CN218856998U - Mechanical arm - Google Patents

Abstract

The application discloses a mechanical arm, which comprises a first shaft seat, a second shaft seat and a connecting assembly; the first shaft base comprises a main body part communicated with the positive pressure gas source, and a first mounting part and a second mounting part which extend out of the main body part, and the first mounting part is provided with a first through hole; the second shaft seat is arranged between the first mounting part and the second mounting part; the connecting assembly is connected between the first mounting part and the second shaft seat so as to enable the second shaft seat to rotate relative to the first shaft seat; the connecting assembly comprises a first flange and a connecting plate which is rotationally combined with the first flange; the first flange includes a first annular projection, and the connecting plate includes a first annular groove, and the first annular projection is adapted to be fitted into the first annular groove to enhance the air-tightness of the connecting assembly. The utility model provides a manipulator can reduce the impact that the pollutant produced to joint department, and the manipulator can bear the infiltration of pollutant, reduces the probability that the pollutant got into the inside of arm to the sealing performance of the joint department of arm has been guaranteed.

Description

Mechanical arm

Technical Field

The application relates to automatic processing equipment, in particular to a mechanical arm.

Background

With the increase in the level of automation and the popularization of automation technology, robots have been widely used in various processes in the manufacturing industry. The robot need be in the middle of the abominable environment such as water, oil and dust for a long time at the in-process of polishing, because leak into and the infiltration of these pollutants, not only make the inside part of robot appear damaging and then shorten the life of robot easily, also make the robot appear the risk of harm personal safety such as electric leakage or explosion very easily moreover.

At present, a sealing ring is generally arranged at a joint of the robot to improve the sealing performance of the joint of the robot. However, since the robot is in a severe environment such as water, oil, and dust for a long time, the sealing ring is easily corroded, thereby degrading the sealing performance at the joint of the robot.

SUMMERY OF THE UTILITY MODEL

In view of the above, there is a need for a robot arm that improves the sealing performance at the joints of the robot arm, reduces the probability of contaminants entering the interior of the robot arm, and enhances the adaptability of the robot arm in harsh environments.

The embodiment of the application provides a mechanical arm, which comprises a first shaft seat, a second shaft seat and a connecting assembly; the first shaft base comprises a main body part communicated with a positive pressure gas source, and a first mounting part and a second mounting part which extend out of the main body part, the first mounting part and the second mounting part are oppositely arranged, and one side of the first mounting part facing the second mounting part is provided with a first through hole; the second shaft seat is arranged between the first mounting part and the second mounting part; the connecting assembly is connected between the first mounting part and the second shaft seat so that the second shaft seat can rotate relative to the first shaft seat, and comprises a channel for communicating the first through hole with the second shaft seat; the connecting assembly comprises a first flange and a connecting plate which is rotatably combined with the first flange; one of the first flange and the connecting plate is connected with the first mounting part, and the other one of the first flange and the connecting plate is connected with the second shaft base; the first flange includes a first annular projection, and the connecting plate includes a first annular groove, the first annular projection being adapted to be fitted into the first annular groove to enhance the air-tightness of the connecting assembly.

When the mechanical arm is used, the second shaft seat rotates relative to the first shaft seat through the connecting assembly, so that the joint of the mechanical arm is formed at the joint of the second shaft seat and the first shaft seat, the first flange of the connecting assembly is configured to comprise a first annular bulge, the connecting plate is configured to comprise a first annular groove, the first annular bulge is suitable for being embedded into the first annular groove to enhance the air tightness of the connecting assembly, when air flows through a gap between the first annular bulge and the first annular groove at the connecting assembly, the air is subjected to the throttling effect, the pressure and the temperature of the air are reduced, the flow rate of the air is increased, the air enters a cavity with larger volume of the connecting assembly after passing through the gap, and the volume in the cavity is suddenly increased compared with the gap, the gas forms very strong vortex after entering the cavity, in the cavity that the volume is much bigger than the volume in clearance, gaseous speed is almost equal to zero, kinetic energy heats gas itself because the vortex is whole to become the heat, gaseous temperature in the cavity becomes before the choke again, but pressure has still kept the pressure when flowing through the clearance, gaseous is because the vortex has lost the energy, gas pressure constantly descends, along with pressure reduction, the ability that gas let out reduces, thereby the impact that pollutants such as water, oil, dust produced to joint department has been reduced, can isolate the pollutant outside the mechanical arm, reduce the probability that the pollutant gets into the inside of mechanical arm, thereby the sealing performance of the joint department of mechanical arm has been guaranteed, the mechanical arm can be used in adverse circumstances for a long time. In addition, through letting in the malleation in first axle bed to through first axle bed of passageway intercommunication and second axle bed, make in first axle bed, the second axle bed and joint department homoenergetic form the malleation, the infiltration of pollutant can be born in the joint department of arm, further reduces the probability that the pollutant got into the inside of arm.

