CN213005392U - Rotating arm structure and mechanical arm - Google Patents
Rotating arm structure and mechanical arm Download PDFInfo
- Publication number
- CN213005392U CN213005392U CN202021210984.3U CN202021210984U CN213005392U CN 213005392 U CN213005392 U CN 213005392U CN 202021210984 U CN202021210984 U CN 202021210984U CN 213005392 U CN213005392 U CN 213005392U
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- rotor arm
- gland
- arm
- sealing
- rotor
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- 238000007789 sealing Methods 0.000 claims abstract description 71
- 210000004907 gland Anatomy 0.000 claims abstract description 43
- 230000003014 reinforcing effect Effects 0.000 claims description 4
- 230000007704 transition Effects 0.000 claims description 2
- 230000000712 assembly Effects 0.000 claims 1
- 238000000429 assembly Methods 0.000 claims 1
- 239000000428 dust Substances 0.000 abstract description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 7
- 230000000694 effects Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
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Abstract
The utility model provides a rotor arm structure and arm, rotor arm structure include rotor arm casing, first gland and first sealing plug, the both ends of rotor arm casing all have the ring flange that is used for with outside joint connection, first gland is located just the lid is located in the rotor arm casing the ring flange, first gland with the combination department of rotor arm casing is equipped with first sealing washer, first gland is just right the center department of ring flange sets up first walking the line hole, first sealing plug is fixed in first walking downthehole and the cable passes first sealing plug sets up, first sealing plug be used for sealed cable with first walking the clearance between the line hole. The utility model provides a rotor arm structure, cable penetrate or wear out the rotor arm from first walking the line hole, and the clearance between cable and the first line hole is filled sealedly by first sealing plug, prevents that water and dust from first walking the inside that the line hole got into the rotor arm structure.
Description
Technical Field
The utility model belongs to the technical field of the robot, more specifically say, relate to a rotor arm structure and arm.
Background
Robots are widely used in various fields, such as cooperative robots, for assisting the work of a person, and can work together with the person without injuring the person. In order not to affect the appearance effect of the robot, all cables need to be wired from the inside of the mechanical arm, and the camera video cable needs to penetrate through the base from the tail end of the mechanical arm. When the cable passes through the inside of the mechanical arm, the wiring hole is formed in the inside of the mechanical arm, so that the internal structure of the mechanical arm is exposed, dust and water easily enter the inside of the mechanical arm, and the internal structure of the mechanical arm is easily damaged after long-time use.
SUMMERY OF THE UTILITY MODEL
An object of the embodiment of the utility model is to provide a rotor arm structure and arm to when the cable that exists among the solution prior art passes from the arm is inside, the technical problem that the waterproof dustproof ability of arm reduces.
In order to achieve the above object, the utility model adopts the following technical scheme: the utility model provides a rotor arm structure, includes rotor arm casing, first gland and first sealing plug, the both ends of rotor arm casing all have the ring flange that is used for with outside joint connection, first gland is located just the lid is located in the rotor arm casing the ring flange, first gland is just right the center department of ring flange sets up first line hole of walking, first sealing plug is fixed in first in walking the line hole and the cable passes first sealing plug setting, first sealing plug be used for sealing the cable with first clearance of walking between the line hole.
In one embodiment, a first annular protrusion is protruded from an edge of the first gland, a first annular groove is correspondingly formed in the flange, and the first annular protrusion is inserted into the first annular groove and presses the first seal ring into the first annular groove.
In one embodiment, a cable adapter plate for electrically connecting two bundles of cables is fixed in the rotating arm housing, wherein one bundle of cables enters the rotating arm housing from one of the first sealing plugs and is connected to the cable adapter plate, and the other bundle of cables enters the rotating arm housing from the other first sealing plug and is connected to the cable adapter plate.
In one embodiment, the cable adapter plate is disposed in a space formed by the second gland and the rotating arm housing, the second gland is provided with a second routing hole, and a second sealing plug for sealing and fixing two cables is fixed in the second routing hole.
In one embodiment, the number of the second wire hole and the second sealing plug is two, and two cables are respectively arranged through the corresponding sealing plugs.
