CN113043323A - Horizontal joint mechanical arm and manufacturing method thereof - Google Patents
Horizontal joint mechanical arm and manufacturing method thereof Download PDFInfo
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- CN113043323A CN113043323A CN202110279353.XA CN202110279353A CN113043323A CN 113043323 A CN113043323 A CN 113043323A CN 202110279353 A CN202110279353 A CN 202110279353A CN 113043323 A CN113043323 A CN 113043323A
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 23
- 230000003014 reinforcing effect Effects 0.000 claims abstract description 74
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- 238000010438 heat treatment Methods 0.000 claims description 9
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- 238000005520 cutting process Methods 0.000 claims description 3
- 230000002787 reinforcement Effects 0.000 claims 7
- 238000009434 installation Methods 0.000 description 9
- 238000001816 cooling Methods 0.000 description 5
- 239000000463 material Substances 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000005266 casting Methods 0.000 description 4
- 229910019752 Mg2Si Inorganic materials 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 238000000465 moulding Methods 0.000 description 2
- 238000007493 shaping process Methods 0.000 description 2
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- 239000006104 solid solution Substances 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
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- 229910045601 alloy Inorganic materials 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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Abstract
The invention relates to a robot, a horizontal joint mechanical arm and a manufacturing method thereof, wherein the horizontal joint mechanical arm comprises a long strip-shaped body, an inner cavity with two open ends is formed in the body along the length direction of the body, reinforcing plates are arranged on two sides in the width direction of the inner cavity, the reinforcing plates extend along the length direction of the body, a gap is formed between each reinforcing plate and the inner cavity wall on the corresponding side of the reinforcing plate, a connecting plate for connecting the inner cavity wall and the reinforcing plates is arranged in the gap, and the connecting plate extends along the length direction of the body. The rotary inertia of the horizontal joint mechanical arm is reduced by arranging the strip-shaped body and arranging the inner cavity with openings at two ends; simultaneously, the reinforcing plates are arranged on two sides of the width direction in the inner cavity of the body, and the connecting plates for connecting the inner cavity wall and the reinforcing plates are arranged in the gaps, so that the body is internally provided with enough strength and rigidity, the deformation of the horizontal joint mechanical arm is avoided, a die required for processing is simple, the cost is lower, and the service life is long.
Description
Technical Field
The invention relates to the technical field of mechanical arms, in particular to a robot, a horizontal joint mechanical arm and a manufacturing method thereof.
Background
With the increasing maturity of automation technology, a large number of robot automation production lines are widely applied to replace manual operation. In order to realize the connection and movement of different joints, the multi-joint robot needs to be connected with mechanical arms, and the mechanical arms play a role in transmitting torque and displacement and are main sources of robot joint load and generated deformation. The smaller the moment of inertia of the mechanical arm is, the smaller the joint load is, and the faster the running speed of the robot is. The better the rigidity of the mechanical arm is, the smaller the deformation of the mechanical arm is, and the better the positioning precision of the tail end of the robot is. At present, in order to improve the rigidity of the mechanical arm, the mass and the moment of inertia of the structure are inevitably increased mainly by adding structural materials. Therefore, it is often difficult for a conventional robot arm to combine a small moment of inertia with a large mechanical stiffness.
The traditional mechanical arm is generally formed by directly machining a raw material by a numerical control machine and casting a mould, and then is machined secondarily; the direct numerical control machine tool has high material processing cost, long processing time and low production efficiency; the mold casting molding has high mold opening cost, complex mold and short service life.
Disclosure of Invention
Based on the technical scheme, the invention provides the robot, the horizontal joint mechanical arm and the manufacturing method thereof, and the mechanical rigidity of the mechanical arm is high, and the rotational inertia is small; the die is simple, the cost is lower, and the service life is long.
The horizontal joint mechanical arm comprises a long-strip-shaped body, wherein an inner cavity with two open ends is formed in the length direction of the body, reinforcing plates are arranged on two sides of the inner cavity in the width direction and extend along the length direction of the body, a gap is formed between each reinforcing plate and the inner cavity wall on the corresponding side of the reinforcing plate, a connecting plate for connecting the inner cavity wall and the reinforcing plate is arranged in the gap, and the connecting plate extends along the length direction of the body.