In some embodiments, the first annular projection is formed by a first projection projecting on the first flange, and the first annular groove is formed by a gap between a second projection and a third projection projecting on the connecting plate.

In some embodiments, the connection assembly further comprises a second flange; wherein, first flange joint in the first installation department and one end stretch out first through-hole, the second flange rotates to be located in the first flange and one end stretch out first flange with the connecting plate is connected, the connecting plate with one side of second axle seat is connected and with the one end of first flange sets up relatively, the passageway link up in the second flange with the connecting plate.

In some embodiments, a side of the second mounting portion facing the first mounting portion is provided with a second through hole; the mechanical arm further comprises a first speed reducer which is arranged in the second mounting part, and one end of the first speed reducer extends out of the second through hole to be connected with the second shaft base, so that the second shaft base can rotate relative to the first shaft base; the first speed reducer comprises a second annular bulge and a second annular groove, and the second annular bulge and the second annular groove are arranged adjacently to enhance the air tightness between the second shaft base and the second mounting portion.

In some embodiments, the mechanical arm further includes a first oil seal and a second oil seal, the first oil seal and the second oil seal are both sleeved on the first speed reducer and located in the second annular groove, the first oil seal and the second oil seal abut against each other, and one of the first oil seal and the second oil seal abuts against the second annular bulge.

In some embodiments, the coupling assembly further comprises a bearing disposed between the first flange and the second flange such that the second flange is rotatably disposed within the first flange; the first flange, the second flange, the connecting plate, the bearing and the first speed reducer are coaxially arranged.

In some embodiments, a third through hole is formed in one side of the second shaft seat, which is far away from the main body part; the mechanical arm further comprises a connecting cover and a second speed reducer, the second speed reducer is arranged in the second shaft base, and one end of the second speed reducer extends out of the third through hole to be connected with the connecting cover, so that the connecting cover can rotate relative to the second shaft base; wherein the second shaft holder includes a third annular protrusion, and the connection cap includes a third annular groove, and the third annular protrusion is adapted to be fitted into the third annular groove to enhance the air-tightness between the connection cap and the second shaft holder.

In some embodiments, the mechanical arm further comprises a third oil seal disposed within the third annular recess and abutting the third annular projection.

In some embodiments, a fourth annular groove is formed in one end, connected with the connecting cover, of the second speed reducer; the mechanical arm further comprises a fourth oil seal, and the fourth oil seal is arranged in the fourth annular groove and is partially abutted against the third oil seal.

In some embodiments, the mechanical arm further includes an air pressure sensor and a warning unit, the air pressure sensor is electrically connected to the warning unit and both disposed in the first shaft seat, and the air pressure sensor is configured to detect an air pressure value in the first shaft seat and send a signal for the warning unit to perform a warning action.

Drawings

Fig. 1 is a schematic perspective view of a robot arm provided in an embodiment of the present application.

Figure 2 is a cross-sectional view of the robotic arm shown in figure 1 taken along line ii-ii.

Fig. 3 is an enlarged schematic view of the region iii shown in fig. 2.

Fig. 4 is an enlarged schematic view of the iv region shown in fig. 2.

Fig. 5 is an enlarged schematic view of region v shown in fig. 2.

