CN214265649U - Mechanical arm joint device and mechanical arm - Google Patents
Mechanical arm joint device and mechanical arm Download PDFInfo
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- CN214265649U CN214265649U CN202023342107.4U CN202023342107U CN214265649U CN 214265649 U CN214265649 U CN 214265649U CN 202023342107 U CN202023342107 U CN 202023342107U CN 214265649 U CN214265649 U CN 214265649U
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Abstract
The present disclosure provides a robot arm joint device, including: the output flange is arranged at the first end part of the mechanical arm joint device, at least one first linear part is formed on the outer end surface of the output flange, and the output flange is provided with a central through hole; the magnetic ring mounting part is arranged at the second end part of the mechanical arm joint device, at least one second linear part is formed on the outer end surface of the magnetic ring mounting part, and the magnetic ring mounting part is provided with a central through hole; the magnetic ring part is arranged on the magnetic ring mounting part, and at least one third linear part is formed on the outer end surface of the magnetic ring part; and the shaft part at least penetrates through the central through hole of the output flange and the central through hole of the magnetic ring mounting part, at least one fourth linear part is formed on the first end surface of the shaft part, at least one fifth linear part is formed on the second end surface of the shaft part, the fourth linear part can be aligned with the first linear part, and the fifth linear part can be aligned with the second linear part and the third linear part. The present disclosure also provides a robot arm.
Description
Technical Field
The utility model belongs to the technical field of the arm, this disclosure especially relates to a arm joint device and arm.
Background
Cooperative arms in robotic arms are an important direction of development in recent years.
The cooperative mechanical arm usually adopts a modular joint, so the assembly precision of the modular joint is very important to the assembly precision of the mechanical arm.
The technical problem of how to ensure the consistency of the assembled modular joint and the zero point of the low-speed side encoder is solved.
SUMMERY OF THE UTILITY MODEL
In order to solve at least one of the above technical problems, the present disclosure provides a robot arm joint device and a robot arm.
The mechanical arm joint device and the mechanical arm are realized through the following technical scheme.
According to an aspect of the present disclosure, there is provided a robot arm joint device including:
the output flange is arranged at the first end part of the mechanical arm joint device, at least one first linear part is formed on the outer end surface of the output flange, and the output flange is provided with a central through hole;
the magnetic ring mounting part is arranged at the second end part of the mechanical arm joint device, at least one second linear part is formed on the outer end surface of the magnetic ring mounting part, and the magnetic ring mounting part is provided with a central through hole;
the magnetic ring part is arranged on the magnetic ring mounting part, and at least one third linear part is formed on the outer end face of the magnetic ring part; and
the axial region, the axial region passes at least the central through hole of output flange and the central through hole of magnetic ring installation department, be formed with at least one fourth linear portion on the first terminal surface of axial region, be formed with at least one fifth linear portion on the second terminal surface of axial region, fourth linear portion can with first linear portion aligns, fifth linear portion can with second linear portion and the third linear portion aligns.
According to the robot arm joint device of at least one embodiment of the present disclosure, the fourth linear portion is disposed in parallel with the fifth linear portion, and the number of the fourth linear portion is the same as the number of the fifth linear portion.
According to the robot arm joint device of at least one embodiment of the present disclosure, the fourth linear portion and the fifth linear portion are both one.
According to the robot arm joint device of at least one embodiment of the present disclosure, the number of the first linear portions is the same as the number of the fourth linear portions.
According to the robot arm joint device of at least one embodiment of the present disclosure, the number of the first linear portions is one.
According to the robot arm joint device of at least one embodiment of the present disclosure, the number of the third linear portions is the same as the number of the fifth linear portions.
According to the robot arm joint device of at least one embodiment of the present disclosure, the number of the third linear portions is one.
According to the mechanical arm joint device of at least one embodiment of the present disclosure, the outer end surface of the magnetic ring mounting portion includes a first sub end surface and a second sub end surface, the first sub end surface and the second sub end surface have a height difference, a second linear portion is formed on the first sub end surface, a second linear portion is formed on the second sub end surface, and the second linear portion formed on the first sub end surface and the second linear portion formed on the second sub end surface are arranged in parallel.
