A telescopic robotic arm and a robot formed thereby

Abstract

The application discloses a telescopic mechanical arm and a robot formed by the same, wherein the mechanical arm comprises a basic arm, a one-section arm, a two-section arm and a driving assembly, the one-section arm is slidably connected with the basic arm, the two-section arm is slidably connected with the one-section arm, and the driving assembly drives the one-section arm to move relative to the basic arm; wherein the sliding direction of the one-section arm relative to the basic arm is the same as the sliding direction of the two-section arm relative to the one-section arm, and both are the first direction; the driving assembly further comprises a driving belt and a driving guide wheel, the driving guide wheel is fixed in the one-section arm, and the rotating direction of the driving guide wheel is parallel to the plane where the one-section arm is located; one end of the driving belt is fixed in the basic arm, the other end of the driving belt is fixed in the two-section arm by passing around the driving guide wheel, and in the first direction, the two ends of the driving belt are located on the same side of the driving guide wheel. The application forms a dynamic pulley assembly by means of the driving belt and the driving guide wheel, can save the space of the mechanical arm, prolong the stroke of the mechanical arm and reduce the rotating speed of the driving assembly.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a telescopic robotic arm and a robot formed therefrom. Background Technology

[0002] like Figure 8 As shown, the rotation axis between the upper arm 2 and the base 1 of the SCARA robot (Selective Compliance Assembly Robot Arm) is generally referred to as axis 1; the rotation axis between the lower arm 3 and the upper arm 2 is referred to as axis 2; the lead screw lifting mechanism at the end of the lower arm 3 is referred to as the three-axis mechanism. The load is assembled at the end of the three-axis mechanism and drives the three-axis mechanism to perform lifting and lowering movements through the drive component.

[0003] SCARA robots are designed to meet the lifting and lowering requirements of materials during transport. Their 3-axis mechanism uses ball screws to achieve lifting and lowering. As the handling efficiency increases, the lifting and lowering speed of the load fixed in the robot also increases. The rotation speed of the ball screw usually approaches the maximum allowable speed. Under extreme working conditions, long-term operation under extreme working conditions will shorten the robot's lifespan and affect its performance. Summary of the Invention

[0004] This invention aims to at least partially solve one of the problems in related technologies. Therefore, the object of this invention is to provide a telescopic robotic arm and the robot formed therefrom, which, by means of a drive belt and drive guide wheels forming a movable pulley assembly, can save space in the robotic arm, while extending the stroke of the robotic arm and reducing the rotational speed of the drive assembly.

[0005] To achieve the above objectives, this application adopts the following technical solution: a telescopic robotic arm, comprising a base arm, a first arm section, a second arm section, and a drive assembly, wherein the first arm section is slidably connected to the base arm, the second arm section is slidably connected to the first arm section, and the drive assembly drives the first arm section to move relative to the base arm; wherein the sliding direction of the first arm section relative to the base arm is the same as the sliding direction of the second arm section relative to the first arm section, both being the first direction.

[0006] It also includes a drive belt and a drive guide wheel. The drive guide wheel is fixed in a section of the arm, and the rotation direction of the drive guide wheel is parallel to the plane where the section of the arm is located. One end of the drive belt is fixed in the basic arm, and the other end passes around the drive guide wheel and is fixed in the second section of the arm. In a first direction, the two ends of the drive belt are located on the same side of the drive guide wheel.

[0007] Furthermore, the planes in which the basic arm, the first arm, and the second arm are located are parallel to each other; the first direction is the vertical direction.

[0008] The driving belt comprises a retraction belt, and the driving guide wheel comprises a retraction guide wheel, both ends of the driving belt being below the retraction guide wheel in the vertical direction.

[0009] Further, both ends of the retraction belt and the extension belt are fixed to one end of the basic arm respectively on both sides of the basic arm in the horizontal direction.