Description of the main elements

Mechanical arm 1

First shaft seat 10

Main body 12

First mounting portion 14

First through hole 142

Second mounting portion 16

Second via 162

Second bearing block 20

Third through hole 22

Third annular projection 24

Connecting assembly 30

Channel 31

First flange 32

First annular projection 322

First protrusion 324

Fourth projection 326

Connecting plate 33

First annular groove 332

Second projection 334

Third protrusion 336

Second flange 34

Bearing 35

Sealing ring 36

First speed reducer 40

Second annular projection 42

Second annular groove 44

First electric machine 50

Belt 60

Pulley 70

First oil seal 80

Second oil seal 90

Connection cover 100

Third annular groove 102

Second speed reducer 110

Fourth annular groove 112

Second electric machine 120

Third oil seal 130

Fourth oil seal 140

Air pressure sensor 150

Warning unit 160

Perspective plate 170

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and are only for the purpose of explaining the present application and are not to be construed as limiting the present application.

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," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the present application and to simplify the description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be operated in a particular orientation, and thus are not to be construed as limiting 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 to implicitly indicate the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present application, it is to be noted that the meaning of "a plurality" is two or more unless specifically defined otherwise.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; they may be mechanically, electrically, or communicatively linked, directly or indirectly through intervening media, or in a communication or interaction between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings.

Referring to fig. 1, some embodiments of the present disclosure provide a robot 1. The mechanical arm 1 is used for connecting structures such as clamping jaws and suction nozzles to form an arm of the robot. Referring to fig. 2, the robot arm 1 includes a first shaft seat 10, a second shaft seat 20 and a connecting assembly 30.

Specifically, the first shaft seat 10 includes a main body 12 for communicating with a positive pressure air source (not shown), and a first mounting portion 14 and a second mounting portion 16 extending from the main body 12, the first mounting portion 14 and the second mounting portion 16 are disposed opposite to each other, and a first through hole 142 is opened on a side of the first mounting portion 14 facing the second mounting portion 16. The second bearing mount 20 is disposed between the first mounting portion 14 and the second mounting portion 16. The connecting assembly 30 is connected between the first mounting portion 14 and the second shaft seat 20 to enable the second shaft seat 20 to rotate relative to the first shaft seat 10, and the connecting assembly 30 includes a passage 31 communicating the first through hole 142 with the second shaft seat 20, so that positive pressure can be formed in the second shaft seat 20 and at the connecting assembly 30. Referring to fig. 3, the connecting assembly 30 includes a first flange 32 and a connecting plate 33 rotatably coupled to the first flange 32, one of the first flange 32 and the connecting plate 33 is connected to the first mounting portion 14, and the other is connected to the second shaft seat 20. The first flange 32 includes a first annular protrusion 322, the connecting plate 33 includes a first annular groove 332, and the first annular protrusion 322 is adapted to be inserted into the first annular groove 332 to enhance the air-tightness of the connecting assembly 30.

When the robot arm 1 is used, the second shaft holder 20 is connected with the first mounting part 14 through the connecting assembly 30 to achieve a rotating effect relative to the first shaft holder 10, so that the joint of the robot arm 1 is formed at the joint of the second shaft holder 20 and the first shaft holder 10, the first flange 32 of the connecting assembly 30 is configured to include the first annular protrusion 322, the connecting plate 33 is configured to include the first annular groove 332, the first annular protrusion 322 is configured to be suitable for being embedded into the first annular groove 332 to form a throttling gap and an expansion cavity, so that the airtightness of the connecting assembly 30 is enhanced, when gas flows through the gap between the first annular protrusion 322 and the first annular groove 332 at the connecting assembly 30, the gas is throttled, the pressure and the temperature of the gas are reduced, the flow rate of the gas is increased, after the gas passes through the gap, the gas enters the cavity with a larger volume of the connecting assembly 30, because the inner volume of the cavity is suddenly increased compared with the gap, the gas forms a strong vortex after entering the cavity, in the cavity with a volume that the gas is much larger than the gap, the vortex speed of the gas is almost equal to zero, the vortex speed of the gas is heated because the gas itself becomes heat, the energy in the cavity, the energy is returned to the gap, the gas, the vortex is reduced, the energy is reduced, the vortex loss of the gas is kept, the energy loss of the gas, the dust is reduced, and the dust is not reduced, and the dust is reduced, and the dust is reduced; through configuration first annular protrusion 322 and first annular groove 332 to form throttle clearance and inflation cavity, make the pollutant produce the throttle effect and reach the purpose of hindering the hourglass when passing through throttle clearance and inflation cavity, thereby reinforcing gas tightness ability, can completely cut off the pollutant outside mechanical arm 1, reduce the probability that the pollutant gets into the inside of mechanical arm 1, thereby guaranteed the sealing performance of mechanical arm 1's joint department, mechanical arm 1 can use in adverse circumstances for a long time. In addition, through letting in the malleation in first axle bed 10 to through first axle bed 10 of passageway 31 intercommunication and second axle bed 20, make first axle bed 10, second axle bed 20 and joint department homoenergetic form the malleation space, this malleation space makes joint department form the gaseous protection film of one deck, and the joint department of arm 1 can bear the infiltration of pollutant, thereby further reduces the probability that the pollutant got into the inside of arm 1.

