An automated multi-axis robotic arm

Abstract

The present application provides an automated multi-axis robotic arm, characterized in that the robotic arm comprises: an input shaft, a base, a first clutch structure, a first connecting arm, a second clutch structure, a second connecting arm, and an end effector. Connected to a third clutch disc and a fourth clutch disc; the input shaft is used to connect to a driving motor and provide power for the automated multi-axis robotic arm. The base includes a first housing and a differential structure. An accommodation cavity is formed inside the first housing. The first housing has an opening communicating with the accommodation cavity. The differential structure includes a first driving wheel, a second driving wheel, and a first intermediate wheel. The first driving wheel and the second driving wheel are coaxially arranged. The axis of the first intermediate wheel is perpendicular to that of the first driving wheel, and the first intermediate wheel meshes with the end faces of both the first driving wheel and the second driving wheel simultaneously, so that the first driving wheel and the second driving wheel rotate coaxially in opposite directions. The input shaft is in transmission connection with the driving structure.

Description

Technical Field

[0001] This application relates to the technical field of robotic arms, and particularly to an automated multi-axis robotic arm. Background Art

[0002] A robotic arm is a relatively common tool. With different end effectors, it has various applications, such as for assembly, fitting, handling, and processing on industrial automation production lines. An automated multi-axis robotic arm can move in multiple directions and can complete more complex tasks. Currently, there are many different designs and manufactures of automated multi-axis robotic arms, but they often have some problems. The existing robotic arm has a complex structure and is difficult to maintain and repair. The end effector of the robotic arm is driven by a separate drive unit. Limited by the volume at the end of the robotic arm, the power that the end effector can provide is often limited. Summary of the Invention

[0003] Therefore, this application proposes an automated multi-axis robotic arm to improve the above problems.

[0004] The present application provides an automated multi-axis robotic arm, which includes: an input shaft for connecting to a driving motor and providing power for the automated multi-axis robotic arm; a base including a first housing and a differential structure. An accommodation cavity is formed in the first housing, and the first housing has an opening communicating with the accommodation cavity. The differential structure includes a first driving wheel, a second driving wheel, and a first intermediate wheel. The first driving wheel and the second driving wheel are coaxially arranged. The axis of the first intermediate wheel is perpendicular to that of the first driving wheel, and the first intermediate wheel meshes with the end faces of both the first driving wheel and the second driving wheel, so that the first driving wheel and the second driving wheel rotate coaxially in opposite directions. The input shaft is in transmission connection with the driving structure; a first clutch structure including a first clutch disc, a second clutch disc, and a first driver. Both the first clutch disc and the second clutch disc are coaxially arranged with the first driving wheel, and the first clutch disc is arranged adjacent to the first driving wheel, while the second clutch disc is arranged adjacent to the second driving wheel. The first driver is used to drive the first clutch disc / second clutch disc to engage or disengage with the first driving wheel / second driving wheel; a first connecting arm including a first arm body and a transmission structure. The first arm body includes a first communication cavity. One end of the first arm body is connected to both the first clutch disc and the second clutch disc simultaneously. The transmission structure is arranged at the end of the first arm body away from the first clutch disc. The transmission structure includes a third driving wheel and a fourth driving wheel arranged coaxially. The axis of the third driving wheel is parallel to that of the first driving wheel, and the third driving wheel is in transmission connection with the first driving wheel, and the fourth driving wheel is in transmission connection with the second driving wheel; a second clutch structure including a third clutch disc, a fourth clutch disc, and a second driver. Both the third clutch disc and the fourth clutch disc are coaxially arranged with the third driving wheel, and the third clutch disc is arranged adjacent to the third driving wheel, while the fourth clutch disc is arranged adjacent to the fourth driving wheel. The second driver is used to drive the third clutch disc / fourth clutch disc to engage or disengage with the third driving wheel / fourth driving wheel; a second connecting arm including a second arm body. One end of the second arm body is connected to both the third clutch disc and the fourth clutch disc simultaneously; and an end effector arranged at the end of the second connecting arm away from the third clutch disc and the fourth clutch disc. The end effector includes an execution shaft, and the execution shaft is in transmission connection with both the third driving wheel and the fourth driving wheel simultaneously. A controller is used to control the first clutch structure and the second clutch structure to adjust the rotation of the first connecting arm and the second connecting arm.

