Mechanical arm, mechanical arm machining method and chess playing robot

Abstract

The invention relates to the technical field of robots, and provides a mechanical arm, a mechanical arm machining method and a chess playing robot, the mechanical arm comprises a main machine support, a large arm, a small arm, a first driving piece and a second driving piece, the large arm comprises a body part, a large arm shaft and a small arm shaft, the large arm shaft is arranged at one end of the body part, and the small arm shaft is arranged at the other end of the body part; the big arm shaft, the small arm shaft and the body part are integrally formed to form a big arm supporting piece; the main machine support is arranged on the large arm shaft in a sleeving mode, and the first driving piece is used for driving the large arm shaft to rotate relative to the main machine support; the small arm shaft is sleeved with the small arm, and the second driving piece is used for driving the small arm to rotate relative to the large arm shaft. According to the mechanical arm, the machining accumulated deviation and the assembling accumulated deviation of the large arm and the connecting piece are reduced, the assembling precision of the main machine support, the large arm and the small arm and the parallelism of the large arm shaft and the small arm shaft are improved, the overall precision of the mechanical arm is improved, and the positioning precision of the attractor position of the chess playing robot can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a mechanical arm, a mechanical arm processing method and a chess-playing robot. Background Art

[0002] The Go robot is an intelligent device designed for Go enthusiasts to provide a sparring partner. The main machine drives the mechanical arm to perform horizontal and vertical three-axis movement within the working range of the chessboard, and the suction nozzle at the end of the mechanical arm sucks the chess pieces to achieve precise movement of the chess pieces. Since the chess pieces have precise positions on the chessboard and the chess pieces are relatively small in size, the robot also needs high positioning accuracy to suck the chess pieces. However, the current Go robot has low overall accuracy of the mechanical arm, resulting in low positioning accuracy of the chess pieces by the Go robot. Therefore, it is urgent to provide a high-precision mechanical arm to improve the chess piece positioning accuracy of the Go robot. Summary of the invention

[0003] The present invention provides a mechanical arm, a mechanical arm processing method and a chess-playing robot, which are used to solve the problem in the prior art that the overall precision of the mechanical arm of the chess-playing robot is low, resulting in low positioning precision of chess pieces by the chess-playing robot.

[0004] The present invention provides a mechanical arm, comprising: A main frame bracket, a big arm and a small arm, wherein the big arm comprises a main body, a big arm shaft and a small arm shaft, wherein the big arm shaft is arranged at one end of the main body, and the small arm shaft is arranged at the other end of the main body, and the big arm shaft, the small arm shaft and the main body are integrally formed to form a big arm support member; A first driving member, the mainframe bracket is sleeved on the large arm shaft, and the first driving member is used to drive the large arm shaft to rotate relative to the mainframe bracket; The second driving member is used for driving the forearm to rotate relative to the forearm shaft.

[0005] According to a robotic arm provided by the present invention, the main body has a first side and a second side opposite to each other, the first side is provided with a first plane, the upper arm axis and the lower arm axis are located on the second side, and the axis centers of the upper arm axis and the lower arm axis are both arranged perpendicular to the first plane.

[0006] According to a mechanical arm provided by the present invention, the first driving member comprises: a first stator and a first rotor, one of the first stator and the first rotor is coaxially fixedly connected to the arm shaft, and the other is fixedly connected to the main frame bracket; And / or, the second driving member includes: a second stator and a second rotor, one of the second stator and the second rotor is coaxially fixedly connected to the arm shaft, and the other is fixedly connected to the arm.

[0007] According to a robotic arm provided by the present invention, the main frame bracket is provided with a first mounting hole and a first mounting surface, the upper arm shaft can be rotatably inserted in the first mounting hole, and the axis of the first mounting hole is perpendicular to the first mounting surface.

[0008] A mechanical arm provided according to the present invention further includes: The base has a second mounting surface and a third mounting surface which are opposite to each other and parallel to each other, and the first mounting surface is fitted and fixed to the second mounting surface.

[0009] A mechanical arm provided according to the present invention further includes: A first bearing assembly is disposed between the boom shaft and the mainframe bracket, and includes a plurality of first bearings, wherein the plurality of first bearings are arranged at intervals along the axial direction of the boom shaft; And / or, a second bearing assembly is disposed between the forearm shaft and the forearm, and includes a plurality of second bearings, and the plurality of second bearings are spaced apart along the axial direction of the forearm shaft.

