A robotic arm

Abstract

A mechanical arm disclosed in the present invention includes a one-axis assembly, a two-axis assembly and a three-axis assembly. The one-axis assembly includes a one-axis cover, a one-axis base, and a guide rail, a one-axis motor, and a slider located in the one-axis cover. The slider is located on the guide rail and can move up and down along the guide rail driven by the one-axis motor. The one-axis base is located on the slider. The two-axis assembly includes a two-axis connecting rod and a two-axis motor, a two-axis reducer, and a two-axis motor flange located on the two-axis connecting rod. The three-axis assembly includes a three-axis connecting rod and a three-axis motor, a three-axis reducer, and a three-axis motor flange located on the three-axis connecting rod. The mechanical arm provided by the present invention has a large coverage rate, can realize flexible movement up and down, left and right, and has the advantages of good sealing, easy equipment and maintenance, etc.

Description

Technical Field

[0001] The present invention relates to the field of mechanical arms, and in particular to a mechanical arm. Background Art

[0002] With the popularization of mechanization, the highways have begun to issue cards through card issuing machines. At present, the card issuing machines on highways mainly adopt semi-automatic methods, which require more or less intervention from the driver. For example, some card issuing machines require the driver to trigger the card issuing button. If the driver parks in an unreasonable position, he needs to get off the car to get the card. It cannot adapt to all types of vehicles, and it is difficult to get the card for large trucks. These problems have reduced traffic efficiency and increased safety risks.

[0003] If you want to realize the mechanical intelligence of the card issuing machine, you first need a suitable mechanical arm to transfer the card, and the mechanical arm needs to move up, down, left, and right during the card issuing process to ensure the card issuing speed and accuracy. How to realize a mechanical arm that can achieve a large coverage rate and can move flexibly up, down, left, and right has become an urgent problem to be solved. Summary of the invention

[0004] The purpose of the present invention is to provide a robot arm which has a large coverage rate, can realize flexible movement up, down, left and right, and has the advantages of good sealing, easy installation and maintenance, etc.

[0005] In order to achieve the above-mentioned object, the present invention adopts the following technical scheme: a mechanical arm, comprising a one-axis assembly, a two-axis assembly and a three-axis assembly, wherein the one-axis assembly comprises a one-axis cover, a one-axis base, and a guide rail located in the one-axis cover, a one-axis motor, and a slider, wherein the slider is located on the guide rail and can move up and down along the guide rail driven by the one-axis motor, and the one-axis base is located on the slider;

[0006] The two-axis assembly includes a two-axis connecting rod and a two-axis motor, a two-axis reducer, and a two-axis motor flange located on the two-axis connecting rod, one end of the two-axis connecting rod is fixedly connected to the end of the one-axis base, and the other end of the two-axis connecting rod is fixedly installed with the two-axis motor, the two-axis reducer and the two-axis motor flange, the two-axis motor flange connects the two-axis motor and the two-axis reducer, and the output end of the two-axis motor is connected to the two-axis reducer;

[0007] The three-axis assembly includes a three-axis connecting rod and a three-axis motor, a three-axis reducer, and a three-axis motor flange located on the three-axis connecting rod. The output end of the two-axis reducer is connected to one end of the three-axis connecting rod, and the three-axis connecting rod rotates under the drive of the two-axis reducer; the other end of the three-axis connecting rod is fixedly installed with the three-axis motor, the three-axis reducer and the three-axis motor flange, the three-axis motor flange is connected to the three-axis motor and the three-axis reducer, and the output end of the three-axis motor is connected to the three-axis reducer.

[0008] Furthermore, the one-axis assembly also includes a screw, the top end of which is fixedly connected to the one-axis motor, the screw and the slider are connected via a screw pair, the one-axis motor drives the screw to rotate, and drives the slider to move up and down along the guide rail via the screw pair.

[0009] Furthermore, the one-axis assembly also includes a synchronous belt, which is connected to the one-axis motor, and the slider is fixed on the synchronous belt. The one-axis motor drives the synchronous belt to rotate, so that the slider moves up and down along the guide rail.

