CN217316455U - Quick-release quick-assembly mechanical arm - Google Patents

Abstract

The application discloses a quick-release quick-assembly mechanical arm which comprises a plurality of groups of driving assemblies and a connecting plate for connecting two adjacent groups of driving assemblies, wherein any group of driving assembly comprises a motor and a speed reducer; the rotation of any shaft in the mechanical arm is realized through direct drive of the motor, the response speed of the mechanical arm is high, the motion is sensitive, and meanwhile, the stress of each shaft in the mechanical arm is more uniform; the connecting plate is detachably connected with the driving assembly; the driving assembly and the connecting plate can be respectively transferred, so that the device is small in size, light in weight, more convenient and safer to transport, and is beneficial to saving manpower and material resources; when the driving assembly or the connecting plate is damaged, the maintenance is convenient; according to the use requirement, the mechanical arm can be assembled into various types such as two shafts, three shafts, four shafts, five shafts, six shafts and the like, and the applicability is strong; the length of the mechanical arm can be adjusted by replacing the connecting plates with different lengths, so that the requirements of different use scenes are further met.

Description

Quick-release quick-assembly mechanical arm

Technical Field

The application relates to the technical field of mechanical arms, in particular to a quick-release quick-assembly mechanical arm.

Background

The conventional mechanical arm is assembled before leaving a factory due to the complex structure. After leaving the factory, the whole mechanical arm needs to be transported, installed and debugged, so that the cost of leaving the factory is high; when the structure is damaged, the maintenance and the part replacement are difficult to carry out. Meanwhile, the conventional mechanical arm is definite in configuration, absolute in arm length and not strong in applicability.

Disclosure of Invention

The utility model provides a quick detach fast-assembling arm, which aims to overcome the defects in the prior art.

For technical purpose above the realization, this application provides a quick detach fast-assembling arm, include: the system comprises a plurality of groups of driving components, wherein any group of driving components comprises a motor and a speed reducer; the connecting plate is used for connecting two adjacent groups of driving assemblies; wherein the connecting plate is detachably connected with the driving assembly; one of the two adjacent groups of driving assemblies is fixedly connected with the connecting plate, and the other group of driving assemblies is connected with the connecting plate in a follow-up manner; when one driving component connected with the connecting plate in a follow-up mode works, the other driving component can be driven to rotate through the connecting plate.

Further, the connecting plate is constructed by 3D printing; alternatively, the connection plate is constructed by laser cutting.

Further, the connecting plate is fixedly connected with the driving assembly (10) through screws.

Further, a plurality of screws are arranged at equal intervals in the circumferential direction.

Furthermore, reinforcing ribs are arranged on the connecting plate; and/or the connecting plate is provided with a perforation.

Further, the end of the connecting plate is arc-shaped.

Further, a torque sensor is arranged on the driving assembly.

Further, when two adjacent groups of driving assemblies are arranged side by side, the connecting plate is a flat plate.

Further, when two sets of adjacent drive assembly mutually perpendicular, the connecting plate includes: a first connecting plate parallel to the first plane; and the second connecting plate is parallel to a second plane, and the second plane is perpendicular to the first plane.

Further, the quick-release quick-assembly mechanical arm provided by the application comprises N groups of driving assemblies, wherein N is an even number not less than 4.

The application provides a quick-release quick-assembly mechanical arm which comprises a plurality of groups of driving assemblies and a connecting plate for connecting two adjacent groups of driving assemblies, wherein any group of driving assembly comprises a motor and a speed reducer; the rotation of any shaft in the mechanical arm is realized through direct drive of the motor, the response speed of the mechanical arm is high, the motion is sensitive, and meanwhile, the stress of each shaft in the mechanical arm is more uniform; the connecting plate is detachably connected with the driving assembly; the driving assembly and the connecting plate can be respectively transferred, so that the device is small in size, light in weight, more convenient and safer to transport, and is beneficial to saving manpower and material resources; when the driving assembly or the connecting plate is damaged, the maintenance is convenient; according to the use requirement, the mechanical arm can be assembled into various types such as two shafts, three shafts, four shafts, five shafts, six shafts and the like, and the applicability is strong; the length of the mechanical arm can be adjusted by replacing the connecting plates with different lengths, so that the requirements of different use scenes are further met.

Drawings

FIG. 1 is a schematic structural view of a quick release and quick release mechanical arm in a front view;

FIG. 2 is a schematic front view of another quick-release and quick-assembly mechanical arm according to the present application;

FIG. 3 is a first schematic perspective view of the quick release quick mount mechanical arm shown in FIG. 2;

FIG. 4 is a second schematic perspective view of the quick release quick mount mechanical arm shown in FIG. 2;

FIG. 5 is a third schematic perspective view of the quick release quick-mount mechanical arm shown in FIG. 2;

FIG. 6 is a first schematic perspective view of the quick release and quick installation mechanical arm shown in FIG. 2;

FIG. 7 is a second schematic perspective view of the quick release quick-mount robot arm shown in FIG. 2 in another direction.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the present application are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of embodiment in many different forms than those described herein and those skilled in the art will be able to make similar modifications without departing from the spirit of the application and therefore the application is not limited to the specific embodiments disclosed below.

