Mechanical arm and robot

Abstract

The utility model provides a mechanical arm and a robot. The mechanical arm comprises a connecting arm; the first shaft part is arranged on the connecting arm, and the first shaft part is provided with a first rotating axis; the second shaft part is provided with a second rotating axis, and the second shaft part is arranged on the first shaft part and can rotate around the first rotating axis along with the first shaft part; the first fixing part is arranged at the end part of the first shaft part, and at least one part of the first fixing part can rotate relative to the first shaft part; the second fixing part is arranged at the end part of the second shaft part; and the pipeline bag is movably connected with the first fixing part, and one end of the pipeline bag is arranged on the second fixing part. According to the mechanical arm provided by the utility model, the pipeline package is restrained at the first shaft part and the second shaft part, so that the fluctuation range of the pipeline package is reduced, the minimum distance between the pipeline package and the mechanical arm is ensured, the mounting strength of the pipeline package is improved, and the actual working range of the first shaft part can be prevented from being influenced.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and more specifically, to a robotic arm and a robot. Background Art

[0002] At present, a cable package is one of the most important accessories in the daily use of a robotic arm. The fixing scheme of the A6 axis (the sixth axis of the robotic arm) of the cable package directly affects the on-site use situation of customers.

[0003] In the related art, when fixing the cable package, first, a circular bracket is installed at the shaft end of the A6 axis, then a small casting component is installed on the side wall of the circular bracket, a clamp is installed on the small casting component, and then the cable package is installed on the clamp. This installation method makes the distance between the wire harness and the flange of the A6 axis relatively large and affects the actual working range of the A5 axis (the fifth axis of the robotic arm, usually called the wrist turning axis). Summary of the Utility Model

[0004] The utility model aims to solve at least one of the technical problems existing in the prior art or related art.

[0005] To this end, the first aspect of the utility model provides a robotic arm.

[0006] The second aspect of the utility model further provides a robot.

[0007] In view of this, the first aspect of the utility model proposes a robotic arm, including: a connecting arm; a first shaft portion provided on the connecting arm, the first shaft portion having a first rotation axis; a second shaft portion having a second rotation axis, and the second shaft portion is provided on the first shaft portion and can rotate around the first rotation axis with the first shaft portion; a first fixing portion provided at the end of the first shaft portion, and at least a part of the first fixing portion can rotate relative to the first shaft portion; a second fixing portion provided at the end of the second shaft portion; a cable package, the cable package is movably connected to the first fixing portion, and one end of the cable package is provided on the second fixing portion.

[0008] The robotic arm provided by the present utility model includes a connecting arm, a first shaft portion, a second shaft portion, a first fixing portion, a second fixing portion, and a pipeline package. The first shaft portion is provided on the connecting arm and can rotate around a first rotation axis. The second shaft portion is provided on the first shaft portion and can thus rotate around the first rotation axis along with the first shaft portion. At the same time, the second shaft portion has a second rotation axis, enabling the second shaft portion to rotate around the second rotation axis itself, increasing the degrees of freedom of the robotic arm and making the robotic arm more flexible. Among them, the first fixing portion is provided at the end of the first shaft portion, the second fixing portion is provided at the end of the second shaft portion, the pipeline package is movably connected to the first fixing portion, and one end of the pipeline package is provided at the second fixing portion. When the robotic arm is working, the pipeline package is restricted at both the first shaft portion and the second shaft portion, reducing the fluctuation range of the pipeline package, ensuring the minimum distance between the pipeline package and the robotic hand, and also enhancing the installation strength of the pipeline package. At the same time, at least a part of the first fixing portion can rotate relative to the first shaft portion, and the pipeline package is movably connected to the first fixing portion, so that the pipeline package can expand and contract with the movement of the first shaft portion and the second shaft portion, avoiding affecting the actual working range of the first shaft portion.

[0009] The robotic arm provided by the present utility model may further have the following additional technical features:

[0010] In some embodiments, optionally, the first fixing portion includes: a bracket mounted at the end of the first shaft portion; a rotating seat rotatably connected to the bracket, and the pipeline package passes through the rotating seat and is movably connected to the rotating seat.

[0011] In this embodiment, the first fixing portion includes a bracket and a rotating seat. The bracket is mounted at the end of the first shaft portion, and the rotating seat is rotatably connected to the bracket and sleeved outside the pipeline package to achieve the limit of the pipeline package and shorten the distance between the pipeline package and the first shaft portion. At the same time, sleeving the rotating seat outside the pipeline package also enhances the connection strength between the rotating seat and the pipeline package, thereby avoiding the situation of the pipeline package falling off during operation.