[0010] The present invention also provides a chess-playing robot, comprising any one of the above-mentioned mechanical arms.

[0011] The present invention also provides a robot arm processing method for processing any of the above-mentioned robot arms, comprising the steps of: The big arm support is cast by a casting process; Fixing the upper arm support member to the first processing machine; The tool of the first processing machine is controlled to rotate around the axis of the upper arm shaft to process the outer peripheral surface of the upper arm shaft, and the tool of the first processing machine is controlled to rotate around the axis of the lower arm shaft to process the outer peripheral surface of the lower arm shaft.

[0012] According to a robot arm processing method provided by the present invention, a CNC boring tool is used to process the outer peripheral surface of the upper arm shaft and the outer peripheral surface of the lower arm shaft.

[0013] A robot arm processing method provided by the present invention further comprises the steps of: Clamp the main machine bracket on the fixture of the second processing machine; Controlling the rotation of the fixture, and controlling the tool of the second processing machine to move on the plane where the axis of the first mounting hole of the main frame bracket is located, so as to process the first mounting hole; The tool of the second processing machine is controlled to move on a plane perpendicular to the axis of the first mounting hole to process the first mounting surface of the mainframe bracket.

[0014] The robotic arm, robotic arm processing method and chess-playing robot provided by the present invention respectively arrange an arm shaft and a forearm shaft at both ends of the main body of the arm of the robotic arm to construct an integrally formed arm support part, and there is no need to arrange connecting parts between the main frame support and the arm and between the arm and the forearm, thereby reducing the processing cumulative deviation and assembly cumulative deviation of the arm and the connecting parts, thereby improving the assembly accuracy of the main frame support, the arm and the forearm; and the later fine processing of the outer peripheral surface of the arm shaft and the outer peripheral surface of the forearm shaft can be carried out on the same processing machine, and the arm support part only needs to be clamped once, without the need to replace the clamp in the middle, thereby improving the parallelism of the arm shaft and the forearm shaft; the structural design of the robotic arm in this embodiment effectively improves the overall accuracy of the robotic arm, and helps to improve the positioning accuracy of the suction position of the chess-playing robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 It is a partial structural schematic diagram of the mechanical arm provided by the present invention.

[0017] Figure 2 It is an assembly diagram of the main arm and related components of the mechanical arm provided by the present invention.

[0018] Figure 3 It is a schematic structural diagram of the main body of the mechanical arm provided by the present invention.

[0019] Figure 4 It is a schematic diagram of the assembly of the mainframe bracket and related components in the mechanical arm provided by the present invention.

[0020] Figure 5 It is a schematic diagram of the positional relationship between the axis center of the upper arm shaft, the axis center of the lower arm shaft, the first mounting surface of the main frame bracket and the main body in the mechanical arm provided by the present invention.

[0021] Figure 6 It is a structural schematic diagram of a base in a mechanical arm provided by the present invention.

[0022] Figure 7 It is a schematic diagram of fine machining of the upper arm shaft and the lower arm shaft in the robot arm machining method provided by the present invention.

[0023] Figure 8 This is one of the schematic diagrams for processing a mainframe bracket in the robot arm processing method provided by the present invention.

[0024] Fig. 9This is the second schematic diagram of processing of the mainframe bracket in the robot arm processing method provided by the present invention.

[0025] Reference numerals: 1. Main frame bracket; 11. First mounting hole; 12. First mounting surface; 2. Upper arm; 20. Upper arm support; 21a. First side; 21b. Second side; 21. Main body; 211. First plane; 22. Upper arm shaft; 23. Lower arm shaft; 24. Housing; 31. First stator; 32. First rotor; 41. Second stator; 51. First bearing assembly; 52. Second bearing assembly; 6. Base; 7. First processing machine; 71. First tool; 72. Second tool; 8. Second processing machine; 81. Third tool; 82. Fourth tool. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] In the description of the embodiments of the present invention, it should be noted that, unless otherwise expressly specified and limited, the terms "first" and "second" are for the purpose of clearly describing the numbering of product components and do not represent any substantial difference. The terms "installed", "connected" and "connected" should 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 direct connection, or an indirect connection through an intermediate medium, or it can be a connection between the two components. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present invention can be understood according to the specific circumstances. "And / or" in the specification and claims means at least one of the connected objects, and the character " / " generally indicates that the related objects before and after are in an "or" relationship.

