Big arm structure of robot

Abstract

The utility model provides a big arm structure of a robot, and belongs to the technical field of robots. The problem of how to improve the overall steady state of the robot and the convenience of disassembly, assembly and maintenance operation is solved. The large arm structure of the robot comprises a long-strip-shaped main arm body, one end of the main arm body is an upper connecting part, the other end of the main arm body is a lower connecting part, the large arm structure of the robot further comprises a long-strip-shaped auxiliary arm body, one end of the auxiliary arm body is an upper positioning part, and the other end of the auxiliary arm body is a lower positioning part. The main arm body and the auxiliary arm body are oppositely arranged and are connected and positioned through a connecting block, the upper connecting part is opposite to the upper positioning part in position, and the lower connecting part is opposite to the lower positioning part in position. The large arm structure of the robot can improve the overall steady state of the robot and the convenience of disassembly, assembly and maintenance operation.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots and relates to a robot upper arm structure. Background Art

[0002] In recent years, with the continuous innovation of technology, the use of robots for mechanized intelligent production has become the mainstream trend of replacing manual production in various industries.

[0003] In the prior art, the structure of the robot is very complex, and the upper arm is one of many components and is an indispensable part of assembling the robot. Its lower end is connected to the second-axis reducer, and the swing movement of the upper arm is realized by the drive of the second-axis reducer. Its upper end is connected to the third-axis reducer to ensure the installation and normal operation of the forearm and the third-axis reducer.

[0004] However, in fact, the above robot structure has relatively large defects, specifically manifested in two aspects. First, in order to ensure the normal transmission of the second-axis reducer to the upper arm, the upper arm must be arranged on one side relative to the second-axis reducer, which results in a single-sided support for the upper arm, and further leads to a poor overall stability of the robot. Second, when it comes to replacing the upper arm, the second-axis reducer or the third-axis reducer, due to the arrangement of many cables, the maintainer needs to remove these cables one by one before replacing the upper arm, the second-axis reducer or the third-axis reducer, and the operation is extremely inconvenient. Summary of the Invention

[0005] The purpose of the utility model is to propose a robot upper arm structure in view of the above problems existing in the prior art. The technical problem to be solved by the utility model is: how to improve the overall stability of the robot and the convenience of disassembly, assembly, maintenance and repair operations.

[0006] The purpose of the utility model can be achieved by the following technical solutions: A robot upper arm structure includes a main arm body in a long strip shape. One end of the main arm body is an upper connection part, and the other end is a lower connection part. The robot upper arm structure is characterized in that it further includes a sub-arm body in a long strip shape. One end of the sub-arm body is an upper positioning part, and the other end is a lower positioning part. The main arm body and the sub-arm body are arranged opposite to each other and are connected and positioned by a connecting block, and the upper connection part and the upper positioning part are opposite in position, and the lower connection part and the lower positioning part are opposite in position.

[0007] The robot's big arm structure adopts a main arm body and a sub-arm body in a double-arm body cooperation mode. Specifically, the lower connecting part at the lower end of the main arm body is transmission-connected with the driving shaft of the two-axis reducer, and the upper connecting part at the upper end is transmission-connected with the driving shaft of the three-axis reducer, so as to ensure the power transmission required between the second and third axes of the robot. On this basis, the lower positioning part at the lower end of the sub-arm body is connected and positioned with the main body of the two-axis reducer, and the upper positioning part at the upper end is connected and positioned with the main body of the three-axis reducer. The sub-arm body mainly plays the role of auxiliary support, and can be arranged on both sides of the robot in a left-right relative manner in cooperation with the main arm body. At the same time, the main arm body and the sub-arm body are connected as a whole through a connecting block. On the premise of ensuring the coaxiality of the upper connecting part and the upper positioning part, as well as the lower connecting part and the lower positioning part, the boom is arranged on both sides instead of the unilateral arrangement in the prior art, thereby improving the overall stability of the robot. In addition, the present application divides the boom structure into three parts: a main arm body, a connecting block and a secondary arm body. The main arm body mainly plays a role in power transmission. In order to ensure the convenience of subsequent disassembly and replacement, the cables can be arranged on the secondary arm body. While ensuring normal wiring, the structure of the main arm body is avoided from being too complicated, and the existence of cables can be prevented from hindering the disassembly and assembly of the main arm body, two-axis reducer or three-axis reducer, thereby ensuring the convenience of maintenance operations.

