Manipulator forearm and mechanical arm

Abstract

The invention discloses a forearm of a manipulator, which is provided with a wrist joint axis and an elbow joint axis, and comprises a shell comprising a supporting part and a main body part which are integrally formed, and the supporting part is provided with a first pressing end; the wrist belt wheel is coaxial with the axis of the wrist joint, the wrist belt wheel and the shell form a mounting space, the wrist belt wheel comprises a shaft part and a belt wheel part which are integrally formed, and a second pressing end is formed at the joint of the shaft part and the belt wheel part; the bearing is arranged in the mounting space, and the bearing is provided with an inner ring and an outer ring; the pressing assembly is coaxial with the axis of the wrist joint and comprises a first pressing piece and a second pressing piece; wherein the first press-fit part and the first press-fit end form axial constraint on the outer ring of the bearing, and the second press-fit part and the second press-fit end form axial constraint on the inner ring of the bearing, so that the wrist belt wheel can rotate relative to the shell through the bearing. By adopting the scheme, the concentricity of the forearm of the manipulator is improved, and the axial mounting space is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of semiconductor wafer conveying equipment, and in particular to a robot forearm and a robot arm. Background Art

[0002] In the field of semiconductor wafer manufacturing, the robot arm is the core actuator for wafer transportation, and its motion accuracy and stability directly affect the process yield and equipment reliability. Most existing robot arms adopt a modular serial structure, and realize multi-degree-of-freedom motion through the coordination of the shoulder-elbow-wrist three axes. The forearm, as the key transmission unit connecting the upper arm and the end effector, needs to bear the complex load of the wrist joint and synchronize the pulley transmission system. However, the wrist joint design of the traditional forearm presents the characteristics of functional modular dispersion. The split assembly structure is generally adopted between the bearing seat and the forearm housing, and the wrist pulley and the drive spindle, resulting in a significant cumulative effect of the tolerance chain, making it difficult to ensure the dynamic concentricity between the components, thereby restricting the transmission accuracy.

[0003] The core contradiction brought about by the existing structure is that the separate installation of the bearing seat and the forearm housing will introduce a radial fit clearance, while the wrist pulley and the spindle are mostly assembled independently. The independent assembly of the pulley and the spindle requires multiple fasteners and locating pins, which is prone to radial runout deviations due to slight deformations during high-speed start-stop and change-of-direction movements, thereby affecting the transmission accuracy of the arm. In addition, the existing mechanical forearm needs to add a bearing seat to fix the bearing, which will lead to redundant axial dimensions, that is, the forearm is too thick. The redundant axial dimensions not only limit the range of motion of the robotic arm in a compact chamber, but also increase the load on the arm, affecting the transmission stability.

[0004] Therefore, it is necessary to provide a robot forearm and a robot arm to solve the above problems existing in the prior art. Summary of the invention

[0005] The object of the present invention is to provide a robot forearm and a robot arm, so as to improve the concentricity of the robot forearm and reduce the axial installation space.

[0006] To achieve the above object, the technical solution of the present invention is as follows: In a first aspect, a robot forearm has a wrist joint axis and an elbow joint axis, comprising: The housing comprises an integrally formed support portion and a main body portion, wherein the main body portion horizontally extends in a radial direction close to the wrist joint axis to form the support portion, the support portion and the main body portion enclose a receiving space, and the support portion has a first pressing end; A wrist pulley is arranged in the accommodation space and is coaxial with the wrist joint axis, the wrist pulley and the housing form an installation space, the wrist pulley comprises an integrally formed shaft portion and a pulley portion, and a second pressing end is formed at the connection between the shaft portion and the pulley portion; A bearing is arranged in the installation space, the bearing having an inner ring and an outer ring, the inner ring abuts against the wrist pulley, and the outer ring abuts against the housing; A pressing assembly, coaxial with the wrist joint axis, comprising a first pressing piece and a second pressing piece; The first pressing piece and the first pressing end form an axial constraint on the outer ring of the bearing, and the second pressing piece and the second pressing end form an axial constraint on the inner ring of the bearing, so that the wrist pulley can rotate relative to the housing through the bearing.

