Line-driven layered telescopic mechanical arm
By designing a linearly driven layered telescopic robot arm, the servo motor and belt drive base and robot arm, the extension and shortening of the robot arm is achieved, solving the problems of wasted space and high cost in small-scale operations of traditional robot arms. , providing efficient and low-cost solutions.
Patent Information
- Application Number
- CN202411686513.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-25
- Publication Date
- 2025-01-07
AI Technical Summary
In some simple and small load tasks, the traditional Cartesian robotic arms are wasted due to their straight up and down design, and lack of suitable telescopic robotic arms, which is difficult to meet different operating needs.
A linear drive layered telescopic robot arm is designed to generate relative motion through a servo motor and belt drive base and first-stage robot arm, and power is transmitted to the wire harness to drive the second and third-stage robot arms to extend and shorten. , the robotic arm structure is constructed using brackets, carbon tubes and graphite copper sleeves, and the robotic arms at all levels are connected through wire harnesses and idlers.
It realizes the savings of work space and cost, is suitable for efficient operation in small spaces, is low in cost, is suitable for high-demand operation occasions, and has more advantages over existing solutions.
Smart Images
Figure CN119260705A_ABST
Abstract
Description
Technical Field
[0001] This patent relates to the field of robotics technology, and specifically to a wire-driven layered telescopic robotic arm. Background Art
[0002] In today's working environment, telescopic arms are widely used in the industrial field due to their stability and large load capacity. However, in some simple tasks with small loads, such as fruit picking, there is still a lack of suitable telescopic robotic arms. Traditional Cartesian robotic arms are prone to waste of space resources due to their straight up and down design. Therefore, it is necessary to develop a wire-driven hierarchical telescopic robotic arm that can be used with a variety of end effectors to meet different operating requirements. Summary of the invention
[0003] In order to achieve the above purpose, this patent provides a wire-driven layered telescopic robotic arm, which includes: First level robotic arm; The base is nested with the first-stage robot arm; The second-level robot is nested with the first-level robot; The third-level robot is nested with the second-level robot; Fixed plate; A transmission device, fixedly connected to the base and the power device via a fixing plate; The power device, i.e., the servo motor; The first-stage robotic arm comprises a first-stage robotic arm upper bracket, a first-stage robotic arm lower bracket, two guide tubes of the same size, three first-stage robotic arm carbon tubes of the same size, three second-stage graphite copper sleeves of the same size (used for layered nesting of three carbon tubes of corresponding sizes of the second-stage robotic arm), a first-stage wiring harness fixing through hole, three first, second and third V-shaped idler wheels of the same size and a number of screws and nuts corresponding to their fixing sizes. The first-stage robotic arm upper bracket and the first-stage robotic arm lower bracket are fixedly connected via the guide tubes and the first-stage robotic arm carbon tubes.
[0004] The base includes a base bracket body, three secondary graphite copper sleeves of the same size (used for layered nesting of three carbon tubes of corresponding sizes of the first-stage robotic arm), two primary graphite copper sleeves of the same size (used for mutual nesting of two guide tubes of corresponding sizes of the first-stage robotic arm), a base harness fixing through hole, a fifth V-shaped idler wheel and a number of screws and nuts corresponding to the fixing size.
[0005] The second-stage robotic arm includes a second-stage robotic arm upper bracket, three carbon tubes of the same size, three secondary graphite copper sleeves of the same size (used for layered nesting of three carbon tubes of corresponding sizes of the third-stage robotic arm), three third-stage graphite copper sleeves of the same size (used for layered nesting of three guide rods of corresponding sizes of the third-stage robotic arm), a secondary wiring harness fixing through hole, a fourth V-shaped idler wheel and a number of screws and nuts of corresponding sizes. The second-stage robotic arm upper bracket is fixedly connected to the second-stage robotic arm carbon tube.
[0006] The third-level robotic arm includes a third-level robotic arm upper bracket, three third-level robotic arm carbon tubes of the same size, a third-level wiring harness fixing through hole, three guide rods of the same size, and a plurality of screws and nuts. The third-level robotic arm upper bracket is fixedly connected to the guide rods and the third-level robotic arm carbon tube.
[0007] The fixing plate is fixedly connected to the base and the transmission device.
[0008] The transmission device comprises a belt, two small bearings of the same size, a large bearing and two triangular fixing plates.
[0009] The power device includes a servo motor, and the model used in this example is M3508.
[0010] This patent designs a wire-driven layered telescopic robot arm, which is driven by a motor and a belt to generate relative movement between the base and the first-stage robot arm, thereby transmitting power to the wire harness to drive the second-stage robot arm and the third-stage robot arm to generate relative movement, that is, to extend and shorten. Compared with the prior art, the above technical solution has the following technical effects: (1) This patent designs a wire-driven layered telescopic robot arm, which uses belts, motors and bearings to transmit power. The basic structure of the robot arm is constructed by a bracket, a carbon tube and a graphite copper sleeve. The three-level robot arm is interconnected by a wire harness and an idler pulley. The power is transmitted to the wire harness to drive the extension and contraction of the robot arm, thereby saving working space and cost.