[0005] As a feasible implementation manner, the end effector further includes a fifth driving wheel, a sixth driving wheel and a second intermediate wheel. The fifth driving wheel is in transmission connection with the third driving wheel, the sixth driving wheel is in transmission connection with the fourth driving wheel, the fifth driving wheel and the sixth driving wheel are coaxially arranged, the second intermediate wheel is simultaneously engaged with the fifth driving wheel and the sixth driving wheel, and the execution shaft is in transmission connection with the second intermediate wheel.

[0006] As a feasible implementation manner, the first connecting arm further includes a plurality of first guide rods. The plurality of first guide rods are arranged parallel to the axis of the first driving wheel, and the plurality of first guide rods pass through the first clutch disc and slide relative to the first clutch plate. When the first clutch plate is in the first position, the first clutch plate is separated from the first driving wheel. When the first clutch plate is in the second position, the first clutch plate is combined with the first driving wheel.

[0007] As a feasible implementation manner, the first connecting arm further includes a plurality of second guide rods. The plurality of second guide rods are arranged parallel to the axis of the second driving wheel, and the plurality of second guide rods pass through the second clutch disc and slide relative to the second clutch plate. When the second clutch plate is in the third position, the second clutch plate is combined with the first driving wheel. When the second clutch plate is in the fourth position, the second clutch plate is separated from the second driving wheel.

[0008] As a feasible implementation manner, the first clutch structure includes a first connecting portion. The first connecting portion connects the first clutch plate and the second clutch plate so that the first clutch plate and the second clutch plate move synchronously. When the first clutch plate is in the first position, the second clutch plate is in the third position.

[0009] As a feasible implementation manner, the first clutch structure further includes a driver. The driver includes a first electromagnet and a second electromagnet. The first electromagnet is arranged close to the first clutch plate, and the second electromagnet is arranged close to the second clutch plate. The first electromagnet is used to drive the first clutch plate to be in the first position, and the second electromagnet is used to drive the second clutch plate to be in the fourth position.

[0010] As a feasible implementation manner, the first clutch structure further includes a vacant position structure, and the vacant position structure includes a first spring and a second spring. The first spring and the second spring connect the first connecting portion and the first arm body, and the first spring and the second spring are symmetrically arranged. The first spring and the second spring are used to drive the connecting portion so that the first clutch disc / second clutch disc is located at the fifth position / sixth position, where the fifth position is located between the first position and the second position, and the sixth position is located between the third position and the fourth position.

[0011] As a feasible implementation manner, the automated multi-axis robotic arm further includes a plurality of transmission belts, and the plurality of transmission belts are respectively drivingly connected to the first driving wheel / second driving wheel and the third driving wheel / fourth driving wheel.

[0012] As a feasible implementation manner, the automated multi-axis robotic arm further includes a first limiting structure and a second limiting structure. The first limiting structure is used to limit or release the relative rotation between the base and the first arm body, and the second limiting structure is used to limit or release the relative rotation between the first arm body and the second arm body.

[0013] As a feasible implementation manner, the first limiting structure includes a brake arranged on the base and a brake shaft arranged on the first arm body. The brake includes a first brake piece and a second brake piece that are movably arranged around the brake shaft. The first brake piece and the second brake piece simultaneously hold / loosen the brake shaft to limit / release the relative rotation between the first arm body and the second arm body.

[0014] For the automated multi-axis robotic arm proposed in this application, after power is input through the input shaft, by respectively controlling the first clutch structure and the second clutch structure, according to the combination of the clutch disc and the driving wheel, while realizing the movement of the automated multi-axis robotic arm in the plane, the power is also transmitted to the execution shaft. For the automated multi-axis robotic arm proposed in this application, only by setting a driving motor with a relatively large power, the power can be transmitted to the execution shaft and a relatively large power can be provided. At the same time, a plurality of automated multi-axis robotic arms can also be used in combination to realize the movement of the end effector in space. Description of the Drawings

[0015] In order to more clearly illustrate the technical solutions in the embodiments of this application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of this application. For those skilled in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0016] Figure 1Schematic structural diagram of an automated multi-axis robotic arm proposed in an embodiment of the present application;

[0017] Figure 2 Partial sectional structural diagram of an automated multi-axis robotic arm proposed in an embodiment of the present application;

[0018] Figure 3 Partial structural diagram of an automated multi-axis robotic arm proposed in an embodiment of the present application. Detailed implementation manners

[0019] To make the above objects, features, and advantages of the present application more apparent and understandable, the present application will be further described in detail below with reference to the accompanying drawings and specific implementation manners. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the scope of protection of the present application.