[0007] The beneficial effect of a robot forearm provided by the present invention is that: by designing the main body and the support part as one-piece, the wrist pulley is integrated with the mandrel and the pulley, which effectively avoids the cumulative deviation of concentricity caused by assembly in the split structure of the bearing seat and the shell, the wrist pulley and the mandrel in the prior art, significantly reduces the tolerance and improves the concentricity, thereby enhancing the transmission accuracy and stability of the robot arm. The coordinated design of the bearing and the press-fit assembly realizes the compact rotation connection between the wrist pulley and the shell. The inner ring of the bearing is locked with the wrist pulley by the second press-fit piece, and the outer ring is fixed with the shell by the first press-fit piece, forming a double axial constraint, which not only ensures the rotation flexibility but also reduces the number of parts. At the same time, the bearing is fully integrated in the installation space enclosed by the shell and the wrist pulley, optimizing the axial layout, making the forearm structure more compact, and is particularly suitable for robot arm application scenarios with high requirements for space utilization. In addition, compared with the indirect contact between the bearing and the shell through the bearing seat in the prior art, the present invention cooperates with the press-fit assembly to directly contact the bearing and the shell, further improving the transmission accuracy.

[0008] Furthermore, the second pressing part includes an annular support seat, which is fixedly connected to the wrist pulley, and the circumferential outer edge of the annular support seat has an annular protrusion, and the support part is correspondingly provided with an annular positioning groove, and the annular protrusion is rotatably embedded in the positioning groove.

[0009] By adopting the above technical solution, the bearing in the installation space can be sealed.

[0010] Furthermore, the first pressing end is provided with an annular groove inwardly around the wrist joint axis, the first pressing part has a first clamping surface matching with the annular groove, and the annular groove and the first clamping surface form a first fixing cavity for fixing the outer ring.

[0011] By adopting the above technical solution, the outer ring of the bearing can be fixed through the formed first fixing cavity, and the first pressing end is a structure provided by the shell, avoiding an external split structure and increasing the concentricity of the overall structure.

[0012] Furthermore, the second pressing end is provided with a stepped groove, and the second pressing piece is formed with an annular flange in the direction close to the wrist joint axis, and the annular flange has a second clamping surface that cooperates with the stepped groove, and the stepped groove and the second clamping surface form a second fixing cavity for fixing the inner ring.

[0013] By adopting the above technical solution, the inner ring of the bearing can be fixed through the formed second fixing cavity, and the second pressing end is a self-contained structure of the wrist pulley, avoiding an external split structure and increasing the concentricity of the overall structure.

[0014] Furthermore, the pulley portion is further provided with a gear portion in a direction away from the wrist pulley axis, the stepped groove is provided on the shaft portion, and a sunken accommodation area is provided on the upper end surface of the pulley portion, and the sunken accommodation area is used to accommodate the first pressing member.

[0015] By adopting the above technical solution, the sunken accommodation area is used to accommodate the first pressing piece. By setting the sunken accommodation area, the internal space of the shell is saved and the weight of the elbow pulley is reduced.

[0016] Furthermore, the pulley portion is an annular structure, and a stress-reducing contour with a continuous arc transition is provided on the circumferential bottom edge thereof.

[0017] By adopting the above solution, it is avoided that the pipeline is worn due to friction between the pipeline and the inner side of the pulley when passing through the bottom of the wrist pulley.

[0018] Furthermore, an escape area is provided inside the pulley portion, and the escape area is communicated with the sinking accommodating area.

[0019] By adopting the above solution, weight reduction is facilitated.

[0020] Furthermore, it also includes a driving source, an elbow pulley and a transmission belt. The driving source is fixedly connected to the shell and can drive the shell to rotate in a horizontal direction. The elbow pulley and the wrist pulley are respectively arranged on opposite sides of the shell and are diagonally distributed. The wrist pulley and the elbow pulley are connected through the transmission belt.

