Planar jointed robotic arm

Abstract

The present application relates to a kind of plane joint mechanical arm, using the sliding slide plate that is movably connected on straight driving module;Several drive motor devices are arranged on the sliding slide plate;Several drive motor devices are driven by transmission device, and the multiple joint arms are remotely driven and controlled, with the characteristics of simple structure, convenient operation, high precision, low cost, realize the technical requirements of far away from high temperature, strong acid, strong base environment, solve the existing technology in some harsh environment, for example, high temperature, strong acid, strong base environment, limit the development of robot;Because in the existing robot drive motor to ensure the accuracy of transmission, generally all converge in the movement joint, when the movement joint is close to the harsh environment such as high temperature, strong acid, strong base, it can cause the damage of drive motor, and the service life of robot is seriously reduced.

Description

TECHNICAL FIELD

[0001] The embodiment of the present application relates to a mechanical arm, in particular to a planar joint mechanical arm. BACKGROUND

[0002] In some harsh environments, such as high temperature, strong acid, strong alkali environment, the development of robots is still limited; since in the existing robot driving motor in order to ensure the accuracy of transmission, generally are gathered in the movement joint, when the movement joint close to the harsh environment such as high temperature, strong acid, strong alkali, will cause the damage of driving motor, seriously reduce the service life of robot. SUMMARY

[0003] The purpose of the embodiment of the present application is to provide a mechanical arm with simple structure, convenient operation, high precision and low cost, to meet the harsh environment such as high temperature, strong acid, strong alkali, a planar joint mechanical arm which drives the motor away from the harsh environment.

[0004] In order to achieve the above purpose, the embodiment of the present application designs a planar joint mechanical arm, comprising:

[0005] Straight driving module;

[0006] Sliding slide plate, the sliding slide plate is movably connected on the straight driving module;

[0007] Driving motor device, a plurality of driving motor devices are arranged on the sliding slide plate; a plurality of driving motor devices drive a plurality of joint arms through transmission device.

[0008] Further, each driving motor device drives one joint arm.

[0009] Further, the sliding slide plate is L-shaped, one side of the sliding slide plate is fixed on the sliding block of the straight driving module; the other side of the sliding slide plate is provided with a plurality of driving motor devices and movably connected with one joint arm.

[0010] Further, the straight driving module further comprises:

[0011] Base, the base is fixed on the bottom of the straight driving module;

[0012] First servo motor, the first servo motor is fixed above the base;

[0013] Sliding rail, the sliding rail is fixed on the base;

[0014] A ball screw, one end of the ball screw is connected to the output shaft of the first servo motor; the ball screw is fixed to the middle of the sliding rail through a bearing;

[0015] A ball screw pair, the ball screw pair is movably connected to the ball screw; the ball screw pair is fixed to the sliding slide.

[0016] Further, a plurality of the driving motor devices further comprise:

[0017] A second driving motor, the second driving motor is fixed to the sliding slide through a fixed support;

[0018] A second shaft joint arm, one end of the second shaft joint arm is movably connected to the second driving motor through a gear transmission;

[0019] A third driving motor, the third driving motor is fixed to the sliding slide through the fixed support on one side of the second driving motor;

[0020] A first sprocket, the first sprocket is connected to the output shaft of the third driving motor;

[0021] A fourth driving motor, the fourth driving motor is fixed to the sliding slide through the fixed support on the other side of the second driving motor;

[0022] A second sprocket, the second sprocket is connected to the output shaft of the fourth driving motor;

[0023] A first rotating shaft, the first rotating shaft is fixed to the other end of the second shaft joint arm;

[0024] A third shaft joint arm, the first rotating shaft movably connects the second shaft joint arm and the third shaft joint arm;

[0025] A third sprocket, the third sprocket is fixed to the bottom of the first rotating shaft; the third sprocket is fixed to one end of the third shaft joint arm;

[0026] A first chain, the first chain is connected to the first sprocket and the third sprocket; the third driving motor drives the third sprocket, which drives the third sprocket and the third shaft joint arm to swing;