In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present application.

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 explicitly specified otherwise.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; 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, unless expressly stated otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "above," and "over" a second feature may mean that the first feature is directly above or obliquely above the second feature, or that only the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

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 intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

The application provides quick detach fast-assembling arm includes: the system comprises a plurality of groups of driving assemblies 10, wherein any group of driving assembly 10 comprises a motor 11 and a speed reducer 12; the connecting plate 20 is used for connecting two adjacent groups of driving assemblies 10; wherein, the connecting plate 20 is detachably connected with the driving assembly 10; in two adjacent groups of driving assemblies 10, one group of driving assemblies 10 is fixedly connected with the connecting plate 20, and the other group of driving assemblies 10 is connected with the connecting plate 20 in a follow-up manner; when one driving assembly 10 connected with the connecting plate 20 in a follow-up mode works, the other driving assembly 10 can be driven to rotate through the connecting plate 20.

First, the fixed connection is explained.

Two adjacent sets of drive assemblies 10 are divided into a first set of drive assemblies and a second set of drive assemblies.

When the first group of driving components is fixedly connected with the connecting plate 20, the first group of driving components cannot drive the connecting plate 20 to rotate. In this case, the connecting plate 20 is equivalent to a mounting seat of the first group of driving components, and the first group of driving components are fixedly arranged relative to the connecting plate 20 and cannot move relative to the connecting plate.

Similarly, when the second group of driving components is fixedly connected with the connecting plate 20, the second group of driving components cannot drive the connecting plate 20 to rotate; the second set of drive assemblies is fixedly disposed relative to the web 20 and is prevented from relative movement.

Next, the following connection is explained.

When the first group of driving components is connected with the connecting plate 20 in a follow-up manner, the first group of driving components can drive the second group of driving components to rotate through the connecting plate 20.

At this time, the connection plate 20 can be disposed at the movable end of the first group of driving assemblies; for example, when the first group of driving components adopts a motor, the connecting plate 20 can be connected with an output shaft of the motor, and thus, when the motor works, the output shaft of the motor can drive the connecting plate 20 to rotate.

Or when the first group of driving components work, a part of the first group of driving components can rotate; at this time, the connecting plate 20 is connected to the rotatable portion of the first group of drive assemblies; for example, the first group of driving assemblies adopts a motor, an output shaft of the motor is fixedly arranged, and when the motor works, a shell of the motor rotates relative to the output shaft, so that the connecting plate 20 is connected with the shell of the motor, and the connecting plate 20 can rotate along with the shell of the motor.

The present application does not limit the specific manner in which the drive assembly 10 is coupled to the attachment plate 20 in a following manner, as long as the drive assembly is capable of causing the attachment plate 20 to rotate.

Similarly, when the second group of driving components is connected with the connecting plate 20 in a follow-up manner, the second group of driving components can drive the first group of driving components to rotate through the connecting plate 20.

Specifically, when one end of the connecting plate 20 is connected with the first group of driving assemblies in a follow-up manner and the other end of the connecting plate is fixedly connected with the second group of driving assemblies, the first group of driving assemblies work to enable the connecting plate 20 and drive the second group of driving assemblies to rotate. But the second set of drive components is not operative to cause rotation of the link plate 20 and the first set of drive components.

Similarly, when one end of the connecting plate 20 is connected with the second group of driving components in a follow-up manner and the other end of the connecting plate is fixedly connected with the first group of driving components, the second group of driving components work to enable the connecting plate 20 and drive the first group of driving components to rotate. However, the first set of drive components is not operative to cause rotation of the link plate 20 and the second set of drive components.

It should be noted that, one of the two adjacent sets of driving assemblies 10 fixedly connected to the connecting plate 20 is referred to as an output assembly, and the output assembly is used for connecting the other driving assembly 10 or a functional device.

The "further drive assembly 10" described above is referred to as a third group of drive assemblies.

At this moment, the quick-release quick-assembly mechanical arm provided by the application comprises at least three groups of driving assemblies 10, namely a first group of driving assemblies, a second group of driving assemblies and a third group of driving assemblies; the second group of driving assemblies are arranged between the first group of driving assemblies and the third group of driving assemblies.

Further, the quick-release quick-assembly mechanical arm further comprises at least two connecting plates 20 which are a first connecting plate and a second connecting plate respectively; the first connecting plate is used for connecting the first group of driving components and the second group of driving components; the second connecting plate is used for connecting the second group of driving assemblies and the third group of driving assemblies.

For the mechanical arm, the mechanical arm is provided with a working end, and the working end is composed of an output assembly and is used for connecting a functional device; the plurality of sets of drive assemblies 10 and the plurality of connecting plates 20 cooperate to allow the working end to move within a space.

