Mechanical arm and robot
By constructing a curved first housing at the distal end of the boom housing and installing a drive assembly, the problem of limited range of motion of the forearm housing was solved, achieving greater rotation space.
Patent Information
- Application Number
- CN202520069803.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-10
- Publication Date
- 2025-12-16
- Estimated Expiration
- 2035-01-10
AI Technical Summary
In the prior art, the interference between the forearm housing and the upper arm housing results in a large minimum value of the first included angle, which in turn reduces the range of motion of the forearm housing.
By constructing a first housing at the distal end of the upper arm housing and installing a first drive assembly, the forearm housing rotates relative to the upper arm housing under drive, and the first housing bends toward the inside of the elbow joint, increasing the rotation space.
When the first included angle is at its minimum, the distal end of the forearm housing is closer to the upper arm housing, providing more rotation space and improving the range of motion of the forearm housing.
Smart Images
Figure CN223671243U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to mechanical arm technical field, concretely relates to mechanical arm and robot. BACKGROUND
[0002] In the related art, the robot includes a body and a mechanical arm, the mechanical arm includes a large arm and a small arm, the large arm includes a large arm shell, and the small arm includes a small arm shell, and the large arm shell and the small arm shell are defined as forming a first included angle on the inner side of an elbow joint.
[0003] Currently, the mutual interference of the small arm shell and the large arm shell leads to a large minimum value of the first included angle, that is, when the first included angle is the minimum value, the distal end of the small arm shell is still far away from the large arm shell, which makes the movement range of the small arm shell smaller. SUMMARY
[0004] The embodiment of the utility model provides a kind of mechanical arm and robot, can improve the technical problem that when the first included angle is minimum, the distal end of small arm shell is still far away from the large arm shell.
[0005] To achieve the above object, according to the first aspect of the present application, a kind of mechanical arm is provided, mechanical arm is applied to robot, robot includes body and the mechanical arm, the mechanical arm includes large arm shell, small arm shell and first drive component, the proximal end of the large arm shell is used to be connected with the body, the distal end of the large arm shell is connected with the proximal end of the small arm shell by the first drive component, to make the small arm shell rotate relative to the large arm shell under the drive of the first drive component;Wherein, the distal end of the large arm shell is configured with first shell, the first shell is curved relative to other parts of the large arm shell towards the inner side of elbow joint, and the first drive component is installed on the first shell.
[0006] According to the second aspect of the present application, a kind of mechanical arm is provided, mechanical arm is applied to robot, robot includes body and the mechanical arm, the mechanical arm includes large arm shell, small arm shell and first drive component, the proximal end of the large arm shell is used to be connected with the body, the distal end of the large arm shell is connected with the proximal end of the small arm shell by the first drive component, to make the small arm shell rotate relative to the large arm shell under the drive of the first drive component;Wherein, the distal end of the large arm shell is configured with first shell, the first shell is curved relative to other parts of the large arm shell towards the inner side of elbow joint, and the first drive component is installed on the first shell;
[0007] When the mechanical arm is in the stretched state and the axis of the small arm is parallel to the axis of the large arm, the axis of the large arm is closer to the inner side of the elbow joint relative to the axis of the small arm.
[0008] The embodiment of the utility model has the advantages of
[0009] In the embodiment of the utility model, in order to facilitate the explanation, it is defined that the elbow joint is formed with a first included angle on the inner side of the elbow joint, and the first included angle gradually decreases in the process that the small arm shell rotates relative to the large arm shell along the first direction.
[0010] The first shell is curved towards the inner side of the elbow joint relative to other parts of the large arm shell, so that the distal end of the first shell is convex relative to other parts of the large arm shell, which provides more space for the small arm shell to rotate relative to the large arm shell in the first direction. In this way, the technical problem that the distal end of the small arm shell is still far away from the large arm shell when the first included angle is the minimum value can be improved. BRIEF DESCRIPTION OF DRAWINGS
[0011] In order to more clearly illustrate the technical scheme in the embodiment of the utility model, the drawings needed in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the utility model, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.
