A multi-degree-of-freedom desktop robotic arm

Abstract

This invention provides a multi-degree-of-freedom desktop robotic arm. The drive assembly includes a driver mounting component, which comprises a bottom wall and two side walls. A first axis driver is mounted on the bottom wall and located between the two side walls. A second axis driver and a third axis driver are respectively mounted on the side walls and arranged symmetrically. Vertical slots are also symmetrically arranged on the two side walls. A drive plate is inserted into the vertical slots and located between the first axis driver and the combined first, second, and third axis drivers. The drive plate is electrically connected to the first, second, and third axis drivers via control lines. The multi-degree-of-freedom desktop robotic arm provided by this invention has a reasonable drive plate arrangement, facilitates wiring during installation, reduces excessive exposed external wires, and prevents unnecessary tangling of connecting wires during robotic arm operation. The robotic arm has a simple structure, is easy to install, has high debugging efficiency, and is easy to manufacture.

Description

Technical Field

[0001] This invention belongs to the field of robotic arms, specifically relating to a multi-degree-of-freedom desktop robotic arm. Background Technology

[0002] With the rapid development of modern technology, the robotic arm industry is developing rapidly and is being used more and more in automated factory production. Industrial robotic arm technology is becoming increasingly mature, but due to their large size and dangerous operation, they are not suitable for use in schools or homes.

[0003] Some desktop robotic arms already exist in the technology, and their small size can meet the needs of robotic arms in education, daily life, and light industry. However, existing desktop robotic arms still have problems such as complex structure and difficult installation. Due to unreasonable structural design, the robot may vibrate during movement. The drive motors of the robotic arm are installed in scattered locations, resulting in too many exposed wires, which is not conducive to wiring and is prone to tangling and knotting during use; it is also not conducive to installation and wiring; and the installation and debugging efficiency is low. Summary of the Invention

[0004] To solve at least one of the above-mentioned technical problems, the present invention provides a multi-degree-of-freedom desktop robotic arm, which has a simple structure, reasonable wiring, convenient installation, high debugging efficiency, and is easy to manufacture.

[0005] To achieve at least one of the above objectives, the technical solution adopted by the present invention is as follows:

[0006] This invention provides a multi-degree-of-freedom desktop robotic arm, comprising a base assembly, a drive assembly, a large arm assembly, a small arm assembly, and an end effector assembly. The drive assembly, large arm assembly, small arm assembly, and end effector assembly are mounted on the base assembly. The drive assembly includes a driver mounting component, which includes a bottom wall and two side walls. A first axis driver is mounted on the bottom wall and located between the two side walls. A second axis driver and a third axis driver are respectively mounted on the side walls and arranged symmetrically. Vertical slots are also symmetrically provided on the two side walls. A drive plate is inserted into the vertical slots and located between the first axis driver and the combination of the second and third axis drivers. The drive plate is electrically connected to the first axis driver and the second and third axis drivers via control lines.

[0007] Furthermore, the vertical groove is provided with a through hole; the drive plate is provided with an installation notch; the fixing pin passes through the through hole and then engages with the installation notch.

[0008] Furthermore, the drive assembly also includes a drive base; a connecting portion is provided on the bottom wall opposite to the first shaft driver; the connecting portion is rotatably supported on the drive base by a bearing, a fixing bolt passes through the drive base and the driver mounting component, and the drive base and the driver mounting component are connected by a nut.

[0009] Furthermore, one end of the drive base is connected to the base assembly by screws, and the other end is provided with synchronous teeth; the first shaft driver is provided with a synchronous pulley, and the synchronous pulley is connected to the synchronous teeth by a synchronous belt.

[0010] Furthermore, bolt fixing shafts are also provided on the two side walls; the boom assembly includes a boom and a boom drive wheel; the boom and the boom drive wheel are fixedly connected and rotatably supported at one end of the bolt fixing shaft, and the boom drive wheel is connected to the second shaft driver through a synchronous belt drive device.

[0011] Furthermore, the forearm assembly includes a forearm, a forearm drive wheel, a linkage drive member, and a forearm connecting rod; the forearm body is connected to the upper arm, one end of the forearm is connected to one end of the forearm connecting rod, and the other end of the forearm connecting rod is hinged to the linkage drive member; the linkage drive member is fixedly connected to the forearm drive wheel and rotatably supported at the other end of the bolt-fixed shaft; the forearm drive wheel is connected to the third shaft driver via a synchronous belt transmission device.

[0012] Furthermore, the end effector assembly includes an end base and a fourth axis driver; the end base is hinged to the other end of the forearm, and the fourth axis driver is mounted on the end base.