[0028] Combine the following Figure 1-Figure 9 The present invention describes a robotic arm, a robotic arm processing method and a chess-playing robot.

[0029] like Figure 1As shown, the mechanical arm provided by the embodiment of the present invention includes a main frame support 1, a large arm 2, a small arm, a first driving member and a second driving member. The large arm 2 includes a main body 21, a large arm shaft 22 and a small arm shaft 23. The large arm shaft 22 is arranged at one end of the main body 21, and the small arm shaft 23 is arranged at the other end of the main body 21. The large arm shaft 22, the small arm shaft 23 and the main body 21 are integrally formed to form a large arm support member 20. The main frame support 1 is sleeved on the large arm shaft 22, and the first driving member is used to drive the large arm shaft 22 to rotate relative to the main frame support 1. The small arm is sleeved on the small arm shaft 23, and the second driving member is used to drive the small arm to rotate relative to the small arm shaft 23.

[0030] The mechanical arm provided in the embodiment of the present invention can be used for a chess-playing robot, and can also be used for other types of robots, such as industrial robots, medical robots, etc., without limitation. The host bracket 1 is used to connect the mechanical arm with other components to achieve the installation and fixation of the mechanical arm. When the mechanical arm is used for a chess-playing robot, the mechanical arm can be installed and fixed to the desktop through the host bracket 1.

[0031] The arm 2 further comprises a housing 24, which is covered on the outside of the arm support 20. The housing 24 constitutes the external shape of the arm 2, and the arm support 20 constitutes the load-bearing component of the arm 2. The main frame 1, the arm support 20 and the forearm are rotatably connected in sequence.

[0032] Optionally, the axis centers of the upper arm shaft 22 and the lower arm shaft 23 are both perpendicular to the length direction of the main body 21. The upper arm shaft 22 and the lower arm shaft 23 can be arranged on the same side of the main body 21, or on different sides of the main body 21.

[0033] In the mechanical arm structure of the traditional chess-playing robot, a first connecting member is installed at one end of the upper arm, and the first connecting member is rotatably connected to the main frame through a bearing, and the upper arm motor drives the first connecting member to rotate through a belt to drive the upper arm to rotate relative to the main frame. A second connecting member is installed at one end of the forearm, and the second connecting member is rotatably connected to the other end of the upper arm through a bearing, and the forearm motor drives the second connecting member to rotate through a belt to drive the forearm to rotate relative to the upper arm. The axis of the upper arm and the axis of the forearm of the mechanical arm of this structure have a large position deviation compared with the theoretical axis, and there is a large vertical deviation relative to the length direction of the upper arm and the forearm, resulting in a large overall accuracy deviation of the mechanical arm and poor consistency.

[0034] The robotic arm provided in an embodiment of the present invention constructs an integrally formed boom support part 20 by respectively arranging a boom shaft 22 and a forearm shaft 23 at both ends of the main body 21 of the boom 2 of the robotic arm. There is no need to arrange connecting parts between the main frame 1 and the boom 2 and between the boom 2 and the forearm, thereby reducing the cumulative machining deviation and the cumulative assembly deviation of the boom 2 and the connecting parts, thereby improving the assembly accuracy of the main frame 1, the boom 2 and the forearm; and the later fine machining of the outer peripheral surface of the boom shaft 22 and the outer peripheral surface of the forearm shaft 23 can be carried out on the same processing machine, and the boom support part 20 only needs to be clamped once, without the need to replace the fixture in the middle, thereby improving the parallelism of the boom shaft 22 and the forearm shaft 23; the structural design of the robotic arm in this embodiment effectively improves the overall accuracy of the robotic arm, which helps to improve the positioning accuracy of the suction position of the chess robot.

[0035] Furthermore, if Figure 1 and Figure 2 As shown, the rotation axis of the first driving member is coaxially arranged with the upper arm shaft 22, and the rotation axis of the second driving member is coaxially arranged with the lower arm shaft 23.