[0010] Furthermore, the one-axis assembly also includes an upper accordion cover and a lower accordion cover, the top end of the upper accordion cover is fixed to the top of the one-axis cover shell, and the bottom end of the upper accordion cover is fixed to the upper surface of the one-axis base; the top end of the lower accordion cover is fixed to the lower surface of the one-axis base, and the bottom end of the lower accordion cover is fixed to the bottom of the one-axis cover shell, and the upper accordion cover and the lower accordion cover perform telescopic movement as the one-axis base moves up and down.

[0011] Furthermore, the side surface of the two-axis motor flange includes a waist-shaped hole for passing the internal cables of the two-axis connecting rod through the inside of the three-axis connecting rod; the side surface of the three-axis motor flange includes a waist-shaped hole for passing the internal cables of the three-axis connecting rod through.

[0012] Furthermore, the three-axis assembly also includes a three-axis skeleton oil seal, the outer ring end of the three-axis skeleton oil seal is fixedly connected to one end of the three-axis connecting rod, the inner ring end of the three-axis skeleton oil seal is connected to the two-axis motor flange, and the three-axis skeleton oil seal and the two-axis motor flange can rotate.

[0013] Furthermore, the robotic arm also includes a four-axis assembly, which includes a four-axis connecting rod and a four-axis motor, a four-axis reducer, and a four-axis motor flange located on the four-axis connecting rod, the output end of the three-axis reducer is connected to one end of the four-axis connecting rod, and the four-axis connecting rod rotates under the drive of the three-axis reducer; the other end of the four-axis connecting rod is fixedly installed with the four-axis motor, the four-axis reducer and the four-axis motor flange, the four-axis motor flange is connected to the four-axis motor and the four-axis reducer, and the output end of the four-axis motor is connected to the four-axis reducer.

[0014] Furthermore, the four-axis assembly also includes a four-axis skeleton oil seal, the outer ring end of the four-axis skeleton oil seal is fixedly connected to one end of the four-axis connecting rod, the inner ring end of the four-axis skeleton oil seal is connected to the three-axis motor flange, and the four-axis skeleton oil seal and the three-axis motor flange can perform rotational movement.

[0015] Furthermore, the robotic arm also includes an actuator assembly, which includes an actuator connecting rod and an actuator motor, an actuator reducer, and an actuator motor flange located on the actuator connecting rod, the output end of the four-axis reducer is connected to one end of the actuator connecting rod, and the actuator connecting rod rotates under the drive of the four-axis reducer; the other end of the actuator connecting rod is fixedly installed with the actuator motor, the actuator reducer and the actuator motor flange, the actuator motor flange is connected to the actuator motor and the actuator reducer, and the output end of the actuator motor is connected to the actuator reducer.

[0016] Furthermore, the actuator assembly also includes an actuator skeleton oil seal, the outer ring end of the actuator skeleton oil seal is fixedly connected to one end of the actuator connecting rod, the inner ring end of the actuator skeleton oil seal is connected to the four-axis motor flange, and the actuator skeleton oil seal and the four-axis motor flange can perform rotational movement.