[0020] It should be noted that in this document, the terms "including", "comprising", or any other variant thereof are intended to cover a non-exclusive inclusion, such that an article or device including a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such article or device. Without further limitation, the elements defined by the statement "including..." do not exclude the presence of additional identical elements in the article or device including the elements.

[0021] In the present application, unless otherwise clearly specified or limited, terms such as "installed", "connected", "fixed", etc. shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and can also be the communication inside two elements, or just surface contact, or surface contact connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0022] In addition, terms such as "first" and "second" are only used for distinguishing descriptions and should not be construed as specific or special structures. Descriptions of terms such as "some embodiments" and "other embodiments" mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in the present application and the features of different embodiments or examples.

[0023] Please refer to Figure 1 and Figure 2 The present application provides an automated multi-axis robotic arm 1000, which includes: an input shaft 1001, a base 1100, a first clutch structure 1200, a first connecting arm 1300, a second clutch structure 1400, a second connecting arm 1600, and an end effector 1500.

[0024] In the present application, in order to achieve automated control of the robotic arm, the automated multi-axis robotic arm 1000 proposed in the present application further includes a controller for controlling the first clutch structure 1200 and the second clutch structure 1600 to adjust the rotation of the first connecting arm 1300 and the second connecting arm.

[0025] Specifically, the input shaft 1001 is used to connect to a drive motor and provide power for the automated multi-axis robotic arm 1000. In this embodiment, the input shaft 1001 can be connected to the output shaft of the drive motor.

[0026] The base 1100 serves as the basic part of the robotic arm. The base 1100 can be fixedly installed on the ground or at any position, which is not limited herein. In the present application, all movements of the end effector 1500 are represented by movements relative to the base 1100. Specifically, in this embodiment, the base 1100 includes a first housing 1110 and a differential structure 1120.

[0027] The first housing 1110 provides a supporting function. An accommodation cavity is formed inside the first housing 1110, and the first housing 1110 has an opening communicating with the accommodation cavity.

[0028] Please refer to Figure 3The differential structure 1120 includes a first driving wheel 1121, a second driving wheel 1122 and a first intermediate wheel 1123. The first driving wheel 1121 and the second driving wheel 1122 are coaxially arranged. The axis of the first intermediate wheel 1123 is perpendicular to the first driving wheel 1121, and the first intermediate wheel 1123 is simultaneously engaged with the end faces of the first driving wheel 1121 and the second driving wheel 1122, so that the first driving wheel 1121 and the second driving wheel 1122 rotate coaxially and in opposite directions. The input shaft 1001 is drivingly connected to the driving motor.

[0029] It can be understood that the first drive wheel 1121 and the second drive wheel 1122 can be side gears with tooth grooves on the side, and the first drive wheel 1121 and the second drive wheel 1122 are symmetrically arranged. When the input shaft 1001 drives the first drive gear 1121 and the second drive gear 1122 through the first intermediate wheel 1123, the first drive gear 1121 and the second drive gear 1122 rotate in opposite directions and synchronously.

[0030] The first clutch structure 1200 is used to control the relative movement between the first connecting arm 1300 and the base 1100. In this embodiment, the first connecting arm 1300 and the base 1100 are arranged to rotate. The rotation direction between the first connecting arm 1300 and the base 1100 is controlled by a clutch. Specifically, the first clutch structure 1200 includes a first clutch disc 1210, a second clutch disc 1220 and a first driver 1230. The first clutch disc 1210 and the second clutch disc 1220 are both coaxially arranged with the first driving wheel 1121, and the first clutch disc 1210 is arranged close to the first driving wheel 1121, and the second clutch disc 1220 is arranged close to the second driving wheel 1122. The first driver 1230 is used to drive the first clutch disc 1210 / the second clutch disc 1220 to engage or separate with the first driving wheel 1121 / the second driving wheel 1122.

[0031] It can be understood that when the first clutch disc 1210 is combined with the first driving wheel 1121, under the action of friction, the torque of the first driving wheel 1121 is transmitted to the first clutch disc 1210, and the first driving wheel 1121 drives the first clutch disc 1210 to rotate. The power transmission form between the second clutch disc 1220 and the second driving wheel 1122 is referred to the first driving wheel 1121 and the first clutch disc 1210, and will not be repeated here. The first connecting arm 1300 includes a first arm body 1310 and a transmission structure 1320, the first arm body 1310 includes a first connecting cavity, and one end of the first arm body 1310 is simultaneously connected to the first clutch disc 1210 and the second clutch disc 1220. According to different combinations of the clutch disc and the driving wheel, the rotation direction of the first arm body 1310 is also opposite.