[0013] Furthermore, it also includes a linkage assembly, which includes a first linkage, a connector, and a second linkage; one end of the first linkage is hinged to the driver mount, and the other end is hinged to the connector; the connector is hinged to the forearm on the rotation axis about the upper arm; the four hinge points between the upper arm, the first linkage, the driver mount, and the connector form a first parallelogram mechanism; one end of the second linkage is hinged to the connector, and the other end is hinged to the end base; the four hinge points between the forearm, the second linkage, the connector, and the end base form a second parallelogram mechanism.

[0014] Furthermore, the drive board is equipped with a Hall sensor, which is perpendicular to the base of the drive board and close to the drive base; a magnet is mounted on the side end face of the drive base near the drive board; the magnet is installed in conjunction with the Hall sensor; a boom limit switch and a forearm limit switch are provided on the side of the drive board opposite to the Hall sensor; a boom protrusion is provided on the boom, which is installed in conjunction with the boom limit switch; a forearm protrusion is provided on the forearm connecting rod, which is installed in conjunction with the forearm limit switch.

[0015] Furthermore, the upper arm is provided with a first level mounting slot, and the lower arm is provided with a second level mounting slot; the first level mounting slot and the second level mounting slot are used to install a cylindrical level.

[0016] This invention provides a multi-degree-of-freedom desktop robotic arm. Compared with the prior art, the advantages of this invention are as follows:

[0017] The multi-degree-of-freedom desktop robotic arm provided by this invention has a drive board installed in a vertical slot of the driver mounting component, located between the first-axis driver and the combination of the second-axis driver and the third-axis driver. This arrangement of the drive board ensures that the connection wires between each driver and the drive board are of approximately the same length, facilitating wire preparation during installation. Simultaneously, the drive board is located near the first axis of rotation, resulting in a shorter connection wire between it and the main control board inside the control box, reducing excessive exposed wiring and preventing unnecessary tangling of the connection wires during the robotic arm's operation.

[0018] The multi-degree-of-freedom desktop robotic arm provided by this invention has a simple structure and is easy to install. After the drive plate is inserted into the vertical slot, the fixing pin passes through the through hole on the vertical slot and is then engaged in the mounting notch on the drive plate to fix the drive plate.

[0019] The multi-degree-of-freedom desktop robotic arm provided by this invention uses Hall sensors, upper arm limit switches, and lower arm limit switches on the drive board, which are installed and cooperate with magnets, upper arm protrusions, and lower arm protrusions on the drive base to limit the first, second, and third degrees of freedom of the robotic arm. The structure is simple and the control is convenient.

[0020] The multi-degree-of-freedom desktop robotic arm provided by this invention has its rotation axis of the upper arm assembly offset from the rotation axis of the first degree of freedom of the robotic arm, and its rotation axis of the first axis driver is arranged relative to the rotation axis of the first degree of freedom of the robotic arm. This arrangement can reduce the influence of eccentric torque on the movement of the first degree of freedom of the robotic arm, and at the same time, it can also arrange the end of the robotic arm away from the control box of the base assembly, reduce the influence of the control box on the end of the robotic arm, and increase the utilization rate of the robotic arm's stroke range.

[0021] The multi-degree-of-freedom robotic arm provided by this invention has a first level mounting slot on the upper arm and a second level mounting slot on the lower arm, which can be used to install a cylindrical level, enabling intuitive and quick leveling of the upper and lower arms. This makes installation and debugging more convenient and efficient.

[0022] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit the scope of protection of the present invention. Attached Figure Description

[0023] Figure 1 A schematic diagram of the structure of the multi-degree-of-freedom desktop robotic arm provided by the present invention;

[0024] Figure 2 This is a schematic diagram of the structure of the driving component provided by the present invention;

[0025] Figure 3 A schematic diagram of the internal structure of the driving component provided by the present invention;

[0026] Figure 4 A schematic diagram of the structure of the drive base provided by the present invention;

[0027] Figure 5 This is a schematic diagram of the structure of the driver board provided by the present invention;

[0028] Figure 6 A partial structural schematic diagram of the multi-degree-of-freedom desktop robotic arm provided by the present invention;

[0029] Figure 7 A partial structural schematic diagram of the multi-degree-of-freedom desktop robotic arm provided by the present invention from another perspective;

[0030] Figure 8 for Figure 7 A sectional view along line AA.

