CN111360800A - Mechanical arm rotation structure - Google Patents

Abstract

The invention provides a rotating structure of a mechanical arm, which includes two arms that need to rotate relatively, a force applying turntable is arranged between the two arms, the rotating shaft of the force applying turntable is mounted on the first arm, and the force applying turntable has a radial direction. An outer convex portion, the radially outer convex portion is fixed with the second arm, whereby the two arms can rotate relative to each other, and a wire is led from one arm to the other arm, and the wire is drawn from the non-radial outward convex portion of the force application turntable The side edge of the place passes through and does not touch the force-applying turntable, and the distance from the passing place to the rotating shaft is not greater than the distance from the outer edge of the radially outer convex portion of the force-applying turntable to the rotating shaft. The rotating shaft installed on the first arm drives the second arm to rotate through the radially outward convex portion of the force-applying turntable, so that the radially protruding portion can drive the second arm to swing more widely; the force-applying turntable removes the The outer side of other positions outside the radially convex portion is an avoidance space, and the wire will only pass through the avoidance space, so the force-applying turntable is not easy to touch the wire and avoid the wire being worn.

Description

Mechanical arm rotation structure

technical field

The present invention relates to a manipulator, in particular to a manipulator rotation structure.

Background technique

The inventor has developed an L-shaped turning arm unpublished. The L-shaped turning arm includes a first arm, a second arm, and a joint piece. The joint piece has an upper connecting end and a right connecting end. The lower end of the arm and the upper connecting end of the joint piece are movably connected and can rotate relative to each other in the lateral direction, and the left end of the second arm is fixedly connected with the right connecting end of the joint piece. A motor is arranged in the first arm, and the output shaft of the motor protrudes downward from the lower end of the first arm. The output shaft of the first arm is equipped with a force-applying turntable. The diameter of the force-applying turntable is the same as the diameter of the lower end of the first arm. Equivalently, the output shaft of the motor is fixed on the center of the force-applying turntable so that the force-applying turntable can be driven to rotate around its own center. The upper connecting end of the joint piece is a round tube, the diameter of the round tube is adapted to the diameter of the force applying turntable, and the round tube and the force applying turntable are fixedly connected so that the joint piece equipped with the second arm is movably installed on the first arm. The working principle is as follows: the motor output shaft drives the force-applying turntable to rotate around its center, so that the force-applying turntable drives the joint to rotate laterally, so that the joint drives the second arm to rotate laterally relative to the first arm. This lateral rotation is a clockwise forward rotation. Alternate with counterclockwise reversal, both forward and reverse rotations have a maximum rotation angle limit. The first arm is provided with a wire connected to the second arm, the upper part of the wire is fixedly hooped on the outer side wall of the first arm, and the lower part of the wire is fixedly hooped in the joint part, so the second arm is relative to the first arm. When the arm is rotated laterally, both the upper part of the wire and the lower part of the wire also rotate laterally relative to each other.

The defect of the above L-shaped rotating arm is that because the diameter of the force-applying turntable is equal to that of the first arm and the upper part of the wire is fixedly clamped on the outer side wall of the first arm, the wire will be worn when the force-applying turntable rotates.

SUMMARY OF THE INVENTION

In order to overcome the deficiencies of the prior art, the present invention aims at a rotating structure of a mechanical arm, the force application turntable of which is not easy to wear the wire when it rotates.

The rotating structure of the mechanical arm includes two arms that need to rotate relatively, a force applying turntable is arranged between the two arms, the rotating shaft of the force applying turntable is mounted on the first arm, and the force applying turntable has a radially outward convex portion, The radially outward convex portion is fixed to the second arm, whereby the two arms can rotate relative to each other, and a wire is led from one arm to the other arm, and the wire is drawn from the side of the non-radially outward convex portion of the force-applying turntable It passes through and does not touch the force-applying turntable, and the distance from the passing place to the rotating shaft is not greater than the distance from the outer edge of the radially outer convex portion of the force-applying turntable to the rotating shaft.

Further, the radially outer convex portion is fixed to the second arm, and the specific structure is that the radially outer convex portion is provided with an axially protruding connecting column; the second arm is fixed with a mounting seat, and the mounting seat includes a first an installation hole, and the connecting column is fixedly installed in the first installation hole.