[0032] During the process of the first clutch disc 1210 engaging with the first driving wheel 1121, it is inevitable that the first clutch disc 1210 moves parallelly along the axial extension direction to achieve the engagement or separation between the first clutch disc 1210 and the first driving wheel 1121. However, since the first clutch disc 1210 needs to rotate synchronously with the first connecting arm 1300, as an implementation manner, the first connecting arm 1300 further includes a plurality of first guide rods 1301. The plurality of first guide rods 1301 are arranged parallel to the axis of the first driving wheel 1121, and the plurality of first guide rods 1301 pass through the first clutch disc 1121 and slide relative to the first clutch disc 1210. When the first clutch disc 1210 is in the first position, the first clutch disc 1210 is separated from the first driving wheel 1121. When the first clutch disc 1210 is in the second position, the first clutch disc 1210 is engaged with the first driving wheel 1121. By this means, while ensuring the synchronous movement of the first clutch disc 1210 and the first connecting arm 1300, it is also possible to engage or separate from the first driving wheel 1121.

[0033] For the same reason, the first connecting arm 1300 further includes a plurality of second guide rods 1302. The plurality of second guide rods 1302 are arranged parallel to the axis of the second driving wheel 1122, and the plurality of second guide rods 1302 pass through the second clutch disc 1220 and slide relative to the second clutch disc 1220. When the second clutch disc 1220 is in the third position, the second clutch disc 1220 is engaged with the first driving wheel 1121. When the second clutch disc 1220 is in the fourth position, the second clutch disc 1220 is separated from the second driving wheel 1122.

[0034] To simplify the structure, in some implementation manners, the first clutch disc 1210 and the second clutch disc 1220 can be connected and move synchronously. Specifically, the first clutch structure 1200 includes a first connecting portion 1201. The first connecting portion 1201 connects the first clutch disc 1210 and the second clutch disc 1220 to enable the first clutch disc 1210 and the second clutch disc 1220 to move synchronously. When the first clutch disc 1210 is in the first position, the second clutch disc 1220 is in the third position.

[0035] Both the first clutch disc 1210 and the second clutch disc 1220 need to be driven to engage with the first drive wheel 1121 or the second drive wheel 1122. Therefore, as an implementation, the first driver 1230 includes a first electromagnet 1321 and a second electromagnet 1232. The first electromagnet 1321 is disposed close to the first clutch disc 1210, and the second electromagnet 1232 is disposed close to the second clutch disc 1220. The first electromagnet 1321 is used to drive the first clutch disc 1210 to be in the first position, and the second electromagnet 1232 is used to drive the second clutch disc 1220 to be in the fourth position. By providing the first electromagnet 1321 and the second electromagnet 1232, on the one hand, the structure of the automated multi-axis robotic arm 1000 is simplified, and on the other hand, sufficient power is provided to engage the clutch disc with the drive wheel.

[0036] During the movement of the robotic arm, when the end effector 1500 needs to stay at a specific position, the joint part does not rotate. However, since the first drive wheel and the second drive wheel are always in a rotating state, in some implementations, the first clutch structure 1200 further includes a vacant position structure. The vacant position structure includes a first spring 1202 and a second spring 1203. The first spring 1202 and the second spring 1203 connect the first connecting portion 1201 and the first arm body 1310, and the first spring 1202 and the second spring 1203 are symmetrically arranged. The first spring 1202 and the second spring 1203 are used to drive the first connecting portion 1201 so that the first clutch disc 1210 / the second clutch disc 1220 is in the fifth position / the sixth position, where the fifth position is between the first position and the second position, and the sixth position is between the third position and the fourth position.

[0037] The transmission structure 1320 is disposed at one end of the first arm body 1310 away from the first clutch disc 1210. The transmission structure 1320 includes a third drive wheel 1321 and a fourth drive wheel 1322 arranged coaxially. The axis of the third drive wheel 1321 is parallel to the axis of the first drive wheel 1121. The third drive wheel 1321 is drivingly connected to the first drive wheel 1121, and the fourth drive wheel 1322 is drivingly connected to the second drive wheel 1122. The transmission structure 1320 is used to transmit power, and since the transmission process from the first drive wheel 1121 to the third drive wheel 1321 and the power transmission process from the second drive wheel 1122 to the fourth drive wheel 1322 are independent respectively, the transmission structure 1320 can transmit the torque in both directions.