[0011] (2) The wire-driven layered telescopic robot arm designed in this patent is targeted at existing telescopic solutions, such as heavy-duty telescopic robots, multi-joint robots, and lead screw telescopic structures. It has many advantages such as small-scale space operation, high efficiency, and low cost. Compared with the above existing solutions, it is more suitable for working occasions with higher requirements on working space and efficiency cost.
[0012] The following is a detailed description of this patent in conjunction with the accompanying drawings and wiring harness directions, but it does not serve as a limitation of this patent. BRIEF DESCRIPTION OF THE DRAWINGS
[0013] Figure 1This is a schematic diagram of the overall structure of the wire-driven layered telescopic robotic arm of this patent; Figure 2 This is a schematic diagram of the wiring harness direction when extended in this patent; Figure 3 This is a schematic diagram of the wiring harness direction during contraction of this patent; Figure 4 This is a schematic diagram of the first-level mechanical arm structure of this patent; Figure 5 This is a schematic diagram of the second-stage mechanical arm structure of this patent; Figure 6 This is a schematic diagram of the third-level mechanical arm structure of this patent; Figure 7 It is a partial enlarged structural schematic diagram of the base device of this patent; Figure 8 It is a partial enlarged structural schematic diagram of the transmission device of this patent; Among them, the figure marked 1First level robotic arm 11First level upper bracket of the robot arm 12 Guide tube 13 Lower bracket of the first stage robot arm 14First V-type idler 15 Second V-type idler 16First stage robot arm carbon tube 17Third V-type idler pulley 18 Secondary graphite copper sleeve 19 first-level wiring harness fixing through hole 2 Second level robotic arm 21 Second level mechanical arm upper bracket 22 Second stage robot arm carbon tube 23 Fourth V-type idler 24 secondary wiring harness fixing holes 25 three-level graphite copper sleeve 3Third level robotic arm 31 The third level mechanical arm upper bracket 32 guide rod 33Third-level wiring harness fixing through hole 34 Third level robot arm carbon tube 4Fixed plate 5. Base 51 base bracket 52 first level graphite copper sleeve 53 Fifth V-type idler 54 Base harness fixing through hole 6 Power Plant 7 Transmission 71 belt 72 small bearings 73 large bearings 74 triangle fixing plate DETAILED DESCRIPTION
[0014] In order to enable those skilled in the art to better understand the content of this patent, the following will be combined with the embodiments and drawings to clearly and completely describe the technical solution of this patent. Obviously, the described embodiments are part of the embodiments of this patent, not all of them. Generally, the components of the embodiments of this patent described and shown in the drawings here can be arranged and designed in various different configurations.
[0015] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.
[0016] In the description of this patent, it should be noted that the terms "upper", "lower", "inner", "outer", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, or the orientation or position relationship in which the patented product is usually placed when in use. They are only for the convenience of describing this patent and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of this patent. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.
[0017] In addition, the terms "horizontal", "vertical" and the like do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.
[0018] (1) Wire harness orientation In order to make the purpose, technical solutions and advantages of the embodiments of this patent clearer, the wiring harness direction of this patent will be clearly and explicitly described below in combination with the drawings in the embodiments of this patent.
[0019] The wiring harness of the present invention when extended is as follows: first, one end of the wiring harness needs to be fixed on the wiring harness fixing hole (54) of the base, and then the other end of the wiring harness is passed around the third V-shaped idler wheel (17) fixed on the upper bracket (11) of the first-stage robot arm, and finally fixed on the secondary wiring harness fixing hole (24) corresponding to the bottom of the carbon tube (22) of the second-stage robot arm. Similarly, one end of another wiring harness is fixed on the primary wiring harness fixing hole (19) of the upper bracket (11) of the first-stage robot arm, and then the other end of the wiring harness is passed around the fourth V-shaped idler wheel (23) fixed on the upper bracket (21) of the second-stage robot arm, and finally fixed on the tertiary wiring harness fixing hole (33) at the bottom of the carbon tube (34) of the corresponding third-stage robot arm, thus completing the wiring harness direction when the robot arm is extended.
[0020] The wiring harness of the present invention is directed as follows when the harness is retracted: first, one end of the harness is fixed to the fixing screw of the rectangular groove of the upper bracket (11) of the first-stage robot arm, and then the other end of the harness is passed through the second V-shaped idler wheel (15) fixed to the lower bracket (13) of the first-stage robot arm, the fifth V-shaped idler wheel (53) fixed in the rectangular groove of the base bracket (51), and the first V-shaped idler wheel (14) fixed to the lower bracket (13) of the first-stage robot arm in sequence, and finally the harness is fixed to the fixing screw of the rectangular groove of the upper bracket (31) of the third-stage robot arm, thus completing the wiring harness direction when the robot arm is retracted.
