Rotating and telescopic two-axis robotic arm based on a single power source

Abstract

The present invention discloses a rotating and telescopic two-axis robotic arm based on a single power source, comprising a rotating axis assembly and a telescopic axis assembly; the rotating axis assembly comprises a turntable assembly and a cam assembly; the turntable assembly comprises a fixed outer ring and an inner ring arranged within the outer ring, the outer ring and the inner ring being rotatably engaged with each other, and a ratchet mechanism is provided between the outer ring and the inner ring, the ratchet mechanism enabling the inner ring to rotate relative to the outer ring along a first direction; a rotating platform is mounted on the inner ring, and the telescopic axis assembly is mounted on the rotating platform; the cam assembly comprises a cam and a power source for driving the cam to rotate around the axis of the turntable assembly; a protrusion is provided on the cam; the telescopic axis assembly comprises a telescopic rod and a scissor-type connecting rod assembly; the telescopic rod is mounted on the rotating platform, and the telescopic rod can move relative to the rotating platform along its axis, and a mating structure mating with the protrusion is provided on the telescopic rod. The rotating and telescopic two-axis robotic arm of the present invention uses a single power source to achieve both the rotation and telescopic movements of the robotic arm.

Description

Technical Field

[0001] The present invention belongs to the technical field of robotic arms, and in particular relates to a rotary telescopic two-axis robotic arm based on a single power source. Background Art

[0002] A Chinese patent with publication number CN215789968U discloses a two-axis robotic arm structure, comprising: a frame; a Z-axis motor, the bottom of the Z-axis motor is fixed to the bottom of the inner wall of the frame, and the output end of the Z-axis motor is fixedly connected to a first ball screw; an X-axis slide, the surface of the X-axis slide is threadedly connected to the surface of the first ball screw, and a connecting slide hole is provided on the X-axis slide; an X-axis motor, the X-axis motor is installed on the X-axis slide, the output end of the X-axis motor is connected to a second ball screw, and the moving end of the second ball screw is connected to a telescopic table; a docking flange, one side of the docking flange is fixed to the surface of the telescopic table.

[0003] The Chinese patent publication number CN218052688U discloses a two-axis robotic arm, comprising a mounting base and a main shaft hingedly mounted on the mounting base, and servo motors A and B mounted on both sides of the mounting base for driving the main shaft to swing at different speeds. The main shaft is hingedly connected to a swing shaft at one end away from the mounting base, and a chuck is hingedly mounted at the end of the swing shaft. A balancing connection base is hingedly connected at the hinged joint between the main shaft and the swing shaft. The balancing connection base has three hinged parts, one of which is hinged to a first balancing rod hinged to one end of the chuck, and the other is hinged to a first balancing rod hinged to one end of the chuck. The connecting part is hinged with a second balance rod whose end is hinged to the mounting seat, and the third hinged part is hinged to the main shaft and the swing shaft; the swing shaft is hinged with a secondary shaft assembly connected to the output end of the servo motor A for driving the swing shaft to swing; the mounting seat is composed of a connecting plate and three vertical plates, and the three vertical plates are fixed on the connecting plate at intervals; the main shaft is composed of a first main board and a second main board fixed by several first connecting shafts, and the first main board and the second main board are located at one end of the swing shaft and are penetrated by a first hinge shaft, and the swing shaft and the balance connecting seat are hinged to the main shaft through the first hinge shaft.

[0004] Existing two-axis robotic arms require two power sources, each controlling one arm's motion. While this meets the robotic arm's motion requirements, the need for two power sources leads to high costs. The power source and associated drive mechanisms also take up a large amount of space, making them difficult to miniaturize. Summary of the Invention

[0005] In view of this, an object of the present invention is to provide a rotating and telescopic two-axis robotic arm based on a single power source, which realizes the rotation and telescopic movements of the robotic arm through only one power source.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A rotating and telescopic two-axis robotic arm based on a single power source, comprising a rotating axis assembly and a telescopic axis assembly;

[0008] The rotating shaft assembly includes a turntable assembly and a cam assembly;