[0010] Further, the driving belt further comprises an extension belt, and the driving guide wheel further comprises an extension guide wheel, both ends of the extension belt being above the retraction guide wheel.

[0011] Further, the extension guide wheel is two, and is respectively located on the left and right sides of the bottom end of the section arm.

[0012] Further, the retraction belt and the extension belt are respectively fixed to both sides of the basic arm in the horizontal direction.

[0013] Further, the basic arm is provided with a first sliding rail, and the section arm is located in the first sliding rail; the section arm is provided with a second sliding rail, and the two-section arm is located in the second sliding rail.

[0014] Further, one end of the driving belt in the basic arm is fixed to the basic arm through an adjustable fixing assembly, the adjustable fixing assembly comprises a driving belt fixing plate and an adjusting piece, the adjusting piece is in sliding connection with the basic arm, the driving belt fixing plate is fixed in the adjusting piece, and the sliding direction of the adjusting piece is the same as the sliding direction of the section arm.

[0015] Further, the driving assembly comprises a shaft driving motor and a ball screw, the driving motor is connected with the section arm through the ball screw, and drives the section arm to slide relative to the basic arm.

[0016] A telescopic robot comprises the telescopic mechanical arm as described above.

[0017] Compared with the prior art, the above technical scheme provided by the embodiment of the present application has the following advantages: in the present application, the mechanical arm comprises a basic arm, a one-section arm and a two-section arm, wherein the driving assembly drives the one-section arm to move relative to the basic arm, meanwhile, the driving guide wheel is fixed in the one-section arm, one end of the driving belt is fixed in the basic arm and the other end of the driving belt is fixed in the two-section arm by passing around the driving guide wheel, since the two ends of the driving belt are fixed in the basic arm and the two-section arm respectively and the two ends of the driving belt are located on the same side of the driving guide wheel in the first direction, the driving belt and the driving guide wheel form a movable pulley, when the one-section arm moves relative to the basic arm, the two ends of the driving belt remain unchanged and the position of the driving guide wheel changes, so that the position of the two-section arm relative to the one-section arm changes, in the present application, the movable pulley assembly is formed by means of the driving belt and the driving guide wheel, so that the moving distance of the two-section arm relative to the basic arm is twice the moving distance of the one-section arm relative to the basic arm, the space of the mechanical arm can be saved and the telescopic stroke of the mechanical arm is prolonged, and the rotation speed of the ball screw in the driving assembly is reduced, so that the ball screw is prevented from operating in the extreme working condition for a long time. BRIEF DESCRIPTION OF DRAWINGS

[0018] The accompanying drawings, which are incorporated into and form part of the specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the application.

[0019] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or the prior art description will be briefly introduced as follows, and obviously, other accompanying drawings can be obtained by those skilled in the art without any creative labor.

[0020] In the drawings:

[0021] Figure 1 It is a front view of the mechanical arm in the present application;

[0022] Figure 2 It is a whole view of the mechanical arm in the present application;

[0023] Figure 3 It is a position view of the driving belt and the driving guide wheel in the mechanical arm in the present application;

[0024] Figure 4 It is a view of the driving mechanism in the mechanical arm in the present application;

[0025] Figure 5 It is a position view of the two-section arm fully extended and fully retracted in the present application;

[0026] Figure 6 It is a mounting view of the driving guide wheel in the present application;

[0027] Figure 7 The schematic diagram of the motion principle for driving the guide wheel in the application;

[0028] Figure 8 The structural schematic diagram of the robot in the application.

