Mechanical hand rotor assembly and mechanical hand body

Abstract

This utility model provides a robotic arm rotor assembly and a robotic arm body, including: a housing, hollow inside; a drive shaft disposed in the hollow part of the housing; a circular grating disposed outside the drive shaft; a reading head disposed on the inner wall of the housing, the reading head and the circular grating being aligned in axial height; a first opening provided on the side of the housing opposite to the reading head; an isolation channel provided inside the housing, isolated from the internal space of the housing, the isolation channel being offset from the circular grating, one end of the isolation channel extending to the reading head and the other end communicating with the first opening; an aviation connector disposed at the first opening, serving as a signal transmission interface between the reading head and an external control circuit; and a signal cable located within the isolation channel, with both ends connected to the reading head and the aviation connector, respectively. This utility model optimizes the positional relationship between the aviation connector and the reading head and the cable path, avoiding interference between the signal cable and the rotating components, while controlling the radial dimension increment.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a robotic arm rotor assembly and a robotic arm body. Background Technology

[0002] High-precision motion control of robotic arms relies on real-time angle feedback from drive axes (such as rotary joints and servo motor output shafts). Circular gratings, as high-resolution angle encoding elements, achieve sub-arcsecond angle measurement accuracy by mounting a grating substrate on the drive axis and using a reading head to read the grating signal. They are a core component of closed-loop control for robotic arms. Robotic arm drive axes are typically integrated inside joints, and their radial / axial space is limited by the layout of components such as reducers, servo motors, and transmission gears. The special operating conditions of robotic arm drive axes (such as multi-axis linkage, high-speed rotation, and compact spatial layout) place higher demands on the mounting positions of the circular grating and reading head.

[0003] In the scenario of mounting circular gratings on the drive shaft of a robotic arm, the limitations of traditional "direct connection to the shaft end" and "external attachment to the shaft side" solutions become even more apparent in practical applications:

[0004] 1. The direct-drive shaft connection scheme presents two problems. First, it creates a spatial constraint problem: the circular grating substrate is directly fixed to the end of the drive shaft, and its axial installation requires axial space at the end of the drive shaft. However, the axial length is limited by the compact design of the robot body, and an excessively long grating installation structure reduces the space utilization of the robot. Second, it increases the weight and inertia of the robot body: the grating substrate and fixing structure of the direct-drive shaft connection will increase the rotational inertia of the drive shaft end, causing the servo motor to output more torque to meet the acceleration and deceleration requirements, which increases energy consumption and shortens the motor life.

[0005] 2. Layout and wiring conflicts of the axle-side external mounting scheme: While the axle-side external mounting scheme saves axial space by adding a bracket to fix the reading head on the radial side of the drive shaft, it introduces new structural and wiring challenges. The positions of the avionics connector and the reading head conflict, and the reading head needs to be connected to the external control circuit through the avionics connector. There are two layout conflicts:

[0006] a) Same-side layout: If the navigation plug and the reading head are installed on the same radial side of the drive shaft (such as both located on the right side), although the wiring can be simplified, it will lead to an increase in the radial dimension of that side, which contradicts the radially compact design of the robot body.

[0007] b) Opposite side layout: If the avionics head and the reading head are placed on opposite sides of the drive shaft (e.g., the reading head on the left and the avionics head on the right), although the increase in radial dimension is avoided, the cable connecting the two needs to cross the side of the drive shaft. When the drive shaft rotates, the cable is prone to friction and entanglement with the edge of the circular grating substrate, and there is even a risk of wire breakage.

[0008] In view of this, it is necessary to propose a robot rotor assembly and a robot body to solve the above problems. Utility Model Content

[0009] The purpose of this utility model is to provide a robot rotor assembly and robot body to solve problems such as low space utilization of traditional direct shaft connection, increased body weight and inertia, increased radial dimension of same-side external hanging layout, and easy cable friction, entanglement or even wire breakage caused by opposite-side external hanging layout.

[0010] This utility model provides a robotic arm rotor assembly, comprising:

[0011] Shell, hollow inside;

[0012] The drive shaft is located in the hollow part inside the housing;

[0013] A circular grating is located on the outside of the drive shaft;

[0014] A reading head is disposed on the inner wall of the housing. The reading head and the circular grating are aligned in axial height. A first opening is provided on the side of the housing opposite to the reading head. An isolation channel is provided inside the housing, which is isolated from the internal space of the housing. The isolation channel is offset from the circular grating. One end of the isolation channel extends to the reading head and the other end communicates with the first opening.