[0036] Specifically, the first driving member has a first fixed end and a first driving end, one of which is fixedly connected to the main frame bracket 1, and the other is fixedly connected to the large arm shaft 22, and the rotation center of the first driving end is coaxial with the large arm shaft 22. When the first driving member is started, the first driving end rotates relative to the first fixed end, driving the large arm shaft 22 to rotate relative to the main frame bracket 1, thereby driving the large arm support member 20 to rotate relative to the main frame bracket 1, and realizing the rotation of the large arm 2 relative to the main frame bracket 1.

[0037] The second driving member has a second fixed end and a second driving end, one of which is fixedly connected to the arm shaft 23, and the other is fixedly connected to the arm, and the rotation center of the second driving end is coaxial with the arm shaft 23. When the second driving member is started, the second driving end rotates relative to the second fixed end, driving the arm to rotate relative to the arm shaft 23, thereby realizing the rotation of the arm relative to the arm 2.

[0038] In this embodiment, the rotation axis of the first driving member is coaxially arranged with the upper arm shaft 22, and the first driving member is used to drive the upper arm shaft 22 to rotate relative to the main machine bracket 1, and the rotation axis of the second driving member is coaxially arranged with the small arm shaft 23, and the second driving member is used to drive the small arm to rotate relative to the small arm shaft 23. The belt between the upper arm motor and the first connecting member and the belt between the small arm motor and the second connecting member in the traditional robotic arm structure are eliminated. The upper arm 2 is directly driven to rotate by the first driving member, and the small arm is directly driven to rotate by the second driving member, thereby further improving the overall accuracy of the robotic arm.

[0039] In some embodiments of the present invention, the first driving member is a motor, including a first stator 31 and a first rotor 32, one of which is coaxially fixedly connected to the arm shaft 22, and the other is fixedly connected to the main frame bracket 1. Specifically, the first stator 31 is a motor coil group, which serves as the first fixed end of the first driving member, and the first rotor 32 serves as the first driving end of the first driving member. Or, as Figure 1 and Figure 4 As shown, the first stator 31 as the first driving end of the first driving member is fixedly sleeved on the outer side of the arm shaft 22, and the first rotor 32 as the first fixed end of the first driving member is fixed on the inner side of the main frame bracket 1.

[0040] In some embodiments of the present invention, the second driving member is a motor, including a second stator 41 and a second rotor (not shown in the figure), one of the second stator 41 and the second rotor is coaxially fixedly connected to the arm shaft 23, and the other is fixedly connected to the arm. Specifically, the second stator 41 is a motor coil group, which serves as the second fixed end of the second driving member, and the second rotor serves as the second driving end of the second driving member. Or, as Figure 1 As shown, the second stator 41 as the second driving end of the second driving member is fixedly sleeved on the outer side of the arm shaft 23, and the second rotor as the second fixed end of the second driving member is fixed on the inner side of the arm.

[0041] In some embodiments of the present invention, the first driving member and the second driving member are both motors. The first driving member includes a first stator 31 and a first rotor 32, one of which is coaxially fixedly connected to the upper arm shaft 22, and the other is fixedly connected to the main frame bracket 1. The second driving member includes a second stator 41 and a second rotor (not shown in the figure), one of which is coaxially fixedly connected to the lower arm shaft 23, and the other is fixedly connected to the lower arm. Among them, the arrangement of the first driving member and the second driving member is the same as the above embodiment, and will not be repeated here.

[0042] In a conventional chess-playing robot, a stepper motor is used to drive the upper arm 2 and the lower arm to rotate by means of a belt-connected connecting member. The first driving member and the second driving member in the embodiment of the present invention use rotor motors, which can achieve more precise control of the movement of the robot arm.

[0043] like Figure 3 and Figure 5As shown, in some embodiments of the present invention, the main body 21 has a first side 21a and a second side 21b opposite to each other, and the first side 21a is provided with a first plane 211. The upper arm shaft 22 and the lower arm shaft 23 are located on the second side 21b, and the axis of the upper arm shaft 22 and the axis of the lower arm shaft 23 are both perpendicular to the first plane 211. Among them, the first side 21a and the second side 21b are two sides in the length direction of the main body 21, the first plane 211 is consistent with the length direction of the upper arm 2, and the axis A1 of the upper arm shaft 22 and the axis A3 of the lower arm shaft 23 are both perpendicular to the length direction of the upper arm 2.