[0031] Figure 9 for Figure 7 Sectional view along the BB line;

[0032] Figure 10 A partial structural schematic diagram from another perspective of the multi-degree-of-freedom desktop robotic arm provided by the present invention;

[0033] The components include: 1. Base assembly; 1-1. Control box; 2. Drive assembly; 2-1. Drive base; 2-101. Synchronous gear; 2-102. Magnet mounting slot; 2-2. Driver mounting component; 2-20. Bottom wall; 2-21. Side wall; 2-210. Vertical slot; 2-22. Connecting part; 2-3. Fixing bolt; 2-4. First axis driver; 2-40. Synchronous pulley; 2-5. Synchronous belt; 2-6. Second axis driver; 2-7. Third axis driver; 2-8. Drive board; 2-81. Mounting notch; 2-82. Hall sensor; 2-83. Boom stroke. Switch, 2-84 Forearm travel switch, 2-9 Fixing pin, 2-10 Bolt fixing shaft, 3 Boom assembly, 3-1 Boom, 3-10 First level mounting slot, 3-2 Boom drive wheel, 4 Forearm assembly, 4-1 Forearm, 4-10 Second level mounting slot, 4-2 Forearm drive wheel, 4-3 Linkage drive component, 4-4 Forearm link, 4-5 Slot, 5 End effector assembly, 5-1 End base, 5-2 Fourth axis driver, 6 Linkage assembly, 6-1 First link, 6-2 Connector, 6-3 Second link. Implementation

[0034] To enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further described in detail below with reference to specific embodiments. Please note that the embodiments described below are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention. Where specific techniques or conditions are not specified in the embodiments, they shall be performed in accordance with the techniques or conditions described in the literature in the art or in accordance with the product manual.

[0035] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0036] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., 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. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0037] The multi-degree-of-freedom desktop robotic arm provided by the present invention will be described in detail below through specific embodiments:

[0038] like Figure 1-10 As shown, the robotic arm provided by the present invention includes major components such as a base assembly 1, a drive assembly 2, an upper arm assembly 3, a lower arm assembly 4, an end effector assembly 5, and a linkage assembly 6.

[0039] The base assembly 1 includes a control box 1-1; a controller (not shown in the figure) is installed inside the control box 1-1, and a base plate is installed at the bottom, with the controller mounted on the base plate. Power interfaces, data interfaces, and expansion ports are provided on the side walls of the control box. Control buttons, such as a power switch and a reset switch, are also provided on the top of the control box, and these control buttons are communicatively connected to the controller.

[0040] The drive assembly 2 includes a drive base 2-1, a driver mounting bracket 2-2, fixing bolts 2-3, a first-axis driver 2-4, a timing belt 2-5, a second-axis driver 2-6, a third-axis driver 2-7, a drive plate 2-8, and other components. One end of the drive base 2-1 is fixed to the control box 1-1 with screws. The other end of the drive base 2-1 is provided with a timing gear 2-101.

[0041] The driver mounting component 2-2 includes a bottom wall 2-20 and side walls 2-21 on both sides of the bottom wall, forming an open, semi-enclosed structure. The first shaft driver 2-4 is mounted on the bottom wall 2-20 and positioned between the two side walls. A connecting portion 2-22 is provided on the bottom wall of the driver mounting component 2-2 on the side opposite to the first shaft driver 2-4. The connecting portion 2-22 is rotatably supported in a stepped hole in the drive base 2-1 by a bearing. A fixing bolt 2-3 passes through the drive base 2-1 and the driver mounting component 2-2, and the two are positioned and connected by a nut.

[0042] The first axis driver 2-4 is mounted upside down on the bottom wall 2-20. A synchronous pulley 2-40 is located at the end of the drive shaft of the first axis driver 2-4, which passes through the bottom wall 2-20. The synchronous pulley 2-40 is connected to the synchronous gear 2-101 on the drive base 2-1 via a synchronous belt 2-5. Since the synchronous gear 2-10 is fixed, when the first axis driver 2-4 drives the synchronous pulley 2-40 to rotate, the driver mounting component 2-2 rotates around the axis A of the drive base 2-1, thereby achieving the first degree of freedom of the robotic arm.

[0043] The second-axis driver 2-6 and the third-axis driver 2-7 are symmetrically mounted on the two side walls 2-21 of the driver mounting component 2-2. Vertical slots 2-210 are also symmetrically arranged on the two side walls 2-21 of the driver mounting component 2-2. The driver plate 2-8 is inserted into the vertical slots 2-210 and is located between the first-axis driver 2-4 and the second-axis drivers 2-6 and the third-axis drivers 2-7, close to axis A. This arrangement of the driver plate 8 ensures that the connection wires between each driver and the corresponding drive port 2-80 of the driver plate are of approximately the same length, facilitating wire preparation during installation. Simultaneously, the driver plate's location near axis A results in a shorter connection wire between it and the main control board inside the control box, reducing excessive exposed wiring and preventing unnecessary tangling of the connection wires during the robotic arm's operation.