[0027] A double sprocket, the double sprocket is movably connected above the third sprocket and above the first rotating shaft;

[0028] A second chain, the first layer of the double sprocket is connected to the second chain on the second sprocket;

[0029] Second rotating shaft, the second rotating shaft is movably connected to the other end of the third shaft joint arm; the second rotating shaft and the third shaft joint arm are movably connected;

[0030] Fourth sprocket, the fourth sprocket is fixed to one end of the second rotating shaft;

[0031] Third chain, the second layer of the double sprocket is connected with the fourth sprocket, and the third chain is driven by the third sprocket;

[0032] Clamping jaw, the clamping jaw is fixed to one end of the second rotating shaft; the fourth driving motor drives the second sprocket to rotate, thereby driving the second layer of the double sprocket to rotate, and the clamping jaw is driven to move through the third chain.

[0033] Compared with the prior art, the embodiment of the present application movably connects a sliding slide plate to a straight driving module; a plurality of driving motor devices are arranged on the sliding slide plate; and the plurality of driving motor devices drive and control a plurality of joint arms through a transmission device. The embodiment has the characteristics of simple structure, convenient operation, high precision and low cost, and realizes the technical requirements of being far away from high-temperature, strong acid and strong alkali environments. The embodiment solves the technical problem in the prior art that the development of robots is limited in some harsh environments, such as high-temperature, strong acid and strong alkali environments. In the prior art, driving motors are generally concentrated on movement joints to ensure the accuracy of transmission. When the movement joints are close to harsh environments such as high-temperature, strong acid and strong alkali, the driving motors are damaged, which seriously reduces the service life of the robot. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 The figure is a structural schematic diagram of the present application;

[0035] Figure 2 The figure is a front view of the present application; Figure 1 The figure is a front view of the present application; DETAILED DESCRIPTION

[0036] To make the purpose, technical scheme and advantages of the present application clearer, the embodiments of the present application will be described in detail below with reference to the drawings. However, those skilled in the art can understand that in the embodiments of the present application, many technical details are proposed to make the readers better understand the present application. However, the technical scheme claimed in each claim of the present application can be realized even without these technical details and various changes and modifications based on the following embodiments.

[0037] The embodiments of the present application relate to a planar joint mechanical arm, as shown in Figure 1 and Figure 2 The planar joint mechanical arm comprises:

[0038] The straight driving module 1 of the planar joint mechanical arm in the embodiment is used as a driving device for up-down movement.

[0039] The sliding slide plate 8 is movably connected on the straight driving module 1; the up-down movement of the sliding slide plate 8 realizes the up-down movement in the first axial direction.

[0040] The plurality of driving motor devices 20 are arranged on the sliding slide plate 8; the plurality of driving motor devices 20 control the plurality of joint arms through the transmission device.

[0041] Since the driving motor device 20 controls the plurality of joint arms through the transmission device, the requirement that the driving motor is far away from the harsh environment is met, and the technical problem that the development of the robot is still limited in some harsh environments, such as high temperature, strong acid, and strong alkali environment, is solved; since the driving motor of the existing robot is generally gathered on the movement joint to ensure the accuracy of transmission, when the movement joint is close to the harsh environment such as high temperature, strong acid, and strong alkali, the driving motor is damaged, and the service life of the robot is seriously reduced.

[0042] In order to achieve the above technical effects, the planar joint mechanical arm in the embodiment, as shown in Figure 1 and Figure 2 each driving motor device 20 drives one joint arm, thereby ensuring the independence of the driving action of the planar joint mechanical arm in the embodiment, and the independent control of each joint arm can be realized.

[0043] In order to achieve the above technical effects, the planar joint mechanical arm in the embodiment, as shown in Figure 1 and Figure 2 the sliding slide plate 8 is L-shaped, one side of the sliding slide plate 8 is fixed on the sliding block 18 of the straight driving module 1; the other side of the sliding slide plate 8 is provided with the plurality of driving motor devices 20 and movably connected with one joint arm. The plurality of driving motor devices 20 are concentrated and fixed on the sliding slide plate 8, the concentrated installation structure of the plurality of driving motor devices 20 is realized, and the realization of being far away from the harsh environment such as high temperature, strong acid, and strong alkali is realized.