In one embodiment, a first sealing ring is arranged at the joint of the first pressing cover and the flange, a second sealing ring is arranged at the joint of the second pressing cover and the rotating arm shell, a second annular bulge is convexly arranged at the edge of the second pressing cover, a second annular groove is correspondingly formed in the rotating arm shell, and the second annular bulge is inserted into the second annular groove and presses the second sealing ring into the second annular groove.
In one embodiment, the rotating arm shell comprises a rotating arm base and a rotating arm cover, the flange plate is arranged on the rotating arm base, the middle part of the rotating arm base and the middle part of the rotating arm cover are fixedly connected through a fastener, and the edge of the rotating arm base and the edge of the rotating arm cover are connected through a buckle.
In one embodiment, a buckle extends from the first pressing cover, and a clamping portion is disposed on the rotating arm cover and cooperates with the buckle to press the rotating arm cover and the rotating arm base.
In one embodiment, the inner wall of the base of the rotating arm is provided with a cross-shaped reinforcing rib.
The utility model also provides a mechanical arm, including foretell rotor arm structure and connect respectively in two joint subassemblies at rotor arm structure both ends.
The utility model provides a rotor arm structure and arm's beneficial effect lies in: compared with the prior art, the utility model discloses the rotor arm structure includes the rotor arm casing, first gland and first sealing plug, the both ends of rotor arm casing have the ring flange, the cable penetrates in the rotor arm casing from the center department of ring flange, first gland lid is established on the ring flange, and make first sealing plug be fixed in the first line hole of walking of first gland, thus, the cable is sealed by first sealing plug packing with the first clearance of walking between the line hole, prevent that water and dust from walking the inside that the line hole got into the rotor arm structure from first, when the inside of rotor arm structure was passed from the rotor arm structure to the cable, can guarantee the waterproof dustproof performance of rotor arm structure.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.
Fig. 1 is a three-dimensional structure diagram of a rotating arm structure provided in an embodiment of the present invention;
fig. 2 is a three-dimensional structure diagram of the rotor arm structure provided in the embodiment of the present invention after the rotor arm cover is removed;
fig. 3 is a cross-sectional view of a rotating arm structure provided in an embodiment of the present invention;
FIG. 4 is an enlarged view of a portion of FIG. 3;
FIG. 5 is a partial enlarged view of B in FIG. 3;
fig. 6 is a perspective view of a base of a swivel arm according to an embodiment of the present invention.
Wherein, in the figures, the respective reference numerals:
100-a power line; 200-a communication line; 300-a data transmission line; 1-a swivel arm housing; 11-a swivel arm base; 111-flange plate; 1110-a via; 112-a second annular groove; 113-a second seal ring; 114-a first annular groove; 115-a first seal ring; 116-reinforcing ribs; 12-a rotating arm cover; 121-a snap-in part; 2-a first gland; 20-a first wiring hole; 21-buckling; 22-a first annular projection; 3-a first sealing plug; 4-a second gland; 41-a second annular projection; 40-a second wiring hole; 5-a second sealing plug; 6-cable patch panel.
Detailed Description
In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used 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 one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
Now the utility model discloses the rotor arm structure that the embodiment provided explains.
Referring to fig. 1 and 2, in one embodiment of the present invention, the rotating arm structure includes a rotating arm housing 1, a first pressing cover 2 and a first sealing plug 3, two ends of the rotating arm housing 1 are respectively provided with a flange 111, and the flange 111 is used for being connected with an external joint, so that the external joint can drive the rotating arm structure to rotate. The flange 111 has a through hole 1110 in the centre thereof to allow cables to pass through the centre of the flange 111 into the rotor arm housing 1 and to extend out of the rotor arm housing 1 through the centre of the flange 111. The two flange plates 111 are provided with first pressing covers 2, the first pressing covers 2 are arranged inside the rotating arm shell 1, and the first pressing covers 2 are opposite to the center of the flange plate 111 and provided with first wire routing holes 20, so that the first wire routing holes 20 are opposite to the through holes 1110 of the flange plates 111, and cables can pass through the through holes 1110 of the flange plates 111 and the first wire routing holes 20 of the first pressing covers 2 to enter or penetrate out of the rotating arm shell 1. The first sealing plug 3 is arranged in the first wiring hole 20, the cable penetrates through the first sealing plug 3, and the gap between the cable and the first wiring hole 20 is filled by the first sealing plug 3, so that water and dust are prevented from entering the rotating arm shell 1 through the first wiring hole 20. Wherein, first sealing plug 3 is optional for the stopper that rubber buffer, silica gel plug etc. made by soft materials, makes first sealing plug 3 can pass the cable of different shapes, all has sealed effect to the cable of various shapes.
