Mechanical arm and robot

Abstract

The utility model provides a mechanical arm and a robot, the mechanical arm comprises a shell, and the shell is provided with a mounting position; the brake mechanism is arranged in the shell; the safety assembly is arranged at the mounting position, the safety assembly comprises a control part and an operation part, the operation part is connected with the control part, and the control part controls the brake mechanism to execute safety action when the operation part is operated. The mechanical arm solves the problem that in the prior art, after the mechanical arm is powered off, execution operation is complex.

Description

Technical Field

[0001] The utility model relates to the field of robots, and in particular to a mechanical arm and a robot. Background Art

[0002] When the robot stops moving due to emergency braking or a collision, the robot loses power, causing its mechanical arm and other parts to be unable to move. If the mechanical arm presses on an object or a human body, it is easy to cause an accident. In existing solutions, a brake release switch that controls all joints is usually set on the robot. When in use, press the release switch first to release the brakes of all mechanical arm joints, and then move the mechanical arm that needs to be moved. The above method is complicated to execute, prone to secondary injuries, and the execution is single, and it is impossible to drag a single joint separately. Utility Model Content

[0003] The main purpose of the utility model is to provide a mechanical arm and a robot to solve the problem in the prior art that the mechanical arm is complicated to perform operations after power failure.

[0004] In order to achieve the above-mentioned purpose, according to one aspect of the utility model, a robotic arm is provided, including a shell having a mounting position; a brake mechanism, which is arranged in the shell; and a safety component, which is arranged at the mounting position, and the safety component includes a control part and an operating part, the operating part is connected to the control part, and when the operating part is operated, the control part controls the brake mechanism to perform a safety action.

[0005] Furthermore, the robotic arm also includes an auxiliary power supply, which is electrically connected to the safety component. When the robotic arm loses power and the operating part is operated, the auxiliary power supply supplies power to the control part and the brake mechanism. The control part changes the power supply state of the brake mechanism and causes the brake mechanism to release the brake.

[0006] Furthermore, the safety component also includes an indicator, which is electrically connected to the control component and generates an indication signal under the control of the control component.

[0007] Further, the control member and the operating member are stacked, and the control member is closer to the inside of the housing than the operating member, and the indicating member is located between the operating member and the control member.

[0008] Further, the indication signal comprises a light signal, the operating member has an observation area for transmitting the light signal, and the indication member is located within the range of the observation area.

[0009] Furthermore, the mounting position is a mounting hole, and the operating member is flush with the mounting hole or protrudes from the mounting hole.

[0010] Furthermore, the operating member is an elastic member, and the operating member covers and blocks the mounting hole.

[0011] Furthermore, the safety component also includes a mounting member, which is connected to the inner side of the mounting position, and the circumferential edge of the mounting member is located between the operating member and the housing, and the mounting member presses the operating member at the mounting position.

[0012] Furthermore, the safety component also includes a cover body, which is detachably covered at the installation position and can cover the control part and the operating part.

[0013] According to another aspect of the utility model, a robot is provided, and the robot comprises the above-mentioned mechanical arm.

[0014] By applying the technical solution of the utility model, a safety component is set up so that the operation of the operating part drives the movement of the control part, thereby achieving the purpose of controlling the brake mechanism to perform a safe action. Specifically, the control part can control the action of the brake mechanism, so that the brake mechanism of the robot arm can still perform a safe action under the control of the safety component after power failure. In this way, on the one hand, when power is lost, only the operating part needs to be operated to achieve the safe action of the robot arm, making the operation faster and more convenient, and reducing secondary injuries to personnel, etc. On the other hand, this part of the robot arm can move independently after power failure, thereby achieving targeted release of a certain joint and achieving independent dragging of each joint, thereby improving the operability and safety of the robot arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings constituting part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings:

[0016] Figure 1 A schematic structural diagram of the mechanical arm of the utility model at the installation position is shown.

[0017] The above drawings include the following reference numerals:

[0018] 10. Shell; 20. Safety component; 21. Control component; 22. Operating component; 23. Indicator component; 24. Mounting component; 25. Cover. DETAILED DESCRIPTION

[0019] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present utility model will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0020] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meanings as commonly understood by ordinary technicians in the technical field to which this application belongs.