[0012] In some embodiments, optionally, the first fixing portion further includes: a rotating member, one side of the rotating member is connected to the bracket, and the other side of the rotating member is connected to the rotating seat, and the rotating seat can rotate around the first rotation axis through the rotating member.

[0013] In this embodiment, the first fixing portion further includes a rotating member, and the rotating seat is rotatably connected to the bracket through the rotating member, so that the pipeline package can move with the movement of the first shaft portion and the second shaft portion, avoiding affecting the actual movement stroke of the first shaft portion.

[0014] In some embodiments, optionally, the rotating member includes a thrust bearing.

[0015] In this embodiment, the rotating member includes a thrust bearing which can bear axial pressure. Then, one axial side of the thrust bearing is mounted on the first shaft portion, and the rotating seat is fixed on the other axial side of the thrust bearing, realizing the rotational connection between the rotating seat and the bracket.

[0016] In some embodiments, optionally, the first fixing portion further includes: an adapter block disposed on the thrust bearing, with one side of the adapter block connected to the thrust bearing and the other side connected to the rotating seat.

[0017] In this embodiment, the first fixing portion further includes an adapter block disposed between the thrust bearing and the rotating seat, realizing the connection between the thrust bearing and the rotating seat, and also being able to increase the distance between the bracket and the rotating seat to avoid interference between the rotating seat and the bracket when the rotating seat rotates.

[0018] In some embodiments, optionally, the first fixing portion further includes: a flexible sleeve, with the rotating seat sleeved on the outer side of the flexible sleeve, and the pipeline package passing through the flexible sleeve, and the pipeline package being movably connected to the flexible sleeve.

[0019] In this embodiment, the robotic arm further includes a flexible sleeve. The flexible sleeve is sleeved on the outer side of the pipeline package, and the rotating seat is sleeved on the outer side of the flexible sleeve, so that the rotating seat and the pipeline package are isolated by the flexible sleeve, avoiding the situation of pipeline package abrasion during the movement of the pipeline package. The pipeline package is movably connected to the flexible sleeve, enabling the pipeline package to move within the flexible sleeve and improving the flexibility of the robotic arm.

[0020] In some embodiments, optionally, the flexible sleeve includes: a first flexible shell; a second flexible shell, with the first flexible shell and the second flexible shell oppositely arranged along the circumferential direction of the pipeline package and connected to cover the outer side wall of the pipeline package.

[0021] In this embodiment, the flexible sleeve includes a first flexible shell and a second flexible shell, and the first flexible shell and the second flexible shell are connected to cover the outer side wall of the pipeline package, realizing the connection between the flexible sleeve and the pipeline package.

[0022] In some embodiments, optionally, at least one end of the flexible sleeve expands outward to form a flared structure.

[0023] In this embodiment, at least one end of the flexible sleeve is in a flared structure. The setting of the flared structure can facilitate the installation of the pipeline package. At the same time, during the swinging process of the pipeline package, it can avoid the pipeline package, preventing the edge part of the flexible sleeve from wearing the pipeline package. In addition, the outwardly expanding flared structure can also limit the maximum swinging range of the pipeline package.

[0024] In some embodiments, optionally, the second fixing portion includes: a flange member including a first flange and a second flange disposed opposite to each other along the second rotation axis, the first flange being connected to the end of the second shaft portion, and the second flange being located on the side of the first flange away from the second shaft portion and connected to the first flange; a limiting member disposed on the flange member, and one end of the pipeline package being installed on the flange member through the limiting member.

[0025] In this embodiment, the second fixing portion includes a flange member and a limiting member. The flange member includes a first flange and a second flange. The first flange is connected to the end of the second shaft portion, and the second flange is connected to and disposed opposite to the first flange. Thus, the connection of other components can be achieved through the second flange. The limiting member is disposed on the flange member, and the pipeline package is installed on the flange member through the limiting member, shortening the distance between the end of the pipeline package and the second shaft portion.

[0026] In some embodiments, optionally, a channel is defined between the first flange and the second flange, the pipeline package is passed through the channel, and the limiting member is located on the side of the flange member away from the first fixing portion and is connected to the first flange or the second flange.

[0027] In this embodiment, a channel is defined between the first flange and the second flange, and the pipeline package is passed from one end of the channel to the other end, and then connected to the limiting member, shortening the distance between the pipeline package and the second shaft portion, reducing the space occupied by the pipeline package, and enhancing the connection strength between the pipeline package and the flange member.

[0028] In some embodiments, optionally, the limiting member includes a clamp, and the clamp is clamped on the pipeline package.