To ensure that the robot arm includes only one working end that can be affected by the movement of all of the drive assemblies 10, the drive assembly 10 in the middle of any three sets of drive assemblies 10 is fixedly connected to one of the link plates 20 and is connected to the other link plate 20 in a following manner.

For example, the first group of driving assemblies is connected with the first connecting plate in a follow-up manner, and the second group of driving assemblies is fixedly connected with the first connecting plate; the second group of driving assemblies is connected with the second connecting plate in a follow-up manner, and the third group of driving assemblies is fixedly connected with the second connecting plate. In this way, the first group of driving assemblies can drive the second group of driving assemblies, the second connecting plate and the third group of driving assemblies to rotate through the first connecting plate; the second group of driving assemblies can drive the third group of driving assemblies to rotate through the second connecting plate. The third group of driving components can drive the functional device to rotate; the movement of the functional device is effected by the movement of the three sets of drive assemblies 10, the range of movement of the functional device being related to the angle of rotation of the output shaft of the motor 11 in the drive assembly 10 and the length of the connecting plate 20.

The functional device can be a clamping jaw, and the clamping jaw can grab articles at different positions through the movement of the mechanical arm; or the functional device can be a welding gun, and the welding gun can weld articles at different parts through the movement of the mechanical arm. The application does not limit the specific configuration and function of the functional device.

The application provides a quick detach fast-assembling arm directly drives the rotation that realizes the axle through motor 11.

The motor 11 is used for directly driving to realize rotation of any shaft in the mechanical arm, so that on one hand, the response speed of the mechanical arm is higher, and the motion is more sensitive; on the other hand, the driving assembly 10 is not pulled by the lever force between the shafts any more, the load of the motor 11 is small, the stress of each shaft in the mechanical arm is more uniform, the mechanical arm is not easy to shake, and the action is more accurate and reliable.

The application provides a quick detach fast-assembling arm still includes speed reducer 12.

It is easy to understand that if the motor is directly connected to the equipment, the load of the motor is very large when the equipment runs, and the motor is easy to be damaged and the service life is influenced. The speed reducer is a power transmission mechanism which does not generate power, but changes the number of revolutions of a motor to a desired number of revolutions by using gears and speed converters of different sizes, and can obtain a large torque.

For example, a reduction gear with a reduction ratio of 100, since the reduction ratio of the reduction gear = input rotation speed/output rotation speed; when the reduction ratio is 100, the output torque is about 100 times of the input torque (the torque increases when the rotating speed is reduced), and the load of the motor caused by the running of the equipment is only one percent of the original load. The motor can stably run for a long time by reducing the inertia of the load.

Specifically, the speed reducer 12 is provided at a movable end of the motor 11, and is connected to an output shaft of the motor 11, so that the rotation speed of the motor 11 can be reduced and the torque can be increased (if necessary, the speed reducer 12 serves as a mechanism having a speed regulation function, and the rotation speed of the motor 11 can also be increased). The connecting plate 20 is arranged at the movable end of the speed reducer 12, and the motor 11 drives the connecting plate 20 to rotate after speed regulation is performed through the speed reducer 12.

Optionally, the reducer 12 is a harmonic reducer.

The harmonic speed reducer is a gear transmission mechanism which is assembled on a wave generator and is provided with a flexible bearing to enable a flexible gear to generate controllable elastic deformation and is meshed with a rigid gear to transmit motion and power.

Specifically, during operation, the rigid gear is fixed, the motor 11 drives the wave generator to rotate, and the flexible gear serves as a driven wheel and can output rotation to drive the connecting plate 20 to move.

The harmonic speed reducer has simple structure and high speed reduction ratio; compared with a common gear reducer, the gear backlash of the harmonic reducer is small, the influence of the gear pitch error and the accumulated pitch error on the rotation precision is relatively average, and the position precision and the rotation precision are high when multiple teeth are meshed; compared with the common gear reducer, the harmonic reducer has small volume and light weight, has the same torque capacity and reduction ratio, and can realize the miniaturization and the lightweight of the reducer; the harmonic reducer has small sliding of gear meshing parts, and can reduce power loss generated by friction, so that high efficiency can be maintained while high reduction ratio is obtained; the gear tooth meshing peripheral speed of the harmonic reducer is low, and the transmission motion force is balanced, so that the harmonic reducer has small vibration and quiet running.

Alternatively, the motor 11 is a servo motor.

Specifically, the all-motor direct-drive multi-axis robot arm further comprises a controller (such as a PRC), all the motors 11 are connected with the controller, and the controller can control the motors 11 to work.