[0021] By adopting the above scheme, when the shell rotates, the center of the wrist pulley revolves around the axis of the elbow joint, while the elbow pulley remains stationary. A dynamic phase difference is formed between the two pulleys. The transmission belt is tensioned between the two pulleys through the preload force to form a closed-loop transmission path. When the wrist pulley produces circumferential displacement as the shell rotates, the meshing contact point of the transmission belt migrates, the fixed position of the elbow pulley causes the transmission belt to be stretched on the inlet side, and the displacement of the wrist pulley causes the transmission belt to be compressed on the outlet side: the elastic deformation of the transmission belt converts the circumferential displacement into the misalignment of the meshing tooth surface, forcing the wrist pulley to produce adaptive rotation around its own wrist joint axis. By adopting the above scheme, the adaptive rotation of the wrist pulley is realized.

[0022] Furthermore, an input port and an output port for pipelines to pass through are respectively provided at both ends of the shell, and the input port and the output port are respectively provided on opposite sides of the shell and are diagonally distributed; a first hole and a second hole are provided at the bottom of the shell, and a Y-shaped pipe groove is provided on the bottom wall of the shell, and the Y-shaped pipe groove has two diversion ports and a guide port, the two diversion ports are respectively connected to the first hole and the second hole, and the guide port is connected to the output port.

[0023] By adopting the above scheme, the formed circuits and pipeline channels are isolated from each other, avoiding interference between circuit pipelines and gas pipelines, and avoiding interference between circuit pipelines and gas pipelines and the shell, thereby extending the service life of the circuits and pipelines and avoiding wear during use.

[0024] Furthermore, a diverter bracket is arranged in the shell, and the diverter bracket is arranged across the area where the input port is located. The diverter bracket includes a top bending section, a bottom horizontal reverse bending section and a vertical connecting section connecting the two. Notches are symmetrically opened on both sides of the middle of the vertical connecting section, and the notches are used to fix the pipeline.

[0025] By adopting the above solution, the notch is a preset pipeline fixing position, and the pipeline and the diverter bracket are tied together at the notch by a cable tie. The notch can prevent the cable tie from shifting in position, thereby increasing the fixing stability of the pipeline.

[0026] In a second aspect, a robotic arm comprises the above-mentioned robotic forearm, having a shoulder joint axis, and further comprising: an upper arm rotatable around the shoulder axis, and an end effector rotatably connected to the forearm around the wrist axis. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 An overall cross-sectional view of the forearm of the manipulator according to an embodiment of the present invention; Figure 2 A partial cross-sectional view of a forearm of a manipulator according to an embodiment of the present invention; Figure 3This is a cross-sectional view of the structure of the wrist pulley according to an embodiment of the present invention; Figure 4 It is a schematic diagram of the structure of a housing according to an embodiment of the present invention; Figure 5 Schematic diagram of the overall structure of the robotic arm according to an embodiment of the present invention.

[0028] Reference numerals: 1, housing; 101, wrist joint axis; 102, elbow joint axis; 103, upper cover plate; 104, lower cover plate; 11, support portion; 111, first pressing end; 112, positioning groove; 113, annular clamping groove; 114, annular receiving groove; 12, main body; 13, input port; 14, output port; 15, first hole; 16, second hole; 17, Y-shaped pipe groove; 18, shunt bracket; 181, notch; 2, wrist pulley; 21 , shaft; 22, pulley portion; 221, second pressing end; 222, stepped groove; 23, gear tooth portion; 24, sinking accommodating area; 25, avoidance area; 3, bearing; 4, pressing assembly; 41, first pressing part; 411, first clamping surface; 42, second pressing part; 421, annular protrusion; 422, annular flange; 43, first fixed cavity; 44, second fixed cavity; 5, driving source; 6, elbow pulley; 7, transmission belt; 8, upper arm; 9, end effector. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Unless otherwise defined, the technical terms or scientific terms used herein should be understood by people with general skills in the field to which the present invention belongs. "Including" and similar words used in this article mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects.