According to the robot arm joint device of at least one embodiment of the present disclosure, the first linear portion, the second linear portion, the third linear portion, the fourth linear portion, and the fifth linear portion are all linear groove structures.
According to the mechanical arm joint device of at least one embodiment of the present disclosure, the output flange, the magnetic ring mounting portion, and the magnetic ring portion are all annular in shape; the first linear portion extends along the radial direction of the output flange, the second linear portion extends along the radial direction of the magnetic ring mounting portion, the third linear portion extends along the radial direction of the magnetic ring portion, and the fourth linear portion and the fifth linear portion both extend along the direction of the shaft portion.
According to the robot arm joint device of at least one embodiment of the present disclosure, the shaft portion is a hollow shaft.
According to the robot arm joint device of at least one embodiment of the present disclosure, the first end surface of the shaft portion is located at the first end portion of the robot arm joint device, and the second end surface of the shaft portion is located at the second end portion of the robot arm joint device.
According to the robot arm joint device of at least one embodiment of the present disclosure, the first end surface of the shaft portion is formed with an annular edge portion, and the fourth linear portion is formed on the annular edge portion.
According to the mechanical arm joint device of at least one embodiment of the present disclosure, the magnetic ring portion is a low-speed side magnetic ring.
According to the mechanical arm joint device of at least one embodiment of the present disclosure, the mechanical arm joint device further includes a low-speed side magnetic reading head which cooperates with the magnetic ring part to read magnetic field information of the magnetic ring part.
According to another aspect of the present disclosure, there is provided a robot arm including:
at least one robot arm joint assembly as claimed in any one of the preceding claims.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.
Fig. 1 is one of the structural schematic diagrams of a robot arm joint device according to one embodiment of the present disclosure.
Fig. 2 is a second schematic structural view of a robot arm joint device according to an embodiment of the present disclosure.
Fig. 3 is a third schematic structural view of a robot arm joint device according to an embodiment of the present disclosure.
Fig. 4 is a partially enlarged schematic view of a robot arm joint device according to one embodiment of the present disclosure.
Description of the reference numerals
100 mechanical arm joint device
10 output flange
20 magnetic ring mounting part
30 magnetic ring part
40 shaft part
50 low speed side magnetic reading head
101 first linear part
201 second linear portion
301 third line portion
401 fourth linear portion
402 a fifth linear portion.
Detailed Description
The present disclosure will be described in further detail with reference to the drawings and embodiments. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limitations of the present disclosure. It should be further noted that, for the convenience of description, only the portions relevant to the present disclosure are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict. Technical solutions of the present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Unless otherwise indicated, the illustrated exemplary embodiments/examples are to be understood as providing exemplary features of various details of some ways in which the technical concepts of the present disclosure may be practiced. Accordingly, unless otherwise indicated, features of the various embodiments may be additionally combined, separated, interchanged, and/or rearranged without departing from the technical concept of the present disclosure.
The use of cross-hatching and/or shading in the drawings is generally used to clarify the boundaries between adjacent components. As such, unless otherwise noted, the presence or absence of cross-hatching or shading does not convey or indicate any preference or requirement for a particular material, material property, size, proportion, commonality between the illustrated components and/or any other characteristic, attribute, property, etc., of a component. Further, in the drawings, the size and relative sizes of components may be exaggerated for clarity and/or descriptive purposes. While example embodiments may be practiced differently, the specific process sequence may be performed in a different order than that described. For example, two processes described consecutively may be performed substantially simultaneously or in reverse order to that described. In addition, like reference numerals denote like parts.
When an element is referred to as being "on" or "on," "connected to" or "coupled to" another element, it can be directly on, connected or coupled to the other element or intervening elements may be present. However, when an element is referred to as being "directly on," "directly connected to" or "directly coupled to" another element, there are no intervening elements present. For purposes of this disclosure, the term "connected" may refer to physically, electrically, etc., and may or may not have intermediate components.