In one of them embodiment, the body includes relative top board and the lower plate that sets up and relative left side board and the right side board that sets up, the left side of top board and lower plate is passed through the left side board is connected, the right side of top board and lower plate is passed through the right side board is connected, the inner chamber is close to left side board, right side board and is equipped with the reinforcing plate, the reinforcing plate of left side board and its corresponding side and the reinforcing plate of right side board and its corresponding side are passed through respectively between the connecting plate is connected.
In one embodiment, the reinforcing plate comprises an upper reinforcing part and a lower reinforcing part which are connected at an included angle, the left side plate and the right side plate are of arc structures protruding outwards, one side of the connecting plate is connected to the joint of the upper reinforcing part and the lower reinforcing part, and the other end of the connecting plate is connected to the most concave part of the inner wall of the left side plate or the right side plate.
In one embodiment, the four corners of the body are provided with threaded holes, and the threaded holes extend along the length direction of the body.
In one of them embodiment, go up the rib and be vertical direction setting, the rib is relative down go up the rib to the direction slope setting that is close to the inner chamber center, the clearance between the reinforcing plate of left side board and its corresponding side or the clearance between the reinforcing plate of right side board and its corresponding side is separated into two different cavities of upper and lower sectional area through the connecting plate that corresponds, and the sectional area of the cavity that is close to last rib is less than the sectional area of the cavity that is close to lower rib.
In one embodiment, one end of the upper side plate is provided with a first joint mounting position, and the first mounting position comprises a first mounting hole and a plurality of first fixing holes arranged on the periphery of the first mounting hole; the other end of the upper side plate is provided with a third joint mounting position, and the third mounting position comprises a third mounting hole, a yielding hole and a plurality of third fixing holes arranged on the periphery of the third mounting hole; one end of the lower side plate, which is far away from the first joint mounting position, is provided with a second joint mounting position, and the second mounting position comprises a second mounting hole and a plurality of second fixing holes arranged on the periphery of the second mounting hole.
The invention also provides a manufacturing method of the horizontal joint mechanical arm, and the horizontal joint mechanical arm is formed by hot extrusion.
The invention also provides a manufacturing method of the horizontal joint mechanical arm, which comprises the following steps:
heating the aluminum alloy bar to over 500 ℃;
heating a mould to 410-440 ℃, wherein the cross section area of the mould is matched with that of the horizontal joint mechanical arm;
extruding the heated aluminum alloy bar into a heated die, and performing extrusion molding to obtain a horizontal joint mechanical arm;
and cutting the horizontal joint mechanical arm with a specific length, and machining a joint mounting position on the horizontal joint mechanical arm.
In one embodiment, the temperature of the front section of the aluminum alloy bar is higher than that of the rear section of the aluminum alloy bar, and/or the extrusion speed of the front section of the aluminum alloy bar is lower than that of the rear section of the aluminum alloy bar.
A robot comprising the horizontal joint mechanical arm; or the horizontal joint mechanical arm manufactured by the manufacturing method of the horizontal joint mechanical arm is included.
According to the horizontal joint mechanical arm, the strip-shaped body is arranged, and the inner cavity with two open ends is formed in the body along the length direction of the body, so that the mass of the body is reduced, and the rotational inertia of the horizontal joint mechanical arm is reduced; simultaneously all be equipped with the reinforcing plate in the both sides of the interior width direction of the inner chamber of body, be equipped with the clearance between reinforcing plate and the inner chamber wall that corresponds the side, still be equipped with in the clearance and connect the connecting plate of inner chamber wall and reinforcing plate makes the body inside have sufficient intensity and rigidity, avoids horizontal joint arm to warp. The body, the connecting plate and the reinforcing plate of the horizontal joint mechanical arm are arranged in an extending mode along the length direction of the body, and meanwhile, the body is provided with an inner cavity with two open ends along the length direction of the body, so that the horizontal joint mechanical arm can obtain the same cross section area and can be manufactured through hot extrusion forming, and compared with the traditional numerical control machine tool machining and die casting forming, the horizontal joint mechanical arm is simple in structure and convenient to manufacture; the die is simple, the cost is lower, and the service life is long.