The servo motor is mainly used for realizing positioning through pulses. Generally, the controller outputs a pulse, and the servo motor can rotate by an angle corresponding to the pulse after receiving the pulse; the controller outputs a plurality of pulses, and the servo motor can rotate the angle corresponding to the plurality of pulses after receiving the pulses; thereby effecting displacement. Meanwhile, the servo motor also has the function of sending pulses; the servo motor can send out corresponding number of pulses every time the servo motor rotates by an angle, the pulses output by the servo motor and the received pulses form a response, so that the controller can know how many pulses are sent to the servo motor and how many pulses are received at the same time, and accurate motor control is realized.

Optionally, the motor 11 and the reducer 12 are of an integral structure, and in this case, the driving assembly 10 is a reducer motor.

Alternatively, the motor 11 and the reducer 12 are separate structures, and are detachably connected. For example, the motor 11 and the reducer 12 are fastened by bolts.

In the quick-release quick-assembly mechanical arm provided by the application, the connecting plate 20 is detachably connected with the driving assembly 10.

Because motor 11 and speed reducer 12 are mostly standard parts, when the arm that this application provided was produced, motor 11 and speed reducer 12 can be outsourcing. Of course, the motor 11 and the reducer 12 may be self-made parts.

The connection plate 20 is prepared according to the specifications and dimensions of the motor 11 and the reducer 12. When the motor 11 and the reducer 12 used on each axis of the robot arm are identical, at least the portion of the connecting plate 20 for connecting the driving assembly 10 may be provided in the same pattern. The specific structure of the connecting plate 20 needs to be designed according to the relative positions of the two adjacent groups of driving assemblies 10.

Because connecting plate 20 and drive assembly 10 detachably are connected, during the transportation, drive assembly 10 and connecting plate 20 can shift respectively, and even motor 11 and speed reducer 12 also owing to can shift respectively, owing to for each structure of equipment is small, the quality is light, it is more convenient, safer to transport, still is favorable to practicing thrift manpower and material resources. And because each part is detachable, when the driving assembly 10 or the connecting plate 20 is damaged, the damaged part is only needed to be detached and replaced by a new part, and the driving assembly can be continuously used, so that the maintenance is convenient and fast, and the maintenance cost is low. When the mechanical arm is actually assembled, multiple types of mechanical arms such as two shafts, three shafts, four shafts, five shafts, six shafts and the like can be assembled according to use requirements, and the applicability is stronger.

It will be readily appreciated that the arm length of a robotic arm is generally related to the spacing between the two axes, and in this application, the distance between two adjacent sets of drive assemblies 10. Generally, the greater the length of the connecting plate 20, the greater the arm length of the robot arm; the larger the arm length of the mechanical arm is, the larger the range of action of the mechanical arm is.

Because the arm (that is connecting plate 20) and the axle (that is drive assembly 10) detachably of quick detach fast-assembling arm that this application provided are connected, change the connecting plate 20 of different length, can adjust the length of arm to satisfy the needs of different use scenes.

When the motor 11 and the speed reducer 12 are designed separately and detachably connected, the motor 11 or the speed reducer 12 with different powers, effects, specifications and even categories can be selected to better meet the requirements of different use scenes.

In addition, because of the complicated structure of the conventional robot arm, in order to optimize the appearance of the robot arm, a housing is usually provided, and all the shafts, the arms, the driving mechanism and the connecting wires are hidden in the housing. The application provides a quick detach fast-assembling arm has saved the shell, and has kept the "skeleton" of arm for the structure of whole arm is more clear, conveniently installs, debugs and maintains.

Alternatively, the connection plate 20 is constructed by 3D printing.

Specifically, the connection board 20 is drawn by the relevant software; selecting a material (such as metal, polymer composite material and the like) for preparing the connecting plate 20, and putting the material into a 3D printer; the 3D printer is connected with a computer, the 3D printer is controlled by the computer to stack materials layer by layer, and finally the connecting plate 20 is changed into a real object from a blueprint.

3D prints and to save material, can also prepare the connecting plate 20 of required configuration fast, simple manufacture, with low costs. Especially, when the design is nonstandard, the connecting plates 20 with different specifications need to be prepared, but the required number of the connecting plates 20 with each specification is not large, and if the die sinking preparation is carried out independently, the time and the labor are wasted, the cost is high, and the preparation of various connecting plates 20 can be conveniently and rapidly completed through 3D printing.

Alternatively, the connection plate 20 is constructed by laser cutting.

For example, when the connecting plate 20 is made of an aluminum material, the connecting plate 20 can be formed by cutting an aluminum plate by laser to obtain a connecting plate 20 having a desired configuration, or by cutting an aluminum plate by laser to obtain plates for constructing the connecting plate 20, and then connecting the plates by welding or the like to finally construct the connecting plate 20. The laser cutting speed is high, the edge is neat, and the operability is strong.

Alternatively, a mold for the connection plate 20 is provided, into which a material is poured, which after setting, constitutes the connection plate 20.

Optionally, the connection plate 20 is fastened to the driving assembly 10 by a screw 1.