[0029] In this embodiment, the limiting member includes a clamp, and the clamp is clamped on the pipeline package, thereby realizing the fixation of the pipeline package and enabling the pipeline package to be installed at the end of the second shaft portion.

[0030] In some embodiments, optionally, the limiting member further includes: a positioning block connected to the first flange or the second flange, and the clamp is connected to the positioning block along one side of the second rotation axis.

[0031] In this embodiment, the limiting member further includes a positioning block connected to the first flange or the second flange, and the clamp is connected to the positioning block, that is, the positioning block realizes the connection between the clamp and the flange member.

[0032] In some embodiments, optionally, the limiting member includes at least two limiting blocks respectively connected to the first flange and the second flange, and the at least two limiting blocks are clamped on opposite sides of the pipeline package.

[0033] In this embodiment, the limiting member includes at least two limiting blocks, and the at least two limiting blocks are respectively arranged on the first flange and the second flange. After the pipeline package is passed through the channel, the at least two limiting blocks respectively clamp the pipeline package on the opposite sides of the pipeline package to realize the installation of the pipeline package.

[0034] In some embodiments, optionally, the flange member further includes: a plurality of rib plates connected between the first flange and the second flange. The plurality of rib plates are arranged around the second rotation axis, and the limiting member is arranged on the rib plates.

[0035] In this embodiment, the flange member further includes a plurality of rib plates, and the limiting member is arranged on the rib plates. Furthermore, the pipeline package is installed on the rib plates through the limiting member. The plurality of rib plates are arranged between the first flange and the second flange, which improves the connection strength between the first flange and the second flange.

[0036] In some embodiments, optionally, the robotic arm further includes: an adapter ring assembly arranged at one end of the pipeline package, and the limiting member is connected to the adapter ring assembly.

[0037] In this embodiment, the robotic arm further includes an adapter ring assembly arranged at one end of the pipeline package. Furthermore, the limiting member is connected to the pipeline package through the adapter ring assembly, realizing the connection between the second fixing portion and the pipeline package.

[0038] According to the second aspect of the present invention, a robot is further provided, including: the robotic arm as proposed in any of the above embodiments.

[0039] The robot provided by the second aspect of the present invention includes the robotic arm proposed in any of the above technical solutions, so it has all the beneficial effects of the robotic arm.

[0040] The additional aspects and advantages of the present invention will become obvious in the following description part, or be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The above and / or additional aspects and advantages of the present invention will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, wherein:

[0042] Figure 1 FIG. 1 shows one of the structural schematic diagrams of the robotic arm according to an embodiment of the present invention;

[0043] Figure 2 FIG. 2 shows another structural schematic diagram of the robotic arm according to an embodiment of the present invention;

[0044] Figure 3 FIG. 3 shows a third structural schematic diagram of the robotic arm according to an embodiment of the present invention;

[0045] Figure 4Shows the fourth structural schematic diagram of the robotic arm according to an embodiment of the present utility model;

[0046] Figure 5 Shows the fifth structural schematic diagram of the robotic arm according to an embodiment of the present utility model;

[0047] Figure 6 Shows the sixth structural schematic diagram of the robotic arm according to an embodiment of the present utility model;

[0048] Figure 7 Shows the seventh structural schematic diagram of the robotic arm according to an embodiment of the present utility model;

[0049] Figure 8 Shows the eighth structural schematic diagram of the robotic arm according to an embodiment of the present utility model;

[0050] Figure 9 Shows the ninth structural schematic diagram of the robotic arm according to an embodiment of the present utility model;

[0051] Figure 10 Shows the tenth structural schematic diagram of the robotic arm according to an embodiment of the present utility model.

[0052] Among them, Figures 1 to 10 The corresponding relationship between the reference numerals and the component names in the figure is as follows:

[0053] 1 connecting arm, 2 first shaft portion, 3 second shaft portion, 4 first fixing portion, 40 bracket, 42 rotating seat, 44 rotating member, 440 thrust bearing, 46 adapter block, 48 flexible sleeve, 480 first flexible shell, 482 second flexible shell, 5 second fixing portion, 50 flange member, 502 first flange, 504 second flange, 506 channel, 508 rib plate, 52 limiting member, 520 clamp, 522 positioning block, 524 limiting block, 54 adapter ring assembly, 6 pipeline package. Detailed implementation manners

[0054] In order to be able to more clearly understand the above objects, features and advantages of the present utility model, the present utility model will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0055] In the following description, many specific details are set forth in order to fully understand the present utility model. However, the present utility model can also be implemented in other ways different from those described herein. Therefore, the protection scope of the present utility model is not limited by the specific embodiments disclosed below.