In particular, further description will be given with respect to the relevant elements of the robot arm 1.

Referring to fig. 3, in the present embodiment, the first flange 32 is connected in the first mounting portion 14, and one end of the first flange extends out of the first through hole 142, and the connecting plate 33 is connected to the second shaft seat 20 and is rotatably combined with the first flange 32. The first annular protrusion 322 is formed by a first protrusion 324 protruding on the first flange 32, and the first annular groove 332 is formed by a gap between a second protrusion 334 and a third protrusion 336 protruding on the connection plate 33. Thus, two opposite side walls of the first protrusion 324 form two throttling gaps with the side wall of the second protrusion 334 and the side wall of the third protrusion 336 respectively, an expansion cavity is formed between one side of the first protrusion 324 close to the connecting plate 33 and the bottom of the first annular groove 332, an expansion cavity is formed between the part of the connecting plate 33, which is located on one side of the third protrusion 336 away from the second protrusion 334, and the first flange 32, and when gas flows through the connecting assembly 30, the gas sequentially flows through the gap-cavity-gap-cavity, so that the gas leakage capacity is further reduced.

Further, the first flange 32 may further include a fourth protrusion 326, and the fourth protrusion 326 and the first protrusion 324 form an annular groove, so that the third protrusion 336 can also be fittingly inserted into the annular groove formed by the fourth protrusion 326 and the first protrusion 324. Thus, when the gas flows through the connecting assembly 30, the gas flows through the gap-cavity-gap-cavity in sequence, thereby further reducing the gas leakage capacity and improving the gas tightness of the connecting assembly 30.

It is understood that in other embodiments, the first flange 32 may be further connected to the second shaft seat 20, and the connecting plate 33 may be further connected to the first mounting portion 14, which may be set according to actual situations.

Referring to fig. 3, in the present embodiment, the connecting assembly 30 further includes a second flange 34, a bearing 35 and a sealing ring 36. The second flange 34 is disposed in the first flange 32, one end of the second flange extends out of the first flange 32 to be connected with the connecting plate 33, the connecting plate 33 is connected with one side of the second shaft seat 20 and is disposed opposite to one end of the first flange 32, the bearing 35 is disposed between the first flange 32 and the second flange 34, so that the second flange 34 is rotatably disposed in the first flange 32, and the first flange 32, the second flange 34, the connecting plate 33 and the bearing 35 are coaxially disposed. The sealing ring 36 is arranged between the first flange 32 and the second flange 34 to further seal the first flange 32 and the second flange 34, and the sealing ring 36 is not easy to deform under the action of the positive pressure space, so that the capacity of isolating pollutants by the sealing ring 36 is improved. The channel 31 runs through the second flange 34 and the web 33. In this way, by configuring the connection assembly 30 to further include the second flange 34 and the bearing 35, on one hand, the connection plate 33 achieves the effect of rotationally combining with the first flange 32 through the bearing 35 and the second flange 34, and on the other hand, the joint of the robot arm 1 has high rigidity, so that the robot arm 1 is ensured not to generate deflection deformation when being used, such as grinding, and high and stable sealing performance of the joint is further maintained; by configuring the connecting assembly 30 to further include the sealing ring 36, the contaminants can be further isolated outside the robot arm 1 under the action of the positive pressure space, and the sealing performance at the joint of the robot arm 1 is further improved.

