Mechanical arm joint protecting cover, mechanical arm and robot

Abstract

The utility model discloses a mechanical arm joint protecting cover, a mechanical arm and a robot, the mechanical arm joint protecting cover comprises two same arc-shaped protecting cover shells, the two ends of the two protecting cover shells can be oppositely connected to form a complete circular shell, and after the two ends of a mechanical arm joint are connected with one ends of connecting rods correspondingly, the two ends of the mechanical arm joint are connected with the other ends of the connecting rods correspondingly; the two protective cover shells can wrap and cover the mechanical joint, at the moment, the positioning pins on the protective cover shells can be embedded into the grooves of the mechanical joint so as to limit the movement of the mechanical arm joint in the axial direction, the gaskets are further arranged in the protective cover shells so as to clamp the mechanical arm joint, and through the design, the mechanical arm joint can be clamped through the gaskets. According to the mechanical arm joint protecting cover, the mechanical arm joint protecting cover is located on the outer side of the mechanical arm joint, the two protecting cover shells are detachably connected, connection between the mechanical arm joint and the connecting rod is convenient to operate, meanwhile, maintenance of the mechanical arm joint is also convenient, and reliability is improved.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a robotic arm joint cover, a robotic arm and a robot. Background Art

[0002] With the continuous development of social science and technology, robotic arms have been widely used in various fields to assist or replace humans in completing work and improve work efficiency and quality. The degrees of freedom of movement of the robotic arm determine the number of joints of the robotic arm. At both ends of the joint are two connecting rods that move relative to each other. In order to prevent the robotic arm from being affected by the environment during operation, especially when debris falls into the connecting rod and causes interference or jamming, a joint cover needs to be introduced between the two connecting rods.

[0003] In the process of implementing the utility model, the inventor found that there are at least the following technical problems in the prior art:

[0004] At present, most common robotic arms on the market have joints built into the connecting rods to simplify the protective covers, and the protective covers are designed to be complete rings. This built-in joint and ring-shaped design will cause problems such as inconvenient installation of the robotic arm's connecting rods and inconvenient maintenance of the robotic arm's joints. Utility Model Content

[0005] In view of this, the present application provides a robotic arm joint cover, a robotic arm and a robot, which at least solve the problems of inconvenient installation of the connecting rod of the robotic arm and inconvenient maintenance of the robotic arm joints.

[0006] To achieve the above objectives, this application provides the following technical solutions:

[0007] In a first aspect, an embodiment of the present application provides a mechanical arm joint cover, which is used for a mechanical arm having a connecting rod and a mechanical arm joint, wherein the two ends of the mechanical arm joint are respectively sleeved in the two connecting rods to achieve connection, and a groove is provided on the mechanical arm joint, including:

[0008] Two protective cover shells, used to protect the mechanical arm joints, the protective cover shells are arc-shaped, the two protective cover shells are identical, two ends of one protective cover shell are connected to two ends of the other protective cover shell by connecting pieces, and are sleeved on the outer peripheral side of the mechanical arm joints;

[0009] A convex strip is arranged on the inner side of the protective cover shell, and the convex strip has a first installation groove and a second installation groove, wherein a positioning pin is arranged in the first installation groove, and a gasket is arranged in the second installation groove.

[0010] In a feasible embodiment, two second mounting grooves are provided, and the two second mounting grooves are symmetrically arranged on both sides of the first mounting groove.

[0011] In a feasible implementation, the gasket is made of silicone.

[0012] In a feasible implementation, the inner diameter of the circle formed by the four gaskets is interference fit with the outer diameter of the robot arm joint.

[0013] In a feasible implementation, a threaded hole is provided at one end of the protective cover housing, and a countersunk hole is provided at the other end, wherein the threaded hole matches the model of the countersunk hole.

[0014] In a feasible implementation, the outer diameter of the circle formed by the two protective cover shells is equal to the outer diameter of the connecting rod.

[0015] In a feasible implementation, when the two protective cover shells are sleeved on the mechanical arm joints, the positioning pin is embedded in the groove.

[0016] In the second aspect, an embodiment of the present application also provides a robotic arm, including a connecting rod and a robotic arm joint, wherein the two ends of the robotic arm joint are respectively mounted in the two connecting rods to achieve connection, and a groove is provided on the robotic arm joint, which includes a robotic arm joint cover as described in the above-mentioned first aspect embodiment.