[0044] Among them, Figure 1 He Ru Figure 4 As shown, the main frame 1 is provided with a first mounting hole 11, and the outer circumference of the arm shaft 22 is rotatably connected to the inner circumference of the first mounting hole 11. The arm is provided with a second mounting hole, and the outer circumference of the arm shaft 23 is rotatably connected to the inner circumference of the second mounting hole.

[0045] Specifically, the first stator 31 of the first driving member is coaxially fixedly sleeved on the outer circumference of the big arm shaft 22, and the first rotor 32 of the first driving member is coaxially fixedly sleeved on the inner circumference of the first mounting hole 11. The second stator 41 of the second driving member is coaxially fixedly sleeved on the outer circumference of the small arm shaft 23, and the second rotor of the second driving member is coaxially fixedly fixed on the inner circumference of the second mounting hole.

[0046] In this embodiment, the main frame bracket 1 and the big arm shaft 22 are rotatably connected by the first stator 31 and the first rotor 32 of the first driving member, and the small arm and the small arm shaft 23 are rotatably connected by the second stator 41 and the second rotor of the second driving member, which can reduce the assembly deviation, and is conducive to ensuring that the actual rotation axis of the big arm shaft 22 is the same as the theoretical axis of the big arm shaft 22, and the actual rotation axis of the small arm shaft 23 is the same as the theoretical axis of the small arm shaft 23. In addition, the driving structure is simple, which can reduce the occupation of the first driving member and the second driving member in the installation space inside the mechanical arm, which is conducive to the appearance design of the mechanical arm.

[0047] The boom support member 20 can be formed by integral casting, and the outer peripheral surface of the boom shaft 22 and the outer peripheral surface of the arm shaft 23 are finely processed later. In the fine processing process, the first plane 211 is fixed by the processing machine, and the rotation center of the tool for processing the outer peripheral surface of the boom shaft 22 is perpendicular to the first plane 211, and the rotation center of the tool for processing the outer peripheral surface of the arm shaft 23 is perpendicular to the first plane 211, so as to ensure the parallelism of the axis A1 of the boom shaft 22 and the axis A3 of the arm shaft 23, and the verticality of the axis A1 of the boom shaft 22 and the axis A3 of the arm shaft 23 relative to the main body 21.

[0048] like Figure 4 and Figure 5As shown, in some embodiments of the present invention, the main frame bracket 1 is provided with a first mounting hole 11 and a first mounting surface 12. The arm shaft 22 is rotatably connected to the first mounting hole 11, and the axis A2 of the first mounting hole 11 is perpendicularly arranged to the first mounting surface 12.

[0049] When the mechanical arm is in use, the main frame bracket 1 is used to be fixedly connected to the horizontal surface, and the first mounting surface 12 is arranged parallel to the horizontal surface. Since the arm shaft 22 and the first mounting hole 11 are coaxially rotatably connected, by setting the axis A2 of the first mounting hole 11 to be perpendicular to the first mounting surface 12, the axis A1 of the arm shaft 22 can be perpendicular to the first mounting surface 12, and the first plane 211 of the main body 21 is in a horizontal state, that is, the arm 2 is ensured to be in a horizontal posture when working.

[0050] like Figure 1 As shown, the robot arm provided in some embodiments of the present invention further includes a base 6, the base 6 has a second mounting surface and a third mounting surface which are opposite to each other and parallel to each other, and the first mounting surface 12 of the main frame bracket 1 is fitted and fixed to the second mounting surface.

[0051] It can be understood that the base 6 is a flat plate structure, the first mounting surface 12 of the host bracket 1 is fitted and fixed to the first mounting surface of the base 6, and the second mounting surface of the base 6 is used to fit and fix to the horizontal surface. Figure 6 As shown, a plurality of fixing holes are distributed on the base 6, and the host bracket 1 is fixedly connected to the base 6 via fixing members passing through the plurality of fixing holes.

[0052] Optionally, the base 6 is a steel sheet, and the two surfaces of the steel sheet have good flatness and a step-free design, which can effectively reduce the processing horizontal deviation. When the axis A2 of the first mounting hole 11 is vertically arranged with the first mounting surface 12, it can be ensured that the axis A2 of the first mounting hole 11 is perpendicular to the horizontal plane in the use state.