[0012] Figure 1 is a perspective view of a robot provided by the embodiment of the utility model;
[0013] Figure 2 is Figure 1 is a structure schematic view of a mechanical arm, wherein the small arm shell is in a straightened state relative to the large arm shell, and the view is obtained by vertically projecting in the extension direction of the rotation axis of the first driving assembly;
[0014] Figure 3 is Figure 2 is a sectional view of the mechanical arm;
[0015] Figure 4 Figure 2 is a structure schematic view of the mechanical arm after the small arm shell rotates relative to the large arm shell along the first direction;
[0016] Figure 5 is Figure 4 is an exploded view of the mechanical arm;
[0017] Figure 6 is Figure 5 is an exploded view of the mechanical arm;
[0018] Figure 7 is Figure 6 is a structure schematic view of the cover plate;
[0019] Figure 8 is Figure 5 is an exploded view of the mechanical arm;
[0020] Figure 9 is Figure 8 Structure diagram of the second support plate. DETAILED DESCRIPTION
[0021] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative efforts fall within the scope of the present application. In addition, it should be understood that the specific embodiments described herein are only used to illustrate and explain the present application, and are not used to limit the present application. In the present application, the orientation words such as "upper" and "lower" generally refer to the upper and lower in the actual use or working state of the device, and specifically refer to the direction of the drawing in the drawings. The "inner" and "outer" refer to the contour of the device.
[0022] With reference to Figure 1 The present application provides a robot 100. The robot 100 comprises a body 110, a mechanical arm 200 connected to the body 110, a leg 130 connected to the body 110, and a head 120 connected to the body 110.
[0023] With reference to Figures 2 to 6 , and with reference to Figure 8 The present application also provides a mechanical arm 200, which is applied to the robot 100. The mechanical arm 200 comprises a large arm 300 for connecting the body 110, a small arm 400 connected to the large arm 300, and a first driving assembly 380. The large arm 300 comprises a large arm shell 310, and the small arm 400 comprises a small arm shell 410. The proximal end of the large arm shell 310 is connected to the body 110, and the distal end of the large arm shell 310 is connected to the proximal end of the small arm shell 410 through the first driving assembly 380, so that the small arm shell 410 rotates relative to the large arm shell 310 under the driving of the first driving assembly 380.
[0024] The distal end of the large arm shell 310 is configured with a first shell 320, and the first driving assembly 380 is installed on the first shell 320. It can be understood that the distal end of the first shell 320 is the distal end of the large arm shell 310, and the first driving assembly 380 is installed on the distal end of the first shell 320. In addition, the first shell 320 is curved towards the inner side 600 of the elbow joint relative to other parts of the large arm shell 310, which makes the distal end of the first shell 320 protrude relative to other parts of the large arm shell 310.
[0025] For the purpose of illustration, it is defined herein that the large arm housing 310 and the small arm housing 410 form a first included angle at the inner side 600 of the elbow joint, and the first included angle gradually decreases during the rotation of the small arm housing 410 relative to the large arm housing 310 in the first direction.
[0026] The distal end of the first housing 320 protrudes relative to the other part of the large arm housing 310, which provides more space for the rotation of the small arm housing 410 relative to the large arm housing 310 in the first direction, so that the distal end of the small arm housing 410 is closer to the large arm housing 310 when the first included angle is the minimum.
[0027] Referring to Figures 2 to 6 , and referring to Figure 8 , the present application also provides a mechanical arm 200 applied to the robot 100, the mechanical arm 200 comprising a large arm 300 for connecting the body 110, a small arm 400 connected to the large arm 300, and a first driving assembly 380. The large arm 300 comprises a large arm housing 310, and the small arm 400 comprises a small arm housing 410. The proximal end of the large arm housing 310 is connected to the body 110, and the distal end of the large arm housing 310 is connected to the proximal end of the small arm housing 410 through the first driving assembly 380, so that the small arm housing 410 rotates relative to the large arm housing 310 under the driving of the first driving assembly 380.