Drawings
The above and other objects, features and advantages of exemplary embodiments of the present disclosure will become readily apparent from the following detailed description read in conjunction with the accompanying drawings. Several embodiments of the present disclosure are illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings and in which like reference numerals refer to similar or corresponding parts and in which:
fig. 1 is a perspective view schematically showing a view angle of a horizontal joint robot arm according to an embodiment of the present invention;
FIG. 2 is a left side schematic view schematically illustrating the horizontal joint robot arm of FIG. 1;
fig. 3 is a perspective view schematically illustrating another view of the horizontal joint robot arm according to the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are some, but not all embodiments of the present disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
Specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.
Referring to fig. 1 to 3, a horizontal joint robot according to an embodiment of the present invention includes a long body 10, and an inner cavity 101 having two open ends is formed on the body 10 along a length direction thereof. Reinforcing plates 110 are arranged on two sides of the inner cavity 101 in the width direction. The reinforcing plate 110 extends along the length direction of the body 10. A gap is arranged between the reinforcing plate 110 and the wall of the inner cavity 101 on the corresponding side. A connecting plate 120 connecting the inner cavity wall and the reinforcing plate 110 is arranged in the gap. The connecting plate 120 extends along the length direction of the body 10.
According to the horizontal joint mechanical arm, the strip-shaped body 10 is arranged, and the inner cavity 101 with two open ends is formed in the body 10 along the length direction of the body, so that the mass of the body 10 is reduced, and the rotational inertia of the horizontal joint mechanical arm is reduced; meanwhile, reinforcing plates 110 are arranged on two sides of the inner cavity 101 of the body 10 in the width direction, a gap is formed between each reinforcing plate 110 and the wall of the inner cavity on the corresponding side of the reinforcing plate, and a connecting plate 120 for connecting the wall of the inner cavity with the reinforcing plate 110 is further arranged in the gap, so that the body 10 is made to have enough strength and rigidity, and the deformation of the horizontal joint mechanical arm is avoided. This horizontal joint arm's body 10, connecting plate 120 and reinforcing plate 110 all extend the setting along the length direction of body 10, and body 10 extends its length direction simultaneously and has seted up both ends open-ended inner chamber 101, makes horizontal joint arm can obtain the same cross-sectional area, can make through hot extrusion forming processing, compares traditional digit control machine tool processing and mould casting shaping, and hot extrusion forming mould is simple, and the cost is lower, and life is high, and production efficiency improves.
Because the horizontal joint mechanical arm has the equal cross section, the mechanical arms with different arm lengths can be produced only by opening one set of extrusion die. The extrusion die is simple in structure and low in cost, mechanical arms with different arm lengths can be produced by one set of die, the universality is good, the processing efficiency is high, and the material utilization rate is high. Compared with a machining mode of removing materials by lathe machining, the machining method can improve the production efficiency and reduce the material cost; compared with the limitation of lathe machining, the hollow-structure mechanical arm with the internal reinforcing plate 110 and the connecting plate 120 can be obtained by extruding the section, and the structure with the closed outer side and the hollow middle cannot be processed by traditional lathe machining. The horizontal joint mechanical arm has the advantages of structural rigidity and strength, and can resist bending and torsional deformation at the same time. The hollow inner cavity 101 in the middle can be provided with structural members such as a motor, a synchronous wheel, a synchronous belt and the like through cables, air pipes and the like; the appearance, the line arrangement and the part assembly of the robot adopting the horizontal joint mechanical arm are optimized.
Referring to fig. 1 to 3, in one embodiment, the body 10 includes an upper side plate 130 and a lower side plate 140 that are disposed opposite to each other, and a left side plate 150 and a right side plate 160 that are disposed opposite to each other, left sides of the upper side plate 130 and the lower side plate 140 are connected by the left side plate 150, right sides of the upper side plate 130 and the lower side plate 140 are connected by the right side plate 160, the reinforcing plates 110 are disposed in the inner cavity 101 near the left side plate 150 and the right side plate 160, and the reinforcing plates 110 on the left side plate 150 and the corresponding side thereof and the reinforcing plates 110 on the right side plate 160 and the corresponding side thereof are connected by the connecting plates 120, respectively. The body 10 is of a square structure, the reinforcing plate 110 and the connecting plate 120 form an internal reinforcing structure similar to a Chinese character ri, and the internal reinforcing structure is simple in overall structure, easy to form, large in interval rigidity and small in rotational inertia.