[0029] Fig. 1 is a base; Fig. 2 is a large arm; Fig. 3 is a small arm; Fig. 5 is a basic arm; Fig. 6 is a first sliding rail; Fig. 7 is a one-section arm; Fig. 8 is a two-section arm; Fig. 9 is a rotary motor; Fig. 10 is a rotary motor mounting plate; Fig. 11 is an extension guide wheel; Fig. 12 is an extension belt; Fig. 13 is a retraction guide wheel; Fig. 14 is a retraction belt; Fig. 15 is a second sliding rail; Fig. 16 is a shaft seat; Fig. 17 is a drive belt; Fig. 18 is an elastic retainer ring; Fig. 19 is an angular contact bearing; Fig. 20 is a shaft end baffle; Fig. 21 is a baffle fixing bolt; Fig. 22 is a shaft seat fixing bolt; Fig. 24 is a toothed plate; Fig. 25 is a pressing plate; Fig. 26 is an adjusting bolt; Fig. 27 is a tensioning fixing nut; Fig. 28 is an adjusting block; Fig. 29 is a connecting plate; Fig. 33 is a shaft drive motor; Fig. 34 is a shaft coupling; Fig. 35 is a double-row angular contact bearing; Fig. 36 is a ball screw; Fig. 37 is a one-section arm connecting plate; Fig. 38 is a screw nut; Fig. 41 is a motor mounting plate. DETAILED DESCRIPTION

[0030] In order to have a clearer understanding of the technical features, objectives and effects of the present application, the specific embodiments of the present application will be described in detail with reference to the drawings. In the following description, it should be understood that the directions or positional relationships indicated by "front", "back", "upper", "lower", "left", "right", "vertical", "horizontal", "vertical", "horizontal", "top", "bottom", "inner", "outer", "head", "tail" and the like are based on the directions or positional relationships shown in the drawings, constructed and operated in a particular direction, and are only for the convenience of describing the technical solutions, and cannot be understood as indicating that the indicated mechanisms or elements must have a particular direction, therefore, it cannot be understood as a limitation on the present application.

[0031] It should also be noted that, unless otherwise explicitly specified and limited, terms such as "installation," "connection," "linking," "fixing," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. When an component is referred to as being "on" or "below" another component, the component can be located "directly" or "indirectly" on the other component, or there may be one or more intermediary components. The terms "first," "second," "third," etc., are only for the convenience of describing this technical solution and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first," "second," "third," etc., may explicitly or implicitly include one or more of that feature. For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances.

[0032] In the following description, specific details such as particular system structures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of the invention. However, those skilled in the art will understand that the invention can be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, mechanisms, circuits, and methods are omitted so as not to obscure the description of the invention with unnecessary detail.

[0033] Please see Figures 1-3 The present application provides a telescopic robotic arm, including a base arm 5, a first arm 7, a second arm 8, and a drive assembly. The first arm 7 is slidably connected to the base arm 5, and the second arm 8 is slidably connected to the first arm 7. The drive assembly drives the first arm 7 to move relative to the base arm 5. The sliding direction of the first arm 7 relative to the base arm 5 is the same as the sliding direction of the second arm 8 relative to the first arm 7, which is the first direction.

[0034] This application also includes a drive belt 17 and a drive guide wheel. The drive guide wheel is fixed in a section 7 and the rotation direction of the drive guide wheel is parallel to the plane where the section 7 is located. One end of the drive belt 17 is fixed in the basic arm 5, and the other end passes around the drive guide wheel and is fixed in the second section 8. In the first direction, the two ends of the drive belt 17 are located on the same side of the drive guide wheel.

[0035] In this application, the load is mounted in the second arm 8. When the drive assembly drives the first arm 7 to move, the second arm 8 will also move relative to the base arm 5 through the action of the drive belt 17 and the drive guide wheel, thereby driving the load on the second arm 8 to move.