[0030] The following is combined with Figure 1 - Attachment Figure 5 , the specific implementation modes of the present invention are further described in detail.

[0031] Reference Figure 1-Figure 4 In the first aspect, in some embodiments of the present invention, the left and right ends of the manipulator forearm respectively have a wrist joint axis 101 and an elbow joint axis 102. The manipulator forearm includes a housing 1, a wrist pulley 2, an internal bearing 3 and a press-fit assembly 4.

[0032] Reference Figure 1 and Figure 2 In some embodiments of the present invention, the housing 1 includes a support portion 11 and a main body 12. The main body 12 extends in a radial horizontal direction close to the wrist joint axis and is integrally formed to form the support portion 11. The support portion 11 and the main body 12 are surrounded to form a receiving space, and the receiving space is used to receive the wrist pulley 2. By integrally forming the main body 12 and the support portion 11, the cumulative deviation of concentricity caused by assembly in the split structure of the bearing 3 seat and the housing 1 in the prior art is effectively avoided, the tolerance is significantly reduced and the concentricity is improved, thereby enhancing the transmission accuracy and stability of the robot arm.

[0033] In some specific embodiments of the present invention, the shell 1 also has an upper opening portion and a lower opening portion, and the shell 1 includes an upper cover plate 103 and a lower cover plate 104. The upper cover plate 103 and the lower cover plate 104 are respectively detachably connected to the upper opening portion and the lower opening portion of the shell 1 for closing or opening the shell 1, which is convenient for installation and maintenance.

[0034] In some embodiments of the present invention, the support portion 11 has a first pressing end 111 in a direction close to the wrist joint axis. The wrist pulley 2 is coaxially arranged at the wrist joint axis, and the wrist pulley 2 and the housing 1 form an installation space, and the installation space is used to accommodate the bearing 3. The wrist pulley 2 includes a shaft portion 21 and a pulley portion 22 that are integrally formed in sequence along a direction away from the axis of the wrist pulley 2. The wrist pulley 2 is integrally formed to integrate the shaft portion 21 and the pulley portion 22, thereby reducing the cumulative deviation of concentricity caused by assembling the spindle and the wrist pulley 2, thereby enhancing the transmission accuracy and stability of the robot arm.

[0035] Reference Figure 3 In some embodiments of the present invention, the wrist pulley 2 includes a shaft portion 21 and a pulley portion 22 which are integrally formed in sequence along a direction away from the axis of the wrist pulley 2. The wrist pulley 2 is rotatably connected to the housing 1 via a bearing 3. The wrist pulley 2 has a second pressing end 221, and the second pressing end 221 is located above the shaft portion 21 of the wrist pulley 2. The bearing 3 is arranged in the installation space, and the bearing 3 is a roller bearing 3 having an inner ring and an outer ring. Rollers and retaining frames are arranged between the inner ring and the outer ring, and the inner ring and the outer ring are sealed, because even extremely small dust can have an adverse effect on the bearing 3. Therefore, the sealing treatment keeps the bearing 3 clean, so that dust does not invade the bearing 3 and affect its transmission accuracy.