In one embodiment, the reinforcing plate 110 includes an upper reinforcing portion 112 and a lower reinforcing portion 114 connected at an included angle, the left side plate 150 and the right side plate 160 are in an outwardly convex arc-shaped structure, one side of the connecting plate 120 is connected to a connection position of the upper reinforcing portion 112 and the lower reinforcing portion 114, and the other end is connected to a most concave position of an inner wall of the left side plate 150 or the right side plate 160. The design is favorable for reducing stress, and the performance of bending resistance and distortion resistance of the whole structure is better.
Referring to fig. 1, in one embodiment, threaded holes 102 are formed at four corners of the body 10, and the threaded holes 102 extend along the length direction of the body 10. Threaded bottom holes are reserved on the periphery of the cross section of the body 10, so that the threaded holes 102 can be conveniently punched by a screw tap after extrusion forming, and the connection between the horizontal joint mechanical arm and other components of the robot is realized.
In one embodiment, the upper reinforcing portion 112 is vertically disposed, the lower reinforcing portion 114 is disposed in an inclined manner toward a direction close to the center of the cavity 101 relative to the upper reinforcing portion 112, a gap between the left side plate 150 and the reinforcing plate 110 on the corresponding side thereof or a gap between the right side plate 160 and the reinforcing plate 110 on the corresponding side thereof is divided into two cavities with different upper and lower cross-sectional areas by the corresponding connecting plate 120, and a cross-sectional area of the cavity 103 close to the upper reinforcing portion 112 is smaller than a cross-sectional area of the cavity 104 close to the lower reinforcing portion 114. According to the variation trend of the moment of inertia along with the change of the position of the center of gravity, wherein more joint mounting positions are arranged on the upper side plate 130 than the lower side plate 140, the mass of the upper side plate 130 is reduced more, therefore, the sectional area of the cavity 103 close to the upper reinforcing part 112 is set smaller than that of the cavity 104 close to the lower reinforcing part 114, and the weight of the horizontal joint mechanical arm is concentrated on the upper reinforcing part 112. The reinforcing plate 110 and the connecting plate 120 with the same mass can generate smaller rotational inertia, and balance the strength, the rigidity and the rotational inertia of the robot connecting arm.
In one embodiment, a first joint installation position 132 is disposed at one end of the upper side plate 130, and the first joint installation position 132 includes a first installation hole 1322 and a plurality of first fixing holes 1324 disposed on the periphery of the first installation hole 1322; a third joint mounting position 134 is arranged at the other end of the upper side plate 130, and the third joint mounting position 134 includes a third mounting hole 1342, a yielding hole 1344 and a plurality of third fixing holes 1346 arranged on the periphery of the third mounting hole 1342; a second joint installation position 142 is arranged at one end of the lower side plate 140 far away from the first joint installation position 132, and the second joint installation position 142 includes a second installation hole 1422 and a plurality of second fixing holes 1424 arranged on the periphery of the second installation hole 1422. Different functions are realized by arranging the first joint mounting position 132, the second mounting hole 1422 and the third joint mounting position 134 to mount joints on different sides of the horizontal joint mechanical arm.
An embodiment of the present invention further provides a method for manufacturing a horizontal joint robot arm, which is formed by hot extrusion. The horizontal joint mechanical arm of any one of the embodiments can be manufactured by adopting a traditional hot extrusion molding process, mechanical arms with the same cross section and different lengths can be produced, and the requirements of different arm lengths can be met.
Another embodiment of the present invention provides a method for manufacturing a horizontal joint robot arm, including the steps of:
heating the aluminum alloy bar to over 500 ℃;
heating a mould to 410-440 ℃, wherein the cross section area of the mould is matched with that of the horizontal joint mechanical arm;
extruding the heated aluminum alloy bar into a heated die, and performing extrusion molding to obtain a horizontal joint mechanical arm;
and cutting the horizontal joint mechanical arm with a specific length, and machining a joint mounting position on the horizontal joint mechanical arm.