[0009] The turntable assembly includes a fixed outer ring and an inner ring disposed within the outer ring, the outer ring and the inner ring being rotatably engaged with each other, and a ratchet mechanism is provided between the outer ring and the inner ring, the ratchet mechanism enabling the inner ring to rotate relative to the outer ring in a first direction; a rotating platform is mounted on the inner ring, and the telescopic shaft assembly is mounted on the rotating platform;

[0010] The cam assembly includes a cam and a power source for driving the cam to rotate around the axis of the turntable assembly; the cam is provided with a protrusion;

[0011] The telescopic shaft assembly includes a telescopic rod and a scissor-type connecting rod assembly;

[0012] The telescopic rod is mounted on the rotating platform and can move relative to the rotating platform along its axis. The telescopic rod is provided with a matching structure that matches the protrusion.

[0013] The scissor-type linkage assembly includes a fixed seat and a scissor-type linkage mechanism, the fixed seat is fixedly mounted on the rotating platform, and the line connecting the central hinge points of the scissor-type linkage mechanism is parallel to or coaxial with the axis of the telescopic rod; the central hinge points of the scissor-type linkage mechanism are named as the first hinge point, the second hinge point, ..., the nth hinge point in sequence; the first hinge point is hingedly connected to the fixed seat, and the i-th hinge point is hingedly connected to the telescopic rod, and 2≤i<n;

[0014] The rotating platform is provided with a reset spring connected to the telescopic rod, and the reset spring drives the telescopic rod to reset and shorten the length of the scissor-type linkage mechanism;

[0015] When the distance between two adjacent central hinge points of the scissor-fork linkage mechanism is the smallest, the distance between the protrusion and the axis of the turntable assembly is greater than the distance between the matching structure and the axis of the turntable assembly; when the distance between two adjacent central hinge points of the scissor-fork linkage mechanism is the largest, the distance between the protrusion and the axis of the turntable assembly is greater than the distance between the matching structure and the axis of the turntable assembly;

[0016] When the protrusion rotates toward the first direction and contacts and cooperates with the matching structure, the rotating platform and the inner ring rotate synchronously with the cam toward the first direction;

[0017] When the protrusion rotates toward the second direction and contacts and cooperates with the mating structure, the telescopic rod is driven to move and the length of the scissor-type linkage mechanism is extended; under the action of the ratchet mechanism, when the cam rotates toward the second direction, the rotating platform and the inner ring remain stationary relative to the outer ring; the first direction and the second direction are opposite.

[0018] Furthermore, the rotating platform and the telescopic rod are respectively provided with cylindrical pins, and the two ends of the reset spring are respectively connected to the two cylindrical pins.

[0019] Furthermore, the ratchet mechanism includes a ratchet and a pawl that cooperate with each other, the ratchet is mounted on the outer ring, the pawl is mounted on the inner ring or the rotating platform, and a pawl spring connected to the pawl is mounted on the inner ring or the rotating platform.

[0020] Furthermore, the telescopic rod is hingedly connected to the second hinge point.

[0021] Furthermore, the matching structure adopts a matching axis provided on the telescopic rod and parallel to the axis of the turntable assembly.

[0022] Furthermore, the mating shaft is provided with a contact bearing for rolling engagement with the protruding portion.

[0023] Furthermore, the number of protrusions on the cam is at least one.

[0024] Furthermore, the protrusions are arranged in four rings.

[0025] Furthermore, a linear slide is provided on the rotating platform, and the telescopic rod is slidably mounted in the linear slide.

[0026] The beneficial effects of the present invention are:

[0027] The present invention is a rotary telescopic two-axis robotic arm based on a single power source. By providing a ratchet mechanism between an outer ring and an inner ring, the inner ring can rotate relative to the outer ring in a first direction, but cannot rotate in an opposite second direction. Thus:

[0028] When the cam is not in contact with the telescopic rod, the return spring drives the telescopic rod to return to its original position, shortening the length of the scissor-type linkage mechanism to its minimum length. When the direction of the telescopic shaft assembly needs to be adjusted, the power source is used to drive the cam to rotate in the first direction. When the protrusion contacts the mating structure, the telescopic rod applies a force to the rotating platform, causing the rotating platform and the inner ring to rotate synchronously with the cam in the first direction, thereby adjusting the direction of the telescopic rod.