[0044] In order to achieve the above technical effects, the planar joint mechanical arm in the embodiment, as shown in Figure 1 and Figure 2 the straight driving module 1 further comprises:

[0045] the base 19 is fixed at the bottom of the straight driving module 1; the base 19 serves as the base of the planar joint mechanical arm in the embodiment.

[0046] the first servo motor 24 is fixed above the base 19;

[0047] The sliding rail 21 is fixed on the base 19;

[0048] One end of the ball screw 22 is connected to the output shaft of the first servo motor 24, and the ball screw 22 is fixed to the middle of the sliding rail 21 through a bearing.

[0049] The ball screw pair 23 is movably connected to the ball screw 22, and the ball screw pair 23 is fixed to the sliding slide plate 8.

[0050] In order to achieve the above technical effects, the planar joint mechanical arm in the embodiment comprises a base 19, a sliding rail 21 fixed on the base 19, a ball screw 22, a ball screw pair 23, a first servo motor 24, a second servo motor 2, a third servo motor 3, a fourth servo motor 9, a first chain wheel 4, a second chain wheel 10, a first sprocket 5, a first rotating shaft 26, a second shaft joint arm 12, a third shaft joint arm 7, and a third chain wheel 6. Figure 1 Figure 2 The driving motor device 20 further comprises:

[0051] The second driving motor 2 is fixed to the sliding slide plate 8 through a fixed support 25.

[0052] One end of the second shaft joint arm 12 is movably connected to the second driving motor 2 through gear transmission, and the second driving motor 2 drives the second shaft joint arm 12 to rotate through gear transmission.

[0053] The third driving motor 3 is fixed to the sliding slide plate 8 through a fixed support 25 on one side of the second driving motor 2.

[0054] The first chain wheel 4 is connected to the output shaft of the third driving motor 3.

[0055] The second driving motor 2 is fixed to the sliding slide plate 8 through a fixed support 25 on the other side.

[0056] The second chain wheel 10 is connected to the output shaft of the fourth driving motor 9, and the fourth driving motor 9 drives the second chain wheel 10 to rotate.

[0057] The first rotating shaft 26 is fixed to the other end of the second shaft joint arm 12.

[0058] The third shaft joint arm 7 is movably connected to the second shaft joint arm 12 through the first rotating shaft 26.

[0059] The third chain wheel 6 is fixed to the bottom of the first rotating shaft 26, and the third chain wheel 6 is fixed to one end of the third shaft joint arm 7.

[0060] The first chain 5 is connected to the first chain wheel 4 and the third chain wheel 6, and the third driving motor 3 drives the third chain wheel 6 to swing the third chain wheel 6 and the third shaft joint arm 7. ​

[0061] Double chain wheel 13, the first layer of the double chain wheel 13 is connected with the second chain 11 on the second sprocket 10 above the third sprocket 6 above the first rotating shaft 26;

[0062] Second chain 11, the first layer of the double chain wheel 13 is connected with the second chain 11 on the second sprocket 10;

[0063] Second rotating shaft 16, the second rotating shaft 16 is movably connected to the other end of the third shaft joint arm 7; the second rotating shaft 16 and the third shaft joint arm 7 are movably connected;

[0064] Fourth sprocket 15, the fourth sprocket 15 is fixed on one end of the second rotating shaft 16;

[0065] Third chain 14, the second layer of the double chain wheel 13 is connected with the third chain 14 of the fourth sprocket 15;

[0066] Clamp jaw 17, the clamp jaw 17 is fixed on one end of the second rotating shaft 16; the fourth drive motor 9 drives the second sprocket 10, drives the first layer of the double chain wheel 13 to rotate, thereby driving the second layer of the double chain wheel 13 to rotate, and drives the clamp jaw 17 to act through the third chain 14.