[0017] The beneficial effects of the present invention are as follows: the mechanical arm of the present invention adopts an accordion cover to be connected with a one-axis base, so as to realize complete sealing of the one-axis component, reduce the probability of corrosion and contamination of the one-axis component, and greatly extend the service life of the mechanical arm; the two-axis component, three-axis component, four-axis component and actuator component of the mechanical arm of the present invention all adopt a direct connection structure of the motor and the reducer at the rotating joint, which reduces the intermediate links, shortens the intermediate size chain, thereby improving the overall motion accuracy and reducing the manufacturing cost; the present invention adopts a skeleton oil seal for rotational sealing at the rotating joint, so that the internal structure is in a dust-free and water-free environment, thereby ensuring the operating reliability and life of the electronic components; the mechanical arm of the present invention adopts a modular design between the motor, the reducer and the corresponding connecting rod, the motor flange, the motor, and the reducer form a subassembly, and then form an integral assembly with the connecting rod, each assembly can be replaced and assembled separately, which is more conducive to the formulation and maintenance of the assembly process, and reduces the production cost and the later after-sales cost; the cables of the mechanical arm of the present invention all adopt internal routing of the manipulator, and the electronic components and connectors are sealed in the manipulator and do not contact the external environment. Instead of using a hollow reducer structure, an ordinary thin reducer is used. A waist-shaped hole is set on the rod to pass the cable, which greatly reduces the thickness of the rod, makes the overall structure lighter, reduces the load, reduces the load inertia, and has a more beautiful appearance. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Attached Figure 1 is an overall schematic diagram of the mechanical arm of the present invention;

[0019] Attached Figure 2 It is a cross-sectional view of a shaft cover and a shaft base of the present invention;

[0020] Attached Figure 3 A top view of a shaft cover and a shaft base of the present invention;

[0021] Attached Figure 4 It is a cross-sectional view of the two-shaft assembly of the present invention;

[0022] Attached Figure 5 It is a cross-sectional view of the three-axis assembly of the present invention.

[0023] In the figure: 1 one-axis cover, 2 one-axis base, 3 two-axis assembly, 4 three-axis assembly, 5 four-axis assembly, 6 actuator assembly, 7 one-axis motor, 8 lead screw, 9 slider, 10 accordion cover, 11 two-axis connecting rod, 12 two-axis motor flange, 13 two-axis motor, 14 two-axis reducer, 15 three-axis connecting rod, 16 three-axis motor flange, 17 three-axis motor, 18 three-axis reducer, 19 three-axis skeleton oil seal. DETAILED DESCRIPTION

[0024] In order to make the objectives, technical solutions and advantages of the present invention more clear, the specific implementation modes of the present invention are further described in detail below with reference to the accompanying drawings.

[0025] As attached Figure 1 As shown, a robotic arm provided by the present invention includes a one-axis assembly, a two-axis assembly 3 and a three-axis assembly 4. The one-axis assembly includes an axis cover 1, an axis base 2, a guide rail located in the axis cover, an axis motor 7, and a slider 9. The slider 9 is located on the guide rail and can move up and down along the guide rail driven by the one-axis motor 7. The one-axis base 2 is located on the slider 9.

[0026] As attached Figure 2 As shown, the one-axis assembly also includes a lead screw 8, the top end of which is fixedly connected to the one-axis motor 7, the lead screw 8 and the slider 9 are connected by a screw pair, the one-axis motor 7 drives the lead screw 8 to rotate, and drives the slider 9 to move up and down along the guide rail through the screw pair. In the present invention, the slider is connected to the lead screw and the guide rail at the same time, the lead screw is used to drive the slider to move up and down, and the guide rail is used to fix the slider so that the slider moves up and down along the vertical direction where the guide rail is located. The lead screw in the above-mentioned one-axis assembly of the present invention can also be replaced by a synchronous belt, the synchronous belt is connected to the one-axis motor, the slider is fixed on the synchronous belt, the one-axis motor drives the synchronous belt to rotate, so that the slider moves up and down along the guide rail, and the operation of the synchronous belt does not require fixed-cycle lubrication, which reduces the difficulty and cost of maintenance. The one-axis assembly of the present invention can realize the up and down movement of the Z axis, and the guide rail adopts two force couples symmetrically installed, which can effectively resist the torque generated when the load moves, and the one-axis base is directly extended to realize a large stroke movement.