[0017] In a feasible embodiment, the groove is arranged around the outer peripheral side of the robot arm joint.

[0018] In a third aspect, an embodiment of the present application further provides a robot, which uses a robotic arm as provided in the embodiment of the second aspect described above.

[0019] The robot joint cover, robot arm and robot provided by the embodiments of the present application have at least the following beneficial effects:

[0020] The robotic arm joint in the embodiment of the present application includes two identical arc-shaped protective cover shells, and the two ends of the two protective cover shells can be relatively connected to form a complete circular shell. When the two ends of the robotic arm joint are respectively connected to one end of the connecting rod, the two protective cover shells can wrap and cover the mechanical joint. At this time, the positioning pin on the protective cover shell can be embedded in the groove of the mechanical joint, thereby limiting the axial movement of the robotic arm joint, and a gasket is also arranged in the protective cover shell to clamp the robotic arm joint. This design makes the robotic arm joint cover located on the outside of the robotic arm joint, and the two protective cover shells are detachably connected, which is convenient for operating the connection between the robotic arm joint and the connecting rod, and also convenient for the maintenance of the robotic arm joint, thereby improving reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solution of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0022] Figure 1 It is a schematic diagram of the assembly structure of a robot arm in the prior art;

[0023] Figure 2 It is a schematic diagram of the cross-sectional structure of a mechanical arm in the prior art;

[0024] Figure 3 It is a schematic diagram of the structure of a part of the mechanical arm provided in an embodiment of the present application;

[0025] Figure 4 is a schematic diagram of an exploded structure of a protective cover shell provided in another embodiment of the present application;

[0026] Figure 5 is a schematic diagram of the structure of a mechanical arm joint cover provided by another embodiment of the present application;

[0027] Figure 6 yes Figure 3 The exploded structural diagram of the robotic arm shown;

[0028] Figure 7 is a schematic diagram of the cross-sectional structure of the protective cover shell provided in an embodiment of the present application;

[0029] Figure 8 is a schematic cross-sectional structure diagram of a portion of a robotic arm provided in an embodiment of the present application;

[0030] Fig. 9 It is a structural schematic diagram of a robotic arm provided in yet another embodiment of the present application.

[0031] The specific reference numerals are as follows:

[0032] Robotic arm 1, connecting rod 2, robot arm joint 3, groove 301, protective cover shell 4, convex strip 5, first mounting groove 6, second mounting groove 7, locating pin 8, gasket 9, threaded hole 10, countersunk hole 11, screw 12, robot arm 1', connecting rod 2', robot arm joint 3', protective cover shell 4'. DETAILED DESCRIPTION

[0033] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0034] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0035] With the continuous development of social science and technology, robotic arms have been widely used in various fields to assist or replace humans in completing work and improve work efficiency and quality. The degrees of freedom of movement of the robotic arm determine the number of joints of the robotic arm. At both ends of the joint are two connecting rods that move relative to each other. In order to prevent the robotic arm from being affected by the environment during operation, especially when debris falls into the connecting rod and causes interference or jamming, a joint cover needs to be introduced between the two connecting rods.

[0036] At present, most common robotic arms on the market have joints built into the connecting rods to simplify the protective covers, and the protective covers are designed to be complete rings. This built-in joint and ring-shaped design will cause problems such as inconvenient installation of the robotic arm's connecting rods and inconvenient maintenance of the robotic arm's joints.

[0037] Specifically, please refer to Figure 1 and Figure 2 ,in, Figure 1 is a schematic diagram of the assembly structure of a robot arm in the prior art, Figure 2Schematic diagram of the cross-sectional structure of a robot arm in the prior art. As shown in the figure, in the current robot arm 1', the robot arm joint 3' is built into two adjacent connecting rods 2', so as to realize the connection between the two adjacent connecting rods 2', and a protective cover shell 4' is provided at the corner of the connecting rod 2', and the protective cover shell 4' is used to protect the connecting rod 2', and prevent the robot arm 1' from being affected by the environment during operation, especially from debris falling into the connecting rod 2' causing interference or jamming. Figure 2 As shown, the robot arm joint in the prior art is completely wrapped in the connecting rod, which increases the difficulty of installing the connecting rod and the robot arm joint. At the same time, when the robot arm joint fails, it is also difficult to maintain the robot arm joint.