Referring to fig. 1 to 7, in the illustrated embodiment, the connection plates 20 are each fastened to the corresponding drive assembly 10 by screws 1. Specifically, the connecting plate 20 is provided with a threaded hole, and the speed reducer 12 is also provided with a threaded hole, so that the threaded hole on the connecting plate 20 is aligned with the threaded hole on the speed reducer 112, and the screw 1 is screwed in, so that the connection between the connecting plate 20 and the driving assembly 10 can be fastened. If necessary, the connection of the connection plate 20 to the drive assembly 10 can also be released by unscrewing the screw 1.

Alternatively, the plurality of screws 1 are arranged at equal intervals in the circumferential direction.

With continued reference to fig. 3-7, in the illustrated embodiment, a ring of screws 1 is provided at the location of the connection plate 20 to the drive assembly 10. So, on the one hand can further consolidate being connected between connecting plate 20 and the drive assembly 10, on the other hand, because drive assembly 10 is used for realizing that the arm is circular motion for a plurality of screws 1 set up along the equidistance of circumferencial direction, when the arm was turned in the motion process, screw 1 can the dispersed moment, so that the arm steady operation.

In other embodiments, the connection plate 20 can be detachably connected to the driving assembly 10 by means of a plug or a snap, and the application does not limit the specific connection manner between the connection plate 20 and the driving assembly 10.

Optionally, the web 20 is provided with ribs 26.

Referring to fig. 3, 4 and 7, in the illustrated embodiment, a plurality of ribs D are disposed on a surface of any one of the connection plates 20 adjacent to the driving assembly 10, and the plurality of ribs D may be disposed at intervals or may be disposed in a staggered manner.

Because the connecting plate 20 is a plate-shaped framework, the reinforcing ribs D are arranged to increase the strength of the connecting plate 20 and prevent the connecting plate 20 from deforming. Especially, when the length of the connecting plate 20 is large, the strength of the whole structure can be ensured by additionally arranging the reinforcing ribs D so as to avoid the stress deformation of the connecting plate 20.

Optionally, the connection plate 20 is provided with perforations.

Perforations may be provided in the middle of the web 20 and through the web 20. The through holes are arranged, so that on one hand, the weight of the connecting plate 20 can be reduced, the equipment is light, and raw materials are saved; on the other hand, the perforation can facilitate the wiring of the connecting line, is favorable for the safety of the connecting line and is also favorable for beautifying the appearance.

Alternatively, the end of the connecting plate 20 is provided in a circular arc shape.

In the embodiment shown in fig. 1 to 7, the end of the connecting plate 20 is used for connecting with a reducer; the tip that sets up connecting plate 20 is the circular arc structure, and on the one hand, the output of speed reducer 12 is mostly the disc structure, and the tip of connecting plate 20 is more convenient when the circular arc structure is connected with drive assembly, and on the other hand can avoid having the closed angle and produce the potential safety hazard.

Alternatively, when two adjacent sets of driving assemblies 10 are arranged side by side, the connecting plate 20 is a flat plate.

For example, in the embodiment shown in fig. 2 and 6, the second group of driving assemblies 10b and the third group of driving assemblies 10c are arranged side by side, and the movable ends of the two driving assemblies are in the same plane, so that the connecting arm 1 for connecting the two second group of driving assemblies 10b and 120b is arranged as a flat plate. The planar structure is further due to the connection and force transmission of the drive assemblies 10 arranged side by side, and the structure of the connecting plate 20 is also simpler.

Alternatively, when two adjacent sets of driving assemblies 10 are perpendicular to each other, the connecting plate 20 includes: a first connection plate 21 parallel to the first plane; and a second connecting plate 22 parallel to a second plane perpendicular to the first plane.

When two adjacent sets of driving assemblies 10 are perpendicular to each other, the two sets of driving assemblies 10 realize more various moving directions of the mechanical arm. At this time, the output shafts of the motors 11 of the two sets of driving assemblies 10 are perpendicular to each other; the first connecting plate 21 is used for connecting one group of driving assemblies 10; the second connecting plate 22 is used for connecting another group of driving assemblies 10.

By making the output shaft of the motor 11 perpendicular to the connecting plate (the first connecting plate 21 or the second connecting plate 22) connected with the output shaft, the transmission is more accurate and the movement of the connecting plate 20 is more stable when the motor 11 works.

Referring specifically to fig. 2, in combination with fig. 3-7, four connector plates 20a, 20b, 20c, and 20d are illustrated, each having a first connector plate 21 and a second connector plate 22.