[0028] The distal end of the large arm housing 310 is configured with a first housing 320, and the first driving assembly 380 is installed on the first housing 320. It can be understood that the distal end of the first housing 320 is the distal end of the large arm housing 310, and the first driving assembly 380 is installed on the distal end of the first housing 320. In addition, the first housing 320 is curved relative to the other part of the large arm housing 310 towards the inner side 600 of the elbow joint, which makes the distal end of the first housing 320 protrude relative to the other part of the large arm housing 310.
[0029] For the purpose of illustration, it is defined herein that the large arm housing 310 and the small arm housing 410 form a first included angle at the inner side 600 of the elbow joint, and the first included angle gradually decreases during the rotation of the small arm housing 410 relative to the large arm housing 310 in the first direction.
[0030] The distal end of the first housing 320 protrudes relative to the other part of the large arm housing 310, which provides more space for the rotation of the small arm housing 410 relative to the large arm housing 310 in the first direction, so that the distal end of the small arm housing 410 is closer to the large arm housing 310 when the first included angle is the minimum.
[0031] In addition, in order to further reduce the first included angle, when the mechanical arm 200 is in the stretched state and the axis of the small arm 400 is parallel to the axis of the large arm 300, the axis of the large arm 300 is closer to the inner side of the elbow joint relative to the axis of the small arm 400. It should be noted that the axis of the small arm 400 refers to the axis along which the small arm 400 extends in the length direction, and the axis of the large arm 300 refers to the axis along which the large arm 300 extends in the length direction. For example, when the small arm 400 and the large arm 300 are both cylindrical, the axis of the small arm 400 can be the central axis of the small arm 400, and the axis of the large arm 300 can be the central axis of the large arm 300. In this way, more space is provided for the rotation of the small arm shell 410 relative to the large arm shell 310 in the first direction, so that when the first included angle is the minimum value, the distal end of the small arm shell 410 is closer to the large arm shell 310, which is beneficial to further reduce the first included angle.
[0032] In an embodiment, the second driving assembly 390 is arranged in the large arm shell 310 and is arranged to rotate a portion of the large arm shell 310 relative to another portion. For example, the large arm shell 310 further includes a third shell 370, and the second driving assembly 390 is arranged in the third shell 370 and has an output end connected to the first shell 320 to relatively rotate the third shell 370 relative to the first shell 320. This makes the large arm shell 310 have a higher degree of freedom, which is beneficial to the mechanical arm 200 to realize more complex movements. In addition, the rotation axis of the second driving assembly 390 is orthogonal to and does not coplanar with the rotation axis of the first driving assembly 380. This is beneficial to reduce the complexity of controlling the movement of the mechanical arm 200. It should be noted that the axis of the large arm 300 can coincide with or not coincide with the rotation axis of the second driving assembly 390, which is not limited herein.
[0033] For example, the rotation axis of the second driving assembly 390 is in the length direction of the large arm shell 310; of course, in other examples, the rotation axis of the second driving assembly 390 is arranged at an included angle with the length direction of the large arm shell 310.
[0034] In addition, it should be noted that the number of the second driving assembly 390 can be set according to the requirement of the degree of freedom of the mechanical arm 200, for example, multiple second driving assemblies 390 can be arranged. The number of the second driving assembly 390 is not limited herein.
[0035] Specifically referring to Figure 2 In an embodiment, the minimum distance between the rotation axis of the second driving assembly 390 and the rotation axis of the first driving assembly 380 is between 10 mm and 30 mm. The rotation axis of the first driving assembly 380 is located at A in FIG. 4, and the rotation axis of the second driving assembly 390 is Figure 2 Figure 2 If the distance is too large, the distal end of the first shell 320 protrudes more relative to other parts of the large arm shell 310, which makes the moment of force on the bent part of the first shell 320 larger, and the structural strength of the first shell 320 is required to be higher; if the distance is too small, the space provided by the small arm shell 410 for the rotation of the large arm shell 310 in the first direction is smaller, which makes the distal end of the small arm shell 410 not close enough to the large arm shell 310 when the first included angle is at the minimum. Therefore, when the distance is between 10 mm and 30 mm, the moment of force on the bent part of the first shell 320 is smaller, and the structural strength of the first shell 320 is required to be lower, and the distal end of the small arm shell 410 is closer to the large arm shell 310 when the first included angle is at the minimum.
