt existing in the robot arm.

[0005] The object of the present invention is to provide a robot arm that reduces dirt, which utilizes an interlocking structure to reduce the flow of dirt in the internal space of the robot arm, thereby improving the reliability of the robot arm.

[0006] To achieve the aforementioned purpose of the invention, the robot arm of the present invention comprises an adsorption element, which obtains dust in the internal space of the robot arm to avoid contaminating the internal parts.

[0007] The adsorption element has a magnetic force or a static force to adsorb dust; or the adsorption element has a viscosity to absorb dust.

[0008] Among them, the internal space of the robot arm can be a non-enclosed internal space between an encoder housing and an encoder dust cover.

[0009] To achieve the aforementioned purpose of the invention, the robot arm of the present invention includes a pair of plug-in structures, the plug-in structures have a groove and a protrusion, and the protrusion is located in the groove to reduce the flow rate of dirt.

[0010] Among them, a plurality of plug-in structures are respectively located on both sides of the adsorption element to prevent some dirt from entering the non-sealed internal space between the encoder housing and the encoder dust cover.

[0011] The dust cover of the encoder includes a plurality of accommodating places, and the accommodating places accommodate a plurality of adsorption elements. Thus, dirt on the plug-in structure is adsorbed to the adsorption elements due to the internal airflow when the encoder module is running. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 is a schematic diagram of a robotic arm of the present invention;

[0013] Figure 2 is a schematic diagram of the interior of a joint module of a robotic arm of the present invention;

[0014] Figure 3 A top view of an encoder module of the robot arm of the present invention;

[0015] Figure 4 An exploded view of the encoder module of the robot arm of the present invention;

[0016] Figure 5 is a cross-sectional view of an encoder module of the robot arm of the present invention; and

[0017] Figure 6 It is a schematic diagram of the plug-in structure of the robot arm of the present invention.

[0018] Explanation of symbols

[0019] 1Robotic Arm

[0020] 2 joint modules

[0021] 3 Controller

[0022] 10 Motor

[0023] 11 Motor shaft

[0024] 20 reducer

[0025] 21 Reducer output

[0026] 30 encoder modules

[0027] 31 encoder module

[0028] 32 Locking end

[0029] 33 through holes

[0030] 40 encoder housing

[0031] 41 bearings

[0032] 42 encoder bracket

[0033] 43 Encoding disk

[0034] 44 Adsorption element

[0035] 45 encoder dust cover

[0036] 451 Accommodation

[0037] 452 Detection Hole

[0038] 46 encoder detector

[0039] 47 encoder circuit board

[0040] 50 pairs of plug-in structure

[0041] 51 plug-in structure

[0042] 52 plug-in structure

[0043] 60-capacity sewage tank DETAILED DESCRIPTION

[0044] The technical means and effects adopted by the present invention to achieve the above-mentioned purpose are now described with reference to embodiments and accompanying drawings as follows.

[0045] See also Figure 1 , which is a schematic diagram of the robot arm of the present invention. The robot arm 1 includes a plurality of joint modules 2, and the movement of the robot arm 1 is controlled by a controller 3. Figure 2 , which is a schematic diagram of the interior of the joint module of the robot arm of the present invention. As shown in the figure, the joint module 2 of the robot arm 1 includes a motor 10, a motor shaft 11, a reducer 20, a reducer output end 21 and a plurality of encoder modules 30, 31. The encoder modules 30, 31 are respectively disposed on the motor shaft 11 of the motor 10 and the reducer output end 21 of the reducer 20, and detect an output state of the motor 10 and a deceleration state of the reducer 20.

[0046] See also Figure 2 , the robot arm 1 includes an adsorption element 44. The adsorption element 44 can obtain a dust (particle) inside the robot arm 1, that is, the robot arm 1 uses the adsorption element 44 to capture the internal dirt. In other words, the adsorption element 44 can be placed in one of multiple appropriate positions in the robot arm 1 to reduce the dirt in the internal space of the robot arm 1. For example, the adsorption element 44 is arranged on the inner side of the shaft arm shell of the robot arm 1, or on the inner side of the joint module 2 shell. In this way, when the robot arm 1 moves, the airflow in the internal space drives the dirt to move, and the adsorption element 44 can capture the dirt to avoid contaminating the internal parts. Figure 2In the embodiment, the encoder modules 30 and 31 of the joint module 2 each include an adsorption element 44 to adsorb dust in the encoder modules 30 and 31 to prevent the dust from affecting the operation of the encoder modules 30 and 31. The adsorption element 44 may have a magnetic force, a static electricity or a viscosity to adsorb dust, and the adsorption element 44 may be a magnetic material (such as a magnet), an electrostatic sticker, an electrostatic generator or an adhesive type product.