[0021] In the present invention, unless otherwise specified, the directional words used, such as "up, down, top, bottom", usually refer to the directions shown in the drawings, or to the components themselves in the vertical, perpendicular or gravity directions; similarly, for ease of understanding and description, "inside and outside" refer to the inside and outside relative to the outline of each component itself, but the above-mentioned directional words are not used to limit the present invention.

[0022] In order to solve the problem of complicated operation of the mechanical arm after power failure in the prior art, the utility model provides a mechanical arm and a robot. The robot includes the following mechanical arm.

[0023] like Figure 1 A robotic arm shown includes a shell 10, a brake mechanism and a safety component 20, wherein the shell 10 has a mounting position; the brake mechanism is arranged in the shell 10; the safety component 20 is arranged at the mounting position, and the safety component 20 includes a control member 21 and an operating member 22, wherein the operating member 22 is connected to the control member 21, and when the operating member 22 is operated, the control member 21 controls the brake mechanism to perform a safety action.

[0024] In this embodiment, a safety component 20 is provided so that the operation of the operating member 22 drives the control member 21 to move, thereby achieving the purpose of controlling the brake mechanism to perform a safe action. Specifically, the control member 21 can control the action of the brake mechanism, so that the brake mechanism of the robot arm can still perform a safe action under the control of the safety component 20 after power failure. In this way, on the one hand, when power is lost, only the operating member 22 needs to be operated to achieve the safe action of the robot arm, making the operation faster and more convenient, and reducing the secondary harm to personnel, etc. On the other hand, this part of the robot arm can move independently after power failure, thereby achieving targeted release of a certain joint and achieving independent dragging of each joint, thereby improving the operability and safety of the robot arm.

[0025] In this embodiment, the robot arm also includes an auxiliary power supply, which is electrically connected to the safety component 20. The auxiliary power supply serves to supply power to the components of the robot arm after the robot arm loses power, that is, when the robot arm loses power and the operating member 22 is operated, the auxiliary power supply supplies power to the control member 21 and the brake mechanism, so that the control member 21 can change the power supply state of the brake mechanism, thereby causing the brake mechanism to release the brake. Specifically, when the robot arm loses power, the brake mechanism is in a braking state, and the operator triggers the control member 21 to act through the operating member 22, and the control member 21 controls the auxiliary power supply to supply power to the brake mechanism, thereby releasing the brake mechanism, and the operator can drag the robot arm. Based on this, the safety action of this embodiment is that the brake mechanism releases the brake. Of course, in addition to releasing the brake, the safety action can also be other actions such as the robot arm moving and automatically moving away, as long as the current dangerous state can be relieved.

[0026] Furthermore, the operation member 22 can be used to trigger the control member 21 to operate again, so that the brake mechanism enters the braking state and the braking state of the robot arm is restored.

[0027] It should be noted that the housing 10 is generally provided with multiple joints at the ends of the housing 10, and the housings 10 achieve relative movement through the joints. The safety component 20 of this embodiment mainly controls the movement of the joints at the ends of the housing 10, and mainly controls one or part of the joints, so that the joints at specific positions can be released from the brakes, thereby achieving relative movement between the housings 10. Of course, the safety component 20 can also cooperate with all the joints on the robot arm at the same time to achieve the release of the brakes of all the joints at the same time.

[0028] The control component 21 of this embodiment adopts a control panel with a switch on it. The operating component 22 can adopt components such as buttons, which can be movably arranged relative to the control component 21. In this way, when the brake needs to be released, the person only needs to press the operating component 22 to make the operating component 22 trigger the switch on the control component 21, thereby triggering the control component 21, realizing the action of the control component 21, and then achieving the effect of powering the brake mechanism to release the brake state.