[0053] like Figure 1 and Figure 2 As shown, the mechanical arm provided by the embodiment of the present invention further includes a first bearing assembly 51 and / or a second bearing assembly 52. ​​The first bearing assembly 51 is arranged between the big arm shaft 22 and the main frame 1, and the first bearing assembly 51 includes a plurality of first bearings, and the plurality of first bearings are arranged at intervals along the axial direction of the big arm shaft 22. The second bearing assembly 52 is arranged between the small arm shaft 23 and the small arm, and the second bearing assembly 52 includes a plurality of second bearings, and the plurality of second bearings are arranged at intervals along the axial direction of the small arm shaft 23.

[0054] As a specific example, Figure 1 and Figure 2 The first bearing assembly 51 shown in the figure includes two first bearings, which are arranged at intervals along the axial direction of the big arm shaft 22. The second bearing assembly 52 includes two second bearings, which are arranged at intervals along the axial direction of the small arm shaft 23.

[0055] The number of bearings of the first bearing assembly 51 can be appropriately set according to the length of the upper arm shaft 22, and the number of bearings of the second bearing assembly 52 can be appropriately set according to the length of the lower arm shaft 23. By setting multiple bearings on the upper arm shaft 22 and the lower arm shaft 23, the load borne by each bearing can be reduced, the stability of the rotation connection can be improved, and the strength and rigidity of the robot arm can be enhanced. The multiple first bearings can be different types of bearings, and the multiple second bearings can also be different types of bearings, which can be set according to the load that needs to be shared.

[0056] An embodiment of the present invention further provides a chess-playing robot, which includes the mechanical arm described in any of the above embodiments.

[0057] An embodiment of the present invention further provides a robot arm processing method, which is used to process the robot arm described in any of the above embodiments, and comprises the following steps: Step S100, casting the upper arm support member 20 through a casting process.

[0058] Step S200 , fixing the upper arm support member 20 to the first processing machine 7 .

[0059] Step S300 , control the tool of the first processing machine 7 to rotate around the axis A1 of the upper arm shaft 22 to process the outer circumference of the upper arm shaft 22 . Control the tool of the first processing machine 7 to rotate around the axis A1 of the lower arm shaft 23 to process the outer circumference of the lower arm shaft 23 .

[0060] Among them, the boom support member 20 cast by the casting process in step S100 is a casting that has not been finely machined, and the positions of the boom shaft 22 and the arm shaft 23 are preliminarily positioned. Step S200 is the process of finely machining the outer peripheral surfaces of the boom shaft 22 and the arm shaft 23, and after completion, the precise positions of the axis A1 of the boom shaft 22 and the axis A3 of the arm shaft 23 are determined.

[0061] The outer circumference of the big arm shaft 22 is used for rotational cooperation with the inner circumference of the first mounting hole 11 of the main frame bracket 1, and the outer circumference of the small arm shaft 23 is used for rotational cooperation with the inner circumference of the second mounting hole of the small arm. Figure 7 As shown, during the finishing process, the boom support member 20 is fixed by the first processing machine, the rotation axis of the first tool 71 is set, that is, the axis A1 of the boom shaft 22, and the outer peripheral surface of the boom shaft 22 is processed by the first tool 71. The rotation axis of the second tool 72 is set, that is, the axis A3 of the arm shaft 23, and the outer peripheral surface of the arm shaft 23 is processed by the second tool 72.

[0062] Among them, the first tool 71 can be used to process the outer peripheral surface of the upper arm shaft 22, and then the second tool 72 can be used to process the outer peripheral surface of the small arm shaft 23; or the second tool 72 can be used to process the outer peripheral surface of the small arm shaft 23, and then the first tool 71 can be used to process the outer peripheral surface of the upper arm shaft 22.

[0063] During the entire machining process, the boom support 20 is fixed on the first machining machine 7, the rotation center of the first tool 71 and the rotation center of the second tool 72 are determined, and the outer peripheral surface of the boom shaft 22 and the outer peripheral surface of the small arm shaft 23 are finished on the same machine, effectively ensuring the parallelism and position of the axis A1 of the boom shaft 22 and the axis A3 of the small arm shaft 23.