According to the manufacturing method of the horizontal joint mechanical arm, mechanical arms with the same cross section and different lengths can be produced by using only one set of die, and the requirements of different arm lengths are met. After extrusion forming, secondary processing is carried out on the horizontal joint mechanical arm, required joint mounting positions and other structural member mounting hole positions are processed, the processing efficiency is high, and the horizontal joint mechanical arm formed by extrusion forming is large in rigidity and small in rotational inertia.
Optionally, the mold comprises an extrusion container, a forming die located in the extrusion container, and an extrusion rod located on one side of the forming die, and the cross-sectional area of the forming die is matched with the cross-sectional area of the horizontal joint mechanical arm. Namely, the forming die corresponding to the solid part in the cross section of the horizontal joint mechanical arm is arranged to be hollow, and the forming part corresponding to the hollow part in the cross section of the horizontal joint mechanical arm is arranged to be solid. And placing the heated aluminum alloy bar between an extrusion rod and a forming die, and extruding the aluminum alloy bar by the extrusion rod to extrude the aluminum alloy bar from the other side of the forming die to obtain the horizontal joint mechanical arm.
In one embodiment, the temperature of the front section of the aluminum alloy bar is higher than the temperature of the rear section of the aluminum alloy bar, and/or the extrusion speed of the front section of the aluminum alloy bar is lower than the extrusion speed of the rear section of the aluminum alloy bar. The front section can refer to a plurality of aluminum alloy bars extruded in the front section; the rear section may refer to the aluminum alloy bar that is extruded at a later stage.
The extrusion speed must be controlled well in the extrusion process, because the extrusion speed has important influence on the deformation heat effect, the deformation uniformity, the recrystallization and solid solution processes, the mechanical property of the horizontal joint mechanical arm and the surface quality of the horizontal joint mechanical arm. In order to improve the production efficiency, the extrusion mode adopts low temperature and high speed, namely the temperature of the aluminum alloy bar is inversely proportional to the extrusion speed, the extrusion speed is properly slowed down when the temperature of the aluminum alloy bar is high, and the extrusion speed is properly accelerated when the temperature of the aluminum alloy bar is low. Heating the front section of the aluminum alloy bar to a temperature higher than that of the rear section of the aluminum alloy bar, extruding the front section of the aluminum alloy bar at an extrusion speed lower than that of the rear section of the aluminum alloy bar, cooling and accelerating the rear section of the aluminum alloy bar, and reducing the temperature to about 390-430 ℃.
Optionally, the aluminum alloy bar is uniformly heated to 500-510 ℃ through a heating furnace, a preheating furnace is added at the outlet of the heating furnace, the longitudinal temperature of the aluminum alloy bar passing through the preheating furnace is gradually decreased, the front side is high, the rear side is low, and the gradually decreased range of the front end and the rear end is 450-510 ℃. Optionally, the temperature of the aluminum alloy bar at different extrusion positions is measured by the temperature sensing element, so that the temperature of the front section of the aluminum alloy bar is higher than that of the rear section of the aluminum alloy bar, and the friction heat is higher after the front section of the aluminum alloy bar is extruded, but the temperature of the aluminum alloy bar is low, so that the heat generated by the mechanical energy in the extrusion process can be offset, and the overall temperature of the front section and the rear section of the aluminum alloy bar is kept basically consistent.
Further, the horizontal joint mechanical arm formed by extrusion is quenched, and Mg2Si which is dissolved in the matrix metal at high temperature is rapidly cooled to room temperature after being demoulded, so that the Mg2Si is retained. Cooling from 500 deg.C to 204 deg.C, with minimum cooling rate not less than 180 deg.C/min, and optionally water cooling. The hardness requirement of the horizontal joint mechanical arm made of the aluminum alloy bar is more than or equal to 15HW, and the large section of the horizontal joint mechanical arm is quenched and cooled. The extrusion is quenched on line, the cooling speed is based on the principle that the supersaturated solid solution can be ensured to be condensed, and the warping degree caused by quenching of the product which can be straightened is limited to be correctable. The mechanical properties of the alloy generally require that the tensile strength is as follows: 265 (sigma B) MPa, and Vickers hardness more than or equal to 15 HW. Therefore, the aging temperature is generally 180 ℃ and 200 ℃, and the time is 5-6 h. In order to improve the strength performance, the process of (170-.