[0036] In some embodiments of the present invention, the press-fit assembly 4 is coaxial with the wrist joint axis, and includes a first press-fit piece 41 and a second press-fit piece 42. The first press-fit piece 41 and the first press-fit end 111 form an axial constraint on the outer ring of the bearing 3, and the second press-fit piece 42 and the second press-fit end 221 form an axial constraint on the inner ring of the bearing 3, so that the wrist pulley 2 can rotate relative to the housing 1 through the bearing 3. Specifically, the first press-fit piece 41 can cooperate with the first press-fit end 111 to fasten the outer ring and the housing 1, and the second press-fit piece 42 cooperates with the second press-fit end 221 to fasten the inner ring and the wrist pulley 2. The coordinated design of the bearing 3 and the press-fit assembly 4 realizes a compact rotation connection between the wrist pulley 2 and the housing 1. The inner ring of the bearing 3 is locked with the wrist pulley 2 by the second press-fit piece 42, and the outer ring is fixed to the housing 1 by means of the first press-fit piece 41, forming a double axial constraint, which not only ensures the rotation flexibility but also reduces the number of parts. At the same time, the bearing 3 is fully integrated in the installation space enclosed by the housing 1 and the wrist pulley 2, optimizing the axial layout and making the forearm structure more compact, which is particularly suitable for robot arm application scenarios with high requirements for space utilization. In addition, compared with the indirect contact between the bearing 3 and the housing 1 through the bearing 3 seat in the prior art, this embodiment cooperates with the press-fit assembly 4 to make the bearing 3 and the housing 1 directly contact, further improving the transmission accuracy.

[0037] Reference Figure 1 and Figure 2 In some specific embodiments of the present invention, the first pressing piece 41 is an annular gland, which is detachably connected to the bottom of the support portion 11. Specifically, the gland and the support portion 11 are provided with embedded threaded holes, and the gland and the support portion 11 are fastened by bolts. The second pressing piece 42 includes an annular support seat, which is fixedly connected to the wrist pulley 2, and the annular support seat has an annular protrusion 421 in the direction away from the wrist joint axis. An annular positioning groove 112 is provided above the support portion 11, and the annular protrusion 421 is rotatably embedded in the annular positioning groove 112. An annular sealing space with a U-shaped cross section is formed between the annular support seat and the support portion 11. The cooperation of the positioning groove 112 and the annular protrusion 421 can not only meet the rotation cooperation between the annular support seat and the housing 1, but also can seal and protect the bearing 3 in the installation space, and prevent external dust from entering the bearing 3 from the gap between the housing 1 and the wrist pulley 2, thereby affecting the transmission accuracy of the bearing 3.

[0038] In some specific embodiments of the present invention, the first pressing end 111 faces the inside of the housing 1 and is provided with an annular groove 113 inwardly around the wrist joint axis 101. The first pressing piece 41 has a first pressing surface 411 that matches the annular groove 113, and the annular groove 113 and the first pressing surface 411 form a first fixing cavity 43 for fixing the outer ring. The second pressing end 221 is provided with a stepped groove 222, and the second pressing piece 42 is provided with an annular flange 422 in the direction close to the wrist joint axis, and the annular flange 422 has a second pressing surface that matches the stepped groove 222, and the stepped groove 222 and the second pressing surface form a second fixing cavity 44 for fixing the inner ring.

[0039] In some specific embodiments of the present invention, the pulley portion 22 is further provided with a gear portion 23 in a direction away from the axis of the wrist pulley 2. A clamping edge is provided at the bottom edge of the gear portion 23, and the clamping edge is used to limit the transmission belt 7 to prevent deviation. The clamping block stepped groove 222 is provided above the shaft portion 21, and a sinking accommodation area 24 is provided on the upper end surface of the pulley portion 22, and the sinking accommodation area 24 is used to accommodate the first pressing member 41. By providing the sinking accommodation area 24, the internal space of the housing 1 is saved, and the weight of the elbow pulley 6 is reduced.

[0040] In existing designs, the circumferential bottom edge of the pulley often adopts a right-angle or sharp-edge structure, which leads to the concentration of hard extrusion pressure in the contact area with the wheel body when the pipeline passes through the pulley. Under long-term reciprocating motion, the outer surface of the pipeline is prone to scratches or microcracks due to the scraping of the edge corners, and the high-frequency friction at the contact point will accelerate material fatigue. Especially when the pipeline is radially offset due to the movement of the equipment, the traditional pulley lacks a guiding and buffering contact surface structure, which can easily cause abnormal bending or local deformation of the pipeline, increasing the risk of interface wear. This structural defect will also cause the temperature of the contact part between the pipeline and the pulley to rise abnormally, further shortening the service life of the pipeline.