[0036] Specifically, the driving assembly drives the one-section arm 7 to move relative to the base arm 5, the driving guide wheel is fixed in the one-section arm 7, one end of the driving belt 17 is fixed in the base arm 5, and the other end of the driving belt 17 is fixed in the two-section arm 8 through the driving guide wheel. Since the two ends of the driving belt 17 are fixed in the base arm 5 and the two-section arm 8 respectively, and the two ends of the driving belt 17 are located on the same side of the driving guide wheel in the first direction, the driving belt 17 and the driving guide wheel form a movable pulley. When the one-section arm 7 moves relative to the base arm 5, the two ends of the driving belt 17 remain stationary, and the position of the driving guide wheel changes, so that the position of the two-section arm 8 relative to the one-section arm 7 changes. In the application, the driving belt 17 and the driving guide wheel form a movable pulley assembly, so that the moving distance of the two-section arm relative to the base arm is twice the moving distance of the one-section arm relative to the base arm. The space of the mechanical arm can be saved, and the extension stroke of the mechanical arm is prolonged. The rotation speed of the ball screw in the driving assembly is reduced, and the ball screw is prevented from running in extreme working conditions for a long time.

[0037] Embodiment 1

[0038] Please refer to Figures 1-8 The application provides a telescopic mechanical arm, which comprises a base arm 5, a one-section arm 7, a two-section arm 8 and a driving assembly. The one-section arm 7 is slidably connected to the base arm 5, the two-section arm 8 is slidably connected to the one-section arm 7, and the driving assembly drives the one-section arm 7 to move relative to the base arm 5. The planes in which the base arm 5, the one-section arm 7 and the two-section arm 8 are located are parallel to each other. The sliding direction of the one-section arm 7 relative to the base arm 5 is the same as the sliding direction of the two-section arm 8 relative to the one-section arm 7, and both are vertical directions.

[0039] In the embodiment, the driving belt 17 and the driving guide wheel are the contraction belt 14 and the contraction guide wheel 13. In the vertical direction, the two ends of the driving belt 17 are located below the contraction guide wheel 13, so that the two ends of the contraction belt 14 and the contraction guide wheel 13 can form a movable pulley. In the application, the base arm 5 is fixed, and when the driving assembly drives the contraction belt 14 to rise, the end of the contraction belt 14 fixed in the base arm 5 is fixed, the contraction guide wheel rises with the one-section arm 7, and the end of the contraction belt 14 fixed in the two-section arm 8 drives the two-section arm 8 to rise, which is equivalent to that the contraction belt 14 and the contraction guide wheel 13 form a movable pulley assembly, as shown in Figure 7 According to the principle of the movable pulley, when the center of the contraction guide wheel 13 moves upward by a distance L, the two ends of the contraction belt 14 move by a distance 2L, that is, the rising distance of the two-section arm 8 relative to the base arm 5 is twice the rising distance of the two-section arm 8 relative to the one-section arm 7.

[0040] Similarly, when the driving assembly drives the contraction belt 14 to descend, the end of the contraction belt 14 fixed in the basic arm 5 is fixed, the contraction guide wheel follows the first section arm 7 to descend, and the end of the contraction belt 14 fixed on the second section arm 8 drives the second section arm 8 to descend under the action of gravity, which is equivalent to that the contraction belt 14 and the contraction guide wheel 13 form a movable pulley assembly, as shown in Figure 7 According to the movable pulley principle, when the center of the contraction guide wheel 13 moves downward by a distance L, the two ends of the contraction belt 14 move by a distance 2L, that is, the descending distance of the second section arm 8 relative to the basic arm 5 is twice the descending distance of the second section arm 8 relative to the first section arm 7.

[0041] Therefore, in the present application, the load is assembled in the second section arm 8, and the moving distance of the second section arm 8 relative to the basic arm 5 can be doubled by the movable pulley principle, which prolongs the telescopic stroke of the mechanical arm and saves the floor space of the mechanical arm.

[0042] Specifically, in the present application, the contraction guide wheel is fixed at the top of the first section arm 7. In order to better realize the effect of the contraction guide wheel, the present application can be provided with two contraction guide wheels, which are respectively located on the left and right sides of the top of the first section arm 7.