[0036] In an embodiment, the proximal end of the small arm shell 410 is configured with a second shell 420. It can be understood that the proximal end of the second shell 420 is the proximal end of the small arm shell 410. The second shell 420 is bent towards the inner side 600 of the elbow joint relative to other parts of the small arm shell 410, and the first shell 320 is connected to the second shell 420 through the first driving assembly 380. This makes the proximal end of the second shell 420 protrude relative to other parts of the small arm shell 410. This provides more space for the rotation of the small arm shell 410 relative to the large arm shell 310 in the first direction, which makes the distal end of the small arm shell 410 closer to the large arm shell 310 when the first included angle is at the minimum.
[0037] In an embodiment, the small arm shell 410 is provided with a third driving assembly 480, which is configured to rotate a part of the small arm shell 410 relative to another part. Exemplarily, the small arm shell 410 further includes a fourth shell 470, the third driving assembly 480 is arranged in the fourth shell 470, and the output end of the third driving assembly 480 is connected to the second shell 420 to rotate the fourth shell 470 relative to the second shell 420. This makes the degree of freedom of the small arm shell 410 higher, which is conducive to the realization of more complex actions of the mechanical arm 200. When the small arm shell 410 is in the straight state relative to the large arm shell 310, the rotation axis of the third driving assembly 480 is parallel to the rotation axis of the second driving assembly 390, and the rotation axis of the second driving assembly 390 is located between the rotation axis of the third driving assembly 480 and the rotation axis of the first driving assembly 380 as viewed along the rotation axis of the first driving assembly 380. This further makes the distal end of the small arm shell 410 closer to the large arm shell 310 when the first included angle is at the minimum.
[0038] It is worth mentioning that the axis of the small arm 400 can coincide with or not coincide with the rotation axis of the third driving assembly 480, which is not limited herein.
[0039] Reference is made to Figure 2In an embodiment, the minimum distance between the rotation axis of the second driving assembly 390 and the rotation axis of the third driving assembly 480 is less than or equal to 30mm. The rotation axis of the third driving assembly 480 is indicated by the dashed line in FIG. 6. This range of values makes the distance between the rotation axis of the second driving assembly 390 and the rotation axis of the third driving assembly 480 more appropriate. Figure 2 In an embodiment, the minimum distance between the rotation axis of the second driving assembly 390 and the rotation axis of the third driving assembly 480 is less than or equal to 30mm. The rotation axis of the third driving assembly 480 is indicated by the dashed line in FIG. 6. This range of values makes the distance between the rotation axis of the second driving assembly 390 and the rotation axis of the third driving assembly 480 more appropriate.
[0040] With reference to FIG. 6, Figure 2 In an embodiment, as viewed along the rotation axis of the first driving assembly 380, the orthographic projection of the first housing 320 has a first contour line 330 and a second contour line 340, and the orthographic projection of the second housing 420 has a third contour line 430 and a fourth contour line 440, the first contour line 330 and the third contour line 430 are respectively located at the medial side 600 of the elbow joint, and the second contour line 340 and the fourth contour line 440 are respectively located at the lateral side 700 of the elbow joint; wherein the curvature of the first contour line 330 is greater than the curvature of the second contour line 340, and the curvature of the third contour line 430 is greater than the curvature of the fourth contour line 440. In this way, the distal end of the forearm housing 410 is further closer to the upper arm housing 310 when the first included angle is at a minimum value.