[0064] It should be noted that the first tool 71 and the second tool 72 can be the same tool or different tools, which can be determined according to the specific structure of the boom support 20. When the first tool 71 and the second tool 72 are different tools, multi-axis linkage can be used for processing, that is, the outer peripheral surface of the boom shaft 22 is processed by the first tool 71, and the outer peripheral surface of the arm shaft 23 is processed by the second tool 72.

[0065] Optionally, the first processing machine 7 is a boring machine, and in step S300, a boring tool is used to process the outer circumference of the upper arm shaft 22 and the outer circumference of the lower arm shaft 23. Figure 7 As shown, the outer circumference of the upper arm shaft 22 and the outer circumference of the lower arm shaft 23 are made by high-precision boring technology. The boring tool processing technology is that the tool revolves around the axis of the workpiece, and the movement axis of the tool is the same as the axis of the workpiece, which can ensure the concentricity and roundness of the upper arm shaft 22 and the lower arm shaft 23.

[0066] Furthermore, in step S300, a CNC (Computer Numerical Control) boring tool is used to process the outer circumference of the upper arm shaft 22 and the outer circumference of the lower arm shaft 23, which can improve the processing accuracy and processing efficiency of the shafts, and obtain the upper arm shaft 22 and the lower arm shaft 23 with high precision and high surface quality, thereby effectively ensuring the concentricity of the upper arm shaft 22 and the first bearing assembly 51, and the concentricity of the lower arm shaft 23 and the second bearing assembly 52.

[0067] In some embodiments of the present invention, step S200 further includes the following steps: Step S201 : machining a first plane 211 on one side of the boom support 20 . The boom shaft 22 and the arm shaft 23 are located on the other side of the boom support 20 .

[0068] Step S202 , the first plane 211 is attached and fixed to the upper surface of the base of the first processing machine 7 , and the rotation center of the tool of the first processing machine 7 is set to be perpendicular to the upper surface of the base.

[0069] Specifically, a milling machine, a surface grinder or a lathe may be used to machine the first plane 211 , and the first plane 211 serves as a structural reference plane of the upper arm support 20 . The upper arm shaft 22 and the lower arm shaft 23 are both vertically positioned based on the first plane 211 .

[0070] See also Figure 7 The upper surface of the base of the first processing machine 7 is a horizontally set plane, and the rotation center of the first tool 71 and the second tool 72 is set to be perpendicular to the upper surface of the base, and then the first plane 211 of the upper arm support 20 is fitted and fixed to the upper surface of the base, so as to effectively ensure the verticality of the axis A1 of the upper arm shaft 22 and the first plane 211, the verticality of the axis A3 of the small arm shaft 23 and the first plane 211, and the parallelism of the axis A1 and the axis A3.

[0071] like Figure 8 and Fig. 9 As shown, the robot arm processing method provided by the embodiment of the present invention also includes the steps of: Step S400 , clamping the mainframe support 1 on a fixture of the second processing machine 8 .

[0072] Step S500 , controlling the fixture to rotate, and controlling the tool of the second processing machine 8 to move on the plane where the axis A2 of the first mounting hole 11 of the main frame bracket 1 is located, so as to process the first mounting hole 11 .

[0073] Step S600 , controlling the tool of the second processing machine 8 to move on a plane perpendicular to the axis A2 of the first mounting hole 11 , to process the first mounting surface 12 of the main frame bracket 1 .

[0074] Optionally, the second processing machine 8 is a lathe. In the lathe processing process, the fixture holding the main frame bracket 1 rotates around a set rotation axis, and the tool does not rotate. The hole or surface is processed by controlling the tool to move on the plane.

[0075] like Figure 8 As shown, the rotation axis of the fixture of the second processing machine 8 is set to the axis A2 of the first mounting hole 11, the fixture is controlled to rotate, and the third tool 81 is controlled to move on the plane where the axis A2 of the first mounting hole 11 is located, so as to process the first mounting hole 11 of the main frame bracket 1. In this way, the coaxial fit between the axis A2 of the first mounting hole 11 and the first bearing assembly 51, and the coaxial fit between the upper arm support 20 and the first bearing assembly 51 can be effectively ensured.