Referring to fig. 2 and 4, in the present embodiment, a second through hole 162 is formed on a side of the second mounting portion 16 facing the first mounting portion 14. The mechanical arm 1 further includes a first speed reducer 40 disposed in the second mounting portion 16 and having one end extending out of the second through hole 162 to connect with the second shaft seat 20, so that the second shaft seat 20 can rotate relative to the first shaft seat 10. Wherein the first speed reducer 40 includes a second annular projection 42 and a second annular groove 44, the second annular projection 42 and the second annular groove 44 being adjacently disposed to enhance the air-tightness between the second bearing 20 and the second mounting portion 16. In this way, at the joint of the second bearing 20 and the second mounting portion 16, a throttling gap is formed between the second annular bulge 42 and the second mounting portion 16, an expansion cavity is formed between the second annular groove 44 and the second mounting portion 16, and gas sequentially flows through the gap-cavity, so that the gas leakage capacity is reduced, and the gas tightness between the second bearing 20 and the second mounting portion 16 is improved. In addition, the first flange 32, the second flange 34, the connecting plate 33, the bearing 35 and the first speed reducer 40 are coaxially arranged, so that a double-sided supporting structure is formed between the second shaft base 20 and the first shaft base 10, high rigidity of the joint of the mechanical arm 1 is further improved, deflection deformation of the mechanical arm 1 during use is avoided, and high-stability sealing performance of the joint is further maintained.

In this embodiment, the first speed reducer 40 may be an RV speed reducer. Obviously, the first speed reducer 40 may be another speed reducer, such as a planetary speed reducer.

In this embodiment, the robot arm 1 further includes a first motor 50, a belt 60, and a pulley 70. The first motor 50 is installed in the main body 12, and the first motor 50 and the first reducer 40 are both provided with a belt wheel 70 and are in transmission connection through a belt 60. In this manner, the second shaft mount 20 is powered for rotation relative to the first shaft mount 10 by the arrangement of the first motor 50, the belt 60 and the pulley 70. Wherein the first electric machine 50 may be a waterproof motor.

In this embodiment, the mechanical arm 1 further includes a first oil seal 80 and a second oil seal 90. The first oil seal 80 and the second oil seal 90 are both sleeved on the first speed reducer 40 and located in the second annular groove 44, the first oil seal 80 and the second oil seal 90 are abutted, and one of the first oil seal and the second oil seal is abutted with the second annular bulge 42. In this way, by configuring the double oil seal structure, when the mechanical arm 1 is used in a severe environment for a long time, when one of the oil seals, for example, the first oil seal 80, fails prematurely, the other oil seal, for example, the second oil seal 90, can also play a role in sealing, and the sealing performance of the mechanical arm 1 is ensured. In addition, when one of them oil blanket played the sealed effect, another oil blanket can also play better dustproof function.

Referring to fig. 2 and fig. 5, in the present embodiment, a third through hole 22 is formed on a side of the second shaft seat 20 away from the main body 12. The mechanical arm 1 further includes a connecting cover 100 and a second reducer 110, the second reducer 110 is disposed in the second shaft base 20, and one end of the second reducer 110 extends out of the third through hole 22 to be connected to the connecting cover 100, so that the connecting cover 100 can rotate relative to the second shaft base 20. Wherein the second shaft seat 20 includes a third annular protrusion 24, the connection cover 100 includes a third annular groove 102, and the third annular protrusion 24 is adapted to be inserted into the third annular groove 102 to enhance the air-tightness between the connection cover 100 and the second shaft seat 20. In this way, by arranging the second speed reducer 110 and the connecting cover 100, the joint of the robot arm 1 is formed at the connecting cover 100, and the connecting cover 100 can be used for connecting a clamping jaw and other mechanisms to form an arm of the robot, and in addition, by arranging the second speed reducer 110, the high rigidity at the joint of the robot arm 1 can be improved, the disturbance deformation of the robot arm 1 is prevented when in use, and the high and stable sealing performance at the joint is maintained; by configuring the third annular protrusion 24 and the third annular groove 102, a throttling gap and an expansion cavity are generated between the second speed reducer 110 and the connecting cover 100, and air sequentially flows through the gap-cavity, so that the air leakage capacity is reduced, and the air tightness between the connecting cover 100 and the second shaft base 20 is improved.

In this embodiment, the second reducer 110 may be a planetary reducer. Obviously, the second speed reducer 110 may also be another speed reducer, such as an RV speed reducer.