An embodiment of the application further provides a robot, which comprises the horizontal joint mechanical arm in any one of the embodiments. Or the horizontal joint mechanical arm manufactured by the manufacturing method of the horizontal joint mechanical arm in any embodiment.
The robot of the embodiment adopts the horizontal joint mechanical arm of any one of the embodiments or the horizontal joint mechanical arm manufactured by the manufacturing method of the horizontal joint mechanical arm of any one of the embodiments, so that connection of different joints is realized, the horizontal joint mechanical arm is provided with the long-strip-shaped body 10, and the body 10 is provided with the inner cavity 101 with two open ends along the length direction of the body, so that the mass of the body 10 is reduced, and the rotational inertia of the horizontal joint mechanical arm is reduced; meanwhile, reinforcing plates 110 are arranged on two sides of the inner cavity 101 of the body 10 in the width direction, a gap is formed between each reinforcing plate 110 and the wall of the inner cavity on the corresponding side of the reinforcing plate, and a connecting plate 120 for connecting the wall of the inner cavity with the reinforcing plate 110 is further arranged in the gap, so that the body 10 is made to have enough strength and rigidity, and the deformation of the horizontal joint mechanical arm is avoided. This horizontal joint arm's body 10, connecting plate 120 and reinforcing plate 110 all extend the setting along the length direction of body 10, and body 10 extends its length direction simultaneously and has seted up both ends open-ended inner chamber 101, makes horizontal joint arm can obtain the same cross-sectional area, can make through hot extrusion forming processing, compares traditional digit control machine tool processing and mould casting shaping, and hot extrusion forming mould is simple, and the cost is lower, and life is high.
In the above description of the present specification, the terms "fixed," "mounted," "connected," or "connected," and the like, are to be construed broadly unless otherwise expressly specified or limited. For example, with the term "coupled", it can be fixedly coupled, detachably coupled, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship. Therefore, unless the specification explicitly defines otherwise, those skilled in the art can understand the specific meaning of the above terms in the present invention according to specific situations.
From the above description of the present specification, those skilled in the art will also understand the terms used below, terms indicating orientation or positional relationship such as "upper", "lower", "front", "rear", "left", "right", "length", "width", "thickness", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", "central", "longitudinal", "transverse", "clockwise" or "counterclockwise" and the like are based on the orientation or positional relationship shown in the drawings of the present specification, it is for the purpose of facilitating the explanation of the invention and simplifying the description, and it is not intended to state or imply that the devices or elements involved must be in the particular orientation described, constructed and operated, therefore, the above terms of orientation or positional relationship should not be construed or interpreted as limiting the present invention.
In addition, the terms "first" or "second", etc. used in this specification are used to refer to numbers or ordinal terms for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present specification, "a plurality" means at least two, for example, two, three or more, and the like, unless specifically defined otherwise.
While various embodiments of the present invention have been shown and described herein, it will be obvious to those skilled in the art that such embodiments are provided by way of example only. Numerous modifications, changes, and substitutions will occur to those skilled in the art without departing from the spirit and scope of the present invention. It should be understood that various alternatives to the embodiments of the invention described herein may be employed in practicing the invention. It is intended that the following claims define the scope of the invention and that the module compositions, equivalents, or alternatives falling within the scope of these claims be covered thereby.
Claims (10)
1. The utility model provides a horizontal joint arm, its characterized in that, is including being long banding body, prolong its length direction on the body and seted up both ends open-ended inner chamber, the both sides of width direction all are equipped with the reinforcing plate in the inner chamber, the reinforcing plate extends the setting along the length direction of body, just be equipped with the clearance between the reinforcing plate rather than the inner chamber wall that corresponds the side, be equipped with the connection in the clearance the connecting plate of inner chamber wall and reinforcing plate, the connecting plate extends the setting along the length direction of body.
2. The horizontal joint mechanical arm as claimed in claim 1, wherein the body comprises an upper side plate and a lower side plate which are oppositely arranged, and a left side plate and a right side plate which are oppositely arranged, the left sides of the upper side plate and the lower side plate are connected through the left side plate, the right sides of the upper side plate and the lower side plate are connected through the right side plate, the reinforcing plates are arranged in the inner cavity close to the left side plate and the right side plate, and the reinforcing plates of the left side plate and the corresponding side of the left side plate and the reinforcing plates of the right side plate and the corresponding side of the right side plate are respectively connected through the connecting plates.