The first connecting plate 20a is used to connect the first group of driving units 10a and the second group of driving units 10 b. In the embodiment shown in fig. 2, 3 and 6, the motors 11 of the first group of driving assemblies 10a are arranged in the vertical direction, the motors 11 of the second group of driving assemblies 10b are arranged in the horizontal direction, the first connecting plate 21a is a horizontal plate, and the second connecting plate 22a is a vertical plate; the first connecting plate 21a is connected with the first group of driving assemblies 10a in a follow-up mode; the lower end of the second connecting plate 22a is connected with the left end of the first connecting plate 21a, and the first connecting plate 20a is substantially L-shaped; the second connecting plate 22a is fixedly connected with the second group of driving assemblies 10 b; when the first group of driving assemblies 10a works, the second group of driving assemblies 10b and the driving assemblies 10c, 10d, 10e and 10f thereon can be driven to rotate in the horizontal plane through the first connecting plate 20 a.

The second connecting plate 20b is used to connect the third group of driving units 10c and the fourth group of driving units 10 d. In the embodiment shown in fig. 2 and 4, the motors 11 of the third group of driving assemblies 10c are arranged in the horizontal direction, the motors 11 of the fourth group of driving assemblies 10d are arranged in the vertical direction, the first connecting plate 21b is a horizontal plate, and the second connecting plate 22b is a vertical plate; the second connecting plate 22b is connected with the third group of driving assemblies 10c in a follow-up manner, the upper end of the second connecting plate 22b is connected with the left end of the first connecting plate 21b, and the first connecting plate 21b is fixedly connected with the fourth group of driving assemblies 10 d; when the third group of driving assemblies 10c works, the fourth group of driving assemblies 10d and the driving assemblies 10e and 10f thereon can be driven to rotate in the vertical plane through the second connecting plate 20 b.

The second connecting plate 22b of the second connecting plate 20b is longer in the vertical direction, which is different from the first connecting plate 20a, so that the arm length of the mechanical arm can be increased, and the motion range of the mechanical arm can be expanded.

The third connecting plate 20c is used to connect the fourth group drive unit 10d and the fifth group drive unit 10 e. In the embodiment shown in fig. 2, 4, 5 and 7, the motors 11 of the fifth group of driving assemblies 10e are arranged in a horizontal direction, the first connecting plate 21c is a horizontal plate, and the second connecting plate 22c is a vertical plate; the first connecting plate 21c is connected with the fourth group of driving assemblies 10d in a follow-up manner, the right end of the first connecting plate 21c is connected with the lower end of the second connecting plate 22c through the third connecting plate 23, and the second connecting plate 22c is fixedly connected with the fifth group of driving assemblies 10 e; when the fourth driving assembly 10d works, the fifth and sixth driving assemblies 10e and 10f can be driven to rotate in the vertical plane through the third connecting plate 20 c.

In distinction to the first and second connector plates 20a, 20b, the third connector plate 20c further includes a third connector plate 23 for connecting the first and second connector plates 21c, 22 c. The third connecting plate 23 may be obliquely arranged to connect the first connecting plate 21c and the second connecting plate 22c, the third connecting plate 23 may also be a bent plate, and the third connecting plate 23 may also be a bent plate; for example, in the embodiment shown in fig. 7, the third connecting plate 23 is a curved surface structure, which not only can avoid potential safety hazards caused by sharp corners, but also can reduce the occupied area, and can strengthen the structure.

A fourth connecting plate 20d is used for the fifth group of drive assemblies 10e and the sixth group of drive assemblies 10 f. In the embodiment shown in fig. 2, 5 and 7, the motors 11 of the fifth group of driving assemblies 10e are arranged in the horizontal direction, the motors 11 of the sixth group of driving assemblies 10f are arranged in the vertical direction, the first connecting plate 21d is a horizontal plate, and the second connecting plate 22d is a vertical plate; the second connecting plate 22d is connected with the fifth group of driving assemblies 10e in a follow-up manner, the upper end of the second connecting plate 22d is connected with the right end of the first connecting plate 21d through a fourth connecting plate 24, and the first connecting plate 21d is fixedly connected with the sixth group of driving assemblies 10 f; when the fifth group of driving components 10e works, the sixth group of driving components 10f can be driven to rotate in the vertical plane through the fourth connecting plate 20 d.

The fourth connecting plate 20d further includes a fourth connecting plate 24 for connecting the first connecting plate 21d and the second connecting plate 22d, differently from the first connecting plate 20a, the second connecting plate 20b and the third connecting plate 20 c; the fourth connecting plate 24 is a bent plate, and referring to fig. 2, the fourth connecting plate 24 includes a first portion inclined from right to left (from the second connecting plate 22d to the first connecting plate 21 d) and a second portion extending in the vertical direction.

The fourth connecting plate 24 is a bent plate because the sixth driving assembly 10f is disposed at the left position above the fifth driving assembly 10e, and the vertically extending second connecting plate 22d needs to be disposed with a larger length in the horizontal direction if it wants to be directly connected to the horizontally extending first connecting plate 21d, and meanwhile, the second connecting plate 22d also has a larger length in the vertical direction. It is easy to understand that the end of the connecting plate is provided with a driving assembly, and the longer the connecting plate is, the easier the connecting plate is to be bent or deformed by the moment, and for this reason, the bent fourth connecting plate 24 is arranged, which is beneficial to the stability of the equipment structure.