[0038] In order to solve the problems of the prior art, the applicant has improved the structure of the robot arm joint cover, and the embodiments of the present application are further described below.

[0039] In order to better understand this application, Figures 3 to 9 The embodiments of the present application are described.

[0040] First, please refer to Figure 3-Figure 8 The embodiment of the present application provides a mechanical arm joint cover, which is used for a mechanical arm 1 having a connecting rod 2 and a mechanical arm joint 3. The two ends of the mechanical arm joint 3 are respectively sleeved in the two connecting rods 2 to achieve connection. The mechanical arm joint 3 is provided with a groove 301. The mechanical arm joint cover in this embodiment includes two identical cover shells 4 for protecting the mechanical arm joint 3, wherein the cover shells 4 are arc-shaped, and the two ends of the two cover shells can be relatively pieced together to form a complete circular shell. The two ends of one cover shell 4 are detachably connected to the two ends of the other cover shell 4 through connecting pieces, and are sleeved on On the peripheral side of the robot arm joint 3, the two detachably connected protective cover shells 4 can realize the rapid wrapping or disassembly of the robot arm joint 3, so as to facilitate the maintenance and installation of the robot arm joint 3. At the same time, in the embodiment of the present application, the two protective cover shells 4 are sleeved on the peripheral side of the robot arm joint 3, that is, only the connecting section of the robot arm joint 3 is located inside the connecting rod 2, and most of the robot arm joint 3 is exposed outside the connecting rod 2. The protective cover composed of the two protective cover shells 4 is used for protection, which can prevent the robot arm 1 from being affected by the environment when working, especially the interference or jamming of the connecting rod 2 caused by the falling of debris.

[0041] For details, please continue to refer to Figure 4A convex strip 5 is arranged on the inner side of the protective cover shell 4, and the convex strip 5 has a first mounting groove 6 and a second mounting groove 7, wherein a positioning pin 8 is arranged in the first mounting groove 6, and the positioning pin 8 can be embedded in the groove 301. Therefore, after the protective cover composed of two protective cover shells 4 is installed on the robot arm joint 3, the positioning pin 8 can be embedded in the groove 301 on the robot arm joint 3, so as to limit the displacement of the robot arm joint 3 along its axial direction. At the same time, a gasket 9 is arranged in the second mounting groove 7, and the two protective cover shells 4 have at least two gaskets 9, which can limit the radial rotation of the protective cover shells 4.

[0042] In some other embodiments of this application, please continue to refer to Figure 4 , Figure 5 as well as Figure 7 The number of the second mounting grooves 7 can be 1, 2, 3, 4 or even more. Preferably, the number of the second mounting grooves 7 is 2, and a gasket 9 is arranged in each second mounting groove 7. Similarly, the first mounting groove 6 is preferably set to 1, and the two second mounting grooves 7 are symmetrically arranged on both sides of the first mounting groove 6. When the two protective cover shells 4 are connected to form a protective cover and wrapped on the robot arm joint 3, the four gaskets 9 can limit the radial rotation of the protective cover shell 4, and the two locating pins 8 can limit the displacement of the robot arm joint 3 along its axial direction. It can be understood that the material of the gasket 9 can be but not limited to silicone, rubber and other materials, and can be selected according to specific circumstances.

[0043] In addition, the inner diameter of the circle formed by the four gaskets 9 has an interference fit with the outer diameter of the robot arm joint 3, that is, the inner diameter of the circle formed by the four gaskets 9 is slightly smaller than the outer diameter of the robot arm joint 3, which increases the clamping force of the two protective cover shells 4 on the robot arm joint 3 and further limits the radial rotation of the protective cover shell 4.

[0044] Please refer to Figure 6 as well as Figure 7 In order to achieve a detachable connection between the two cover shells 4, in some other embodiments of the present application, the cover shell 4 has two end bodies, one end of which is provided with a threaded hole 10, and the other end of the opposite end is provided with a corresponding countersunk hole 11. The model of the threaded hole 10 matches the model of the countersunk hole 11, and the two cover shells 4 are exactly the same, so that one end of one cover shell 4 with the threaded hole 10 is connected to the other end of the other cover shell 4 with the countersunk hole 11, and the connection between the two cover shells 4 can be achieved by screws 12. If the two cover shells 4 need to be disassembled, the screws 12 can be removed. Such a design makes it easy to disassemble the two cover shells 4 at any time when they are installed on the outer peripheral side of the robot arm joint 3 to achieve maintenance of the robot arm joint 3.