[0056] Next, refer to Figures 1 to 10 Describe the robotic arm and robot proposed according to some embodiments of the present utility model.

[0057] As Figure 1 、 Figure 2 、 Figure 3 and Figure 4 shown, according to an embodiment of the present utility model, the present utility model provides a robotic arm, comprising: a connecting arm 1, a first shaft portion 2, a second shaft portion 3, a first fixing portion 4, a second fixing portion 5, and a cable bundle 6.

[0058] Specifically, the first shaft portion 2 is disposed on the connecting arm 1, and the first shaft portion 2 has a first rotation axis B; the second shaft portion 3 has a second rotation axis C, and the second shaft portion 3 is disposed on the first shaft portion 2 and can rotate about the first rotation axis B with the first shaft portion 2; the first fixing portion 4 is disposed at an end of the first shaft portion 2, and at least a part of the first fixing portion 4 can rotate relative to the first shaft portion 2; the second fixing portion 5 is disposed at an end of the second shaft portion 3; the cable bundle 6 is movably connected to the first fixing portion 4, and one end of the cable bundle 6 is disposed on the second fixing portion 5.

[0059] The robotic arm provided by the present utility model comprises a connecting arm 1, a first shaft portion 2, a second shaft portion 3, a first fixing portion 4, a second fixing portion 5, and a cable bundle 6. The first shaft portion 2 is disposed on the connecting arm 1 and can rotate about the first rotation axis B. The second shaft portion 3 is disposed on the first shaft portion 2 and can thus rotate about the first rotation axis B with the first shaft portion 2. At the same time, the second shaft portion 3 has a second rotation axis C, such that the second shaft portion 3 can rotate about the second rotation axis C itself, increasing the degrees of freedom of the robotic arm and making the robotic arm more flexible. Among them, the first fixing portion 4 is disposed at an end of the first shaft portion 2, the second fixing portion 5 is disposed at an end of the second shaft portion 3, the cable bundle 6 is movably connected to the first fixing portion 4, and one end of the cable bundle 6 is disposed on the second fixing portion 5. When the robotic arm is working, the cable bundle 6 is constrained at both the first shaft portion 2 and the second shaft portion 3, reducing the fluctuation range of the cable bundle 6, ensuring the minimum distance between the cable bundle 6 and the robot hand, and also enhancing the installation strength of the cable bundle 6. At the same time, at least a part of the first fixing portion 4 can rotate relative to the first shaft portion 2, and the cable bundle 6 is movably connected to the first fixing portion 4, so that the cable bundle 6 can expand and contract with the movement of the first shaft portion 2 and the second shaft portion 3, avoiding affecting the actual working range of the first shaft portion 2.

[0060] It can be understood that the cable bundle 6 can extend from the connecting arm 1 to the first shaft portion 2 and the second shaft portion 3.

[0061] As Figure 1 、 Figure 4 and Figure 5 shown, in some embodiments, optionally, the first fixing portion 4 comprises: a bracket 40 and a rotating seat 42.

[0062] Specifically, the bracket 40 is installed at the end of the first shaft portion 2; the rotating seat 42 is rotatably connected to the bracket 40, and the pipeline package 6 passes through the rotating seat 42 and is movably connected to the rotating seat 42.

[0063] In this embodiment, the first fixing portion 4 includes the bracket 40 and the rotating seat 42. The bracket 40 is installed at the end of the first shaft portion 2. The rotating seat 42 is rotatably connected to the bracket 40 and sleeved outside the pipeline package 6 to limit the pipeline package 6 and shorten the distance between the pipeline package 6 and the first shaft portion 2. At the same time, sleeving the rotating seat 42 outside the pipeline package 6 also improves the connection strength between the rotating seat 42 and the pipeline package 6, thereby avoiding the situation of the pipeline package 6 falling off during operation.

[0064] Optionally, the rotating seat 42 includes a through hole, and the pipeline package 6 passes through the through hole and can move relative to the through hole. Optionally, the axis of the through hole is perpendicular to the first rotation axis B.

[0065] Optionally, the pipeline package 6 can move in the through hole along the length direction of the pipeline package 6.

[0066] Optionally, the rotating seat 42 includes a first part and a second part, both of which are semi-circular. Thus, the first part and the second part are assembled outside the pipeline package 6, simplifying the connection process between the pipeline package 6 and the rotating seat 42.

[0067] As Figure 2 and Figure 4 shown, in some embodiments, optionally, the first fixing portion 4 further includes: a rotating member 44. One side of the rotating member 44 is connected to the bracket 40, and the other side of the rotating member 44 is connected to the rotating seat 42. The rotating seat 42 can rotate around the first rotation axis B through the rotating member 44.