[0043] Specifically, in the present application, the two ends of the contraction belt 14 are respectively fixed on the left side of the basic arm 5 and the right side of the second section arm 8, or the two ends of the contraction belt 14 are respectively fixed on the right side of the basic arm 5 and the left side of the second section arm 8, and the included angle between the two ends of the contraction belt 14 and the contraction guide wheel 13 is approximately equal to 90°, so as to form a movable pulley assembly as shown in Figure 7 .

[0044] Embodiment 2

[0045] Please refer to Figures 1-8 , the present embodiment provides a telescopic mechanical arm, which comprises the structure of embodiment 1. On the basis of embodiment 1, the driving belt 17 of the present embodiment further comprises an extension belt 12, and the driving guide wheel further comprises an extension guide wheel 11. In the vertical direction, the two ends of the extension belt 12 are located above the extension guide wheel 11, so that the two ends of the extension belt 12 and the extension guide wheel 11 can form a movable pulley.

[0046] In the present application, the basic arm 5 is fixed, when the driving assembly drives the contraction belt 14 to ascend, the end of the contraction belt 14 fixed in the basic arm 5 is fixed, the contraction guide wheel follows the first section arm 7 to ascend, and the end of the contraction belt 14 fixed on the second section arm 8 drives the second section arm 8 to ascend, which is equivalent to that the contraction belt 14 and the contraction guide wheel 13 form a movable pulley, as shown in Figure 7As shown, according to the principle of the movable pulley, when the center of the contraction guide wheel 13 moves upward by a distance L, the two ends of the contraction belt 14 move by a distance of 2L, that is, the lifting distance of the two-section arm 8 relative to the basic arm 5 is twice the lifting distance of the two-section arm 8 relative to the one-section arm 7.

[0047] Similarly, when the driving assembly drives the contraction belt 14 to descend, the end of the extension belt 12 fixed in the basic arm 5 is fixed, the extension guide wheel follows the one-section arm 7 to descend, and at the same time, the end of the extension belt 12 fixed on the two-section arm 8 descends, which is equivalent to that the extension belt 12 and the extension guide wheel 11 form a movable pulley assembly, as shown in Figure 7 As shown, according to the principle of the movable pulley, when the center of the contraction guide wheel 13 moves upward by a distance L, the two ends of the contraction belt 14 move by a distance of 2L, that is, the lifting distance of the two-section arm 8 relative to the basic arm 5 is twice the lifting distance of the two-section arm 8 relative to the one-section arm 7.

[0048] In the present application, the first slide rail 6 is arranged in the basic arm 5, and the one-section arm 7 slides relative to the basic arm 5 along the first slide rail 6; the second slide rail 15 is arranged in the one-section arm 7, and the two-section arm 8 slides relative to the one-section arm 7 along the second slide rail 15.

[0049] In the present application, the driving belt 17 includes the extension belt 12 and the contraction belt 14, which is different from the embodiment 1. In the embodiment 1, the one-section arm 7 and the two-section arm 8 descend by relying on the gravity, and in the present embodiment, the one-section arm 7 and the two-section arm 8 descend by relying on the movable pulley assembly formed by the extension belt 12 and the extension guide wheel 11, and the one-section arm 7 and the two-section arm 8 ascend by relying on the movable pulley assembly formed by the contraction belt 14 and the contraction guide wheel 13.

[0050] In the present application, the load is arranged in the two-section arm 8, and the movement distance of the two-section arm 8 relative to the basic arm 5 can be doubled by the principle of the movable pulley, thereby prolonging the extension stroke of the mechanical arm and saving the floor space occupied by the mechanical arm.