[0047] See also Figure 3 , which is a top view of the encoder module of the robotic arm of the present invention. Figure 3 The top view of the encoder module 30 can also be the top view of the encoder module 31. The encoder modules 30 and 31 respectively include a locking end 32, a through hole 33 and an encoder circuit board 47. The locking end 32 connects the encoder modules 30 and 31 to the motor shaft 11 and the reducer output end 21 respectively. The motor shaft 11 and the reducer output end 21 can pass through the through hole 33 and rotate, thereby driving the encoder modules 30 and 31 to rotate internally, so that the encoder modules 30 and 31 detect an output state of the motor 10 and a deceleration state of the reducer 20.

[0048] See also Figure 4 , which is a disassembled diagram of the encoder module of the robotic arm of the present invention. Figure 4 Although only the exploded view of the encoder module 30 is shown, the exploded view of the encoder module 31 can also be referred to. Figure 4 The encoder modules 30 and 31 respectively include an encoder housing 40, a bearing 41, an encoder bracket 42, an encoder disc 43, an adsorption element 44, an encoder dust cover 45, an encoder disc detector 46 and an encoder circuit board 47. The encoder dust cover 45 is covered on one side of the encoder housing 40 to form a non-sealed internal space. The internal space includes an adsorption element 44 so that dust in the internal space is adsorbed to the adsorption element 44. Furthermore, the encoder disc 43 is disposed in the internal space between the encoder housing 40 and the encoder dust cover 45, that is, the adsorption element 44 is disposed between the encoder disc 43 and the encoder dust cover 45.

[0049] In addition, the encoder dust cover 45 includes a plurality of accommodating places 451, which can accommodate a plurality of adsorption elements 44, so that when the encoder module 30 is running, the internal airflow drives the dust to flow, and the dust is adsorbed to the adsorption element 44. As shown in the figure, the encoder dust cover 45 includes a plurality of detection holes 452, so that the encoder disk detector 46 on the encoder circuit board 47 detects the rotation state of the encoder disk 43 through the detection holes 452, and generates the state related to the motor shaft 11 and the reducer output end 21 to the controller 3, so as to accurately control the operation of the robot arm 1.

[0050] See also Figure 5, which is a cross-sectional view of the encoder module of the robot arm of the present invention. From the top to the bottom of the figure, the encoder housing 40 is arranged around the bearing 41, the encoder bracket 42 supports the bearing 41, the rotation of the code disk 43 follows the movement of the encoder bracket 42, the adsorption element 44 is located below the code disk 43 and adsorbs dirt due to the movement of the encoder bracket 42, and the encoder dust cover 45 accommodates the adsorption element 44 and is combined with the encoder housing 40. The encoder circuit board 47 is fixed to the lower left of the encoder dust cover 45, and is used to obtain the movement state of the encoder disk 43. In addition, the encoder disk detector 46 is located in the internal space of the encoder modules 30, 31, and is located on the encoder circuit board 47, but is not in the Figure 5 Drawn in.

[0051] See also Figure 6 , which is a schematic diagram of the plug-in structure of the robot arm of the present invention. Figure 6 yes Figure 5 The enlarged view on the right shows the implementation of the plug-in structures 50, 51, 52. The plug-in structures 50, 51, 52 are used to prevent dirt from moving to the encoder disk 43 or the encoder disk detector 46, that is, to reduce the flow rate of dirt, and effectively reduce the occurrence of abnormal operation of the encoder modules 30, 31. Each plug-in structure 51-52 has a groove and a protrusion, and the protrusion is located in the groove. In other words, the groove is located around the protrusion. Figure 6 As shown, the right end of the encoder housing 40 has a protruding portion of the plug-in structure 50, and the plug-in structure near the mark 52 is a groove of the encoder housing 40 having the plug-in structure 52. Furthermore, the encoder dust cover 45 has multiple grooves of the plug-in structures 50 and 51, and the encoder bracket 42 corresponds to the positions of the grooves of the encoder housing 40 and the encoder dust cover 45, and has multiple protruding portions of the plug-in structures 51 and 52 to form multiple plug-in structures 51 and 52. Among them, due to the respective structural designs of the encoder housing 40, the encoder bracket 42 and the encoder dust cover 45, the encoder modules 30 and 31 respectively include multiple plug-in structures, such as Figure 6 There are three plug-in structures 50, 51, 52. Figure 5 , there are three other plug-in structures on the left side of the encoder modules 30 and 31. In other words, the plug-in structures of the encoder modules 30 and 31 are respectively located on both sides of the adsorption element 44, blocking some dirt from entering the non-enclosed internal space between the encoder housing 40 and the encoder dust cover 45. As for the dirt passing through the plug-in structures, it is adsorbed to the adsorption element 44 due to the internal airflow when the encoder modules 30 and 31 are running. Therefore, the plug-in structures are used to reduce the flow of dirt in the internal space of the robot arm 1, thereby improving the reliability of the robot arm 1.