[0027] As attached Figure 2 and3 As shown, the one-axis assembly also includes an accordion cover 10, and the accordion cover is divided into an upper accordion cover and a lower accordion cover. The top of the upper accordion cover is fixed to the top of the one-axis cover shell 1, and the bottom of the upper accordion cover is fixed to the upper surface of the one-axis base 2; the top of the lower accordion cover is fixed to the lower surface of the one-axis base 2, and the bottom of the lower accordion cover is fixed to the bottom of the one-axis cover shell 1. In the present invention, sheet metal slide grooves are provided at the top and bottom of the one-axis cover shell to fix the top of the upper accordion cover and the bottom of the lower accordion cover. The upper accordion cover and the lower accordion cover perform telescopic movement as the one-axis base 2 moves up and down. The accordion cover can effectively isolate the one-axis motor, lead screw, and guide rail from the external use environment, thereby achieving the purpose of dustproof and waterproof.

[0028] As attached Figure 4 As shown, the two-axis assembly includes a two-axis connecting rod 11 and a two-axis motor 13, a two-axis reducer 14, and a two-axis motor flange 12 located on the two-axis connecting rod 11. One end of the two-axis connecting rod 11 is fixedly connected to the end of the one-axis base 2, and the other end of the two-axis connecting rod 11 is fixedly installed with the two-axis motor 13, the two-axis reducer 14, and the two-axis motor flange 12. The two-axis motor flange 12 connects the two-axis motor 13 and the two-axis reducer 14, and the output end of the two-axis motor 13 is connected to the two-axis reducer 14, without an intermediate transition link, thereby ensuring the transmission accuracy. The above-mentioned two-axis motor 13, the two-axis motor flange 12, and the two-axis reducer 14 form a subassembly, which is fixedly connected to the two-axis connecting rod 11. A waist-shaped hole is provided on the side of the two-axis motor flange 12 for cable routing. The cable input end is fixed to the two-axis connecting rod 11 and passes through the waist-shaped hole. The advantage of using the above scheme is that it adopts a modular design, which makes the assembly and arrangement process simpler. Because there is no need for hollow wiring, a smaller reducer can be used, which reduces the thickness of the connecting rod and makes the structure more compact and beautiful.

[0029] As attached Figure 5As shown, the three-axis assembly includes a three-axis connecting rod 15 and a three-axis motor 17, a three-axis reducer 18, and a three-axis motor flange 16 located on the three-axis connecting rod 15. The output end of the second-axis reducer 18 is connected to one end of the three-axis connecting rod 15, and the three-axis connecting rod 15 rotates under the drive of the second-axis reducer 14; the other end of the three-axis connecting rod 15 is fixedly installed with the three-axis motor 17, the three-axis reducer 18, and the three-axis motor flange 16, the three-axis motor flange 16 connects the three-axis motor 17 and the three-axis reducer 18, and the output end of the three-axis motor 17 is connected to the three-axis reducer 18. The three-axis assembly 4 also includes a three-axis skeleton oil seal 19, the outer ring end of the three-axis skeleton oil seal 19 is fixedly connected to one end of the three-axis connecting rod 15, and the inner ring end of the three-axis skeleton oil seal 19 is in circumferential contact with the second-axis motor flange 12, that is, the three-axis skeleton oil seal 19 and the second-axis motor flange 12 can rotate, thereby forming a sealed space inside the three-axis connecting rod. The three-axis motor 17, the three-axis motor flange 16, and the three-axis reducer 18 form a subassembly, which is fixedly connected to the three-axis connecting rod 15. A waist-shaped hole is provided on the side of the three-axis motor flange 16 for cable routing. The fixed end of the cable is located in the middle of the three-axis connecting rod 15, and a wear-resistant material is provided on the inner wall of the three-axis connecting rod to contact the cable.

[0030] The advantage of using the above solution is that it adopts modular design, making assembly and arrangement procedures simpler. Because there is no need for hollow wiring, a smaller reducer can be used, which reduces the thickness of the connecting rod and makes the structure compact. The skeleton oil seal is used to isolate the inside of the rod from the external environment to achieve the purpose of waterproofing and dustproofing. Wear-resistant materials are set to prevent cable wear.