For descriptive purposes, the present disclosure may use spatially relative terms such as "below … …," below … …, "" below … …, "" below, "" above … …, "" above, "" … …, "" higher, "and" side (e.g., as in "side wall") to describe one component's relationship to another (other) component as illustrated in the figures. Spatially relative terms are intended to encompass different orientations of the device in use, operation, and/or manufacture in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "below … …" can encompass both an orientation of "above" and "below". Further, the devices may be otherwise positioned (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
The terminology used herein is for the purpose of describing particular embodiments and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Furthermore, when the terms "comprises" and/or "comprising" and variations thereof are used in this specification, the presence of stated features, integers, steps, operations, elements, components and/or groups thereof are stated but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and/or groups thereof. It is also noted that, as used herein, the terms "substantially," "about," and other similar terms are used as approximate terms and not as degree terms, and as such, are used to interpret inherent deviations in measured values, calculated values, and/or provided values that would be recognized by one of ordinary skill in the art.
Fig. 1 is one of the structural schematic views of a robot arm joint device according to one embodiment of the present disclosure, i.e., a sectional view of the robot arm joint device. Fig. 2 is a second schematic structural view of the mechanical arm joint device according to an embodiment of the present disclosure, that is, a schematic structural view of one side surface of the mechanical arm joint device. Fig. 3 is a third schematic structural view of the robot joint device according to an embodiment of the present disclosure, that is, a schematic structural view of another side surface of the robot joint device. Fig. 4 is a partially enlarged schematic view of the robot arm joint device shown in fig. 3, i.e., an enlarged schematic view of a region a in fig. 3.
As shown in fig. 1 to 4, a robot arm joint device 100 according to one embodiment of the present disclosure includes: the output flange 10, the output flange 10 is set up in the first end of the knuckle device of the mechanical arm, there is at least one first linear portion 101 on the outer end surface of the output flange 10, the output flange 10 has central through hole;
a magnetic ring mounting part 20, the magnetic ring mounting part 20 being disposed at a second end of the robot arm joint device 100, at least one second linear portion 201 being formed on an outer end surface of the magnetic ring mounting part 20, the magnetic ring mounting part 20 having a central through hole;
the magnetic ring part 30, the magnetic ring part 30 is set up on the magnetic ring mounting part 20, there is at least one third linear portion 301 on the outer end surface of the magnetic ring part 30; and
and a shaft portion 40, wherein the shaft portion 40 penetrates at least the central through hole of the output flange 10 and the central through hole of the magnetic ring mounting portion 20, at least one fourth linear portion 401 is formed on a first end surface of the shaft portion 40, at least one fifth linear portion 402 is formed on a second end surface of the shaft portion 40, the fourth linear portion 401 can be aligned with the first linear portion 101, and the fifth linear portion 402 can be aligned with the second linear portion 201 and the third linear portion 301.
In fig. 1, the first end of the robot joint device 100 is the left end, and the second end of the robot joint device 100 is the right end.
In the above embodiment, preferably, the fourth linear portions 401 are disposed in parallel with the fifth linear portions 402, and the number of the fourth linear portions 401 is the same as that of the fifth linear portions 402.
As shown in fig. 2 to 4, preferably, one of the fourth linear portion 401 and the fifth linear portion 402 is provided.
Preferably, the number of the first linear portions 101 is the same as the number of the fourth linear portions 401.
Preferably, the number of the first linear portions 101 is one.
According to the robot arm joint device 100 of the preferred embodiment of the present disclosure, the number of the third linear portions 301 is the same as the number of the fifth linear portions 402.
In each of the above embodiments, the number of the third linear portions 301 is preferably one.
According to a preferred embodiment of the present disclosure, as shown in fig. 3 and 4, the outer end surface of the magnetic ring mounting portion 20 of the mechanical arm joint device includes a first sub end surface and a second sub end surface, the first sub end surface and the second sub end surface have a height difference, the first sub end surface has a second linear portion 201 formed thereon, the second sub end surface has a second linear portion 201 formed thereon, and the second linear portion 201 formed on the first sub end surface and the second linear portion 201 formed on the second sub end surface are arranged in parallel.