[0041] With reference to FIG. 6, Figure 6 and Figure 8In an embodiment, the first housing 320 comprises a first body 351, a bottom plate 352 and a cover plate 353, the first body 351 is in a cylindrical shape, the bottom plate 352 is in an annular shape and is integrally connected to one end of the first body 351, the cover plate 353 is detachably connected to the other end of the first body 351, and the reducer of the first driving assembly 380 is installed on the bottom plate 352. In this way, the first driving assembly 380 can be installed on the first housing 320 by detaching and attaching the cover plate 353 to the first body 351. The first support plate 452 is connected to the reducer first, and the second support plate 453 is rotatably connected to the cover plate 353 after the first driving assembly 380 is installed on the first housing 320. This makes the assembly process of the first housing 320, the first driving assembly 380 and the second housing 420 easier. It is worth mentioning that when the first driving assembly 380 is running, the reducer drives the first support plate 452 to rotate, thereby driving the second housing 420 to rotate. However, the design is not limited to this, and in some other embodiments, the structural forms of the first housing 320 and the second housing 420 can also be other forms, which are not limited herein, as long as the first driving member can be installed on the first housing 320 and the first driving member can drive the first housing 320 and the second housing 420 to rotate relative to each other.
[0042] Referring to Figure 7 and Figure 9 In an embodiment, the side of the cover plate 353 facing the second support plate 453 is configured with a first annular flange 361, the side of the second support plate 453 away from the cover plate 353 is configured with a compression ring 461, the outer side of the first annular flange 361 is nested with a bearing 500, and the second support plate 453 is nested on the outer ring of the bearing 500. In this way, the second support plate 453 rotates relative to the cover plate 353 through the bearing 500, that is, the second housing 420 rotates relative to the first housing 320 through the bearing 500, and the bearing 500 makes the second housing 420 rotate relative to the first housing 320 more smoothly. In addition, the compression ring 461 axially holds the outer ring of the bearing 500. Specifically, in the axial direction of the bearing 500, the compression ring 461 abuts against one end of the outer ring of the bearing 500 away from the cover plate 353, and the compression ring 461 and the outer ring of the bearing 500 are matched in a supporting ring manner to provide installation positioning in the axial direction of the bearing 500, so as to avoid direct contact between the second support plate 453 and the cover plate 353 and interference when the second support ring rotates relative to the cover plate 353.
[0043] In an embodiment, the cover plate 353 is configured with a second annular flange 362 on a side thereof facing the second support plate 453, the second annular flange 362 is located at the periphery of the first annular flange 361, the second support plate 453 is configured with an annular recess 462 on a side thereof facing the cover plate 353, the second annular flange 362 extends into the annular recess 462, and the bearing 500 is located between the first annular flange 361 and the second annular flange 362. It can be understood that the circumferences of the first annular flange 361, the second annular flange 362, and the annular recess 462 are coaxial with the axis of the bearing 500, which makes the second support plate 453 not interfere with the cover plate 353 when the second support plate 453 rotates relative to the cover plate 353. In addition, the annular recess 462 is configured to reduce the weight of the second support plate 453, which is conducive to the lightening of the second housing 420, and the second annular flange 362 extends into the annular recess 462, which makes the connection between the second support plate 453 and the cover plate 353 more compact in the axial direction of the bearing 500.
[0044] However, the design is not limited to this, and in some other embodiments, the cover plate 353 and the second support plate 453 can also have other structural forms, and those skilled in the art can design them according to specific needs and related technologies, which are not limited herein.
[0045] In addition, the structural forms of the first drive assembly 380, the second drive assembly 390, and the third drive assembly 480 can be designed according to related technologies, which are not limited herein.
[0046] The embodiments of the utility model are described in detail above, and the principles and implementation modes of the utility model are described by applying specific examples in this paper. The above description of the embodiments is only used to help understand the method and core idea of the utility model; at the same time, for those skilled in the art, according to the idea of the utility model, the specific implementation mode and application range will be changed, and the above description should not be understood as a limitation of the utility model.
Claims
1. A robot arm, characterized in that, The mechanical arm is applied to a robot, the robot comprising a body and the mechanical arm, the mechanical arm comprising a large arm shell, a small arm shell and a first driving assembly, a proximal end of the large arm shell being configured to be connected with the body, a distal end of the large arm shell being connected with a proximal end of the small arm shell through the first driving assembly, so that the small arm shell rotates relative to the large arm shell under the driving of the first driving assembly; wherein the distal end of the large arm shell is configured with a first shell, the first shell being curved towards the inner side of the elbow joint relative to other parts of the large arm shell, and the first driving assembly is mounted on the first shell.