[0044] A through hole is also provided on the vertical slot 2-210. After the drive plate 2-8 is inserted into the vertical slot 2-210, an installation notch 2-81 is provided at the corresponding position of the through hole. The fixing pin 2-9 passes through the through hole and engages with the installation notch 2-81 to fix the drive plate 2-8. A bolt fixing shaft 2-10 is also provided between the two side walls 2-21, and the bolt fixing shaft 2-10 is fixed to the side wall 2-21 by a nut.

[0045] A Hall sensor 2-82 is also provided on the drive board 2-8. The Hall sensor 2-82 is perpendicular to the base of the drive board 2-8 and is arranged close to the drive base 2-1. A magnet mounting groove 2-102 is also provided on the end face of the drive base 2-1 near the drive board, and a magnet is installed in the magnet mounting groove 2-102. The magnet cooperates with the Hall sensor 2-82 to realize the hardware limit of the rotation of the first axis.

[0046] The boom assembly 3 includes a boom 3-1 and a boom drive wheel 3-2. The boom 3-1 and the boom drive wheel 3-2 are fixed together by screws and rotate together on one end of a bolt-fixed shaft 2-10. The boom drive wheel 3-2 is connected to a second-axis driver 2-6 via a synchronous belt drive. The second-axis driver 2-6 drives the boom 3-1 to rotate around the driver mounting part 2-2, thereby realizing the second degree of freedom of the robotic arm.

[0047] Forearm assembly 4 includes components such as forearm 4-1, forearm drive wheel 4-2, linkage drive component 4-3, and forearm connecting rod 4-4. Forearm 4-1 is connected to upper arm 3-1. One end of the forearm near the hinge position is connected to one end of forearm connecting rod 4-4, and the other end of forearm connecting rod 4-4 is hinged to linkage drive component 4-3. Linkage drive component 4-3 is fixed to forearm drive wheel 4-2 by screws and rotates together on the other end of bolt-fixed shaft 2-10. Forearm drive wheel 4-2 is connected to third-axis driver 2-7 via a synchronous belt drive. Third-axis driver 2-7 drives forearm 4-1 to rotate around upper arm 3-1 through the above transmission, thereby realizing the third degree of freedom of the robotic arm.

[0048] The end effector assembly 5 includes an end effector base 5-1 and a fourth-axis actuator 5-2. The end effector base 5-1 is hinged to the other end of the forearm 4-1. The fourth-axis actuator 5-2 is mounted on the end effector base 5-1 and drives the tooling fixture to rotate, thereby realizing the fourth degree of freedom of the robotic arm. The fourth-axis actuator 5-2 is preferably a motor with a self-resetting function.

[0049] The linkage assembly 6 includes components such as a first link 6-1, a connector 6-2, and a second link 6-3. One end of the first link 6-1 is hinged to the driver mounting 2-2, and the other end is hinged to the connector 6-2. The connector 6-2 is hinged to the rotation axis of the forearm 4-1 about the upper arm 3-1. The four hinge points of the upper arm 3-1, the first link 6-1, the driver mounting 2-2, and the connector 6-2 form a first parallelogram mechanism. One end of the second link 6-3 is hinged to the connector 6-2, and the other end is hinged to the end base 5-1. The four hinge points of the forearm 4-1, the second link 6-3, the connector 6-2, and the end base 5-1 form a second parallelogram mechanism.

[0050] The upper arm assembly 3, lower arm assembly 4, end effector assembly 5, and link assembly 6 ensure that the end effector base 5-1 remains in a horizontal position during movement through two parallelogram mechanisms; and that the links do not interfere with the arm body during movement until the robot reaches its limit position.

[0051] On the drive plate 2-8, opposite to the Hall sensor 2-82, there are also boom limit switches 2-83 and forearm limit switches 2-84. On the boom 3-1, near the boom drive wheel 3-2, there is a boom protrusion 3-10, which works in conjunction with the boom limit switch 2-83 to limit the movement of the boom. The hinge end of the forearm link 4-4 and the link drive component 4-3 forms the forearm protrusion 4-10, which works in conjunction with the forearm limit switch 2-84 to limit the movement of the forearm.