Further, a joint member is fixed on the second arm, the joint member includes an opening, and a casing of the joint member at the opening extends radially inward from the mounting seat.

Further, the mounting seat includes a shaft hole, and the rotating shaft is inserted into the shaft hole after passing through the force-applying turntable.

Further, the projection of the mounting seat on the force application turntable does not exceed the force application turntable.

Further, the first arm is provided with a first wire tie portion on the side wall of the end where the force applying turntable is located, and the second arm is provided with a second wire tie portion in the projected position of the force applying turntable on it, and the wire is provided from a The arm leads to the other arm through the first and second hoop wire portions.

Further, the second arm is provided with a terminal electrical device, and the wire is used to supply power to the terminal electrical device.

Further, the first arm has a built-in motor, and the motor drives the rotating shaft of the force applying turntable to rotate.

Further, the wire is led from the first arm to the second arm through the first wire ferrule portion and the second wire ferrule portion successively.

Further, the terminal electrical device includes a motor.

The beneficial effect is that: the rotating shaft installed on the first arm drives the second arm to rotate through the radially outer convex portion of the force-applying turntable, so that the radially protruding portion can drive the second arm to perform a larger swing range; The outer side of the force-applying turntable except for the radially convex part is a space for avoidance. As long as the force-applying turntable is controlled not to rotate one full circle in the same direction, the radially convex part will not touch the wire, and the wire will only pass through The avoidance space makes it difficult for the force-applying turntable to touch the wires, thereby preventing the wires from being worn.

Description of drawings

Fig. 1 is the overall schematic diagram of the mechanical arm in the present invention;

Fig. 2 is a partial schematic view at A in Fig. 1 (the joint shell and the mounting seat are hidden);

Fig. 3 is the schematic diagram of the force-applying turntable in the present invention;

Fig. 4 is the schematic diagram of the top view angle of the joint part;

In the figure: 1, the first arm; 2, the second arm; 4, the wire; 5, the first hoop line part; 6, the second hoop line part; 7, the output shaft; 8, the hoop body; 10, connecting column; 11, radially outward convex part; 12, joint part; 13, upper connecting end; 14, right connecting end; 15, first mounting hole; 16, shaft hole;

Detailed ways

The overall rotation structure of the robot arm is shown in FIG. 1 . The rotation structure of the robot arm includes a joint member 12 , a first arm 1 and a second arm 2 . The partial schematic diagram at A in FIG. 1 is shown in FIG. 2 (the casing and the mounting seat 17 of the joint piece 12 are hidden). Please refer to FIG. 4 together. The joint piece 12 has an upper connecting end 13 and a right connecting end 14. The first The lower end of the arm 1 and the upper connecting end 13 of the joint member 12 are movably connected and can rotate relative to each other in the lateral direction, and the left end of the second arm 2 is fixedly connected with the right connecting end 14 of the joint member 12 . The position of the first arm 1 is fixed, the outer side wall of the lower part of the first arm 1 is provided with a hoop body 8 , the hoop body 8 is provided with a first hoop wire portion 5 from top to bottom, and the joint member 12 is arranged in the projection position of the force application turntable 9 . There is a second hoop wire portion 6, and the wire 4 passes through the first hoop wire portion 5 from the first arm 1 and then passes through the second hoop wire portion 6, and finally leads to the second arm 2 (of course, it can also be from the second arm 2. First pass through the second hoop wire part 6 and then through the first hoop wire part 5, and finally lead to the first arm 1). The wires 4 supply power and signals to terminal electrical devices such as motors in the second arm 2 . The first arm 1 has a built-in motor as a driving device in this embodiment. The output shaft 7 of the motor protrudes downward from the first arm 1. The turntable 9 is coaxially mounted on the output shaft 7 and the output shaft 7 passes through the force application turntable 9 (in this embodiment, the output shaft 7 is used as the rotation shaft of the force application turntable 9), and the output shaft 7 can drive the force application turntable 9 Rotate along the transverse plane. The structure of the force applying turntable 9 is shown in FIG. 3 , the radially outward convex portion 11 extends laterally from the force applying turntable 9 , and two connecting columns 10 protrude downward from the lower end of the radially outward convex portion 11 , as shown in FIG. 4 . The connecting column 10 is fixedly mounted in the first mounting hole 15 of the mounting seat 17 in the joint member 12 . The side edge of the non-radial outer convex portion of the force applying turntable 9 forms a non-closed annular space. The side edge (avoidance space) passes through and does not touch the force applying turntable 9 , and the distance from the passing place to the output shaft 7 is not greater than the distance from the outer edge of the radially outward convex portion 11 of the force applying turntable 9 to the output shaft 7 . Due to the existence of the radially outward convex portion 11 , when the output shaft 7 drives the force application turntable 9 to rotate, it can rotate clockwise by a certain angle, or counterclockwise by a certain angle. Do not touch wire 4.