[0076] like Fig. 9As shown, the mainframe support 1 is kept fixed in the fixture of the second processing machine 8, the fixture is continuously controlled to rotate, and the fourth tool 82 is controlled to move on a plane perpendicular to the axis A2 of the first mounting hole 11 to process the first mounting surface 12 of the mainframe support 1. During the entire processing process, the fixture that fixes the mainframe support 1 remains unchanged, and only the tool needs to be replaced, which can effectively ensure the verticality between the axis A2 of the first mounting hole 11 and the first mounting surface 12.

[0077] In the embodiment of the present invention, steps S100 to S300 of processing the upper arm support 20 and steps S400 to S600 of processing the main frame bracket 1 are performed in no particular order, that is, the upper arm support 20 can be processed first and then the main frame bracket 1; the main frame bracket 1 can be processed first and then the upper arm support 20; the main frame bracket 1 and the upper arm support 20 can also be processed at the same time.

[0078] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robotic arm, characterized in that: include: A main frame bracket, a big arm and a small arm, wherein the big arm comprises a main body, a big arm shaft and a small arm shaft, wherein the big arm shaft is arranged at one end of the main body, and the small arm shaft is arranged at the other end of the main body, and the big arm shaft, the small arm shaft and the main body are integrally formed to form a big arm support member; A first driving member, the mainframe bracket is sleeved on the large arm shaft, and the first driving member is used to drive the large arm shaft to rotate relative to the mainframe bracket; The second driving member is used for driving the forearm to rotate relative to the forearm shaft.

2. The robotic arm according to claim 1, characterized in that: The main body has a first side and a second side opposite to each other, the first side is provided with a first plane, the upper arm shaft and the lower arm shaft are located on the second side, and the axis centers of the upper arm shaft and the lower arm shaft are both arranged perpendicular to the first plane.

3. The robotic arm according to claim 1, characterized in that: The first driving member comprises: a first stator and a first rotor, one of the first stator and the first rotor is coaxially fixedly connected to the boom shaft, and the other is fixedly connected to the main frame bracket; And / or, the second driving member includes: a second stator and a second rotor, one of the second stator and the second rotor is coaxially fixedly connected to the arm shaft, and the other is fixedly connected to the arm.

4. The robotic arm according to claim 1, characterized in that: The main frame bracket is provided with a first mounting hole and a first mounting surface, the large arm shaft can be rotatably inserted in the first mounting hole, and the axis of the first mounting hole is perpendicularly arranged to the first mounting surface.

5. The robotic arm according to claim 4, characterized in that: Also includes: The base has a second mounting surface and a third mounting surface which are opposite to each other and parallel to each other, and the first mounting surface is fitted and fixed to the second mounting surface.

6. The robotic arm according to claim 1, characterized in that: Also includes: A first bearing assembly is disposed between the boom shaft and the mainframe bracket, and includes a plurality of first bearings, wherein the plurality of first bearings are arranged at intervals along the axial direction of the boom shaft; And / or, a second bearing assembly is disposed between the forearm shaft and the forearm, and includes a plurality of second bearings, and the plurality of second bearings are spaced apart along the axial direction of the forearm shaft.

7. A chess-playing robot, characterized in that: Comprising a robotic arm as described in any one of claims 1-6.

8. A method for machining a robot arm, used for machining the robot arm as claimed in any one of claims 1 to 6, characterized in that: Includes steps: The big arm support is cast by a casting process; Fixing the upper arm support member to the first processing machine; The tool of the first processing machine is controlled to rotate around the axis of the upper arm shaft to process the outer peripheral surface of the upper arm shaft; the tool of the first processing machine is controlled to rotate around the axis of the lower arm shaft to process the outer peripheral surface of the lower arm shaft.

9. The robot arm processing method according to claim 8, characterized in that: The outer circumference of the upper arm shaft and the outer circumference of the lower arm shaft are processed by a CNC boring tool.

10. The robot arm processing method according to claim 8, characterized in that: Also includes the steps: Clamp the main machine bracket on the fixture of the second processing machine; Controlling the rotation of the fixture, and controlling the tool of the second processing machine to move on the plane where the axis of the first mounting hole of the main frame bracket is located, so as to process the first mounting hole; The tool of the second processing machine is controlled to move on a plane perpendicular to the axis of the first mounting hole to process the first mounting surface of the main frame bracket.

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