[0051] Specifically, in the present application, the contraction guide wheel is fixed at the top of the one-section arm 7, and in order to better realize the effect of the contraction guide wheel, the contraction guide wheel can be provided as two, which are respectively located on the left and right sides of the top end of the one-section arm 7. In the present application, the two ends of the contraction belt 14 are respectively fixed on the left side of the basic arm 5 and the right side of the two-section arm 8, or the two ends of the contraction belt 14 are respectively fixed on the right side of the basic arm 5 and the left side of the two-section arm 8, and at the same time, the included angle between the two ends of the contraction belt 14 and the contraction guide wheel 13 is approximately equal to 90°, so as to form a movable pulley assembly as shown in Figure 7 As shown.

[0052] Specifically, the extension guide wheels in the application are fixed at the bottom of the first arm 7. In order to better realize the effect of the extension guide wheels, two extension guide wheels 11 can be arranged at the left and right sides of the bottom of the first arm 7. The two ends of the extension belt 12 in the application are fixed at the left side of the basic arm 5 and the right side of the second arm 8 respectively, or the two ends of the contraction belt 14 in the application are fixed at the right side of the basic arm 5 and the left side of the second arm 8. At the same time, the included angle between the two ends of the contraction belt 14 and the contraction guide wheels 13 is approximately equal to 90°, so as to form the movable pulley assembly as shown in Figure 7 .

[0053] Specifically, the contraction belt 14 and the extension belt 12 in the application are respectively fixed at the two ends of the basic arm 5 in the horizontal direction. That is to say, when the extension belt 12 is fixed at the left side of the basic arm 5, the contraction belt 14 is fixed at the right side of the basic arm 5. At this time, the other end of the extension belt 12 is fixed at the right side of the second arm 8, and the other end of the contraction belt 14 is fixed at the left side of the second arm 8. Similarly, when the extension belt 12 is fixed at the right side of the basic arm 5, the contraction belt 14 is fixed at the left side of the basic arm 5. At this time, the other end of the extension belt 12 is fixed at the left side of the second arm 8, and the other end of the contraction belt 14 is fixed at the right side of the second arm 8.

[0054] Specifically, as shown in Figure 2 and 3 , the driving belt in the application can adopt a truncated synchronous belt. One end of the extension belt 12 is fixed at the top left side of the basic arm 5, and the other end of the extension belt 12 passes through the two extension guide wheels 11 at the bottom of the first arm and is fixed at the top right side of the second arm. One end of the contraction belt is fixed at the bottom right of the basic arm, and the other end passes through the two contraction guide wheels at the top of the first arm and is fixed at the top left of the second arm. In this way, the reasonable layout of the driving belt and the driving guide wheel can be realized. Although the lengths of the extension belt and the contraction belt are different, the movement lengths of the extension belt and the contraction belt are consistent due to the same extension and contraction length of the first arm and the second arm.

[0055] The driving belt in the application can be a truncated synchronous belt.

[0056] As a preferred embodiment, in order to expand the lifting distance of the second arm 8 in the application, the driving belt 17 is fixed in the basic arm 5 by using an adjustable fixing assembly. The fixing modes of the extension belt 12 and the contraction belt 14 in the application are the same, and therefore, the driving belt 17 is uniformly described below.

[0057] The driving belt 17 is fixed at one end of the basic arm 5 by an adjustable fixing assembly in the application. The adjustable fixing assembly comprises a driving belt fixing plate and an adjusting member. The adjusting member is in sliding connection with the basic arm 5. The driving belt fixing plate is fixed in the adjusting member. The sliding direction of the adjusting member is the same as the sliding direction of the section arm 7. When the adjusting member slides, it drives the driving belt fixing plate to move upwards or downwards, so that the position of the driving belt 17 changes, and the driving belt is tightened, so that the driving guide wheel is tightly engaged with the driving belt, and the transmission stability is improved.