[0052] The multi-degree-of-freedom robotic arm provided by this invention has its rotation axis C of the upper arm assembly 3 offset from the rotation axis A of the first degree of freedom of the robotic arm, and its rotation axis B of the first axis driver 2-4 is arranged relative to the rotation axis A of the first degree of freedom of the robotic arm. This arrangement can reduce the influence of eccentric torque on the movement of the first degree of freedom of the robotic arm, and at the same time, it also arranges the end effector of the robotic arm away from the control box 1-1, reducing the influence of the control box 1-1 on the end effector of the robotic arm, and increasing the utilization rate of the robotic arm's stroke range.

[0053] The multi-degree-of-freedom robotic arm provided by this invention has a first level mounting slot 3-10 on the upper arm 3-1 and a second level mounting slot 4-10 on the lower arm 4-1. By installing cylindrical levels in the first and second level mounting slots 3-10 and 4-10, leveling of the upper and lower arms can be achieved intuitively and quickly, making installation and debugging more convenient and efficient.

[0054] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that they are in indirect contact through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0055] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

Claims

1. A multi-degree-of-freedom desktop robotic arm, comprising a base assembly, a drive assembly, a large arm assembly, a forearm assembly, and an end effector assembly, wherein the drive assembly, the large arm assembly, the forearm assembly, and the end effector assembly are mounted on the base assembly, characterized in that, The drive assembly includes a driver mount, which includes a bottom wall and two side walls, with a first shaft driver mounted on the bottom wall and located between the two side walls; The second axis driver and the third axis driver are respectively mounted on the side wall and arranged symmetrically; vertical slots are also symmetrically provided on the two side walls, the drive plate is inserted into the vertical slot and is located between the first axis driver and the combination of the second axis driver and the third axis driver, and the drive plate is electrically connected to the first axis driver and the second axis driver and the third axis driver through control lines; The drive assembly further includes a drive base; a connecting part is provided on the bottom wall opposite to the first shaft driver; the connecting part is rotatably supported on the drive base by a bearing, a fixing bolt passes through the drive base and the driver mounting part, and the drive base and the driver mounting part are connected by a nut; Bolt fixing shafts are also provided on the two side walls; the boom assembly includes a boom and a boom drive wheel; the boom and the boom drive wheel are fixedly connected and rotatably supported at one end of the bolt fixing shaft, and the boom drive wheel is connected to the second shaft driver through a synchronous belt drive device; The forearm assembly includes a forearm, a forearm drive wheel, a linkage drive component, and a forearm linkage; the forearm body is connected to the upper arm, one end of the forearm is connected to one end of the forearm linkage, and the other end of the forearm linkage is hinged to the linkage drive component; the linkage drive component is fixedly connected to the forearm drive wheel and rotatably supported at the other end of the bolt-fixed shaft; the forearm drive wheel is connected to the third shaft driver via a synchronous belt drive device. The vertical slot is provided with a through hole; the drive plate is provided with a mounting notch; the fixing pin passes through the through hole and then engages with the mounting notch; The drive board is equipped with a Hall sensor, which is perpendicular to the base of the drive board and close to the drive base. A magnet is mounted on the end face of the drive base near the drive board. The magnet is installed in conjunction with the Hall sensor. A boom limit switch and a forearm limit switch are provided on the side of the drive board opposite to the Hall sensor. A boom protrusion is provided on the boom, which is installed in conjunction with the boom limit switch. A forearm protrusion is provided on the forearm connecting rod, which is installed in conjunction with the forearm limit switch. The upper arm is provided with a first level mounting slot, and the lower arm is provided with a second level mounting slot; the first level mounting slot and the second level mounting slot are used to install a cylindrical level.

2. The multi-degree-of-freedom desktop robotic arm according to claim 1, characterized in that, One end of the drive base is connected to the base assembly by screws, and the other end is provided with synchronous teeth; the first shaft driver is provided with a synchronous pulley, and the synchronous pulley is connected to the synchronous teeth by a synchronous belt.

3. The multi-degree-of-freedom desktop robotic arm according to claim 2, characterized in that, The end effector assembly includes an end base and a fourth axis driver; the end base is hinged to the other end of the forearm, and the fourth axis driver is mounted on the end base.

4. The multi-degree-of-freedom desktop robotic arm according to claim 3, characterized in that, It also includes a linkage assembly, which includes a first link, a connector, and a second link; one end of the first link is hinged to the driver mount, and the other end is hinged to the connector; the connector is hinged to the forearm on the rotation axis of the upper arm; the four hinge points between the upper arm, the first link, the driver mount, and the connector form a first parallelogram mechanism; one end of the second link is hinged to the connector, and the other end is hinged to the end base; the four hinge points between the forearm, the second link, the connector, and the end base form a second parallelogram mechanism.

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