2. A robot arm, characterized in that, The mechanical arm is applied to a robot, the robot comprising a body and the mechanical arm, the mechanical arm comprising a large arm shell, a small arm shell and a first driving assembly, a proximal end of the large arm shell being configured to be connected with the body, a distal end of the large arm shell being connected with a proximal end of the small arm shell through the first driving assembly, so that the small arm shell rotates relative to the large arm shell under the driving of the first driving assembly; wherein the distal end of the large arm shell is configured with a first shell, the first shell being curved towards the inner side of the elbow joint relative to other parts of the large arm shell, and the first driving assembly is mounted on the first shell. When the mechanical arm is in an extended state and the axis of the small arm is parallel to the axis of the large arm, the axis of the large arm is closer to the inner side of the elbow joint relative to the axis of the small arm.
3. The robot arm of claim 2, wherein, The second driving assembly is arranged in the large arm shell, and is configured to rotate a part of the large arm shell relative to another part, the rotation axis of the second driving assembly is orthogonal to the rotation axis of the first driving assembly and is not coplanar with the rotation axis of the first driving assembly.
4. The robot arm of claim 3, wherein, The minimum distance between the rotation axis of the second driving assembly and the rotation axis of the first driving assembly is between 10 mm and 30 mm.
5. The robotic arm of claim 3, wherein, The proximal end of the small arm shell is configured with a second shell, the second shell being curved towards the inner side of the elbow joint relative to other parts of the small arm shell, and the first shell is connected with the second shell through the first driving assembly.
6. The robot arm of claim 5, wherein, The third driving assembly is arranged in the small arm shell, and is configured to rotate a part of the small arm shell relative to another part, when the small arm shell is in an extended state relative to the large arm shell, the rotation axis of the third driving assembly is parallel to the rotation axis of the second driving assembly, and when viewed along the rotation axis of the first driving assembly, the rotation axis of the second driving assembly is located between the rotation axis of the third driving assembly and the rotation axis of the first driving assembly.
7. The robot arm of claim 6, wherein, The minimum distance between the rotation axis of the second driving assembly and the rotation axis of the third driving assembly is less than or equal to 30 mm.
8. The robotic arm of claim 5, wherein, The first shell has a first contour line and a second contour line in the orthographic projection viewed along the rotation axis of the first driving assembly, and the second shell has a third contour line and a fourth contour line in the orthographic projection, the first contour line and the third contour line are respectively located at the inner side of the elbow joint, and the second contour line and the fourth contour line are respectively located at the outer side of the elbow joint; wherein the curvature of the first contour line is greater than the curvature of the second contour line, and the curvature of the third contour line is greater than the curvature of the fourth contour line.
9. The robotic arm of claim 5, wherein, The first shell comprises a first body, a bottom plate and a cover plate, the first body is provided in a cylindrical shape, the bottom plate is provided in an annular shape and is integrally connected to one end of the first body, the cover plate is detachably connected to the other end of the first body, and the reducer of the first driving assembly is mounted on the bottom plate; the second shell comprises a second body, a first support plate and a second support plate, the first support plate is integrally connected to the second body, and the second support plate is detachably connected to the second body, the first support plate is mounted on the reducer, and the second support plate is rotatably connected to the cover plate.
10. The robotic arm of claim 9, wherein, The side of the cover plate facing the second support plate is configured with a first annular flange, the side of the second support plate away from the cover plate is configured with a press ring, the outer side of the first annular flange is nested with a bearing, the second support plate is nested on the outer ring of the bearing, and the press ring axially holds the outer ring of the bearing.
11. The robotic arm of claim 10, wherein, The side of the cover plate facing the second support plate is configured with a second annular flange, the second annular flange is located at the periphery of the first annular flange, the side of the second support plate facing the cover plate is configured with an annular groove, the second annular flange extends into the annular groove, and the bearing is located between the first annular flange and the second annular flange.
12. A robot, characterized in that The mechanical arm comprises the mechanical arm as claimed in any one of claims 1 to 11.