[0015] An aviation connector is located at the first opening and serves as the signal transmission interface between the reading head and the external control circuit.

[0016] The signal cable is located within the isolation channel, with its two ends connected to the reading head and the aviation connector, respectively.

[0017] In one possible embodiment, the housing is provided with a second opening corresponding to the circular grating, the second opening being disposed opposite to the first opening, and the reading head being disposed at the second opening.

[0018] In one possible embodiment, the inner wall of the housing is provided with a connecting groove, the two ends of the connecting groove are respectively connected to the first opening and the second opening, and an isolation bushing is provided at the opening of the connecting groove, the outer periphery of the isolation bushing and the inner wall of the connecting groove forming the isolation channel.

[0019] In one possible embodiment, the cross-section of the connecting groove is U-shaped or semi-circular.

[0020] In one possible embodiment, there are two connecting slots, each located on one side of the reading head.

[0021] In one possible embodiment, the reading head is located at one end of the second opening near the circular grating.

[0022] In one possible embodiment, a sealing plate is provided at the end of the second opening away from the circular grating to block the second opening.

[0023] This utility model also provides a robotic arm body, comprising:

[0024] Cavity, hollow inside;

[0025] As in any of the above embodiments, the robotic rotor assembly is disposed within the cavity, and the end of the drive shaft extends out of the cavity.

[0026] In one possible embodiment, the cavity includes a cylindrical side cover, a top seat disposed at the top of the side cover, and a base disposed at the bottom of the side cover.

[0027] In one possible embodiment, the side cover includes a first cover portion and a second cover portion that are mounted and connected, wherein the cross-section of the first cover portion and the cross-section of the second cover portion are semi-circular or arc-shaped.

[0028] The beneficial effects of the robotic rotor assembly provided by this utility model are as follows: The circular grating is positioned on the outside of the drive shaft, thus not occupying the axial space at the end of the drive shaft, improving space utilization and not increasing the rotational inertia at the end of the drive shaft. The reading head and the aviation connector are positioned opposite each other, without increasing the radial dimension. The signal cable is placed in an isolated channel, avoiding the risk of friction, tangling, or even breakage when the signal cable crosses the rotation area. Attached Figure Description

[0029] Figure 1 This is a cross-sectional view of the robot rotor assembly of this utility model.

[0030] Figure 2 This is a schematic diagram of the robotic rotor assembly of this utility model.

[0031] Figure 3 This is a schematic diagram of the robotic arm body of this utility model.

[0032] Explanation of reference numerals in the attached drawings: 110, robot rotor assembly; 111, housing; 1111, first opening; 1112, second opening; 1113, isolation channel; 112, drive shaft; 113, circular grating; 114, reading head; 115, aviation connector; 1151, mounting base; 116, isolation bushing; 117, sealing plate; 100, robot body; 120, cavity; 121, side cover; 1211, first cover; 1212, second cover; 122, top seat; 123, base; 124, output shaft. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0034] To address the problems existing in the prior art, embodiments of this utility model provide a robotic arm rotor assembly. Figure 1 This is a cross-sectional view of the robot rotor assembly of this utility model. Figure 2 This is a schematic diagram of the robotic arm rotor assembly of this utility model. See also: Figure 1 and Figure 2 The robotic rotor assembly 110 includes: a housing 111, a drive shaft 112, a circular grating 113, a reading head 114, an aviation connector 115, and signal cables. The housing 111 is hollow inside, and the drive shaft 112 is located in the hollow part of the housing 111. The circular grating 113 is located outside the drive shaft 112. The reading head 114 is located on the inner wall of the housing 111, and the reading head 114 and the circular grating 113 are aligned in axial height. A first opening 1111 is provided on the side of the housing 111 opposite to the reading head 114. An isolation channel 1113 is provided inside the housing 111, which is isolated from the internal space of the housing 111. The isolation channel 1113 is offset from the circular grating 113. One end of the isolation channel 1113 extends to the reading head 114, and the other end communicates with the first opening 1111. An aviation connector 115 is located at the first opening 1111, serving as the signal transmission interface between the reading head 114 and the external control circuit. A signal cable is located within the isolation channel 1113, with both ends connected to the reading head 114 and the aviation connector 115, respectively.

[0035] For details, see Figure 1 The circular grating 113 is annular and fixedly sleeved on the outside of the drive shaft 112.