[0029] In the present embodiment, the safety component 20 further includes an indicator 23, which is electrically connected to the control component 21, powered by an auxiliary power supply and generates an indicator signal under the control of the control component 21. Specifically, when the power of the mechanical arm is lost, the brake mechanism is in a braking state, and the indicator 23 displays an indicator signal at this time, thereby prompting the personnel of the current state of the mechanical arm, which is convenient for the personnel to make judgments and also convenient for the personnel to identify the position of the safety component 20, thereby facilitating operation. There are multiple indicator signals in the present embodiment, and different indicator signals can be displayed according to different states of the brake mechanism. When the brake mechanism releases the brake state, the indicator 23 displays another indicator signal different from the brake state, so that the operator can easily distinguish the state of the brake mechanism. In this way, the control component 21 can control the release of the brake mechanism and can also control the state of the indicator 23, thereby integrating the release control of the brake mechanism and the control of the indicator 23 into one, thereby improving the simplicity of the structural design.

[0030] In this embodiment, both the control member 21 and the operating member 22 are sheet-like structures, so the two are stacked, and the control member 21 is closer to the inside of the housing 10 than the operating member 22, which can not only protect the control member 21, but also facilitate the operation of the operating member 22. The indicator 23 is located between the operating member 22 and the control member 21. The indicator 23 of this embodiment is integrated on the control member 21, thereby improving the degree of integration, and on the one hand, the operating member 22 can play a protective supporting role for both the control member 21 and the indicator 23, and on the other hand, it can prevent the control member 21 from blocking the indication signal. Of course, the control member 21 can also be set at a position further inside the housing 10, and the indicator 23 can also be set at a position such as the outer surface of the housing 10.

[0031] Optionally, the indication signal includes a light signal, and the light signal can emit lights of different colors, thereby realizing the transmission of different signals. Since the indicator 23 of the present embodiment is located between the operating member 22 and the control member 21, in order to avoid the operating member 22 blocking the light signal, the present embodiment is provided with an observation area for transmitting the light signal on the operating member 22, and the indicator 23 is located within the range of the observation area. The observation area can be transparent or hollowed out, etc., and the present embodiment preferably adopts a transparent setting, so that, on the one hand, the light signal can be displayed through the observation area, and the operator can find the light signal through the observation area without disassembling or moving the operating member 22, thereby ensuring the convenience, effectiveness and reliability of the signal indication, and on the other hand, the operating member 22 can protect the internal operating member 22 and the indicator 23, and only the operating member 22 is exposed to the housing 10. In addition to lights of different colors, the light signal can also be in the form of flashing, flashing time, etc., or the above-mentioned colors, flashing, flashing time, etc. can be combined. Of course, the indication signal can also use other signals such as sound signals, which can play a warning role and be easy for the operator to find.

[0032] In this embodiment, the mounting position is a mounting hole, and the operating member 22 is flush with the mounting hole or protrudes from the mounting hole. In this embodiment, the operating member 22 is slightly protruded from the surface where the mounting hole is located. In this way, most of the operating member 22, the control member 21, and the indicator member 23 are located inside the housing 10, thereby avoiding interference with other components when the robot arm moves. Of course, the operating member 22 can be flush with the mounting hole, so that the surface of the housing 10 remains flat and beautiful, and the operating member 22 can also protrude more from the mounting hole, so that the indicator light can be emitted to the outside without being blocked by the mounting hole, which is convenient for the operator to find.

[0033] In addition to the above-mentioned mounting holes, the mounting position may also adopt other structural forms such as mounting grooves or mounting protrusions, as long as the safety component 20 can be installed and fixed at the mounting position.

[0034] In this embodiment, the operating member 22 is an elastic member, and the elastic member can be made of rubber or other components. In this way, the operating member 22 can completely cover and block the mounting hole, and the peripheral edge of the operating member 22 can always maintain a connection with the inner wall of the mounting hole. The central area of ​​the operating member 22 is aligned with the switch on the control member 21. When a person presses the operating member 22, the central area of ​​the operating member 22 is deformed to trigger the switch, while the edge can still maintain a connection with the inner wall of the mounting hole, thereby ensuring the shielding effect of the operating member 22 on the mounting hole, thereby ensuring the sealing of the mounting hole and the sealing of the entire robotic arm.