Optionally, the connecting plate 20 further comprises a reinforcing plate 25, and one side of the reinforcing plate 25 is connected to the first connecting plate 21 and the other side is connected to the second connecting plate 22.

As will be readily appreciated, since the first connecting plate 21 and the second connecting plate 22 are perpendicular to each other, the connecting portion of the two is easily damaged upon being subjected to a force. For this reason, the reinforcing plate 25 is provided between the first connecting plate 21 and the second connecting plate 22, which is advantageous in reinforcing the structure of the entire connecting plate 20.

In an embodiment, the reinforcing plate 25 may be a strip-shaped structure disposed obliquely, one end of the reinforcing plate 25 is connected to the first connecting plate 21, and the other end is connected to the second connecting plate 22, so that the first connecting plate 21, the second connecting plate 22 and the reinforcing plate 25 cooperate to ensure the stability of the connecting plate 20.

In another embodiment, the reinforcing plate 25 fills at least a portion of the triangular space between the first connecting plate 21 and the second connecting plate 22, and secures the connecting plates 20 by a triangular structure.

For example, in the embodiment shown in fig. 2 to 5, the first connecting plate 21a and the second connecting plate 22a of the first connecting plate 20a are straight and have smaller lengths, so that the reinforcing plate 25a is a triangular plate, and one square edge of the reinforcing plate 25a is connected with the first connecting plate 21a, and the other square edge is connected with the second connecting plate 22 a.

In the second connecting plate 20b, the length of the second connecting plate 22b in the vertical direction is large, and for this reason, in the reinforcing plate 25b, the hypotenuse opposite to the right angle is provided in a curved configuration, and the farther away from the right angle, the closer the hypotenuse is to the right-angle side. In this way, while the formation of the triangular structure between the first connecting plate 21b and the second connecting plate 22b is ensured, the area of the entire reinforcing plate 25b is small; that is, the reinforcing plate 25b has a small structure and a small mass without affecting the reinforcing connecting plate 20b, which not only saves materials, but also facilitates the assembly and transportation of the robot arm.

In the third connecting plate 20c, a reinforcing plate 25c is provided along the edge of the third connecting plate 20 c; the third connecting plate 23 is an arc-shaped plate, and the width of the reinforcing plate 25c is larger the closer to the arc center of the third connecting plate 23. Reinforcing plate 25c can strengthen the peripheral structure of connecting plate 20, can enough increase the stability and the intensity at connecting plate 20 edge, can avoid connecting plate 20 side to have burr to scratch equipment or operating personnel again.

In the fourth connecting plate 20d, reinforcing plates 25d are arranged between the first connecting plate 21d and the fourth connecting plate 24, between the second connecting plate 22d and the fourth connecting plate 24, and between the first part and the second part of the fourth connecting plate 24, and the oblique sides of the three groups of reinforcing plates 25c are all in a curved structure.

It should be noted that, since the first portion of the fourth connecting plate 24 is disposed obliquely, the included angle between the second connecting plate 22d and the first portion and the included angle between the first portion and the second portion are both obtuse angles, and the reinforcing plate 25d can fill the angle between two adjacent connecting plates, so that the reinforcing plate 25d disposed between the second connecting plate 22d and the first portion and between the first portion and the second portion is in an obtuse angle structure.

Optionally, a torque sensor is provided on the drive assembly 10.

The torque sensor is used for detecting torsional moment on a rotating or non-rotating mechanical part and can convert the physical change of the torsional force into an accurate electric signal. Through setting up torque sensor, arm during operation, if operating personnel mistake touches, torque sensor detects external force after, can give the controller with relevant signal transmission, through controller pause arm to avoid the arm injury mistake of operation to touch personnel.

Optionally, the quick release quick-assembly mechanical arm provided by the present application includes N sets of driving assemblies 10, where N is an even number not less than 4.

When N =4, the quick detach fast-assembling arm that this application provided is a four-axis arm.

For ease of understanding, two sets of drive assemblies 10, which are disposed adjacent and vertically, are referred to as a set of bi-directional rotation mechanisms, and referring to fig. 1, the illustrated embodiment includes two sets of bi-directional rotation mechanisms 100a and 100 b. The second group of driving components 10b of the first group of bidirectional rotating mechanism 100a is disposed at the movable end of the first group of driving components 10a, and the first group of driving components 10a can drive the connecting seat 20a and drive the second group of driving components 10b to rotate in a horizontal plane; the motors 111 of the first group of driving assemblies 10a are arranged vertically, so that when the four-axis mechanical arm is arranged on the ground or a workbench, the second group of driving assemblies 10b and the second group of bidirectional rotating mechanisms 100b arranged on the first group of driving assemblies 10a can work normally in an effective range.