[0068] In this embodiment, the first fixing portion 4 further includes a rotating member 44. The rotating seat 42 is rotatably connected to the bracket 40 through the rotating member 44, so that the pipeline package 6 can move with the movements of the first shaft portion 2 and the second shaft portion 3, avoiding affecting the actual movement stroke of the first shaft portion 2.

[0069] In some embodiments, optionally, the rotating member 44 includes a thrust bearing 440.

[0070] In this embodiment, the rotating member 44 includes a thrust bearing 440. The thrust bearing 440 can bear axial pressure. Thus, one axial side of the thrust bearing 440 is installed on the first shaft portion 2, and the rotating seat 42 is fixed on the other axial side of the thrust bearing 440, realizing the rotational connection between the rotating seat 42 and the bracket 40.

[0071] It can be understood that the bracket 40 is fixed on the first shaft portion 2, so that the entire first fixing portion 4 can move with the first shaft portion 2. At the same time, the rotating seat 42 can also rotate relative to the bracket 40 around the first rotation axis B. Therefore, the pipeline package 6 can also move relative to the first shaft portion 2. Furthermore, when the first shaft portion 2 or the second shaft portion 3 moves, interference between the pipeline package 6 and the first shaft portion 2 is avoided, which affects the movement of the first shaft portion 2 or the second shaft portion 3, and the flexibility of the robotic arm is improved.

[0072] As Figure 2 shown, in some embodiments, optionally, the first fixing portion 4 further includes: an adapter block 46. The adapter block 46 is disposed on the thrust bearing 440. One side of the adapter block 46 is connected to the thrust bearing 440, and the other side of the adapter block 46 is connected to the rotating seat 42.

[0073] In this embodiment, the first fixing portion 4 further includes an adapter block 46. The adapter block 46 is disposed between the thrust bearing 440 and the rotating seat 42, realizing the connection between the thrust bearing 440 and the rotating seat 42, and can also increase the distance between the bracket 40 and the rotating seat 42, avoiding interference between the rotating seat 42 and the bracket 40 when the rotating seat 42 rotates.

[0074] It can be understood that when the connection structure on the thrust bearing 440 does not correspond to the connection structure on the rotating seat 42 (for example, there are 3 connection holes on the thrust bearing 440 and 2 connection holes on the rotating seat 42), the connection between the thrust bearing 440 and the rotating seat 42 can be realized through the adapter block 46. Specifically, the connection structure on one side of the adapter block 46 can be set to correspond to the connection structure on the thrust bearing 440 (for example, the quantity and position are set to be the same or corresponding), and the connection structure on the other side of the adapter block 46 can be set to correspond to the connection structure on the rotating seat 42, so as to realize the connection between the thrust bearing 440 and the rotating seat 42.

[0075] As Figure 1 、 Figure 2 、 Figure 4 and Figure 5 shown, in some embodiments, optionally, the first fixing portion 4 further includes: a flexible sleeve 48. The rotating seat 42 is sleeved on the outer side of the flexible sleeve 48, and the pipeline package 6 passes through the flexible sleeve 48. The pipeline package 6 is movably connected to the flexible sleeve 48.

[0076] In this embodiment, the robotic arm further includes a flexible sleeve 48. The flexible sleeve 48 is sleeved on the outer side of the pipeline package 6, and the rotating seat 42 is sleeved on the outer side of the flexible sleeve 48, so that the rotating seat 42 and the pipeline package 6 are isolated by the flexible sleeve 48, avoiding wear of the pipeline package 6 during the movement of the pipeline package 6. The pipeline package 6 is movably connected to the flexible sleeve 48, enabling the pipeline package 6 to move within the flexible sleeve 48, improving the flexibility of the robotic arm.

[0077] As Figure 1 shown, in some embodiments, optionally, the flexible sleeve 48 includes: a first flexible shell 480; a second flexible shell 482, the first flexible shell 480 and the second flexible shell 482 are oppositely arranged and connected along the circumferential direction of the pipeline package 6 to cover the outer side wall of the pipeline package 6.

[0078] In this embodiment, the flexible sleeve 48 includes a first flexible shell 480 and a second flexible shell 482. The first flexible shell 480 and the second flexible shell 482 are connected, and then cover the outer side wall of the pipeline package 6, realizing the connection between the flexible sleeve 48 and the pipeline package 6.

[0079] Optionally, the first flexible shell 480 and the second flexible shell 482 are spliced together by a connecting member, improving the connection strength between the first flexible shell 480 and the second flexible shell 482.