[0035] Since a transparent observation area needs to be set on the operating member 22 of this embodiment, the operating member 22 of this embodiment is not only a rubber member, but also a transparent material member. The transparent material member can be set in a completely transparent manner, so that the entire operating member 22 is transparent, or only part of the observation area can be set to be transparent, and other areas can be set in a non-transparent manner. In this way, the effective indication of the indicator 23 can be guaranteed, and the part that does not need to be transparent can be shielded and protected.

[0036] In this embodiment, the safety component 20 further includes a mounting member 24, which is connected to the inner side of the mounting position, and the circumferential edge of the mounting member 24 is located between the operating member 22 and the housing 10, and the mounting member 24 presses the operating member 22 at the mounting position. Specifically, the operating member 22 of the present embodiment includes an axial large diameter section and a small diameter section, wherein the large diameter section is located on the inner side of the mounting hole, and the small diameter section protrudes through the mounting hole to the outer surface of the shell 10, and the step surface between the large diameter section and the small diameter section abuts against the inner edge of the mounting hole. The mounting member 24 of the present embodiment adopts a pressure plate, and the pressure plate abuts against the end face of the large diameter section away from the small diameter section, that is, the large diameter section is located between the pressure plate and the inner edge of the mounting hole, and the pressure plate is installed and connected to the shell 10 through structures such as bolts. In this way, the radially protruding part of the large diameter section can be pressed against the inner wall of the shell 10 by the extrusion of the pressure plate, thereby achieving the effect of installing the operating member 22 at the mounting position. At the same time, the crimping method combined with the elastic operating member 22 is also conducive to achieving the sealing fit between the operating member 22 and the shell 10, thereby ensuring good sealing.

[0037] Since the present embodiment adopts the form of a mounting hole, the pressure plate of the present embodiment adopts an annular pressure plate, and the size of the annular pressure plate matches the size of the large diameter section, so that the pressure plate can be crimped to each position of the large diameter section, thereby ensuring the connection and fixing effect and the sealing effect. Of course, a plurality of pressure plates can also be provided, and the pressure plates are arranged in sequence along the circumference of the large diameter section so as to be crimped to different positions of the large diameter section, and the installation and fixing of the operating member 22 can also be achieved. Of course, the structural form of the mounting member 24 and the way the operating member 22 is installed at the mounting hole are not limited to the above-mentioned setting method of the present embodiment, and other methods can also be used, such as directly installing the operating member 22 by gluing.

[0038] In the present embodiment, an extension section is further provided at the mounting position. The extension section adopts an annular structure and extends axially from the inner wall of the mounting hole in a direction away from the interior of the shell 10, so that the extension section protrudes a certain distance from the mounting hole. The small diameter section of the operating member 22 is located in the extension section. In this way, the extension section can play a certain protective effect on the small diameter section and is conducive to improving the sealing effect.

[0039] In this embodiment, the safety component 20 further includes a cover 25, which is detachably covered at the installation position and can shield the control member 21 and the operating member 22. Since the operating member 22 of this embodiment protrudes from the installation hole, the cover 25 of this embodiment is connected to the end of the above-mentioned extension section, so that the cover 25 will not interfere with the operating member 22, thereby facilitating installation. Of course, when the extension section is not provided or there is no interference, the cover 25 can be directly connected to the outer edge of the installation hole.

[0040] Optionally, the cover 25 is arranged in an openable and closable manner, and one end of the cover is rotatably connected to the end of the extension end through a rotating shaft, so that the cover 25 can be switched between the open and closed states by rotating around the rotating shaft. When no operation is performed, the cover 25 is closed, and the cover shields the operating member 22 and the control member 21, thereby avoiding misoperation and protecting the operating member 22. When the operating member 22 needs to be operated, the cover 25 can be directly opened to press the internal operating member 22. In addition to the above-mentioned opening and closing manner, the cover 25 can also be disassembled as a whole. In this case, the cover 25 and the extension end can be matched in a snap-fit ​​manner. When the operating member 22 needs to be operated, the cover 25 is removed as a whole, and the operating member 22 can be pressed to trigger the control member 21.