[0038] In this embodiment, the second connecting arm 1600 is also rotatably arranged at one end of the first connecting arm 1300 away from the base 1100, so that the end effector 1500 can move within a plane. The relative rotation between the second connecting arm 1600 and the first connecting arm 1300 is controlled by the second clutch structure 1400. Specifically, the second connecting arm 1600 includes a second arm body, and one end of the second arm body is connected to the third clutch disc 1410 and the fourth clutch disc 1420 at the same time. The second clutch structure 1400 includes the third clutch disc 1410, the fourth clutch disc 1420 and the second driver 1430. The third clutch disc 1410 and the fourth clutch disc 1420 are both coaxially arranged with the third driving wheel 1321, and the third clutch disc 1410 is arranged close to the third driving wheel 1321, and the fourth clutch disc 1420 is arranged close to the fourth driving wheel 1322. The second driver 1430 is used to drive the third clutch disc 1410 / the fourth clutch disc 1420 to be combined with or separated from the third driving wheel 1321 / the fourth driving wheel 1322. It can be understood that the control process of the relative rotation between the second connecting arm 1600 and the first connecting arm 1300 can refer to the control process of the relative rotation between the first connecting arm 1300 and the base 1100, which will not be elaborated here. It can be understood that the control of the rotation processes of the two different rotating joints is independent respectively, and through the cooperation between the two different rotating joints, the end effector 1500 can stay at any position within a plane.

[0039] In this embodiment, the automated multi-axis robotic arm 1000 further includes a plurality of drive belts 1010, and the plurality of drive belts 1010 are respectively drivingly connected to the first drive wheel 1121 / second drive wheel 1122 and the third drive wheel 1321 / fourth drive wheel 1322. In some other embodiments, according to the different loads of the execution axis 1501, the drive belts 1010 can also be replaced by chains, which are not limited here.

[0040] In order to ensure that the position of the end effector 1500 does not shift when it has a load, in this embodiment, the automated multi-axis robotic arm 1000 further includes a first limiting structure 1020 and a second limiting structure. The first limiting structure 1020 is used to limit or release the relative rotation between the base 1100 and the first arm body 1310, and the second limiting structure is used to limit or release the relative rotation between the first arm body 1310 and the second arm body.

[0041] Specifically, as an embodiment, the first limiting structure 1020 includes a brake 1021 disposed on the base 1100 and a holding shaft 1022 disposed on the first arm 1310, the brake 1021 includes a first brake piece and a second brake piece movably disposed around the holding shaft 1022, and the first brake piece and the second brake piece simultaneously hold / release the holding shaft 1022 to limit / release the relative rotation between the first arm 1310 and the second arm. In some other embodiments, the first limiting structure 1020 can also be a device such as an electromagnetic lock, which is not limited here. The working principle of the second limiting structure is the same as that of the first limiting structure 1020, which is not repeated here.

[0042] The automated multi-axis robotic arm 1000 further includes a first limiting structure 1020 and a second limiting structure. The first limiting structure 1020 is used to limit or release the relative rotation between the base 1100 and the first arm body 1310 , and the second limiting structure is used to limit or release the relative rotation between the first arm body 1310 and the second arm body.

[0043] The end effector 1500 can be a fixture, a suction cup or a tool. It can be replaced according to different tasks. The power of the end effector 1500 is also provided by a driving motor so that the end effector 1500 can have a larger load. In this embodiment, the end effector 1500 is arranged at one end of the second connecting arm 1600 away from the third clutch disk 1410 and the fourth clutch disk 1420, and the end effector 1500 includes an execution shaft 1501, and the execution shaft 1501 is simultaneously transmission-connected to the third driving wheel 1321 and the fourth driving wheel 1322. The execution shaft 1501 serves as the output end of the power in this embodiment.

[0044] As an embodiment, the end effector 1500 also includes a fifth driving wheel 1510, a sixth driving wheel 1520 and a second intermediate wheel 1530. The fifth driving wheel 1510 is transmission-connected to the third driving wheel 1321, the sixth driving wheel 1520 is transmission-connected to the fourth driving wheel 1322, the fifth driving wheel 1510 and the sixth driving wheel 1520 are coaxially arranged, the second intermediate wheel 1530 is simultaneously meshed with the fifth driving wheel 1510 and the sixth driving wheel 1520, and the execution shaft 1501 is transmission-connected to the second intermediate wheel 1530.