The rotor arm structure in the above embodiment, including rotor arm casing 1, first gland 2 and first sealing plug 3, rotor arm casing 1's both ends have ring flange 111, the cable penetrates rotor arm casing 1 from the center of ring flange 111 in, first gland 2 lid is established on ring flange 111, and make first sealing plug 3 be fixed in first wire hole 20 of walking of first gland 2, like this, the clearance between cable and the first wire hole 20 of walking is filled by first sealing plug 3 and is sealed, prevent that water and dust from walking the inside that wire hole 20 got into the rotor arm structure from first, when the cable passed from the inside of rotor arm structure, can guarantee the waterproof dustproof performance of rotor arm structure.
In one embodiment of the present invention, please refer to fig. 2 to 4, a cable adapter plate 6 is fixed in the rotor arm housing 1, and the cable adapter plate 6 is used for adapting two cables, so as to shorten the length of a single cable. Among them, a bundle of cables may include the power line 100 and the communication line 200. A cable composed of the power line 100 and the communication line 200 needs to be passed through the inside of the swing arm housing 1, and when a camera is provided on the robot arm, a data transmission line 300 for transmitting a video signal needs to be passed through. The power line 100 and the communication line 200 may be patch-connected at the cable patch panel 6. More specifically, two power lines 100 and two communication lines 200 are disposed in the rotating arm housing 1 in a penetrating manner, wherein one of the power lines 100 and one of the communication lines 200 enter the rotating arm housing 1 through one of the first sealing plugs 3 and are connected to the cable adapter plate 6, the other one of the power lines 100 and the other one of the communication lines 200 enter the rotating arm housing 1 through the other one of the first sealing plugs 3 and are connected to the cable adapter plate 6, and the two communication lines 200 and the two power lines 100 are electrically connected through the cable adapter plate 6, so that a switching function of the power lines 100 and the communication lines 200 is realized. The data transmission line 300 enters the swivel arm housing 1 from one of the first sealing plugs 3 and exits the swivel arm housing 1 from the other first sealing plug 3.
Optionally, referring to fig. 2 to 4, the rotating arm housing 1 is provided with a second gland 4 at the cable adaptor plate 6, the second gland 4 is fixed on the inner wall of the rotating arm housing 1, and a space for accommodating the cable adaptor plate 6 is formed between the second gland 4 and the rotating arm housing 1, so as to seal the cable adaptor plate 6 in the space. A second wire hole 40 is formed in the second gland 4, a second sealing plug 5 is arranged in the second wire hole 40, and the second sealing plug 5 can seal a gap between the cable and the second wire hole 40. Water and dust are prevented from entering the space accommodating the cable transition plate 6. The number of the second wire holes 40 and the second sealing plugs 5 is two, the second sealing plugs 5 are fixedly arranged in the corresponding second wire holes 40, one power line 100 and one communication line 200 pass through one of the second sealing plugs 5 to be connected to the cable adapter plate 6, and the other power line 100 and the other communication line 200 pass through the other second sealing plug 5 to be connected to the cable adapter plate 6. In other embodiments, two power wires 100 and two communication wires 200 may share one second wire hole 40, and accordingly, the number of the second wire holes 40 and the second sealing plugs 5 is one. The material of the second sealing plug 5 may be chosen to be the same as the material of the first sealing plug 3.
In one embodiment of the present invention, please refer to fig. 5, a first sealing ring 115 is disposed at a joint of the first pressing cover 2 and the flange 111, and the first sealing ring 115 is used for sealing a gap between the first pressing cover 2 and the flange 111, so that a space formed between the first pressing cover 2 and the flange 111 becomes a sealed space, and a waterproof and dustproof effect can be better achieved.