[0041] To this end, in some specific embodiments of the present invention, an annular receiving groove 114 is provided at the bottom right side of the support portion 11, and the shaft portion 21 of the wrist pulley 2 is engaged with the annular receiving groove 114 of the support portion 11, and the pulley portion 22 is an annular structure, and its circumferential bottom edge is provided with a stress-reducing profile with a continuous arc transition. Specifically, the interior of the pulley portion 22 is hollow, and the area near the hollow is rounded to prevent wear of the pipeline passing through, and also to reduce the weight of the elbow pulley 6.

[0042] In some specific embodiments of the present invention, a relief area 25 is provided inside the pulley portion 22, and the relief area 25 is interconnected with the sinking accommodation area 24. In some embodiments of the present invention, the relief area 25 is designed as a hole, and the relief area 25 can reduce the weight of the pulley.

[0043] In some embodiments of the present invention, the manipulator forearm further comprises a driving source 5, an elbow pulley 6 and a transmission belt. The driving source 5 is fixedly connected to the housing 1, and can drive the housing 1 to rotate around the elbow joint axis in the horizontal direction.

[0044] Working principle of the manipulator forearm: The driving source 5 drives the shell 1 to rotate around the axis of the elbow joint in the horizontal direction. The shell 1 serves as the bearing body, and its rotation will inevitably synchronously drive the wrist pulley 2 thereon to produce circumferential displacement. Specifically, a connecting bearing 3 is provided between the elbow pulley 6 and the shell 1. The elbow pulley 6 is fixed to the main body below (not shown in the figure), and it and the main body constitute a stationary reference system. The wrist pulley 2 rotates with the shell 1 to form a dynamic reference system. When the shell 1 rotates, the center of the wrist pulley 2 revolves around the axis of the elbow joint, while the elbow pulley 6 remains stationary. A dynamic phase difference is formed between the two pulleys. The transmission belt 7 is tensioned between the two pulleys through the preload force to form a closed-loop transmission path. When the wrist pulley 2 rotates with the housing 1 to produce circumferential displacement, the meshing contact point of the transmission belt 7 moves, the fixed position of the elbow pulley 6 causes the transmission belt 7 to be stretched on the inlet side, and the displacement of the wrist pulley 2 causes the transmission belt 7 to be compressed on the outlet side: the elastic deformation of the transmission belt 7 converts the circumferential displacement into the misalignment of the meshing tooth surface, forcing the wrist pulley 2 to produce adaptive rotation around its own wrist joint axis to maintain the tension balance of the transmission belt 7. The wrist pulley 2 is fixedly connected to a support seat, and the support seat is connected to an end effector 9 (not shown in the figure). When the support seat undergoes adaptive rotation, the end effector 9 will rotate.

[0045] In the prior art, the internal pipeline layout of the robotic arm often lacks an effective diversion and isolation structure, which leads to cross-entanglement or frictional contact of pipelines with different functions in a limited space. In long-term operation, it may cause wear risks due to mechanical vibration or motion interference. At the same time, the fixing method mostly relies on open binding, which has the problem of insufficient positioning stability and is prone to pipeline displacement or loosening due to external forces. In addition, the structure needs to be disassembled as a whole for maintenance, which is cumbersome and difficult to quickly replace a single pipeline, affecting the efficiency of equipment maintenance. The lack of a dedicated guide channel between the pipeline and the shell 1 is also prone to local stress concentration, further exacerbating the problem of pipeline aging.