Further, the third group of driving components 10c of the second group of bidirectional rotating mechanisms 100b is disposed at the movable end of the second group of driving components 10b, the first group of bidirectional rotating mechanisms 100a can drive the second group of bidirectional rotating mechanisms 100b to rotate in the horizontal plane and the vertical plane, the second group of bidirectional rotating mechanisms 100b can drive the functional devices thereon to rotate in the horizontal plane and the vertical plane, and the movement range of the functional devices is influenced by the strokes of the two groups of bidirectional rotating mechanisms 100a and 100 b.

Further, the two sets of bidirectional rotating mechanisms 100a and 100b are symmetrically disposed. So, be favorable to the focus of whole four-axis arm to be stable.

Optionally, the four-axis mechanical arm further includes a base, and at least the first group of driving components 10a is arranged on the base, and the base has the function of protecting and stabilizing the four-axis mechanical arm.

Optionally, a counterweight is arranged in the base. Utilize the balancing weight to aggravate the base, can ensure that the arm is steady work, when avoiding the arm to draw the article, because draw the end atress big, and lead to whole arm slope to empty even.

When N =6, the quick detach fast-assembling arm that this application provided is a six arm.

Referring specifically to FIG. 2, in the illustrated embodiment, the robotic arm includes three sets of bi-directional rotation mechanisms 100a, 100b, and 100 c; the first group of bidirectional rotating mechanisms 100a and the second group of bidirectional rotating mechanisms 100b are symmetrically arranged, and the second group of driving assemblies 10b and the third group of driving assemblies 10c are adjacent; the fifth group of driving assemblies 10e of the third group of bidirectional rotating mechanism 100c is connected with the fourth group of driving assemblies 10d of the second group of bidirectional rotating mechanism 100b, the first group and the second group of bidirectional rotating mechanisms 100a and 100b can be matched with and drive the third group of bidirectional rotating mechanism 100c and functional devices thereon to move in the horizontal direction and the vertical direction, meanwhile, the functional devices are also influenced by the stroke of the third group of bidirectional rotating mechanism 100c, and the functional devices have wider movement range and more accurate reachable positions.

Further, the fifth group of drive assemblies 10e is oriented opposite to the second group of drive assemblies 10b and the third group of drive assemblies 10 c. So set up, on the one hand, can stabilize the focus of whole six-axis arm, on the other hand can optimize the stroke of arm to the functional device is stable, accurately arrives required station.

Further, the central axes of the first group drive assembly 10a, the fourth group drive assembly 10d and the sixth group drive assembly 10f are in the same plane. For example, in the state shown in fig. 2, the first, fourth and sixth groups of driving units 10a, 10d and 10d are arranged along a vertical line.

The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, and these are all within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. The utility model provides a quick detach fast-assembling arm which characterized in that includes:

the device comprises a plurality of groups of driving assemblies (10), wherein any group of driving assembly (10) comprises a motor (11) and a speed reducer (12);

a connecting plate (20) for connecting two adjacent groups of the driving assemblies (10);

wherein the connecting plate (20) is detachably connected with the driving assembly (10);

in two adjacent groups of the driving assemblies (10), one group of the driving assemblies (10) is fixedly connected with the connecting plate (20), and the other group of the driving assemblies (10) is connected with the connecting plate (20) in a follow-up manner;

when one driving component (10) connected with the connecting plate (20) in a follow-up mode works, the other driving component (10) can be driven to rotate through the connecting plate (20).

2. The quick release quick load arm as claimed in claim 1 wherein said connecting plate (20) is constructed by 3D printing;

alternatively, the connection plate (20) is constructed by laser cutting.

3. The quick release quick assembly mechanical arm as claimed in claim 1, wherein the connecting plate (20) is fixedly connected with the driving assembly (10) through screws (1).

4. The quick release quick assembly mechanical arm as claimed in claim 3, wherein a plurality of the screws (1) are arranged at equal intervals along the circumferential direction.

5. The quick release quick assembly mechanical arm as claimed in claim 1, wherein the connecting plate (20) is provided with reinforcing ribs (26);

and/or the connecting plate (20) is provided with a perforation.

6. The quick release quick assembly mechanical arm as claimed in claim 1, wherein the end of the connecting plate (20) is configured in a circular arc shape.

7. The quick release quick assembly mechanical arm as claimed in claim 1, wherein a torque sensor is disposed on the drive assembly (10).

8. The quick release quick assembly mechanical arm as claimed in claim 1, wherein when two adjacent sets of the driving assemblies (10) are arranged side by side, the connecting plate (20) is a flat plate.

9. The quick release quick assembly mechanical arm as claimed in claim 1, wherein when two adjacent sets of the driving assemblies (10) are perpendicular to each other, the connecting plate (20) comprises:

a first connection plate (21) parallel to the first plane;

a second connecting plate (22) parallel to a second plane, the second plane being perpendicular to the first plane.

10. The quick release quick mount mechanical arm as claimed in claim 8, comprising N sets of drive assemblies (10), N being an even number not less than 4.

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