[0041] Considering the light signal of the indicator 23, the cover 25 of this embodiment is preferably made of transparent plastic, so that the cover 25 is easy to transmit light, does not affect the light signal transmission of the indicator 23, and is easy to disassemble. Similar to the arrangement of the aforementioned operating member 22, the cover 25 can also be fully transparent or partially transparent as needed, as long as the transparent part can cooperate with the observation area to transmit the light signal.

[0042] The working process of this embodiment is as follows: when the joint of the robot arm loses power, the indicator 23 uses the auxiliary power supply to display the warning light in the braking state. At this time, the operator can remove the cover 25, press the operating member 22 to trigger the control member 21, and the control member 21 controls the auxiliary power supply to supply power to the brake mechanism, releases the brake mechanism, and the position of the housing 10 is no longer locked, and the operator can achieve the independent dragging of the robot arm. Furthermore, the brake mechanism can be powered off and the braking state of the robot arm can be restored by pressing the operating member 22 again.

[0043] It should be noted that, the multiple in the above embodiments refers to at least two.

[0044] From the above description, it can be seen that the above embodiments of the utility model achieve the following technical effects:

[0045] 1. Solve the problem of complicated operation after the robot arm loses power in the prior art;

[0046] 2. The indication signal can serve as a warning, making it easier for operators to find it;

[0047] 3. The release control of the brake mechanism and the control of the indicator are integrated into one, which improves the simplicity of the structural design;

[0048] 4. The robot arm can still be passively dragged in the power-off state, which improves the operability of the robot.

[0049] Obviously, the embodiments described above are only some embodiments of the utility model, not all embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the utility model.

[0050] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0051] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0052] The above description is only the preferred embodiment of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A robotic arm, characterized in that: include: A housing (10), wherein the housing (10) has a mounting position; A brake mechanism, the brake mechanism being arranged in the housing (10); A safety component (20) is arranged at the installation position, the safety component (20) comprises a control component (21) and an operating component (22), the operating component (22) is connected to the control component (21), and when the operating component (22) is operated, the control component (21) controls the brake mechanism to perform a safety action.

2. The robotic arm according to claim 1, characterized in that: The robotic arm further comprises an auxiliary power supply which is electrically connected to the safety component (20). When the robotic arm loses power and the operating component (22) is operated, the auxiliary power supply supplies power to the control component (21) and the brake mechanism. The control component (21) changes the power supply state of the brake mechanism and causes the brake mechanism to release the brake.

3. The robotic arm according to claim 1, characterized in that: The safety component (20) further comprises an indicator (23), wherein the indicator (23) is electrically connected to the control component (21) and generates an indicator signal under the control of the control component (21).

4. The robotic arm according to claim 3, characterized in that: The control member (21) and the operating member (22) are stacked, and the control member (21) is closer to the inside of the housing (10) than the operating member (22), and the indicator member (23) is located between the operating member (22) and the control member (21).

5. The robotic arm according to claim 4, characterized in that: The indication signal comprises a light signal, the operating element (22) comprises an observation area for transmitting the light signal, and the indication element (23) is located within the range of the observation area.

6. The robotic arm according to claim 1, characterized in that: The mounting position is a mounting hole, and the operating member (22) is flush with the mounting hole or protrudes from the mounting hole.

7. The robot arm according to claim 6, characterized in that: The operating member (22) is an elastic member, and the operating member (22) covers and shields the mounting hole.

8. The robotic arm according to claim 1, characterized in that: The safety component (20) further comprises a mounting member (24), wherein the mounting member (24) is connected to the inner side of the mounting position, wherein the peripheral edge of the mounting member (24) is located between the operating member (22) and the housing (10), and the mounting member (24) presses the operating member (22) onto the mounting position.

9. The robotic arm according to claim 1, characterized in that: The safety component (20) further comprises a cover body (25), wherein the cover body (25) is detachably covered at the installation position and is capable of shielding the control component (21) and the operating component (22).

10. A robot, characterized in that: The robot comprises the robotic arm according to any one of claims 1 to 9.

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