[0046] Reference Figure 4To this end, in some embodiments of the present invention, an input port 13 and an output port 14 for pipeline input and output are respectively provided at both ends of the housing 1, and the input port 13 and the output port 14 are respectively provided on opposite sides of the housing 1 and are diagonally distributed. The wrist pulley 2 and the elbow pulley 6 are hollowed out to cooperate with the input port 13 and the output port 14. A first hole 15 and a second hole 16 are provided at the bottom of the housing 1, and a Y-shaped pipe groove 17 is provided inside the housing 1. The Y-shaped pipe groove 17 has a guide port and two diversion ports. The first hole 15 and the second hole 16 are connected to the diversion ports respectively, and the guide port is connected to the output port 14. A diversion bracket 18 is provided inside the housing 1, and the diversion bracket 18 is arranged across the area where the input port 13 is located. The diversion bracket 18 includes a top bending section, a bottom horizontal reverse bending section, and a vertical connecting section connecting the two. Notches 181 are symmetrically provided on both sides of the middle of the vertical connecting section, and the notches 181 are used to fix the pipeline.

[0047] Specifically, after the circuit pipeline and the gas pipeline enter the interior of the shell 1 through the input port 13, they are shunted and isolated by the shunt bracket 18. Specifically, the circuit is sequentially led out through the first hole 15, a shunt port of the Y-shaped tube groove 17, the guide port and the output port 14, and the gas circuit is sequentially led out through the second hole 16, another shunt port of the Y-shaped tube groove 17, the guide port and the output port 14, forming a shunt isolation structure based on the Y-shaped tube groove 17; the two shunt ports of the Y-shaped tube groove 17 are respectively connected to the first hole 15 and the second hole 16, and the guide port is connected to the output port 14, forming a Y-shaped pipeline channel set at the bottom. A removable lower cover plate is provided at the bottom of the shell 1 corresponding to the pipeline channel position to facilitate maintenance operations. The input port 13 and the output port 14 adopt a modular plug-in connector design to enhance the convenience of maintenance. The notches 181 on both sides of the waist of the shunt bracket 18 are used as preset pipeline positioning structures. The pipeline and the bracket are tied and fixed at the notch 181 by a cable tie. The notch 181 structure can effectively prevent the cable tie from shifting. Through the above-mentioned arrangement of circuit pipelines and gas pipelines, the formed circuits and pipeline channels are isolated from each other, avoiding interference between the circuit pipelines and the gas pipelines, and avoiding interference between the circuit pipelines and the gas pipelines and the shell 1, thereby extending the service life of the circuits and pipelines and avoiding wear during use.

[0048] Second, refer to Figure 5 A robotic arm comprises the above-mentioned robotic forearm, having a shoulder joint axis, and further comprising: an upper arm 8 rotatable around the shoulder axis, and an end effector 9 rotatably connected to the forearm around the wrist axis.

[0049] Although the embodiments of the present invention are described in detail above, it is obvious to those skilled in the art that various modifications and variations can be made to these embodiments. However, it should be understood that such modifications and variations are within the scope and spirit of the present invention as described in the claims. Moreover, the present invention described herein may have other embodiments and may be implemented or realized in a variety of ways.

Claims

1. A robot forearm, comprising a wrist joint axis (101) and an elbow joint axis (102), characterized in that: include: The housing (1) comprises an integrally formed support portion (11) and a main body portion (12), wherein the main body portion (12) extends horizontally in a radial direction close to the wrist joint axis (101) to form the support portion (11), the support portion (11) and the main body portion (12) enclose a receiving space, and the support portion (11) has a first pressing end (111); A wrist pulley (2) is arranged in the accommodation space and is coaxial with the wrist joint axis (101); the wrist pulley (2) and the housing (1) form an installation space; the wrist pulley (2) comprises an integrally formed shaft portion (21) and a pulley portion (22); a second pressed end (221) is formed at the connection between the shaft portion (21) and the pulley portion (22); A bearing (3) is arranged in the installation space, the bearing (3) comprising an inner ring and an outer ring, the inner ring abuts against the wrist pulley (2), and the outer ring abuts against the housing (1); A pressing assembly (4), coaxial with the wrist joint axis (101), comprising a first pressing piece (41) and a second pressing piece (42); The first pressing piece (41) and the first pressing end (111) form an axial constraint on the outer ring of the bearing (3), and the second pressing piece (42) and the second pressing end (221) form an axial constraint on the inner ring of the bearing (3), so that the wrist pulley (2) and the housing (1) can rotate relative to each other through the bearing (3).