[0008] In the above robot arm structure, the connection block is arranged near the middle of the main arm body and the auxiliary arm body, and the connection block is screwed and fixed to the main arm body and the auxiliary arm body by fasteners, so that the setting position of the connection block is centered, ensuring that the force arms at the upper and lower ends of the main arm body and the auxiliary arm body tend to be consistent, thereby ensuring the structural stability of the two.

[0009] In the above robot arm structure, the main arm body has a protruding main abutment portion at the middle of one side facing the auxiliary arm body, the auxiliary arm body has a protruding auxiliary abutment portion at the middle of one side facing the main arm body, and the connecting block is in an I-shape, one end of the connecting block abuts against the main abutment portion, and the other end abuts against the auxiliary abutment portion. This ensures that the main arm body and the auxiliary arm body have a higher structural strength at the installation site of the connecting block, and can quickly provide an installation reference for the staff.

[0010] In the above robot arm structure, a side cover in the form of a long strip is detachably connected to the side of the auxiliary arm body facing away from the main arm body, and a wire passage cavity is formed between the side cover and the auxiliary arm body to ensure that many cables can be routed through the wire passage cavity and the outer surface of the auxiliary arm body is neat.

[0011] In the robot arm structure, the upper positioning part and the lower positioning part are both provided with bearings to prevent friction interference between the auxiliary arm body and the two-axis reducer body and the three-axis reducer body during power transmission.

[0012] Compared with the prior art, the large arm structure of this robot has the following advantages:

[0013] The method of combining the main and auxiliary double arm bodies is adopted to replace the single-sided support of the large arm in the prior art for the robot, effectively improving the overall stability of the robot. At the same time, the cable can be routed through the auxiliary arm body to ensure the convenience of disassembly, installation and maintenance operations of the main arm body. Brief Description of the Drawings

[0014] Figure 1 is a schematic structural diagram of the large arm structure of this robot.

[0015] Figure 2 is an exploded view of the large arm structure of this robot.

[0016] Figure 3 is a schematic structural diagram of the main arm body.

[0017] Figure 4 is a schematic structural diagram of the auxiliary arm body.

[0018] Figure 5 is a cross-sectional view of the auxiliary arm body.

[0019] In the figure, 1 is the main arm body; 11 is the upper connecting part; 12 is the lower connecting part; 13 is the main abutting part; 2 is the auxiliary arm body; 21 is the upper positioning part; 22 is the lower positioning part; 23 is the auxiliary abutting part; 24 is the side cover; 3 is the connecting block; 4 is the bearing; 5 is the wire passing cavity. Detailed Embodiment

[0020] The following are specific embodiments of the present invention and in combination with the drawings, the technical solutions of the present invention will be further described, but the present invention is not limited to these embodiments.

[0021] As Figure 1 shown, the large arm structure of this robot includes a long strip-shaped main arm body 1 and an auxiliary arm body 2 which are arranged opposite to each other. On one side of the upper end face of the main arm body 1 facing the auxiliary arm body 2, there is an upper connecting part 11, and on one side of the lower end face facing the auxiliary arm body 2, there is a lower connecting part 12. On one side of the upper end face of the auxiliary arm body 2 facing the main arm body 1, there is an upper positioning part 21, and on one side of the lower end face facing the main arm body 1, there is a lower positioning part 22, and the upper connecting part 11 and the upper positioning part 21 are arranged opposite to each other, and the lower connecting part 12 and the lower positioning part 22 are arranged opposite to each other.

[0022] Combined with Figures 2 - 4 , the large arm structure of this robot further includes an I-shaped connecting block 3. In the middle of one side of the main arm body 1 facing the auxiliary arm body 2, there is a convex main abutting part 13. In the middle of one side of the auxiliary arm body 2 facing the main arm body 1, there is a convex auxiliary abutting part 23. One end of the connecting block 3 abuts against the main abutting part 13 and is locked by screwing with a screw, and the other end abuts against the auxiliary abutting part 23 and is locked by screwing with a screw.