In each of the above embodiments, the first linear portion 101, the second linear portion 201, the third linear portion 301, the fourth linear portion 401, and the fifth linear portion 402 are preferably all linear groove structures.
According to the preferred embodiment of the present disclosure, the output flange 10, the magnetic ring mounting part 20, and the magnetic ring part 30 of the mechanical arm joint device 100 are all annular in shape; the first linear portion 101 extends in the radial direction of the output flange 10, the second linear portion 201 extends in the radial direction of the magnetic ring mounting portion 20, the third linear portion 301 extends in the radial direction of the magnetic ring portion 30, and the fourth linear portion 401 and the fifth linear portion 402 each extend in the direction of the shaft portion 40.
In each of the above embodiments, the shaft 40 of the robot arm joint device 100 is preferably a hollow shaft.
As shown in fig. 1 to 3, the first end surface of the shaft portion 40 of the robot joint device 100 is located at the first end portion of the robot joint device, and the second end surface of the shaft portion 40 of the robot joint device 100 is located at the second end portion of the robot joint device 100.
As shown in fig. 1 and 2, according to the robot arm joint device 100 of the preferred embodiment of the present disclosure, the first end surface of the shaft portion 40 is formed with an annular edge portion, and the fourth linear portion 401 is formed on the annular edge portion.
In each of the above embodiments, the magnetic ring portion 30 is preferably a low-speed side magnetic ring.
In each of the above embodiments, the mechanical arm joint device 100 preferably further includes the low-speed side magnetic head 50, and the low-speed side magnetic head 50 cooperates with the magnetic ring portion 30 to read magnetic field information of the magnetic ring portion 30.
The following explains the alignment principle and the operation principle of the robot joint device of the present disclosure.
Since the first linear portion 101 (zero line groove) is designed on the output flange 10 and the fourth linear portion 401 (zero line groove) is designed on the first end surface of the shaft portion 40, it is necessary to ensure that the first linear portion 101 on the output flange 10 is aligned with the fourth linear portion 401 on the shaft portion 40 when the arm joint device is assembled.
A fifth linear portion 402 (zero line groove) is designed on the second end surface of the shaft portion 40, a second linear portion 201 (zero line groove) is designed on the magnetic ring installation portion 20, and a third linear portion 301 (zero line groove) is designed on the magnetic ring portion 30. When the arm joint device 100 is assembled, it is necessary to ensure that the fifth linear portion 402 of the shaft portion 40 is aligned with the second linear portion 201 formed in the magnetic ring mounting portion 20, and it is necessary to ensure that the second linear portion 201 formed in the magnetic ring mounting portion 20 is aligned with the third linear portion 301 formed in the magnetic ring portion 30.
The above structure and assembly can ensure the accurate positional relationship between the magnetic ring part 30 and the low-speed side magnetic reading head 50 at each assembly.
The mechanical arm joint device is provided with the linear part, so that the position relation of relevant parts of the mechanical arm joint device during assembly can be ensured, and the assembly zero-position consistency of the modularized mechanical arm joint device is ensured.
A robotic arm according to one embodiment of the present disclosure includes: one or two or more robot joint devices 100 according to any of the above embodiments.
In the description herein, reference to the description of the terms "one embodiment/mode," "some embodiments/modes," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/mode or example is included in at least one embodiment/mode or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to be the same embodiment/mode or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/aspects or examples and features of the various embodiments/aspects or examples described in this specification can be combined and combined by one skilled in the art without conflicting therewith.
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 at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
It will be understood by those skilled in the art that the foregoing embodiments are merely for clarity of illustration of the disclosure and are not intended to limit the scope of the disclosure. Other variations or modifications may occur to those skilled in the art, based on the foregoing disclosure, and are still within the scope of the present disclosure.