2. A robot forearm according to claim 1, characterized in that: The second pressing member (42) comprises an annular support seat, the annular support seat is fixedly connected to the wrist pulley (2), the circumferential outer edge of the annular support seat has an annular protrusion (421), the support portion (11) is correspondingly provided with an annular positioning groove (112), and the annular protrusion (421) is rotatably embedded in the positioning groove (112).

3. A robot forearm according to claim 1, characterized in that: The first pressing end (111) is provided with an annular groove (113) inwardly around the wrist joint axis, the first pressing piece (41) has a first clamping surface (411) that cooperates with the annular groove (113), and the annular groove (113) and the first clamping surface (411) form a first fixing cavity (43) for fixing the outer ring.

4. A robot forearm according to claim 1, characterized in that: The second pressing end (221) is provided with a stepped groove (222), and the second pressing piece (42) is formed with an annular flange (422) in a direction close to the wrist joint axis (101), and the annular flange (422) has a second clamping surface that cooperates with the stepped groove (222), and the stepped groove (222) and the second clamping surface form a second fixing cavity (44) for fixing the inner ring.

5. A robot forearm according to claim 4, characterized in that: The pulley portion (22) is further provided with a gear tooth portion (23) along a direction away from the axis of the wrist pulley (2); the stepped groove (222) is provided on the shaft portion (21); and a sunken accommodation area (24) is provided on the upper end surface of the pulley portion (22); the sunken accommodation area (24) is used to accommodate the first pressing member (41).

6. A robot forearm according to claim 1, characterized in that: The pulley portion (22) is an annular structure, and a stress-reducing contour with a continuous arc transition is provided on the circumferential bottom edge thereof.

7. A robot forearm according to claim 5, characterized in that: An escape area (25) is provided inside the pulley portion (22), and the escape area (25) is communicated with the sinking accommodation area (24).

8. The robot forearm according to claim 1, characterized in that: It also comprises a driving source (5), an elbow pulley (6) and a transmission belt (7); the driving source (5) is fixedly connected to the housing (1) and can drive the housing (1) to rotate in a horizontal direction; the elbow pulley (6) and the wrist pulley (2) are respectively arranged on opposite sides of the housing (1) and are diagonally distributed; the wrist pulley (2) and the elbow pulley (6) are connected in transmission via the transmission belt (7).

9. The robot forearm according to claim 1, characterized in that: An input port (13) and an output port (14) for pipelines to pass through are respectively provided at both ends of the shell (1), and the input port (13) and the output port (14) are respectively provided on opposite sides of the shell (1) and are diagonally distributed; a first hole (15) and a second hole (16) are provided at the bottom of the shell (1), and a Y-shaped pipe groove (17) is provided on the bottom wall of the shell (1), and the Y-shaped pipe groove (17) has two flow diversion ports and a guide port, the two flow diversion ports are respectively connected to the first hole (15) and the second hole (16), and the guide port is connected to the output port (14).

10. A robot forearm according to claim 9, characterized in that: A flow splitter bracket (18) is arranged in the shell (1), and the flow splitter bracket (18) is arranged across the area where the input port is located. The flow splitter bracket (18) comprises a top bending section, a bottom horizontal reverse bending section, and a vertical connecting section connecting the two. Notches (181) are symmetrically provided on both sides of the middle of the vertical connecting section, and the notches (181) are used to fix pipelines.

11. A robotic arm, comprising a robotic forearm as claimed in any one of claims 1 to 10, having a shoulder joint axis, characterized in that: It also includes: an upper arm (8) rotatable about the shoulder joint axis, and an end effector (9) rotatably connected to the forearm about the wrist joint axis (101).

Images