[0080] In some embodiments, optionally, at least one end of the flexible sleeve 48 expands outward to form a horn-shaped structure.

[0081] In this embodiment, at least one end of the flexible sleeve 48 is in a horn-shaped structure. The setting of the horn-shaped structure can facilitate the installation of the pipeline package 6. At the same time, during the swinging process of the pipeline package 6, it can avoid the pipeline package 6 and prevent the edge part of the flexible sleeve 48 from wearing the pipeline package 6. In addition, the outward-expanded horn-shaped structure can also limit the maximum swinging range of the pipeline package 6.

[0082] It can be understood that the horn-shaped structure is located outside the rotating seat 42.

[0083] Optionally, the horn-shaped structure is located between the rotating seat 42 and the second fixing part 5.

[0084] Optionally, both ends of the flexible sleeve 48 are expanded outward to form horn-shaped structures.

[0085] As Figure 1 、 Figure 2 and Figure 5 shown, in some embodiments, optionally, the second fixing part 5 includes: a flange member 50, the flange member 50 includes a first flange 502 and a second flange 504 oppositely arranged along the second rotation axis C, the first flange 502 is connected to the end of the second shaft part 3, and the second flange 504 is located on the side of the first flange 502 away from the second shaft part 3 and is connected to the first flange 502; a limiting member 52, provided on the flange member 50, and one end of the pipeline package 6 is installed on the flange member 50 through the limiting member 52.

[0086] In this embodiment, the second fixing portion 5 includes a flange member 50 and a limiting member 52. The flange member 50 includes a first flange 502 and a second flange 504. The first flange 502 is connected to the end of the second shaft portion 3. The second flange 504 is connected to and disposed opposite the first flange 502. Thus, the connection of other components can be achieved through the second flange 504. The limiting member 52 is disposed on the flange member 50, and the pipeline package 6 is installed on the flange member 50 through the limiting member 52, shortening the distance between the end of the pipeline package 6 and the second shaft portion 3.

[0087] Optionally, the flange member 50 includes a casting.

[0088] As Figure 1 and Figure 5 shown, in some embodiments, optionally, a channel 506 is defined between the first flange 502 and the second flange 504. The pipeline package 6 is disposed through the channel 506. The limiting member 52 is located on the side of the flange member 50 away from the first fixing portion 4 and is connected to the first flange 502 or the second flange 504.

[0089] In this embodiment, a channel 506 is defined between the first flange 502 and the second flange 504. The pipeline package 6 is inserted from one end of the channel 506 to the other end of the channel 506, and then connected to the limiting member 52, shortening the distance between the pipeline package 6 and the second shaft portion 3, reducing the space occupied by the pipeline package 6, and enhancing the connection strength between the pipeline package 6 and the flange member 50.

[0090] As Figure 2 shown, in some embodiments, optionally, the limiting member 52 includes a clamp 520, and the clamp 520 is clamped on the pipeline package 6.

[0091] In this embodiment, the limiting member 52 includes a clamp 520, and the clamp 520 is clamped on the pipeline package 6, thereby realizing the fixation of the pipeline package 6 and enabling the pipeline package 6 to be installed at the end of the second shaft portion 3.

[0092] As Figure 2 shown, in some embodiments, optionally, the limiting member 52 further includes: a positioning block 522, the positioning block 522 is connected to the first flange 502 or the second flange 504, and the clamp 520 is connected to the positioning block 522 along one side of the second rotation axis C.

[0093] In this embodiment, the limiting member 52 further includes a positioning block 522, the positioning block 522 is connected to the first flange 502 or the second flange 504, and the clamp 520 is connected to the positioning block 522, that is, the positioning block 522 realizes the connection between the clamp 520 and the flange member 50.

[0094] Optionally, the positioning block 522 is provided on the side wall of the first flange 502 or the second flange 504 (the outer side wall in the radial direction of the first flange 502 or the second flange 504).

[0095] Optionally, a platform is provided on the side wall of the first flange 502 or the second flange 504, and the positioning block 522 is installed on the platform.

[0096] As Figure 1 、 Figure 8 、 Figure 9 and Figure 10 As shown in

[0097] In this embodiment, the limiting member 52 includes at least two limiting blocks 524. The at least two limiting blocks 524 are respectively connected to the first flange 502 and the second flange 504, and the at least two limiting blocks 524 are clamped on opposite sides of the pipeline package 6.

[0098] Optionally, the side of the limiting block 524 facing the pipeline package 6 is arc-shaped, so that the sides of the two limiting blocks 524 facing the pipeline package 6 are attached to the outer surface of the pipeline package 6, so as to improve the limiting effect of the limiting block 524 on the pipeline package 6.