[0029] When the telescopic shaft needs to be driven to perform telescopic movement, the power source is used to drive the cam to rotate in the second direction. Under the self-locking fixing action of the ratchet mechanism, the rotating platform and the inner ring remain stationary relative to the outer ring. When the protruding portion contacts and engages with the matching structure, the telescopic rod is driven to move back toward the limiting structure, thereby increasing the distance between the first intersection point and the i-th intersection point of the scissor-type linkage mechanism, extending the length of the scissor-type linkage mechanism, and achieving the purpose of driving the telescopic shaft assembly to extend.

[0030] In summary, the present invention is a rotary telescopic two-axis robotic arm based on a single power source. It uses only one power source to drive the rotary axis assembly to move to adjust the direction of the telescopic axis assembly, and at the same time can drive the telescopic axis assembly to perform telescopic movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to make the purpose, technical solutions and beneficial effects of the present invention more clear, the present invention provides the following drawings for illustration:

[0032] Figure 1 Schematic diagram of the structure of an embodiment of a rotary telescopic two-axis robotic arm based on a single power source of the present invention;

[0033] Figure 2 This is a top view of the rotary telescopic two-axis robotic arm based on a single power source in this embodiment, specifically a diagram of the scissor linkage after extension;

[0034] Figure 3 for Figure 2 A magnified view of area A;

[0035] Figure 4 This is a bottom view of the rotary and telescopic two-axis robotic arm based on a single power source according to this embodiment.

[0036] Description of reference numerals:

[0037] 11-outer ring; 12-inner ring; 13-ratchet; 14-pawl; 15-pawl spring; 16-rotating platform; 161-linear slide; 162-cylindrical pin; 17-cam; 171-protrusion; 18-power source;

[0038] 21-telescopic rod; 211-cylindrical pin; 22-fixed seat; 23-scissor linkage; 231-center hinge point; 24-reset spring; 25-contact bearing; 26-matching shaft. DETAILED DESCRIPTION

[0039] The present invention will be further described below with reference to the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it. However, the embodiments are not intended to limit the present invention.

[0040] like Figure 1As shown, this embodiment is based on a rotary telescopic two-axis robotic arm with a single power source, and includes a rotary axis assembly and a telescopic axis assembly.

[0041] In this embodiment, the rotating shaft assembly includes a turntable assembly and a cam assembly. The turntable assembly includes a fixed outer ring 11 and an inner ring 12 mounted within the outer ring 11. The outer ring 11 and the inner ring 12 are rotatably engaged to reduce rotational resistance between the two rings. In this embodiment, a ratchet mechanism is provided between the outer ring 11 and the inner ring 12, enabling the inner ring 12 to rotate relative to the outer ring 11 in a first direction. Specifically, a rotating platform 16 is mounted on the inner ring 12, and the telescopic shaft assembly is mounted on the rotating platform 16. Specifically, the ratchet mechanism includes a ratchet 13 and a pawl 14 that cooperate with each other. The ratchet 13 is mounted on the outer ring 11 or the rotating platform 16, and the pawl 14 is mounted on the inner ring 12 or the rotating platform 16. A pawl spring 15 connected to the pawl is mounted on the inner ring 12 or the rotating platform 16. In this embodiment, the pawl 14 is mounted on the rotating platform 16, with the pawl spring 15 mounted between the rotating platform 16 and the pawl 14.

[0042] The cam assembly of this embodiment includes a cam 17 and a power source 18 for driving the cam 17 to rotate around the axis of the turntable assembly; a protrusion 171 is provided on the cam 17. The power source 18 of this embodiment adopts a motor. Of course, in some other embodiments, other power sources that can drive the cam 17 to rotate, such as a starter motor, etc., can also be used, which will not be repeated here. Specifically, the protrusion 171 on the cam 17 is set to at least one, that is, the number of the protrusions 171 is set according to the actual working conditions. In this embodiment, the protrusions 171 are evenly distributed in a ring. Specifically, the cam 17 of this embodiment adopts a square cam, and the four diagonal positions of the square cam form the protrusions 171.