Claims (16)
1. An arm joint device, comprising:
the output flange is arranged at the first end part of the mechanical arm joint device, at least one first linear part is formed on the outer end surface of the output flange, and the output flange is provided with a central through hole;
the magnetic ring mounting part is arranged at the second end part of the mechanical arm joint device, at least one second linear part is formed on the outer end surface of the magnetic ring mounting part, and the magnetic ring mounting part is provided with a central through hole;
the magnetic ring part is arranged on the magnetic ring mounting part, and at least one third linear part is formed on the outer end face of the magnetic ring part; and
the axial region, the axial region passes at least the central through hole of output flange and the central through hole of magnetic ring installation department, be formed with at least one fourth linear portion on the first terminal surface of axial region, be formed with at least one fifth linear portion on the second terminal surface of axial region, fourth linear portion can with first linear portion aligns, fifth linear portion can with second linear portion and the third linear portion aligns.
2. The mechanical arm joint device according to claim 1, wherein the fourth linear portions are provided in parallel with the fifth linear portions, and the number of the fourth linear portions is the same as the number of the fifth linear portions.
3. The mechanical arm joint device according to claim 2, wherein the fourth linear portion and the fifth linear portion are each a single linear portion.
4. The mechanical arm joint device according to any one of claims 1 to 3, wherein the number of the first linear portions is the same as the number of the fourth linear portions.
5. The mechanical arm joint device according to claim 4, wherein the number of the first linear portions is one.
6. The mechanical arm joint device according to any one of claims 1 to 3, wherein the number of the third linear portions is the same as the number of the fifth linear portions.
7. The mechanical arm joint device according to claim 6, wherein the number of the third lines is one.
8. The mechanical arm joint device as claimed in claim 1, wherein the outer end surface of the magnetic ring mounting portion includes a first sub end surface and a second sub end surface, the first sub end surface and the second sub end surface have a height difference, a second linear portion is formed on the first sub end surface, a second linear portion is formed on the second sub end surface, and the second linear portion formed on the first sub end surface and the second linear portion formed on the second sub end surface are arranged in parallel.
9. The mechanical arm joint device according to claim 1, wherein the first linear portion, the second linear portion, the third linear portion, the fourth linear portion, and the fifth linear portion are all linear groove structures.
10. The knuckle joint arrangement of claim 1, wherein said output flange, said magnetic ring mount, and said magnetic ring portion are all annular in shape; the first linear portion extends along the radial direction of the output flange, the second linear portion extends along the radial direction of the magnetic ring mounting portion, the third linear portion extends along the radial direction of the magnetic ring portion, and the fourth linear portion and the fifth linear portion both extend along the direction of the shaft portion.
11. The mechanical arm joint device according to claim 1, wherein the shaft portion is a hollow shaft.
12. The joint robot arm device according to claim 1, wherein the first end surface of the shaft portion is located at a first end portion of the joint robot arm device, and the second end surface of the shaft portion is located at a second end portion of the joint robot arm device.
13. The mechanical arm joint device according to claim 1, wherein the first end surface of the shaft portion is formed with an annular edge portion, and the fourth linear portion is formed on the annular edge portion.
14. The mechanical arm joint device as claimed in claim 1, wherein the magnetic ring portion is a low-speed side magnetic ring.
15. The knuckle device of claim 14, further comprising a low-speed side magnetic read head that cooperates with the magnetic ring portion to read magnetic field information of the magnetic ring portion.
16. A robot arm, comprising:
at least one robot arm joint device as claimed in any one of claims 1 to 15.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023342107.4U CN214265649U (en) | 2020-12-31 | 2020-12-31 | Mechanical arm joint device and mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023342107.4U CN214265649U (en) | 2020-12-31 | 2020-12-31 | Mechanical arm joint device and mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214265649U true CN214265649U (en) | 2021-09-24 |
Family
ID=77786887
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202023342107.4U Active CN214265649U (en) | 2020-12-31 | 2020-12-31 | Mechanical arm joint device and mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214265649U (en) |
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2020
- 2020-12-31 CN CN202023342107.4U patent/CN214265649U/en active Active
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