Optionally, a first annular protrusion 22 is convexly disposed at an edge of the first gland 2, a first annular groove 114 is correspondingly formed in an inner wall of the flange 111, the first annular protrusion 22 is inserted into the first annular groove 114, and the first sealing ring 115 is compressed in the first annular groove 114, so that a gap between the first gland 2 and the flange 111 is filled. It should be noted that the overall shape of the first annular protrusion 22 and the first annular groove 114 may be square, oval, or the like, and the closed ring-shaped structure is suitable for the present embodiment.
In one embodiment of the present invention, please refer to fig. 4, a second sealing ring 113 is disposed at the joint of the second gland 4 and the rotor arm housing 1, and the second sealing ring 113 is used to seal the gap between the rotor arm housing 1 and the second gland 4, so that the space for accommodating the cable adapter plate 6 becomes a sealed space, which can better protect the cable adapter plate 6 and play a role of water-proof and dust-proof.
Optionally, a second annular protrusion 41 is convexly disposed at an edge of the second gland 4, a second annular groove 112 is correspondingly formed in the inner wall of the rotating arm housing 1, the second annular protrusion 41 is inserted into the second annular groove 112, and the second sealing ring 113 is compressed in the second annular groove 112, so as to fill a gap between the second gland 4 and the rotating arm housing 1. It should be noted that the overall shape of the second annular protrusion 41 and the second annular groove 112 may be square, oval, or the like, and any closed ring-shaped structure is suitable for the present embodiment.
Optionally, the first gland 2 is fixed to the flange 111 by fasteners, the number of the fasteners may be multiple, and the multiple fasteners are distributed along the circumferential direction of the flange 111. The second gland 4 may also be fixed to the inner wall of the swivel arm housing 1 by fasteners.
In one embodiment of the present invention, referring to fig. 3 and 5, the rotor arm housing 1 includes a rotor arm base 11 and a rotor arm cover 12, the flange 111 is disposed on the rotor arm base 11, the first pressing cover 2 is fixed on the flange 111, and the second pressing cover 4 is fixed on the rotor arm base 11. The middle part of the rotating arm base 11 and the middle part of the rotating arm cover 12 are fixedly connected through a fastener, so that the connection stability of the rotating arm base 11 and the rotating arm cover 12 is ensured. The edge of rotor arm base 11 and the edge of rotor arm lid 12 pass through the buckle and connect, can solve the fixed connection problem in rotor arm base 11 and rotor arm lid 12 edge firstly, can make the edge of rotor arm base 11 and the edge of rotor arm lid 12 compressed tightly secondly, can reduce the gap in the edge of rotor arm base 11 and the edge of rotor arm lid 12.
Optionally, a buckle 21 is formed by extending the first pressing cover 2, a clamping portion 121 is disposed on the rotating arm cover 12, and the buckle 21 is clamped on the clamping portion 121 for pressing the rotating arm cover 12 onto the rotating arm base 11. The clamping portion 121 can be formed by extending the inner wall of the rotating arm cover 12 inwards, the clamping portion 121 can be in a boss shape, and the buckle 21 is pressed on the boss surface of the clamping portion 121. In other embodiments, the rotating arm base 11 is extended to form a buckle 21, the rotating arm cover 12 is provided with a clamping portion 121, and the rotating arm cover 12 can be pressed against the rotating arm base 11 through the cooperation of the buckle 21 and the clamping portion 121.
In one embodiment of the present invention, referring to fig. 6, the inner wall of the rotating arm base 11 is provided with a cross-shaped reinforcing rib 116, and the cross-shaped reinforcing rib 116 can increase the strength of the rotating arm base 11 without increasing too much weight, so as to lighten the rotating arm structure.