3. The horizontal joint mechanical arm as claimed in claim 2, wherein the reinforcing plate comprises an upper reinforcing part and a lower reinforcing part which are connected at an included angle, the left side plate and the right side plate are of an arc structure which protrudes outwards, one side of the connecting plate is connected to the joint of the upper reinforcing part and the lower reinforcing part, and the other end of the connecting plate is connected to the most concave part of the inner wall of the left side plate or the right side plate.
4. The horizontal joint mechanical arm as claimed in claim 3, wherein the body is provided with threaded holes at four corners, and the threaded holes extend along the length direction of the body.
5. The horizontal joint mechanical arm as claimed in claim 4, wherein the upper reinforcement part is vertically arranged, the lower reinforcement part is obliquely arranged relative to the upper reinforcement part in a direction close to the center of the inner cavity, a gap between the left side plate and the reinforcement plate on the corresponding side of the left side plate or a gap between the right side plate and the reinforcement plate on the corresponding side of the right side plate is divided into an upper cavity and a lower cavity with different cross-sectional areas by the corresponding connecting plate, and the cross-sectional area of the cavity close to the upper reinforcement part is smaller than that of the cavity close to the lower reinforcement part.
6. The horizontal joint mechanical arm as claimed in any one of claims 2 to 5, wherein one end of the upper side plate is provided with a first joint mounting position, and the first mounting position comprises a first mounting hole and a plurality of first fixing holes arranged on the periphery of the first mounting hole; the other end of the upper side plate is provided with a third joint mounting position, and the third mounting position comprises a third mounting hole, a yielding hole and a plurality of third fixing holes arranged on the periphery of the third mounting hole; one end of the lower side plate, which is far away from the first joint mounting position, is provided with a second joint mounting position, and the second mounting position comprises a second mounting hole and a plurality of second fixing holes arranged on the periphery of the second mounting hole.
7. A method for manufacturing the horizontal joint robot arm as claimed in any one of claims 1 to 5, wherein the horizontal joint robot arm is formed by hot extrusion.
8. A manufacturing method of a horizontal joint mechanical arm is characterized by comprising the following steps:
heating the aluminum alloy bar to over 500 ℃;
heating a mold to a temperature of 410 ℃ -440 ℃, the cross-sectional area of the mold being arranged to match the cross-section of the horizontal joint mechanical arm of any one of claims 1-5;
extruding the heated aluminum alloy bar into a heated die, and performing extrusion molding to obtain a horizontal joint mechanical arm;
and cutting the horizontal joint mechanical arm with a specific length, and machining a joint mounting position on the horizontal joint mechanical arm.
9. The method of manufacturing a horizontal joint robot arm according to claim 8,
the temperature of the front section of the aluminum alloy bar is higher than that of the rear section of the aluminum alloy bar, and/or the extrusion speed of the front section of the aluminum alloy bar is lower than that of the rear section of the aluminum alloy bar.
10. A robot comprising the horizontal joint robot arm of any one of claims 1 to 6; or a horizontal joint robot arm manufactured by the manufacturing method of the horizontal joint robot arm according to any one of claims 7 to 9.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110163461 | 2021-02-05 | ||
| CN2021101634610 | 2021-02-05 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113043323A true CN113043323A (en) | 2021-06-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110279353.XA Pending CN113043323A (en) | 2021-02-05 | 2021-03-16 | Horizontal joint mechanical arm and manufacturing method thereof |
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| CN111069321A (en) * | 2019-11-22 | 2020-04-28 | 辽宁忠旺集团有限公司 | Aluminum alloy large-width thin-wall track car body floor profile extrusion process |
| US20200274115A1 (en) * | 2019-02-26 | 2020-08-27 | Contemporary Amperex Technology Co., Limited | Battery Module |
| CN216152376U (en) * | 2021-02-05 | 2022-04-01 | 深圳众为兴技术股份有限公司 | Horizontal joint mechanical arm and robot |
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