In this embodiment, the robot arm 1 further includes a second motor 120. The second motor 120 is installed in the second shaft base 20, and the second motor 120 is in transmission connection with the second reducer 110. In this manner, the second motor 120 is configured to provide power to rotate the connecting cover 100 relative to the second hub 20. Wherein the second electric machine 120 may be a waterproof motor.

In this embodiment, a fourth annular groove 112 is formed at one end of the second reducer 110 connected to the connecting cover 100. The robot arm 1 further includes a third oil seal 130 and a fourth oil seal 140. A third oil seal 130 is provided in the third annular recess 102 and abuts the third annular projection 24. The fourth oil seal 140 is disposed within the fourth annular recess 112 and is in partial abutment with the third oil seal 130. In this way, by configuring the double oil seal structure at the joint of the connecting cover 100 and the second shaft base 20, when the mechanical arm 1 is used in a severe environment for a long time, and when the third oil seal 130 fails too early, the fourth oil seal 140 can also play a role in sealing, so as to ensure the sealing performance of the mechanical arm 1. In addition, the fourth oil seal 140 can also play a good dustproof function while the third oil seal 130 plays a sealing role.

It will be appreciated that in other embodiments, the fourth oil seal 140 and the fourth annular groove 112 may also be omitted.

Referring to fig. 2, in the present embodiment, the robot arm 1 further includes an air pressure sensor 150 and an alarm unit 160. The air pressure sensor 150 is electrically connected to the warning unit 160 and disposed in the main body 12 of the first shaft seat 10, and the air pressure sensor 150 is configured to detect an air pressure value in the first shaft seat 10 and send a signal for the warning unit 160 to perform a warning operation. Thus, by configuring the air pressure sensor 150 and the warning unit 160, the mechanical arm 1 has a function of detecting the air pressure in the first shaft seat 10, when the air pressure sensor 150 detects that the air pressure value changes, the air pressure sensor 150 can send a signal to the warning unit 160, and the warning unit 160 executes a warning action such as warning, cutting off a mechanical arm 1 circuit system and the like according to the signal, so as to promote an operator to overhaul in time. The air pressure sensor 150 may be an air pressure sensor.

In this embodiment, the warning unit 160 may be a light emitting device, the light emitting device may display green and red, or two light emitting devices may be configured to display green and red, respectively, and the mechanical arm 1 is further provided with a see-through plate 170, so as to observe the color displayed by the warning unit 160 through the see-through plate 170. For example, when the air pressure sensor 150 detects that the air pressure is a normal value, the warning unit 160 displays green and is normally on, and the robot arm 1 works normally; when the air pressure detected by the air pressure sensor 150 is changed greatly due to water leakage or air leakage, the warning unit 160 displays red and flashing signals, and cuts off the circuit system of the mechanical arm 1 to prompt the operator to overhaul in time.

The mechanical arm 1 that this application embodiment provided is through disposing first speed reducer 40, bearing 35 isotructure for mechanical arm 1 is rigid structure and has high rigidity, and mechanical arm 1 is difficult for taking place the condition of bending deformation in the use, guarantees that the airtight performance and the sealing performance of mechanical arm 1 can stably take effect. The joint of the mechanical arm 1 is provided with the annular bulge and the annular groove which are mutually matched to form a throttling gap and an expansion cavity, so that pollutants generate a throttling effect when passing through the throttling gap and the expansion cavity to achieve the purpose of leakage resistance, the air tightness is enhanced, the impact of external pollutants on the sealing position of each joint is reduced, a positive pressure space which is larger than the external environment is formed by arranging the first shaft seat 10 and the second shaft seat 20, the positive pressure space can not only protect objects such as a sealing ring 36 and the like from deforming under the impact of the external pollutants, but also can form a layer of gas protection film at the joint, so that each joint can bear the impact of the external pollutants to a certain degree and the permeation of the pollutants, and the pollutants are isolated outside the mechanical arm 1 by arranging the sealing ring 36, the double oil seals and other structures. By configuring the air pressure sensor 150 and the warning unit 160, when the sealing performance of the robot arm 1 fails, the air pressure sensor 150 will timely detect the pressure changes in the first shaft base 10 and the second shaft base 20, and send a signal to enable the warning unit 160 to perform a warning action, so as to prompt an operator to perform maintenance in time.