[0045] It can be understood that in this way, the power of the driving motor can be transmitted to the execution shaft 1501. The first driving wheel 1121, the third driving wheel 1321, and the fifth driving wheel 1510 form a forward power chain, and the second driving wheel 1122, the fourth driving wheel 1322, and the sixth driving wheel 1520 form a reverse power chain. Since the second intermediate wheel 1530 is meshed with both the fifth driving wheel 1510 and the sixth driving wheel 1520 at the same time, when the loads of the forward power chain and the reverse power chain are different, the power distribution can be made more even through the transmission of the second intermediate wheel 1530. Among them, the meshing mode of the second intermediate wheel 1530 between the fifth driving wheel 1510 and the sixth driving wheel 1520 refers to the first intermediate wheel 1123 and the first driving wheel 1121 and the second driving wheel 1122, which will not be elaborated here.

[0046] In some other embodiments, in order to achieve a more complex motion form of the robotic arm, the specification of the execution shaft 1501 is the same as that of the input shaft 1001. The execution shaft 1501 can be connected to another identical automated multi-axis robotic arm 1000, and the execution shaft 1501 serves as the input shaft 1001 of another automated multi-axis robotic arm 1000. In order to satisfy the movement of the end effector 1500 of another automated multi-axis robotic arm 1000 in space, the motion planes of the two automated multi-axis robotic arms 1000 can be perpendicular to enable the end effector 1500 to stay and move at any position in space.

[0047] After the power is input through the input shaft 1001 in the automated multi-axis robotic arm 1000 proposed in this embodiment, by controlling the first clutch structure 1200 and the second clutch structure 1400 respectively, according to the combination of the clutch disc and the driving wheel, while realizing the movement of the automated multi-axis robotic arm 1000 in the plane, the power is also transmitted to the execution shaft 1501. For the automated multi-axis robotic arm 1000 proposed in this application, only by setting a driving motor with a relatively high power, the power can be transmitted to the execution shaft 1501 and a relatively large power can be provided. At the same time, multiple automated multi-axis robotic arms 1000 can also be used in combination to realize the movement of the end effector 1500 in space.

[0048] The above provides a detailed introduction to an automated multi-axis robotic arm 1000. Specific examples are used in this article to elaborate on the principle and implementation manner of this application. The description of the above embodiments is only used to help understand the core idea of this application for the automated multi-axis robotic arm 1000; at the same time, for those of ordinary skill in the art, according to the idea of this application, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to this application.

Claims

1. An automated multi-axis robotic arm, characterized in that, The automated multi-axis robotic arm includes: An input shaft for connecting to a driving motor and providing power for the automated multi-axis robotic arm; A base including a first housing and a differential structure. An accommodation cavity is formed in the first housing. The first housing has an opening communicating with the accommodation cavity. The differential structure includes a first driving wheel, a second driving wheel, and a first intermediate wheel. The first driving wheel and the second driving wheel are coaxially arranged. The axis of the first intermediate wheel is perpendicular to that of the first driving wheel, and the first intermediate wheel meshes with the end faces of both the first driving wheel and the second driving wheel to enable the first driving wheel and the second driving wheel to rotate coaxially in opposite directions. The input shaft is in transmission connection with the driving structure; A first clutch structure including a first clutch disc, a second clutch disc, and a first driver. Both the first clutch disc and the second clutch disc are coaxially arranged with the first driving wheel. The first clutch disc is arranged adjacent to the first driving wheel, and the second clutch disc is arranged adjacent to the second driving wheel. The first driver is used to drive the first clutch disc / second clutch disc to engage or disengage with the first driving wheel / second driving wheel; A first connecting arm including a first arm body and a transmission structure. One end of the first arm body is connected to both the first clutch disc and the second clutch disc. The transmission structure is arranged at the end of the first arm body away from the first clutch disc. The transmission structure includes a third driving wheel and a fourth driving wheel arranged coaxially. The axis of the third driving wheel is parallel to that of the first driving wheel. The third driving wheel is in transmission connection with the first driving wheel, and the fourth driving wheel is in transmission connection with the second driving wheel; A second clutch structure including a third clutch disc, a fourth clutch disc, and a second driver. Both the third clutch disc and the fourth clutch disc are coaxially arranged with the third driving wheel. The third clutch disc is arranged adjacent to the third driving wheel, and the fourth clutch disc is arranged adjacent to the fourth driving wheel. The second driver is used to drive the third clutch disc / fourth clutch disc to engage or disengage with the third driving wheel / fourth driving wheel; A second connecting arm including a second arm body. One end of the second arm body is connected to both the third clutch disc and the fourth clutch disc; An end effector arranged at the end of the second connecting arm away from the third clutch disc and the fourth clutch disc. The end effector includes an execution shaft with the same specification as the input shaft. The execution shaft is in transmission connection with both the third driving wheel and the fourth driving wheel; and A controller for controlling the first clutch structure and the second clutch structure to adjust the rotation of the first connecting arm and the second connecting arm.