[0031] Please continue to refer to the attached Figure 1 The robot arm of the present invention also includes a four-axis assembly 5 and an actuator assembly 6, and the four-axis assembly and the actuator assembly are similar in structure to the three-axis assembly. Specifically, the four-axis assembly includes a four-axis connecting rod and a four-axis motor, a four-axis reducer, and a four-axis motor flange located on the four-axis connecting rod. The output end of the three-axis reducer is connected to one end of the four-axis connecting rod, and the four-axis connecting rod rotates under the drive of the three-axis reducer; the other end of the four-axis connecting rod is fixedly installed with a four-axis motor, a four-axis reducer, and a four-axis motor flange, the four-axis motor flange is connected to the four-axis motor and the four-axis reducer, and the output end of the four-axis motor is connected to the four-axis reducer. The four-axis assembly also includes a four-axis skeleton oil seal, the outer ring end of the four-axis skeleton oil seal is fixedly connected to one end of the four-axis connecting rod, the inner ring end of the four-axis skeleton oil seal is connected to the three-axis motor flange, and the four-axis skeleton oil seal and the three-axis motor flange can rotate.

[0032] The actuator assembly includes an actuator connecting rod and an actuator motor, an actuator reducer, and an actuator motor flange located on the actuator connecting rod. The output end of the four-axis reducer is connected to one end of the actuator connecting rod, and the actuator connecting rod rotates under the drive of the four-axis reducer; the other end of the actuator connecting rod is fixedly installed with the actuator motor, the actuator reducer, and the actuator motor flange, the actuator motor flange connects the actuator motor and the actuator reducer, and the output end of the actuator motor is connected to the actuator reducer. The actuator assembly also includes an actuator skeleton oil seal, the outer ring end of the actuator skeleton oil seal is fixedly connected to one end of the actuator connecting rod, the inner ring end of the actuator skeleton oil seal is connected to the four-axis motor flange, and the actuator skeleton oil seal and the four-axis motor flange can rotate.

[0033] In the present invention, the cables from the shaft cover 1 to the actuator 6 are all routed inside the mechanical arm. The rotating joints are all sealed with oil seals, and other parts are sealed with O-rings. The overall IP level can reach IP54 level.

[0034] In the present invention, the three-axis assembly, the four-axis assembly and the actuator assembly can all rotate around the connection with the upper assembly, the actuator assembly can be used to clamp items such as cards, and the three-axis assembly, the four-axis assembly and the actuator assembly can move up and down driven by the one-axis base. Through the rotation of the three-axis assembly, the four-axis assembly and the actuator assembly of the one-axis base, and the up and down movement of the one-axis base, the cards and other items clamped by the actuator assembly can be flexibly moved up and down, left and right, and the reachable range is relatively large.

[0035] The above description is only a preferred embodiment of the present invention, and the embodiment is not intended to limit the patent protection scope of the present invention. Therefore, all equivalent structural changes made using the description and drawings of the present invention should be included in the protection scope of the claims attached to the present invention.