[0021] (2) Telescopic method like Figure 1 The brackets, base and transmission device of each level are assembled and combined with each other, wherein the first-level mechanical arm (1) and the second-level mechanical arm (2) are matched and connected by three secondary graphite copper sleeves (18), the second-level mechanical arm (2) and the third-level mechanical arm (3) are matched and connected by three secondary graphite copper sleeves (18) and three tertiary graphite copper sleeves (25), and the base (5) and the first-level mechanical arm (1) are connected by three secondary graphite copper sleeves (18) and two primary graphite copper sleeves (52). The graphite copper sleeves used in the present invention are used to ensure the coaxiality of the second and third-level mechanical arms relative to the upper-level mechanical arm to the greatest extent, so as to ensure smooth operation between the mechanical arms, wherein the inner and outer diameters of the primary, secondary and tertiary graphite copper sleeves decrease in sequence. In the initial state of the assembled device of the present invention, the base bracket (51) should be in contact with the upper bracket (11) of the first-stage robot arm, that is, in a fully retracted state. At this time, the motor (6) is energized, and the motor (6) drives the small bearing (72) and the large bearing (73) to move up and down relative to the belt (71). When the motor and the large and small bearings move downward relative to the belt, the robot arm can start to extend, and vice versa, it can retract.
[0022] Of course, this patent may have many other embodiments. Without departing from the spirit and essence of this patent, technicians familiar with the field can make various corresponding changes and deformations based on this patent, but these corresponding changes and deformations should all fall within the scope of protection of the claims attached to this patent.
Claims
1. A wire-driven layered telescopic robotic arm, characterized in that: A first-stage mechanical arm (1); a base (5) nested with the first-stage mechanical arm (1); a second-stage mechanical arm (2) nested in layers with the first-stage mechanical arm (1); a third-stage mechanical arm (3) nested in layers with the second-stage mechanical arm (2); a fixing plate (4); a transmission device (7) fixedly connected to a power device (6); the power device (6) is a servo motor; the first-stage mechanical arm (1) comprises a first-stage mechanical arm upper bracket (11), a first-stage mechanical arm lower bracket (13), a guide The first-stage mechanical arm carbon tube (12), the first-stage mechanical arm carbon tube (16), the second-stage graphite copper sleeve (18), the first-stage wiring harness fixing through hole (19), the first V-shaped idler wheel (14), the second V-shaped idler wheel (15) and the third V-shaped idler wheel (17); the first-stage mechanical arm upper bracket (11) and the first-stage mechanical arm lower bracket (13) are fixedly connected via the guide tube (12) and the first-stage mechanical arm carbon tube (16); the base (5) comprises a base bracket (51), the second-stage graphite copper sleeve (18), the first-stage graphite copper The second-stage mechanical arm (2) comprises a second-stage mechanical arm upper bracket (21), a second-stage mechanical arm carbon tube (22), a second-stage graphite copper sleeve (18), a third-stage graphite copper sleeve (25), a second-stage wire harness fixing through hole (24) and a fourth V-shaped idler wheel (23), and the second-stage mechanical arm upper bracket (21) is fixedly connected to the second-stage mechanical arm carbon tube (22); the third-stage mechanical arm (3) comprises a third-stage mechanical arm upper bracket (21), a second-stage mechanical arm carbon tube (22), a second-stage graphite copper sleeve (18), a third-stage graphite copper sleeve (25), a second-stage wire harness fixing through hole (24) and a fourth V-shaped idler wheel (23). The third-level mechanical arm upper bracket (31), the third-level wiring harness fixing through hole (33), the third-level mechanical arm carbon tube (34) and the guide rod (32); the third-level mechanical arm upper bracket (31) is fixedly connected to the guide rod (32) and the third-level mechanical arm carbon tube (34); the fixing plate (4) is fixedly connected to the base (5) and the transmission device (7); the transmission device (7) comprises a belt (71), a small bearing (72), a large bearing (73) and a triangular fixing plate (74); and the power device (6) is a servo motor.
2. The wire-driven layered telescopic mechanical arm according to claim 1, characterized in that: The wiring harness orientation when the robot arm is extended includes fixing one end of the wiring harness to the base wiring harness fixing through hole (54), then passing the other end of the wiring harness around the third V-shaped idler wheel (17) fixed on the first-stage robot arm upper bracket (11), and finally fixing it to the secondary wiring harness fixing through hole (24) at the bottom of the corresponding second-stage robot arm carbon tube (22); similarly, fixing one end of another wiring harness to the primary wiring harness fixing through hole (19) of the first-stage robot arm upper bracket (11), then passing the other end of the wiring harness around the fourth V-shaped idler wheel (23) fixed on the second-stage robot arm upper bracket (21), and finally fixing it to the corresponding The third-stage harness fixing through hole (33) is located at the bottom of the third-stage mechanical arm carbon tube (34); the wiring harness direction when the mechanical arm is retracted includes fixing one end of the harness to a fixing screw in a rectangular groove of the first-stage mechanical arm upper bracket (11), and then passing the other end of the harness around a second V-shaped idler wheel (15) fixed to the first-stage mechanical arm lower bracket (13), a fifth V-shaped idler wheel (53) fixed in a rectangular groove of the base bracket (51), and a first V-shaped idler wheel (14) fixed to the first-stage mechanical arm lower bracket (13), and finally fixing the harness to a fixing screw in the rectangular groove of the third-stage mechanical arm upper bracket (31).