As shown in FIG. 4 , the upper connecting end 13 of the joint member 12 has an opening, and the outer shell of the joint member 12 at the opening extends laterally from the mounting seat 17 inward. The mounting seat 17 is provided with two first mounting holes 15 and One shaft hole 16, the positions of the two first mounting holes 15 correspond to the positions of the two connecting columns 10 respectively, the positions of the shaft holes 16 correspond to the positions of the output shaft 7, and the two connecting columns 10 are respectively fixed on the two first mounting holes. The output shaft 7 is fixedly or movably installed on the shaft hole 16, so the shaft hole 16 and the output shaft 7 correspond in position and have a suitable size. It should be noted that the wire 4 will not touch the force application turntable 9, and the projection of the mounting seat 17 on the force application turntable 9 does not exceed the force application turntable 9, so there is a high probability that the installation seat 17 cannot be touched.

The rotation structure of the mechanical arm is not preferable, and can be changed to: the rotating shaft of the force applying turntable 9 is movably installed on the second arm 2, the first arm 1 is fixedly installed on the radially outward convex portion 11 of the force applying turntable 9, the second The arm 2 incorporates a motor that drives the rotating shaft of the urging turntable 9 .

Claims (10)

1. The rotating structure of the mechanical arm includes two arms that need to rotate relative to each other. A force-applying turntable is arranged between the two arms. The rotating shaft of the force-applying turntable is mounted on the first arm. The force-applying turntable has a radially outward convex The radially outer convex portion is fixed with the second arm, whereby the two arms can rotate relative to each other, and a wire is led from one arm to the other arm, and it is characterized in that: The side edge of the convex portion passes through and does not touch the force-applying turntable, and the distance from the passing portion to the rotating shaft is not greater than the distance from the outer edge of the radially outer convex portion to the rotating shaft of the force-applying turntable. 2 . The rotating structure of the robot arm according to claim 1 , wherein the radially outer convex portion is fixed to the second arm, and the specific structure is that the radially outer convex portion is provided with an axially protruding connecting column. 3 . a mounting seat is fixedly arranged on the second arm, the mounting seat includes a first mounting hole, and the connecting column is fixedly mounted in the first mounting hole. 3 . The rotating structure of the mechanical arm according to claim 2 , wherein the second arm is fixed with a joint member, the joint member includes an opening, and the outer shell of the joint member at the opening radially protrudes inward. 4 . the mount. 4 . The rotating structure of the mechanical arm according to claim 2 or 3 , wherein the mounting seat includes a shaft hole, and the rotating shaft is inserted into the shaft hole after passing through the force-applying turntable. 5 . 5 . The rotating structure of the mechanical arm according to claim 2 or 3 , wherein the projection of the mounting seat on the force application turntable does not exceed the force application turntable. 6 . 6. The rotating structure of the mechanical arm according to claim 1, wherein the first arm is provided with a first hoop portion on the side wall of the end where the force applying turntable is located, and the second arm is a projection of its projection on the force applying turntable A second ferrule is provided in the position, and the wire is led from one arm through the first ferrule and the second ferrule to the other arm. 7 . The rotating structure of the mechanical arm according to claim 6 , wherein the second arm is provided with a terminal electrical device, and the wire is used to supply power to the terminal electrical device. 8 . 8 . The rotating structure of the mechanical arm according to claim 1 , wherein the first arm has a built-in motor, and the motor drives the rotating shaft of the force-applying turntable to rotate. 9 . 9 . The rotating structure of the robotic arm according to claim 6 , wherein the wire is led from the first arm to the second arm through the first wire-hoop portion and the second wire-hoop portion in sequence. 10 . 10 . The rotating structure of the manipulator according to claim 7 or 9 , wherein the terminal electrical device comprises a motor. 11 .

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