[0058] Specifically, as shown in Figure 2 The adjusting member comprises an adjusting bolt 26, a tensioning fixing nut 27 and an adjusting block 28. The driving belt fixing plate comprises a toothed plate 24, a pressing plate 25 and a connecting plate 29. The toothed plate 24 is fixed on the connecting plate 29. The pressing plate 25 is fixed on the toothed plate 24 by a bolt. The driving belt 17 is fixed between the pressing plate 25 and the toothed plate 24. The adjusting bolt 26 is arranged in the bolt through hole of the adjusting block 28. The end of the adjusting bolt 26 is fixedly connected to the side of the connecting plate 29 close to the basic arm 5. The other end of the adjusting bolt 26 is provided with the tensioning fixing nut 27. The rotation of the tensioning fixing nut 27 can drive the adjusting bolt 26 to move, and then drive the connecting plate 29, the toothed plate 24 and the pressing plate 25 to move. The adjusting member in the application can achieve the purpose of tensioning the driving belt.

[0059] The driving belt fixing plate in the application has another function. It can not only fix the driving belt 17 in the basic arm 5, but also protrude the driving belt 17 from the basic arm 5, so that the end of the driving belt 17 and the rotating surface of the driving guide wheel are located in the same plane, and the smooth operation of the movable pulley assembly formed by the driving belt 17 and the driving guide wheel is ensured.

[0060] The driving belt 17 fixed at one end of the two-section arm 8 in the application does not need to be adjusted in position, so it can be directly fixed by the toothed plate 24 and the pressing plate 25, as shown in Figure 2 Similarly, in the application, the toothed plate 24 and the pressing plate 25 can not only fix the driving belt 17 in the basic arm 5, but also protrude the driving belt 17 from the basic arm 5, so that the end of the driving belt 17 and the rotating surface of the driving guide wheel are located in the same plane, and the smooth operation of the movable pulley assembly formed by the driving belt 17 and the driving guide wheel is ensured.

[0061] As a preferred embodiment, the fixing mode of the driving guide wheel in the application is as shown in Figure 6As shown, the rear end of the bearing seat 16 is fixed in a section of arm 7 by bearing seat fixing bolts 22. The front end of the bearing seat 16 is equipped with a drive guide wheel, and an elastic retaining ring 18 is provided between the drive guide wheel and the bearing seat 16. At the front end of the drive guide wheel, a bearing seat 16 baffle is also provided. The baffle fixing bolts 21 are used to fix the shaft end baffle 20 to the bearing seat 16. The size of the shaft end baffle 20 is larger than the inner diameter of the drive guide wheel, which is used to fix the drive guide wheel in the bearing seat 16. An angular contact bearing 19 is also provided in the drive guide wheel. The drive belt 17 passes around the drive guide wheel and together with the drive guide wheel forms a movable pulley assembly.

[0062] In a preferred embodiment, the drive assembly in this application includes a shaft drive motor 33 and a ball screw 36. The drive motor is connected to a section of arm 7 through the ball screw 36 and drives the section of arm 7 to slide relative to the base arm 5.

[0063] Specifically, such as Figure 4 As shown, the shaft drive motor 33 is fixed to the side of the basic arm 5 away from the first arm 7 via the motor mounting plate 41, and the motor mounting plate 41 is located at the top of the basic arm 5. The output end of the shaft drive motor 33 is connected to one end of the ball screw 36 via the coupling 34 and the double row angular contact bearing 35. The other end of the ball screw 36 is connected to one end of the screw nut 38. The other end of the screw nut 38 is connected to the first arm connecting plate 37. The first arm connecting plate 37 is fixed to the end of the first arm 7 away from the second arm 8. The shaft drive motor 33 drives the first arm connecting plate 37 to move up and down relative to the basic arm 5 along the first slide rail 6 via the ball screw 36 and the screw nut 38.

[0064] This application provides a robot, specifically a SCAR three-axis robot, such as... Figure 8 As shown, it includes a base 1, a large arm 2, and a small arm 3. The mechanical arm as described above is provided at the end of the small arm 3. A rotary motor mounting plate 10 is also provided at the lower end of the mechanical arm. A rotary motor 9 is fixed on the rotary motor mounting plate 10. The rotary motor 9 is used to drive the mechanical arm to rotate, so as to realize the lifting and rotation of the load in the mechanical arm.