It will be evident to those skilled in the art that the application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present application and not for limiting, and although the present application is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present application without departing from the spirit and scope of the technical solutions of the present application.

Claims (10)

1. A robot arm, comprising:

the first shaft seat comprises a main body part communicated with a positive pressure gas source, and a first mounting part and a second mounting part which extend out of the main body part, the first mounting part and the second mounting part are oppositely arranged, and one side of the first mounting part facing the second mounting part is provided with a first through hole;

the second shaft seat is arranged between the first mounting part and the second mounting part;

the connecting assembly is connected between the first mounting part and the second shaft seat so that the second shaft seat can rotate relative to the first shaft seat, and comprises a channel for communicating the first through hole with the second shaft seat;

the connecting assembly comprises a first flange and a connecting plate which is rotationally combined with the first flange; one of the first flange and the connecting plate is connected to the first mounting part, and the other one of the first flange and the connecting plate is connected to the second shaft base; the first flange includes a first annular projection, and the connecting plate includes a first annular groove, the first annular projection being adapted to be fitted into the first annular groove to enhance the air-tightness of the connecting assembly.

2. A robotic arm as claimed in claim 1, in which the first annular protrusion is formed by a first protrusion projecting from the first flange and the first annular recess is formed by a gap between a second protrusion and a third protrusion projecting from the web.

3. The robotic arm of claim 1, wherein said coupling assembly further comprises a second flange; wherein, first flange connect in the first installation department and one end stretch out first through-hole, the second flange rotates to be located in the first flange and one end stretch out first flange with the connecting plate is connected, the connecting plate with one side of second axle seat is connected and with the one end of first flange sets up relatively, the passageway link up in the second flange with the connecting plate.

4. The mechanical arm according to claim 3, wherein a second through hole is opened at one side of the second mounting part facing the first mounting part;

the mechanical arm further comprises a first speed reducer which is arranged in the second mounting part, and one end of the first speed reducer extends out of the second through hole to be connected with the second shaft base, so that the second shaft base can rotate relative to the first shaft base; the first speed reducer comprises a second annular bulge and a second annular groove, and the second annular bulge and the second annular groove are arranged adjacently to enhance the air tightness between the second shaft base and the second mounting portion.

5. The mechanical arm of claim 4, further comprising a first oil seal and a second oil seal, wherein the first oil seal and the second oil seal are both sleeved on the first speed reducer and located in the second annular groove, the first oil seal and the second oil seal abut against each other, and one of the first oil seal and the second oil seal abuts against the second annular bulge.

6. The mechanical arm of claim 4, wherein the coupling assembly further comprises a bearing disposed between the first flange and the second flange such that the second flange is rotatably disposed within the first flange; the first flange, the second flange, the connecting plate, the bearing and the first speed reducer are coaxially arranged.

7. The mechanical arm as claimed in claim 1, wherein a third through hole is formed in one side of the second shaft seat, which is far away from the main body part;

the mechanical arm further comprises a connecting cover and a second speed reducer, the second speed reducer is arranged in the second shaft base, and one end of the second speed reducer extends out of the third through hole to be connected with the connecting cover, so that the connecting cover can rotate relative to the second shaft base;

wherein the second shaft seat comprises a third annular protrusion, the connecting cover comprises a third annular groove, and the third annular protrusion is suitable for being embedded into the third annular groove to enhance the air tightness between the connecting cover and the second shaft seat.

8. A robotic arm as claimed in claim 7, further comprising a third oil seal disposed in the third annular recess and in abutment with the third annular projection.

9. The mechanical arm as claimed in claim 8, wherein a fourth annular groove is formed at one end of the second reducer connected with the connecting cover;

the mechanical arm further comprises a fourth oil seal, and the fourth oil seal is arranged in the fourth annular groove and partially abutted against the third oil seal.

10. The mechanical arm of claim 1, further comprising an air pressure sensor and an alarm unit, wherein the air pressure sensor and the alarm unit are electrically connected and are both disposed in the first shaft seat, and the air pressure sensor is configured to detect an air pressure value in the first shaft seat and to emit a signal for the alarm unit to perform an alarm operation.

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