The utility model also provides a mechanical arm, including the rotor arm structure in any above-mentioned embodiment, still including connecting respectively in two joint subassemblies at rotor arm structure both ends. Wherein, the rotor arm structure includes rotor arm casing 1, first gland 2 and first sealing plug 3, the both ends of rotor arm casing 1 have ring flange 111, the cable penetrates in the rotor arm casing 1 from the center department of ring flange 111, first gland 2 lid is established on ring flange 111, and make first sealing plug 3 be fixed in the first wire hole 20 of walking of first gland 2, thus, the clearance between cable and the first wire hole 20 of walking is filled by first sealing plug 3 and is sealed, prevent that water and dust from walking the inside that wire hole 20 got into the rotor arm structure from first, when the cable passed from the inside of rotor arm structure, can guarantee the waterproof dustproof performance of rotor arm structure, improve the waterproof dustproof performance of arm.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides a rotor arm structure, a serial communication port, includes rotor arm casing, first gland and first sealing plug, the both ends of rotor arm casing all have the ring flange that is used for with outside joint connection, first gland is located just the lid is located in the rotor arm casing the ring flange, first gland with the combination department of rotor arm casing is equipped with first sealing washer, first gland is just right the center department of ring flange sets up first line hole of walking, first sealing plug is fixed in first in walking the line hole and the cable passes first sealing plug setting, first sealing plug be used for the sealed cable with first clearance of walking between the line hole.
2. The rotor arm structure of claim 1, wherein: the edge of the first gland is convexly provided with a first annular bulge, the flange plate is correspondingly provided with a first annular groove, and the first annular bulge is inserted into the first annular groove and tightly presses the first sealing ring into the first annular groove.
3. The rotor arm structure of claim 1, wherein: and a cable adapter plate for electrically connecting two bundles of cables is fixed in the rotating arm shell, wherein one bundle of cables enters the rotating arm shell from one of the first sealing plugs and is connected to the cable adapter plate, and the other bundle of cables enters the rotating arm shell from the other first sealing plug and is connected to the cable adapter plate.
4. The rotor arm structure of claim 3, wherein: the cable transition plate is arranged in a space formed by the second gland and the rotating arm shell, a second wiring hole is formed in the second gland, and a second sealing plug used for sealing and fixing two bundles of cables is fixed in the second wiring hole.
5. The rotor arm structure of claim 4, wherein: the number of the second wiring holes and the number of the second sealing plugs are two, and two cables respectively penetrate through the corresponding sealing plugs.
6. The rotor arm structure of claim 4, wherein: the joint of the second gland and the rotating arm shell is provided with a second sealing ring, a second annular bulge is convexly arranged at the edge of the second gland, a second annular groove is correspondingly formed in the rotating arm shell, and the second annular bulge is inserted into the second annular groove and tightly presses the second sealing ring into the second annular groove.
7. The rotor arm structure of claim 1, wherein: the rotor arm casing includes rotor arm base and rotor arm lid, the ring flange is located the rotor arm base, fastener fixed connection is passed through at the middle part of rotor arm base and the middle part of rotor arm lid, the edge of rotor arm base with the edge of rotor arm lid is connected through the buckle.
8. The rotor arm structure of claim 7, wherein: the first gland extends to form a buckle, and the rotating arm cover is provided with a clamping part which is matched with the buckle to compress the rotating arm cover and the rotating arm base.
9. The rotor arm structure of claim 7, wherein: the inner wall of the rotating arm base is provided with a cross-shaped reinforcing rib.
10. Arm, its characterized in that: comprising a rotor arm structure according to any one of claims 1-9 and two joint assemblies connected to each end of the rotor arm structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021210984.3U CN213005392U (en) | 2020-06-24 | 2020-06-24 | Rotating arm structure and mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021210984.3U CN213005392U (en) | 2020-06-24 | 2020-06-24 | Rotating arm structure and mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213005392U true CN213005392U (en) | 2021-04-20 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021210984.3U Active CN213005392U (en) | 2020-06-24 | 2020-06-24 | Rotating arm structure and mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213005392U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114845021A (en) * | 2022-04-26 | 2022-08-02 | 杭州海康威视数字技术股份有限公司 | Image capturing apparatus |
-
2020
- 2020-06-24 CN CN202021210984.3U patent/CN213005392U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114845021A (en) * | 2022-04-26 | 2022-08-02 | 杭州海康威视数字技术股份有限公司 | Image capturing apparatus |
| CN114845021B (en) * | 2022-04-26 | 2023-12-01 | 杭州海康威视数字技术股份有限公司 | Image photographing device |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20221226 Address after: 266104 Room 202-1, Building 3, No. 8, Shengshui Road, Laoshan District, Qingdao, Shandong Patentee after: Ubicon (Qingdao) Technology Co.,Ltd. Address before: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen UBTECH Technology Co.,Ltd. |