[0045] In some other embodiments of the present application, the circular outer diameter of the protective cover formed by the two protective cover shells 4 is the same as the outer diameter of the connecting rod 2, which can ensure that when the two protective cover shells 4 are installed on the robotic arm, the outer diameters of the connecting rod 2 and the protective cover are consistent, thereby improving the appearance of the robotic arm 1. At the same time, it also prevents the two protective cover shells 4 from interfering with the movement of the connecting rod 2 due to their large size when the robotic arm is working.

[0046] In the second aspect, an embodiment of the present application also provides a robotic arm, including a connecting rod and a robotic arm joint, wherein the two ends of the robotic arm joint 3 are respectively mounted in two connecting rods 2 to achieve connection, and a groove 301 is provided on the robotic arm joint 3, which adopts the robotic arm joint cover provided in the first aspect mentioned above.

[0047] The robotic arm in the embodiment of the present application adopts the robotic arm joint cover in the embodiment of the first aspect, and therefore has all the beneficial effects of the above-mentioned robotic arm joint cover, which will not be repeated here.

[0048] Please refer to Figure 6 In order to facilitate the installation of the protective cover shell 4, the groove 301 is arranged around the outer peripheral side of the robot arm joint 3, so that the protective cover shell 4 can be conveniently installed on the robot arm joint 3 at any angle, which greatly improves the convenience of installation.

[0049] In a third aspect, an embodiment of the present application further provides a robot, which uses the robotic arm in the embodiment of the second aspect mentioned above and has all the beneficial effects of the robotic arm mentioned above, which will not be repeated here.

[0050] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprising a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

Claims

1. A mechanical arm joint cover, used for a mechanical arm having a connecting rod (2) and a mechanical arm joint (3), wherein the two ends of the mechanical arm joint (3) are respectively sleeved in two connecting rods (2) to achieve connection, and a groove (301) is provided on the mechanical arm joint (3), characterized in that: include: Two protective cover shells (4) are used to protect the mechanical arm joint (3); the protective cover shells (4) are arc-shaped, the two protective cover shells (4) are identical, two ends of one protective cover shell (4) are detachably connected to two ends of the other protective cover shell (4) through connecting pieces, and are sleeved on the outer peripheral side of the mechanical arm joint (3); A convex strip (5) is arranged on the inner side of the protective cover shell (4), and the convex strip (5) has a first mounting groove (6) and a second mounting groove (7), wherein a positioning pin (8) is arranged in the first mounting groove (6), and the positioning pin (8) can be embedded in the groove (301), and a gasket (9) is arranged in the second mounting groove (7).

2. The mechanical arm joint cover according to claim 1, characterized in that: Two second mounting grooves (7) are provided, and the two second mounting grooves (7) are symmetrically arranged on both sides of the first mounting groove (6).

3. The mechanical arm joint cover according to claim 2, characterized in that: The material of the gasket (9) is silica gel.

4. The mechanical arm joint cover according to claim 2, characterized in that: The inner diameter of the circle formed by the four gaskets (9) is interference fit with the outer diameter of the mechanical arm joint (3).

5. The mechanical arm joint cover according to claim 1, characterized in that: One end of the protective cover shell (4) is provided with a threaded hole (10), and the other end is provided with a countersunk hole (11), wherein the threaded hole (10) and the countersunk hole (11) are connected by a screw (12).

6. The mechanical arm joint cover according to claim 1, characterized in that: The outer diameter of the circle enclosed by the two protective cover shells (4) is equal to the outer diameter of the connecting rod (2).

7. The mechanical arm joint cover according to claim 1, characterized in that: When the two protective cover shells (4) are sleeved on the mechanical arm joint (3), the positioning pin (8) is embedded in the groove (301).

8. A mechanical arm, comprising a connecting rod (2) and a mechanical arm joint (3), wherein two ends of the mechanical arm joint (3) are respectively sleeved in two connecting rods (2) to achieve connection, and a groove (301) is provided on the mechanical arm joint (3), characterized in that: Comprising a mechanical arm joint cover as described in any one of claims 1-7.

9. The mechanical arm according to claim 8, characterized in that: The groove (301) is arranged around the outer peripheral side of the robot arm joint (3).

10. A robot, characterized in that: Use of a robot arm (1) as claimed in any one of claims 8 or 9.

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