Claims

1. A robotic arm, characterized in that: It comprises a one-axis assembly, a two-axis assembly and a three-axis assembly, wherein the one-axis assembly comprises a shaft cover, a shaft base, a guide rail located in the shaft cover, a shaft motor and a slider, wherein the slider is located on the guide rail and can move up and down along the guide rail driven by the shaft motor, and the shaft base is located on the slider; The shaft assembly further comprises an upper accordion cover and a lower accordion cover, wherein the top end of the upper accordion cover is fixed to the top of the shaft cover shell, and the bottom end of the upper accordion cover is fixed to the upper surface of the shaft base; the top end of the lower accordion cover is fixed to the lower surface of the shaft base, and the bottom end of the lower accordion cover is fixed to the bottom of the shaft cover shell, and the upper accordion cover and the lower accordion cover perform telescopic movement as the shaft base moves up and down; The two-axis assembly includes a two-axis connecting rod and a two-axis motor, a two-axis reducer, and a two-axis motor flange located on the two-axis connecting rod, one end of the two-axis connecting rod is fixedly connected to the end of the one-axis base, and the other end of the two-axis connecting rod is fixedly installed with the two-axis motor, the two-axis reducer and the two-axis motor flange, the two-axis motor flange connects the two-axis motor and the two-axis reducer, and the output end of the two-axis motor is connected to the two-axis reducer; The three-axis assembly includes a three-axis connecting rod and a three-axis motor, a three-axis reducer, and a three-axis motor flange located on the three-axis connecting rod. The output end of the two-axis reducer is connected to one end of the three-axis connecting rod, and the three-axis connecting rod rotates under the drive of the two-axis reducer; the other end of the three-axis connecting rod is fixedly installed with the three-axis motor, the three-axis reducer and the three-axis motor flange, the three-axis motor flange is connected to the three-axis motor and the three-axis reducer, and the output end of the three-axis motor is connected to the three-axis reducer; The three-axis assembly also includes a three-axis skeleton oil seal, the outer ring end of the three-axis skeleton oil seal is fixedly connected to one end of the three-axis connecting rod, the inner ring end of the three-axis skeleton oil seal is connected to the two-axis motor flange, and the three-axis skeleton oil seal and the two-axis motor flange can rotate; The robotic arm also includes a four-axis assembly and an actuator assembly, the four-axis assembly includes a four-axis connecting rod, a four-axis skeleton oil seal and a four-axis motor flange, the outer ring end of the four-axis skeleton oil seal is fixedly connected to one end of the four-axis connecting rod, the inner ring end of the four-axis skeleton oil seal is connected to the three-axis motor flange, and the four-axis skeleton oil seal and the three-axis motor flange can rotate; the actuator assembly includes an actuator connecting rod and an actuator skeleton oil seal, the outer ring end of the actuator skeleton oil seal is fixedly connected to one end of the actuator connecting rod, the inner ring end of the actuator skeleton oil seal is connected to the four-axis motor flange, and the actuator skeleton oil seal and the four-axis motor flange can rotate; The three-axis component, the four-axis component and the actuator component all rotate around the connection with the previous component.

2. A robotic arm according to claim 1, characterized in that: The one-axis assembly also includes a lead screw, the top end of which is fixedly connected to the one-axis motor, the lead screw and the slider are connected via a screw pair, the one-axis motor drives the lead screw to rotate, and drives the slider to move up and down along the guide rail via the screw pair.

3. A robotic arm according to claim 1, characterized in that: The one-axis assembly also includes a synchronous belt, which is connected to the one-axis motor. The slider is fixed on the synchronous belt. The one-axis motor drives the synchronous belt to rotate, so that the slider moves up and down along the guide rail.

4. A robotic arm according to claim 1, characterized in that: The side surface of the two-axis motor flange includes a waist-shaped hole for passing the internal cables of the two-axis connecting rod through the inside of the three-axis connecting rod; the side surface of the three-axis motor flange includes a waist-shaped hole for passing the internal cables of the three-axis connecting rod through.

5. The mechanical arm according to claim 1, characterized in that: The four-axis assembly also includes a four-axis motor and a four-axis reducer located on the four-axis connecting rod. The output end of the three-axis reducer is connected to one end of the four-axis connecting rod, and the four-axis connecting rod rotates under the drive of the three-axis reducer; the other end of the four-axis connecting rod is fixedly installed with the four-axis motor, the four-axis reducer and the four-axis motor flange, the four-axis motor flange is connected to the four-axis motor and the four-axis reducer, and the output end of the four-axis motor is connected to the four-axis reducer.

6. A robotic arm according to claim 5, characterized in that: The execution assembly also includes an execution motor, an execution reducer, and an execution motor flange located on the execution connecting rod. The output end of the four-axis reducer is connected to one end of the execution connecting rod, and the execution connecting rod rotates under the drive of the four-axis reducer; the other end of the execution connecting rod is fixedly installed with the execution motor, the execution reducer and the execution motor flange, the execution motor flange connects the execution motor and the execution reducer, and the output end of the execution motor is connected to the execution reducer.

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