[0052] In addition, the grooves and protrusions of the plug-in structures 50 and 52 are both rectangular, while the plug-in structure 51 is a rectangular protrusion and a polygonal groove, so the shape of the plug-in structure is not limited to the embodiment. In addition, both sides of the encoder modules 30 and 31 may also include at least one dirt holding groove 60, such as Figure 5-6 In the embodiment, there is an arc-shaped dirt groove 60 on each side. In this way, when oil pollution occurs in the internal space, the centrifugal force generated by the rotation of the encoder bracket 42 allows the oil pollution to be retained in the dirt groove 60, thereby reducing the risk of contaminating the encoder modules 30 and 31, such as reducing the contamination of the encoder disk 43.

[0053] In summary, the purpose of the present invention is to provide a robot arm that reduces dirt, which uses an adsorption element to obtain dirt in the internal space of the robot arm, avoids contaminating internal parts, and reduces the dirt in the robot arm. The adsorption element can have a magnetic force, an electrostatic force or a viscosity to absorb dirt such as dust. In addition, the plug-in structure with a groove and a protrusion can also be used to reduce the flow of dirt in the internal space of the robot arm, that is, to reduce the flow rate of dirt, thereby improving the reliability of the robot arm. Among them, the internal space of the robot arm can be a non-enclosed internal space between the encoder housing and the encoder dust cover. Furthermore, the protrusion of the plug-in structure is located in its groove, and the plug-in structure can be multiple and respectively located on both sides of the adsorption element to prevent part of the dirt from entering the non-enclosed internal space between the encoder housing and the encoder dust cover. In this way, the multiple adsorption elements contained in the multiple accommodating places of the encoder dust cover can adsorb the dirt passing through the plug-in structure because the internal airflow drives the dirt when the encoder module is running.

[0054] The above description is only used to facilitate the description of the embodiments of the present invention. The scope of the present invention is not limited to the embodiments. Any changes made according to the present invention, without departing from the spirit of the present invention, are within the scope of the patent application of the present invention.

Claims

1. A robotic arm, comprising: A suction element captures dust in the inner space of the robot arm.

2. The robotic arm as claimed in claim 1, wherein the adsorption element has magnetic force or static electricity to capture the dust.

3. The robot arm as claimed in claim 1, wherein the adsorption element is sticky so as to absorb the dust.

4. The robotic arm according to claim 1, comprising: an encoder housing; and The encoder dust cover is arranged on one side of the encoder housing to form a non-sealed internal space.

5. The robotic arm of claim 4, comprising: An encoder disk is disposed in the internal space between the encoder housing and the encoder dust cover; in, The adsorption element is arranged between the encoder disk and the encoder dust cover to adsorb the dust in the internal space.

6. The robotic arm of claim 1, comprising: The plug-in structure has a groove and a protrusion, and the protrusion is located in the groove.

7. The robotic arm of claim 6, comprising: An encoder housing has a plurality of the grooves and a plurality of the protrusions; An encoder dust cover having a plurality of such grooves; and The encoder bracket has a plurality of protrusions respectively corresponding to the positions of the grooves of the encoder housing and the encoder dust cover to form a plurality of plug-in structures.

8. The robotic arm according to claim 7, wherein: The encoder bracket comprises at least one dirt containing groove, and the plug-in structures are respectively located on two sides of the adsorption element.

9. The robotic arm as described in claim 8 comprises a plurality of encoder modules, each of which comprises the encoder housing, the bearing, the encoder bracket, the encoder disk, the adsorption element, the encoder dust cover, the encoder disk detector and the encoder circuit board. The encoder modules are respectively arranged on the motor shaft of the motor and the reducer output end of the reducer to detect the output state of the motor and the deceleration state of the reducer.

10. The robotic arm according to claim 9, wherein: The encoder dust cover contains: A plurality of accommodating places are provided to accommodate a plurality of the adsorption elements. When the encoder module is running, the internal airflow drives the dust to flow and be adsorbed to the adsorption elements.

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