[0099] Optionally, platforms are provided on the circumferential side walls of the first flange 502 and the second flange 504, and the limiting blocks 524 are installed on the platforms.

[0100] As Figure 6 and Figure 7 As shown in

[0101] In this embodiment, the flange member 50 further includes a plurality of rib plates 508 connected between the first flange 502 and the second flange 504. The plurality of rib plates 508 are arranged around the second rotation axis C, and the limiting member 52 is provided on the rib plates 508.

[0102] Optionally, the pipeline package 6 surrounds a partial circumference of the plurality of rib plates 508.

[0103] Optionally, the pipeline package 6 is wound from the first fixing part 4 around the bottom of the flange 50 to the top of the flange 50, and then clamped on the rib plate 508 by a clamp 520.

[0104] Optionally, the pipeline package 6 is clamped on at least two rib plates 508 by at least two clamps 520 to enhance the connection strength between the pipeline package 6 and the flange 50.

[0105] As Figure 1 and Figure 2 shown, in some embodiments, optionally, the robotic arm further includes: an adapter ring assembly 54, the adapter ring assembly 54 is disposed at one end of the pipeline package 6, and the limiting member 52 is connected to the adapter ring assembly 54.

[0106] In this embodiment, the robotic arm further includes an adapter ring assembly 54, the adapter ring assembly 54 is disposed at one end of the pipeline package 6, and further, the limiting member 52 is connected to the pipeline package 6 through the adapter ring assembly 54, realizing the connection between the second fixing part 5 and the pipeline package 6.

[0107] According to an embodiment of the present invention, a robot is further provided, including: the robotic arm as proposed in any of the above embodiments.

[0108] The robot provided by the present invention includes the robotic arm as proposed in any of the above embodiments, and thus has all the beneficial effects of the robotic arm.

[0109] In a specific application, the present application provides a structural component for restraining a pipeline package 6, including a flange casting with a through-channel on both sides (such as the flange 50), a positioning block 522, a fixing bracket for the A5 axis (such as the first shaft part 2) (such as the bracket 40), a thrust bearing 440, a clamp assembly (such as the clamp 520), an adapter ring assembly 54, a rotary fixing seat (such as the rotary seat 42), and a bell mouth assembly (such as the flexible sleeve 48).

[0110] On the basis of the original pipeline package 6, a bell mouth assembly is installed. At the same time, at the end of the pipeline package 6, the original end plastic assembly is replaced with an adapter ring assembly 54. Then, on the shaft end flange surface of the A6 axis (such as the second shaft part 3) of the robotic arm, a double-sided flange casting with a through-channel in the middle, a positioning block 522, and a clamp assembly are respectively installed. Among them, the positioning block 522 is installed on the flange casting, and the clamp assembly is installed on the positioning block 522. There are a fixed bracket, a thrust bearing 440, and a rotating fixed seat at the A5 axis. At this time, for the wiring harness at the A6 end of the pipeline package 6, first fix the bell mouth assembly to the rotating fixed seat on the fixed bracket, so that the wiring harness is constrained at the A5 axis, then pass through the through-channel (such as channel 506) of the casting, and at the end of the A6 axis, install the wiring harness into the clamp assembly on the positioning block 522 through the adapter ring assembly 54. During operation, the double-sided flange casting on the A6 axis will swing under the rotation of the flange of the A6 axis and the A5 axis. At this time, the corrugated pipe will pass through the bell mouth assembly of the A5 axis and achieve telescopic and swinging under the coordinated work of the bell mouth assembly and the thrust bearing 440. At the same time, it will be restricted by the clamp assembly on the double-sided flange of the A6 axis and the clamp 520 (such as the rotating fixed seat) on the A5 axis.

[0111] During operation, the pipeline package 6 is restricted at two points: the bell mouth at the A5 axis and the clamp assembly at the A6 axis flange. While reducing the large-range fluctuating movement of the pipeline package 6, it also ensures the minimum distance from the robotic arm.

[0112] The bell mouth assembly can not only ensure the telescopic movement of the corrugated pipe but also rotate by itself. Therefore, when the A5 axis drives the A6 axis flange and the flange casting to move, it can rotate freely along the direction of the corrugated pipe, avoiding collision with the robotic arm and improving the flexibility of the pipeline package 6.

[0113] The material strength of the fixed bracket, clamp 520, flange casting, etc. of the A5 axis has been improved. The fixing of the wiring harness is achieved by the structure of the clamps 520 at various places, and the load is shared by the double-sided flange casting, the fixed bracket of the A5 axis, the bearing, etc. Therefore, the fixing effect is greatly enhanced.