[0043] The telescopic shaft assembly of this embodiment includes a telescopic rod 21 and a scissor-type connecting rod assembly. The telescopic rod 21 of this embodiment is mounted on the rotating platform 16, and the telescopic rod 21 can move relative to the rotating platform 16 along its axial direction. The telescopic rod 21 is provided with a mating structure that cooperates with the protrusion 171. Specifically, in this embodiment, a linear slide 161 is provided on the rotating platform 16, and the telescopic rod 21 is slidably mounted in the linear slide 161. The scissor-type connecting rod assembly of this embodiment includes a fixed seat 22 and a scissor-type connecting rod mechanism 23. The fixed seat 22 is fixedly mounted on the rotating platform 16, and the line connecting the center hinge points 231 of the scissor-type connecting rod mechanism 23 is parallel to or coaxial with the axis of the telescopic rod 21. In this embodiment, in the axial viewing direction along the rotating assembly, the line connecting the center hinge points 231 of the scissor-type connecting rod mechanism 23 coincides with the axis of the telescopic rod 21. Specifically, the central hinge points 231 of the scissor-type linkage 23 are designated as the first hinge point, the second hinge point, ..., and the nth hinge point, respectively. The first hinge point is hingedly connected to the fixed base 22, and the i-th hinge point is hingedly connected to the telescopic rod 21, where 2 ≤ i < n. n is the total number of central hinge points 231 in the scissor-type linkage 23. Specifically, in this embodiment, the telescopic rod 21 is hingedly connected to the second hinge point. This allows the telescopic rod 21 to drive the scissor-type linkage 23 to shorten to its minimum length or extend to its maximum length within a relatively short travel range.

[0044] In a preferred embodiment of this embodiment, a return spring 24 connected to the telescopic rod 21 is provided on the rotating platform 16. The return spring 24 drives the telescopic rod 21 to return to its original position, thereby shortening the length of the scissor-type linkage 23. Specifically, a cylindrical pin 162 and a cylindrical pin 211 are provided on the rotating platform 16 and the telescopic rod 21, respectively. The ends of the return spring 24 are connected to the cylindrical pin 162 and the cylindrical pin 211, respectively.

[0045] In the preferred embodiment of this embodiment, the mating structure utilizes a mating shaft 26 mounted on the telescopic rod 21 and parallel to the axis of the turntable assembly. Furthermore, the mating shaft 26 is provided with a contact bearing 25 for rolling engagement with the protrusion 171. As the protrusion 171 engages and drives the telescopic rod 21 relative to the rotating platform 16, relative displacement occurs between the protrusion 171 and the telescopic rod 21. The provision of the contact bearing 25 reduces frictional resistance between the protrusion 171 and the telescopic rod 21.

[0046] Specifically, when the distance between two adjacent center hinge points 231 of the scissor-fork linkage 23 is smallest, the length of the scissor-fork linkage 23 is at its shortest, and the distance between the protrusion 171 and the axis of the turntable assembly is greater than the distance between the mating structure and the axis of the turntable assembly. When the distance between two adjacent center hinge points 231 of the scissor-fork linkage 23 is largest, the length of the scissor-fork linkage 23 is at its longest, and the distance between the protrusion 171 and the axis of the turntable assembly is greater than the distance between the mating structure and the axis of the turntable assembly. This ensures that the protrusion 171 can contact and mate with the mating structure of the telescopic rod 21 during both the process of extending the scissor-fork linkage 23 to its maximum length and shortening it to its minimum length.

[0047] Specifically, the principle of the rotary telescopic two-axis robotic arm based on a single power source in this embodiment is as follows:

[0048] When the protrusion 171 rotates toward the first direction and contacts the mating structure, the rotating platform 16 and the inner ring 12 rotate synchronously with the cam 17 toward the first direction; thus, the position and direction of the telescopic shaft assembly can be adjusted.

[0049] When the protrusion 171 rotates in the second direction and contacts the mating structure, it drives the telescopic rod 21 to move and extends the length of the scissor-type linkage 23. Under the action of the ratchet mechanism, while the cam 17 rotates in the second direction, the rotating platform 16 and the inner ring 12 remain stationary relative to the outer ring 11. The first direction and the second direction are opposite. In this embodiment, the first direction is clockwise, and the second direction is counterclockwise.

[0050] The above embodiments are merely preferred embodiments for the purpose of fully illustrating the present invention, and the scope of protection of the present invention is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present invention are within the scope of protection of the present invention. The scope of protection of the present invention shall be subject to the claims.