[0065] It is understood that the above embodiments only illustrate preferred embodiments of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can freely combine the above technical features without departing from the concept of the present invention, and can also make several modifications and improvements, all of which fall within the protection scope of the present invention. Therefore, all equivalent transformations and modifications made with respect to the scope of the claims of the present invention should fall within the scope of the claims of the present invention.

Claims

1. A telescopic robot arm, characterized in that, The telescopic mechanical arm comprises a basic arm, a one-section arm, a two-section arm and a driving assembly, the one-section arm is slidably connected to the basic arm, the two-section arm is slidably connected to the one-section arm, and the driving assembly drives the one-section arm to move relative to the basic arm; wherein the sliding direction of the one-section arm relative to the basic arm is the same as the sliding direction of the two-section arm relative to the one-section arm, both being a first direction; The telescopic mechanical arm further comprises a driving belt and a driving guide wheel, the driving guide wheel is fixed in the one-section arm, and the rotating direction of the driving guide wheel is parallel to the plane in which the one-section arm is located; one end of the driving belt is fixed in the basic arm, the other end of the driving belt is fixed in the two-section arm through the driving guide wheel, and in the first direction, the two ends of the driving belt are located on the same side of the driving guide wheel; the end of the driving belt fixed in the basic arm is fixed in the basic arm through an adjustable fixing assembly, the adjustable fixing assembly comprises a driving belt fixing plate and an adjusting piece, the adjusting piece is slidably connected to the basic arm, the driving belt fixing plate is fixed in the adjusting piece, and the sliding direction of the adjusting piece is the same as the sliding direction of the one-section arm; the adjusting piece comprises an adjusting bolt, a tensioning fixed nut and an adjusting block, the driving belt fixing plate comprises a toothed plate, a pressing plate and a connecting plate, the toothed plate is fixed on the connecting plate, the pressing plate is fixed on the toothed plate through a bolt, and the driving belt is fixed between the pressing plate and the toothed plate; the driving belt fixing plate protrudes the driving belt from the basic arm, so that the end of the driving belt and the rotating surface of the driving guide wheel are located in the same plane.

2. The telescopic robotic arm according to claim 1, wherein, The planes in which the basic arm, the one-section arm and the two-section arm are located are parallel to each other; the first direction is a vertical direction; The driving belt comprises a contraction belt, and the driving guide wheel comprises a contraction guide wheel, in the vertical direction, the two ends of the driving belt are located below the contraction guide wheel.

3. A telescoping robotic arm according to claim 2, wherein, The contraction guide wheel is two, and is located on the left and right sides of the top end of the one-section arm.

4. The telescoping robotic arm of claim 2, wherein, The driving belt further comprises an extension belt, and the driving guide wheel further comprises an extension guide wheel, the two ends of the extension belt are located above the contraction guide wheel.

5. A telescoping robotic arm according to claim 4, wherein, The extension guide wheel is two, and is located on the left and right sides of the bottom end of the one-section arm.

6. The telescoping robotic arm of claim 4, wherein, The ends of the contraction belt and the extension belt fixed in the basic arm are located on the two sides of the basic arm in the horizontal direction.

7. The telescoping robotic arm of claim 1, wherein, The basic arm is provided with a first sliding rail, and the one-section arm is located in the first sliding rail; the one-section arm is provided with a second sliding rail, and the two-section arm is located in the second sliding rail.

8. The telescoping robotic arm of claim 1, wherein, The driving assembly comprises a shaft driving motor and a ball screw, the driving motor is connected to the one-section arm through the ball screw, and drives the one-section arm to slide relative to the basic arm.

9. A telescoping robot, characterized by, The telescopic mechanical arm comprises the telescopic mechanical arm according to any one of claims 1-8.

Images