[0023] Combined with Figure 5 , on the side of the secondary boom body 2 facing away from the primary boom body 1, a strip-shaped side cover 24 is detachably connected by screws. A wire passing cavity 5 is formed by enclosing between the side cover 24 and the secondary boom body 2. Bearings 4 are installed in both the upper positioning portion 21 and the lower positioning portion 22 of the secondary boom body 2.

[0024] Assembly principle: The lower connecting portion 12 at the lower end of the primary boom body 1 is fixedly connected to the drive shaft of the two-axis reduction gearbox, and the upper connecting portion 11 at the upper end is fixedly connected to the drive shaft of the three-axis reduction gearbox. The connection and rotation between the two-axis and the three-axis are realized through the primary boom body 1. The lower positioning portion 22 at the lower end of the secondary boom body 2 is connected to the main body of the two-axis reduction gearbox through the inner ring of the bearing 4, and the upper positioning portion 21 at the upper end is connected to the main body of the three-axis reduction gearbox through the bearing 4. The connecting block 3 is respectively connected to the main abutting portion 13 of the primary boom body 1 and the secondary abutting portion 23 of the secondary boom body 2 by screws, so as to ensure the coaxiality of the primary boom body 1 and the secondary boom body 2. The cable is laid on the side of the secondary boom body 2 facing away from the primary boom body 1. After the wiring is completed, the side cover 24 is assembled, so that the cable passes through the wire passing cavity 5.

[0025] The specific embodiments described herein are merely illustrative of the spirit of the present utility model. Those skilled in the art to which the present utility model pertains can make various modifications or supplements to the described specific embodiments or use similar ways to substitute, but will not deviate from the spirit of the present utility model or exceed the scope defined by the appended claims.

[0026] Although terms such as the primary boom body 1, the upper connecting portion 11, the lower connecting portion 12, the main abutting portion 13, the secondary boom body 2, the upper positioning portion 21, the lower positioning portion 22, the secondary abutting portion 23, the side cover 24, the connecting block 3, the bearing 4, the wire passing cavity 5, etc. are used more in this article, the possibility of using other terms is not excluded. Using these terms is only for more convenient description and explanation of the essence of the present utility model; interpreting them as any additional limitation is contrary to the spirit of the present utility model.

Claims

1. A robot upper arm structure, comprising a long strip-shaped main arm body (1), one end of the main arm body (1) being an upper connecting part (11) and the other end being a lower connecting part (12), characterized in that, The large arm structure of this robot further includes a strip-shaped auxiliary arm body (2). One end of the auxiliary arm body (2) is an upper positioning part (21), and the other end is a lower positioning part (22). The main arm body (1) is arranged opposite to the auxiliary arm body (2) and is connected and positioned through a connecting block (3). Moreover, the upper connecting part (11) is opposite to the upper positioning part (21) in position, and the lower connecting part (12) is opposite to the lower positioning part (22) in position.

2. The robot upper arm structure according to claim 1, characterized in that The connecting block (3) is arranged near the middle of the main arm body (1) and the auxiliary arm body (2), and the connecting block (3), the main arm body (1) and the auxiliary arm body (2) are fixedly connected by screwing with fasteners.

3. The robot upper arm structure according to claim 2, characterized in that, In the middle of one side of the main arm body (1) facing the auxiliary arm body (2), there is a protruding main abutting part (13). In the middle of one side of the auxiliary arm body (2) facing the main arm body (1), there is a protruding auxiliary abutting part (23). The connecting block (3) is in an I shape. One end of the connecting block (3) abuts against the main abutting part (13), and the other end abuts against the auxiliary abutting part (23).

4. The robot upper arm structure according to any one of claims 1-3, characterized in that, On the side of the auxiliary arm body (2) facing away from the main arm body (1), a strip-shaped side cover (24) is detachably connected, and a wire passing cavity (5) is formed by enclosing between the side cover (24) and the auxiliary arm body (2).

5. The robot upper arm structure according to claim 4, characterized in that, Bearings (4) are provided in both the upper positioning part (21) and the lower positioning part (22).

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