[0067] The above structure, the second drive motor 2 links the second shaft joint arm 12, under the drive of the second drive motor 2, the second shaft joint arm 12 swings; the movement of the second shaft joint arm 12 of the planar joint mechanical arm in the embodiment is realized.

[0068] The movement of the third shaft joint arm 7 of the planar joint mechanical arm in the embodiment: the third drive motor 3 connects the first sprocket 4 to transmit power to the third sprocket 6 through the first chain 5, the third sprocket 6 connects the small arm 7, thereby driving the third shaft joint arm 7 to move, realizing the movement of the third shaft joint arm 7.

[0069] The movement of the clamp jaw 17 of the planar joint mechanical arm in the embodiment: the fourth drive motor 9 connects the second sprocket 10, transmits power to the double chain wheel 13 through the second chain 11, the double chain wheel 13 transmits power to the third chain 14, the third chain 14 transmits power to the fourth sprocket 15, once to the second rotating shaft 16, and finally drives the swing of the clamp jaw 17. Realize the fourth movement of the mechanical arm.

[0070] Those skilled in the art can understand that the above embodiments are specific embodiments for realizing the present application, and in actual application, various changes can be made in form and details without departing from the spirit and scope of the present application.

Claims

1. A planar articulated robotic arm, characterized in that, include: Straight-line drive module; A sliding slide plate is movably connected to the straight-line drive module; A drive motor device, several drive motor devices are mounted on the sliding slide plate; the several drive motor devices remotely control multiple articulated arms through a transmission device; Each of the aforementioned drive motor devices drives one of the aforementioned articulated arms; Also includes: The second drive motor is fixed on the sliding plate by a fixed bracket; The second axis articulated arm is movably connected to one end of the second axis articulated arm via gear transmission below the second drive motor; The third drive motor is fixed to the sliding plate by the fixed bracket on one side of the second drive motor; The first sprocket is connected to the output shaft of the third drive motor; The fourth drive motor is fixed to the sliding plate via the fixed bracket on the other side of the second drive motor; The second sprocket is connected to the output shaft of the fourth drive motor; The first pivot is fixed to the other end of the second pivot arm; The third axis articulated arm, wherein the first rotating shaft movably connects the second axis articulated arm and the third axis articulated arm; The third sprocket is fixed at the bottom of the first rotating shaft; the third sprocket is fixed at one end of the third shaft joint arm; A first chain is connected to the first sprocket and the third sprocket; the third drive motor drives the third sprocket, causing the third sprocket and the third shaft articulated arm to swing. A double sprocket is movably connected above the third sprocket and above the first shaft. The second chain is connected to the first layer of the double sprocket and the second chain on the second sprocket; The second rotating shaft is movably connected to the other end of the third axis articulated arm; the second rotating shaft and the third axis articulated arm are movably connected. The fourth sprocket is fixed to one end of the second shaft; The third chain, wherein the second layer of the double sprocket is connected to the fourth sprocket; The gripper is fixed on one end of the second rotating shaft; the fourth drive motor drives the second sprocket, which drives the first layer of the double sprocket to rotate, thereby driving the second layer of the double sprocket to rotate, and the gripper moves through the third chain.

2. The planar joint robotic arm according to claim 1, characterized in that, The sliding plate is L-shaped, with one side of the sliding plate fixed to the slider of the straight drive module; the other side of the sliding plate is provided with several drive motor devices and movably connected to one of the articulated arms.

3. The planar joint robotic arm according to claim 1, characterized in that, The straight-line drive module further includes: A base is fixed at the bottom of the straight drive module; The first servo motor is fixed above the base; A sliding rail is fixed on the base. A ball screw is connected to one end of the output shaft of the first servo motor; the ball screw is fixed in the middle of the sliding track by a bearing; A ball screw assembly is movably connected to the ball screw; the ball screw assembly is fixed to the sliding plate.

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