[0114] Optionally, the flange casting with a through-channel in the middle on both sides can adopt a three-ribbed plate type casting to achieve a similar function. The scheme of the positioning block 522 and the clamp assembly installed on the flange casting can be replaced with two symmetrical small casting components (such as limit blocks).

[0115] In the present utility model, the term "a plurality of" refers to two or more, unless otherwise clearly defined. Terms such as "installed", "connected", "joined", "fixed", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "joined" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0116] In the description of this specification, the descriptions of terms such as "one embodiment", "some embodiments", "specific embodiments", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or instance. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0117] The above are only the preferred embodiments of the present utility model and are not intended to limit the present utility model. For those skilled in the art, the present utility model may have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A robotic arm, characterized in that, Comprising: Connecting arm; First shaft portion, provided on the connecting arm, the first shaft portion having a first rotation axis; Second shaft portion, the second shaft portion having a second rotation axis, and the second shaft portion is provided on the first shaft portion and can rotate around the first rotation axis with the first shaft portion; First fixing portion, provided at the end of the first shaft portion, and at least a part of the first fixing portion can rotate relative to the first shaft portion; Second fixing portion, provided at the end of the second shaft portion; Pipeline package, the pipeline package is movably connected to the first fixing portion, and one end of the pipeline package is provided on the second fixing portion.

2. The robotic arm according to claim 1, wherein The first fixing portion includes: Bracket, the bracket is installed at the end of the first shaft portion; Rotating seat, rotatably connected to the bracket, the pipeline package passes through the rotating seat and is movably connected to the rotating seat.

3. The robotic arm according to claim 2, characterized in that, The first fixing portion further includes: Rotating member, one side of the rotating member is connected to the bracket, the other side of the rotating member is connected to the rotating seat, and the rotating seat can rotate around the first rotation axis through the rotating member.

4. The robotic arm according to claim 3, wherein, The rotating member includes a thrust bearing.

5. The robotic arm according to claim 4, characterized in that, The first fixing portion further includes: Adapter block, the adapter block is provided on the thrust bearing, one side of the adapter block is connected to the thrust bearing, and the other side of the adapter block is connected to the rotating seat.

6. The robotic arm according to claim 2, characterized in that, The first fixing portion further includes: Flexible sleeve, the rotating seat is sleeved on the outer side of the flexible sleeve, the pipeline package passes through the flexible sleeve, and the pipeline package is movably connected to the flexible sleeve.

7. The robotic arm according to claim 6, characterized in that, The flexible sleeve includes: First flexible shell; Second flexible shell, the first flexible shell and the second flexible shell are oppositely arranged along the circumferential direction of the pipeline package and are connected to cover the outer side wall of the pipeline package.

8. The robotic arm according to claim 6, characterized in that, At least one end of the flexible sleeve expands outward into a trumpet-shaped structure.

9. The robotic arm according to any one of claims 1 to 8, characterized in that, The second fixing portion includes: Flange member, the flange member includes a first flange and a second flange oppositely arranged along the second rotation axis, the first flange is connected to the end of the second shaft portion, and the second flange is located on the side of the first flange away from the second shaft portion and is connected to the first flange; Limiting member, provided on the flange member, one end of the pipeline package is installed on the flange member through the limiting member.

10. The robotic arm according to claim 9, characterized in that, A channel is defined between the first flange and the second flange, the pipeline package passes through the channel, the limiting member is located on the side of the flange member away from the first fixing portion, and is connected to the first flange or the second flange.

11. The robotic arm according to claim 10, characterized in that, The limiting member includes a clamp, and the clamp is clamped on the pipeline package.

12. The robotic arm according to claim 11, wherein, The limiting member further includes: Positioning block, the positioning block is connected to the first flange or the second flange, and one side of the clamp along the second rotation axis is connected to the positioning block.

13. The robotic arm according to claim 10, wherein The limiting member includes at least two limiting blocks, at least two of the limiting blocks are respectively connected to the first flange and the second flange, and at least two of the limiting blocks are clamped on opposite sides of the pipeline package.

14. The robotic arm according to claim 9, characterized in that, The flange member further includes: A plurality of rib plates, connected between the first flange and the second flange, the plurality of rib plates are arranged around the second rotation axis, and the limiting member is provided on the rib plates.

15. The robotic arm according to claim 9, characterized in that, Also included: The adapter ring assembly is provided at one end of the pipeline package, and the limiting member is connected to the adapter ring assembly.

16. A robot, characterized in that, Comprising: The robotic arm according to any one of claims 1 to 15.

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