[0036] The reading head 114 and the circular grating 113 are precisely aligned in axial height to ensure stable reading of the grating signal. The circular grating 113 rotates with the drive shaft 112, and it is engraved with fine grating lines and other coding structures. When the circular grating 113 rotates, the grating lines pass sequentially through the detection area of ​​the reading head 114. The reading head 114 typically contains a light-emitting element and a photoelectric receiving element. The light emitted by the light source is modulated by the circular grating 113, generating light signals with varying brightness. These light signals are received by the photoelectric receiving element and converted into electrical signals to achieve precise measurement of the rotation angle and position of the drive shaft 112.

[0037] In the traditional direct-drive shaft connection scheme, the circular grating 113 substrate is directly fixed to the end of the drive shaft 112, occupying axial space. In the present invention, the circular grating 113 is located on the outside of the drive shaft 112, and the reading head 114 is located on the inner wall of the housing 111. The two are aligned in axial height, which greatly reduces the axial space occupied, improves the space utilization of the robot, and meets the requirements of the compact design of the robot body 100.

[0038] In traditional axial-side external mounting layouts, the flight connector and the reading head 114 are on the same side, which leads to an increase in radial dimensions. However, in this invention, the reading head 114 and the flight connector 115 are located on opposite sides of the housing 111, optimizing the positional relationship between the flight connector and the reading head 114. This avoids the radial overlap problem of "reading head 114 + flight connector" in traditional axial-side layouts, ensuring that the robot body 100 maintains a compact structure in the radial direction, meeting its compact spatial layout requirements.

[0039] In traditional shaft-side external mounting layouts, cables crossing the drive shaft 112 are prone to friction and entanglement with the edge of the circular grating 113 substrate. However, in this invention, the isolation channel 1113 is isolated from the internal space of the housing 111, and the isolation channel 1113 is staggered from the circular grating 113 to avoid the rotation area. The isolation channel 1113 serves as a dedicated path for the signal cable, connecting the aviation connector 115 and the reading head 114. The signal cable leading out from the reading head 114 travels through the isolation channel 1113 to the first opening 1111 and finally connects to the aviation connector 115. The signal cable is constrained within the isolation channel 1113 outside the circular grating 113, completely isolating the signal cable from rotating components such as the drive shaft 112 and the circular grating 113, thus avoiding interference between the signal cable and the rotating components. Even if the drive shaft 112 rotates continuously for 360°, the cable is fixedly arranged only with the stationary part of the housing 111, completely eliminating the risk of friction, tangling, or even breakage caused by "cables crossing the rotating area" in traditional opposite-side layouts.

[0040] The specific configuration of the reading head 114 will be explained in detail below with reference to specific embodiments.

[0041] In one embodiment, see Figure 1 The housing 111 has a second opening 1112 corresponding to the circular grating 113. The second opening 1112 is opposite to the first opening 1111, and the reading head 114 is located at the second opening 1112. The aircraft connector 115 and the reading head 114 are arranged with opposing openings. The aircraft connector 115 is located at the first opening 1111 of the housing 111, and the reading head 114 is located at the second opening 1112, which facilitates the installation, disassembly, and adjustment of the aircraft connector 115 and the reading head 114.

[0042] In one specific embodiment, see Figure 1 The reading head 114 is located at one end of the second opening 1112 near the circular grating 113.

[0043] In one specific embodiment, see Figure 1 A sealing plate 117 is provided at one end of the second opening 1112 away from the circular grating 113 to block the second opening 1112. By sealing the second opening 1112 with the sealing plate 117, the reading head 114 is isolated from the environment outside the housing 111, thus providing protection.

[0044] The specific configuration of the isolation channel 1113 will be explained in detail below with reference to specific embodiments.

[0045] In one embodiment, see Figure 1 The inner wall of the housing 111 is provided with a connecting groove, the two ends of which are respectively connected to the first opening 1111 and the second opening 1112. An isolation bushing 116 is provided at the opening of the connecting groove, and the outer periphery of the isolation bushing 116 and the inner wall of the connecting groove form the isolation channel 1113. The isolation bushing 116 and the connecting groove form a closed isolation channel 1113, avoiding the risk of friction, entanglement, or even breakage of the signal cable when crossing the rotation area.

[0046] In one specific embodiment, see Figure 1 The size of the isolation bushing 116 is larger than the opening size of the connecting groove. The isolation bushing 116 is installed at the opening of the connecting groove to provide a sealing and isolation function. In some embodiments, the cross-section of the connecting groove is U-shaped or semi-circular.

[0047] In some embodiments, see Figure 1 There are two connecting slots, which are located on both sides of the reading head 114.