Claims

1. A rotary telescopic two-axis robotic arm based on a single power source, characterized by: It includes a rotating shaft assembly and a telescopic shaft assembly; The rotating shaft assembly includes a turntable assembly and a cam assembly; The turntable assembly includes a fixed outer ring and an inner ring disposed within the outer ring, the outer ring and the inner ring being rotatably engaged with each other, and a ratchet mechanism is provided between the outer ring and the inner ring, the ratchet mechanism enabling the inner ring to rotate relative to the outer ring in a first direction; a rotating platform is mounted on the inner ring, and the telescopic shaft assembly is mounted on the rotating platform; The cam assembly includes a cam and a power source for driving the cam to rotate around the axis of the turntable assembly; the cam is provided with a protrusion; The telescopic shaft assembly includes a telescopic rod and a scissor-type connecting rod assembly; The telescopic rod is mounted on the rotating platform and can move relative to the rotating platform along its axis. The telescopic rod is provided with a matching structure that matches the protrusion. The scissor-type linkage assembly includes a fixed seat and a scissor-type linkage mechanism, the fixed seat is fixedly mounted on the rotating platform, and the line connecting the central hinge points of the scissor-type linkage mechanism is parallel to or coaxial with the axis of the telescopic rod; the central hinge points of the scissor-type linkage mechanism are named as the first hinge point, the second hinge point, ..., the nth hinge point in sequence; the first hinge point is hingedly connected to the fixed seat, and the i-th hinge point is hingedly connected to the telescopic rod, and 2≤i<n; The rotating platform is provided with a reset spring connected to the telescopic rod, and the reset spring drives the telescopic rod to reset and shorten the length of the scissor-type linkage mechanism; When the distance between two adjacent central hinge points of the scissor-fork linkage mechanism is the smallest, the distance between the protrusion and the axis of the turntable assembly is greater than the distance between the matching structure and the axis of the turntable assembly; when the distance between two adjacent central hinge points of the scissor-fork linkage mechanism is the largest, the distance between the protrusion and the axis of the turntable assembly is greater than the distance between the matching structure and the axis of the turntable assembly; When the protrusion rotates toward the first direction and contacts and cooperates with the matching structure, the rotating platform and the inner ring rotate synchronously with the cam toward the first direction; When the protrusion rotates toward the second direction and contacts and cooperates with the mating structure, the telescopic rod is driven to move and the length of the scissor-type linkage mechanism is extended; under the action of the ratchet mechanism, when the cam rotates toward the second direction, the rotating platform and the inner ring remain stationary relative to the outer ring; the first direction and the second direction are opposite.

2. The single-power-source rotary telescopic two-axis robotic arm according to claim 1, characterized in that: The rotating platform and the telescopic rod are respectively provided with cylindrical pins, and the two ends of the reset spring are respectively connected to the two cylindrical pins.

3. The single-power-source rotary telescopic two-axis robotic arm according to claim 1, characterized in that: The ratchet mechanism includes a ratchet and a pawl that cooperate with each other. The ratchet is installed on the outer ring, and the pawl is installed on the inner ring or the rotating platform. A pawl spring connected to the pawl is installed on the inner ring or the rotating platform.

4. The single-power-source rotary telescopic two-axis robotic arm according to claim 1, characterized in that: The telescopic rod is hingedly connected to the second hinge point.

5. The single-power-source rotary telescopic two-axis robotic arm according to claim 1, characterized in that: The matching structure adopts a matching shaft which is arranged on the telescopic rod and is parallel to the axis of the turntable assembly.

6. The single-power-source, rotary, telescopic, two-axis robotic arm according to claim 5, characterized in that: The mating shaft is provided with a contact bearing for rolling engagement with the protruding portion.

7. The single-power-source rotary telescopic two-axis robotic arm according to claim 1, characterized in that: There is at least one protrusion on the cam.

8. The single-power-source rotary telescopic two-axis robotic arm according to claim 7, characterized in that: The protrusions are arranged in four ring shapes.

9. The single-power-source rotary telescopic two-axis robotic arm according to claim 1, characterized in that: A linear slide is provided on the rotating platform, and the telescopic rod is slidably mounted in the linear slide.

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