2. The automated multi-axis robotic arm according to claim 1, wherein The end effector further includes a fifth driving wheel, a sixth driving wheel and a second intermediate wheel. The fifth driving wheel is in transmission connection with the third driving wheel. The sixth driving wheel is in transmission connection with the fourth driving wheel. The fifth driving wheel and the sixth driving wheel are coaxially arranged. The second intermediate wheel is simultaneously engaged with the fifth driving wheel and the sixth driving wheel. The execution shaft is in transmission connection with the second intermediate wheel.

3. An automated multi-axis robotic arm according to claim 2, characterized in that, The first connecting arm further includes a plurality of first guide rods. The plurality of first guide rods are arranged parallel to the axis of the first driving wheel, and the plurality of first guide rods pass through the first clutch plate and slide relative to the first clutch disc. When the first clutch disc is in the first position, the first clutch disc is separated from the first driving wheel. When the first clutch disc is in the second position, the first clutch disc is combined with the first driving wheel.

4. An automated multi-axis robotic arm according to claim 3, characterized in that, The first connecting arm further includes a plurality of second guide rods. The plurality of second guide rods are arranged parallel to the axis of the second driving wheel, and the plurality of second guide rods pass through the second clutch plate and slide relative to the second clutch disc. When the second clutch disc is in the third position, the second clutch disc is combined with the first driving wheel. When the second clutch disc is in the fourth position, the second clutch disc is separated from the second driving wheel.

5. An automated multi-axis robotic arm according to claim 4, characterized in that, The first clutch structure includes a first connecting portion. The first connecting portion connects the first clutch disc and the second clutch disc so that the first clutch disc and the second clutch disc move synchronously. When the first clutch disc is in the first position, the second clutch disc is in the third position.

6. An automated multi-axis robotic arm according to claim 5, wherein, The first driver includes a first electromagnet and a second electromagnet. The first electromagnet is arranged close to the first clutch disc. The second electromagnet is arranged close to the second clutch disc. The first electromagnet is used to drive the first clutch disc to be in the first position. The second electromagnet is used to drive the second clutch disc to be in the fourth position.

7. An automated multi-axis robotic arm according to claim 6, characterized in that, The first clutch structure further includes a vacant position structure. The vacant position structure includes a first spring and a second spring. The first spring and the second spring connect the first connecting portion and the first arm body, and the first spring and the second spring are symmetrically arranged. The first spring and the second spring are used to drive the connecting portion so that the first clutch disc / the second clutch disc is in the fifth position / the sixth position. Among them, the fifth position is between the first position and the second position, and the sixth position is between the third position and the fourth position.

8. An automated multi-axis robotic arm according to claim 7, characterized in that, The automated multi-axis robotic arm further includes a plurality of drive belts. The plurality of drive belts are respectively in transmission connection with the first driving wheel / the second driving wheel and the third driving wheel / the fourth driving wheel.

9. An automated multi-axis robotic arm according to claim 8, characterized in that, The automated multi-axis robotic arm further includes a first limiting structure and a second limiting structure. The first limiting structure is used to limit or release the relative rotation between the base and the first arm body. The second limiting structure is used to limit or release the relative rotation between the first arm body and the second arm body.

10. An automated multi-axis robotic arm according to claim 9, wherein, The first limiting structure includes a brake disposed on the base and a brake shaft disposed on the first arm body. The brake includes a first brake pad and a second brake pad that are movably disposed around the brake shaft. The first brake pad and the second brake pad simultaneously clamp / loosen the brake shaft to limit / releases the relative rotation between the first arm body and the second arm body.

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