[0048] In one embodiment, see Figure 1 The aircraft connector 115 is located at the end of the first opening 1111 away from the circular grating 113. Specifically, the mounting base 1151 of the aircraft connector 115 is located at the end of the first opening 1111 away from the circular grating 113, and the first opening 1111 is blocked by the mounting base 1151.

[0049] Figure 3 This is a schematic diagram of the robotic arm body of this utility model. See also: Figure 3 The present invention also provides a robotic arm body 100, including: a cavity 120 and a robotic arm rotor assembly 110 as in any of the above embodiments. The cavity 120 is hollow inside, the robotic arm rotor assembly 110 is disposed inside the cavity 120, and the end of the drive shaft 112 extends out of the cavity 120.

[0050] In one embodiment, see Figure 3 The cavity 120 includes a cylindrical side cover 121, a top seat 122 located at the top of the side cover 121, and a base 123 located at the bottom of the side cover 121. The cavity 120 is formed by the side cover 121, the top seat 122, and the base 123 to protect the robot rotor assembly 110 inside.

[0051] Further, see Figure 3 The end of the drive shaft 112 extends out of the top seat 122.

[0052] In one embodiment, see Figure 3 The side cover 121 includes a first cover portion 1211 and a second cover portion 1212 that are mounted and connected. The cross-section of the first cover portion 1211 and the cross-section of the second cover portion 1212 are semi-circular or arc-shaped.

[0053] In one specific embodiment, see Figure 2 and Figure 3 The end of the drive shaft 112 that extends out of the cavity 120 is provided with an output shaft 124.

[0054] In the description of this utility model, it should be understood that the terms "comprising" and "having" as used herein, and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or device.

[0055] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0056] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0057] While the embodiments of this utility model have been described in detail above, it will be apparent to those skilled in the art that various modifications and variations can be made to these embodiments. However, it should be understood that such modifications and variations fall within the scope and spirit of this utility model as set forth in the claims. Furthermore, the utility model described herein may have other embodiments and can be implemented or realized in various ways. Unless otherwise defined, the technical or scientific terms used herein should have the ordinary meaning understood by one of ordinary skill in the art to which this utility model pertains.

Claims

1. A robot rotor assembly, characterized in that include: Shell, hollow inside; The drive shaft is located in the hollow part inside the housing; A circular grating is located on the outside of the drive shaft; A reading head is disposed on the inner wall of the housing. The reading head and the circular grating are aligned in axial height. A first opening is provided on the side of the housing opposite to the reading head. An isolation channel is provided inside the housing, which is isolated from the internal space of the housing. The isolation channel is offset from the circular grating. One end of the isolation channel extends to the reading head and the other end communicates with the first opening. An aviation connector is located at the first opening and serves as the signal transmission interface between the reading head and the external control circuit. The signal cable is located within the isolation channel, with its two ends connected to the reading head and the aviation connector, respectively.

2. The manipulator rotor assembly of claim 1, wherein, The housing has a second opening corresponding to the circular grating, the second opening being opposite to the first opening, and the reading head being located at the second opening.

3. The manipulator rotor assembly of claim 2, wherein, The inner wall of the housing is provided with a connecting groove, the two ends of which are respectively connected to the first opening and the second opening. An isolation bushing is provided at the opening of the connecting groove, and the outer periphery of the isolation bushing and the inner wall of the connecting groove form the isolation channel.

4. The manipulator rotor assembly of claim 3, wherein, The cross-section of the connecting groove is U-shaped or semi-circular.

5. The manipulator rotor assembly of claim 3, wherein, There are two connecting slots, located on both sides of the reading head.

6. The manipulator rotor assembly of any of claims 2-5, wherein, The reading head is located at one end of the second opening near the circular grating.

7. The manipulator rotor assembly of any of claims 2-5, wherein, A sealing plate is provided at the end of the second opening away from the circular grating to block the second opening.

8. A robot body characterized by comprising: include: Cavity, hollow inside; The robotic rotor assembly as described in any one of claims 1-7, wherein the robotic rotor assembly is disposed within the cavity, and the end of the drive shaft extends out of the cavity.

9. The robot body according to claim 8, wherein The cavity includes a cylindrical side cover, a top seat located at the top of the side cover, and a base located at the bottom of the side cover.

10. The robot body according to claim 9, wherein The side cover includes a first cover portion and a second cover portion that are installed and connected together. The cross-section of the first cover portion and the cross-section of the second cover portion are semi-circular or arc-shaped.

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