Line-driven nested telescopic mechanical arm
By designing a line-driven nested telescopic robotic arm and using nested carbon tubes and wire wheel drive systems, the problem of existing robotic arms being unsuitable in small spaces has been solved, saving space and improving operating efficiency. It is suitable for A variety of non-traditional industrial sectors.
Patent Information
- Application Number
- CN202411724246.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-28
- Publication Date
- 2025-01-21
AI Technical Summary
Existing robotic arms are not suitable in some simple, small loads and small working space. Traditional Cartesian robotic arms designs lead to waste of space resources.
A line -driven nested telescopic robotic arm is designed. Through nested carbon tube and wire -driven system, the scalability of the robotic arm is achieved, saving space and improving operational efficiency.
It has achieved efficient operations in a small -scale space, reducing costs, and suitable for non -traditional industrial fields, such as agricultural picking, and has a telescopic function to meet the needs of different operations.
Smart Images
Figure CN119328731A_ABST
Abstract
Description
Technical Field
[0001] This patent relates to the field of robotics, and specifically to a wire-driven nested 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, multi-joint robotic arms, foldable telescopic robotic arms or heavy hydraulic telescopic robotic arms are not suitable for some simple, small load and small working space problems, and 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 nested telescopic robotic arm that can be used with a variety of end effectors to ensure high working efficiency and meet the requirements of different operations. Summary of the invention
[0003] In order to achieve the above purpose, this patent provides a wire-driven nested telescopic robotic arm, which includes: First level robotic arm; The base and the carbon tube of the first-stage robot arm are nested with each other through a graphite copper sleeve; The second-stage robot arm is nested with the carbon tube of the first-stage robot arm; The third-stage robot arm is nested with the carbon tube of the second-stage robot arm; Fixed plate; The wire wheel is fixedly connected to the power device through a fixing plate; The power device, i.e., the servo motor;
[0004] The first-stage robotic arm comprises a first-stage robotic arm upper bracket, a first-stage robotic arm lower bracket, three first-stage robotic arm carbon tubes of the same size, five first V-shaped idler wheels, a second V-shaped idler wheel, a third V-shaped idler wheel, a fourth V-shaped idler wheel, and a fifth V-shaped idler wheel of the same size, and a number of screws and nuts corresponding to their sizes. The first-stage robotic arm upper bracket and the first-stage robotic arm lower bracket are fixedly connected by the first-stage robotic arm carbon tubes.
[0005] The base includes a base bracket body, three graphite copper sleeves of the same size corresponding to the through holes of the base bracket (used for the three carbon tubes of the first-stage robotic arm to nest with each other), three seventh V-shaped idler wheels, an eighth V-shaped idler wheel, and a ninth V-shaped idler wheel of the same size, and a number of screws and nuts corresponding to their sizes.
[0006] The second-stage robotic arm includes a second-stage robotic arm upper bracket, three second-stage robotic arm carbon tubes of the same size (the outer diameter of the three carbon tubes should be smaller than the inner diameter of the first-stage robotic arm carbon tube, and should be a clearance fit for easy nesting), a sixth V-shaped idler wheel and a number of screws and nuts corresponding to its size. The second-stage robotic arm upper bracket is fixedly connected to the second-stage robotic arm carbon tube.
[0007] The third-level robotic arm includes a third-level robotic arm upper bracket, three third-level robotic arm carbon tubes of the same size (the outer diameter of the three carbon tubes should be smaller than the inner diameter of the second-level robotic arm carbon tube, and should be a clearance fit for easy nesting), and a number of screws and nuts for fixing the wire ends. The third-level robotic arm upper bracket is fixedly connected to the third-level robotic arm carbon tube.
[0008] The fixing plate is fixedly connected to the base, the wire wheel and the power device.
[0009] The wire wheel comprises an upper wire wheel and a lower wire wheel.
[0010] The power device is a servo motor, and the model used in this example is M3508.
[0011] The technical effects of this patent are: (1) This patent designs a wire-driven nested telescopic robot arm, which is fixed to the base by a motor and a winding wheel through a fixing plate to drive the base and the first-stage robot arm to generate relative movement. Under the action of the mutual nesting of the wiring harness and the carbon tube, the second-stage robot arm will generate relative movement relative to the first-stage robot arm. Similarly, when the second-stage robot arm generates relative movement, under the action of the wiring harness, the third-stage robot arm will also generate relative movement relative to the second-stage robot arm, thereby causing the robot arm to extend and shorten, thereby achieving the purpose of saving working space and improving work efficiency.
[0012] (2) This patent designs a wire-driven nested telescopic robotic arm. Compared with existing robotic arm telescopic solutions, such as multi-joint robotic arms, foldable telescopic robotic arms or heavy hydraulic telescopic robotic arms, it has the advantages of being able to operate in a small space, low cost and high efficiency. It is more suitable for use in non-traditional industries, such as agricultural picking.
[0013] 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
[0014] Figure 1 This is a schematic diagram of the overall structure of the nested telescopic mechanical arm of this patent; Figure 2 This is a schematic diagram of the wiring harness direction when extended in this patent; Figure 3This 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 robotic arm assembly structure of this patent; Figure 5 This is a schematic diagram of the second-stage robotic arm assembly structure of this patent; Figure 6 This is a schematic diagram of the third-level robotic arm assembly structure of this patent; Figure 7 It is a partial enlarged structural schematic diagram of the base device of this patent; Figure 8 This is a partial enlarged structural diagram of the fixing plate device of this patent: Fig. 9 It is a partial enlarged structural diagram of the transmission mechanism of this patent; Among them, the figure marked 1First level robotic arm 101 The first level upper bracket of the robot arm 102 Carbon tube for the first stage robot 103 First level mechanical arm lower bracket 104 First V-type idler 105 Second V-type idler 106 Third V-type idler 107 lower bracket square hole 108 Fourth V-type idler 109 Idle wheel fixing screw 110 upper bracket square hole 111 Fifth V-type idler 112 First level upper bracket fixing screw 2 Second level robotic arm 21 Second level mechanical arm upper bracket 22 Second level carbon tube bottom through hole 23 Second stage robot arm carbon tube 24 Sixth V-type idler 3Third level robotic arm 31 The third level mechanical arm upper bracket 32 Third level robot arm carbon tube 33Third level carbon tube bottom through hole 34Third-level bracket fixing screw 4 Base 41 Base bracket 42 Seventh V-type idler 43 Eighth V-type idler 44 base fixing screw 45 graphite copper sleeve 46 Ninth V-type idler 5Fixed plate 51 Through hole on the fixed plate 52 Through hole under the fixing plate 6. Servo motor 7-wire reel 71 Upper reel 72 lower reel DETAILED DESCRIPTION
[0015] 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.
[0016] 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.
[0017] In the description of this patent, it should be noted that the terms "upper", "lower", 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, which is only for the convenience of describing this patent and simplifying the description, and does 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.
[0018] 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.
[0019] (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.
[0020] The direction of the wire harness during extension of the present invention is as follows: first, one end of the first wire needs to be fixed on the square hole (107) of the first-level lower bracket (103), and the other end needs to be passed around the eighth V-shaped idler wheel (43) on the plane of the base bracket (41), and then passed through the third V-shaped idler wheel (106) in the convex groove on the first-level mechanical arm lower bracket (103), and then passed through the lower through hole (52) on the fixing plate (5) and fixed to the upper wire wheel (71); then one end of the second wire harness is fixed to the fixing screw (44) on the curved surface of the base bracket (41), and the wire harness passes around the fourth V-shaped idler wheel (108) fixed on the curved surface of the first-level mechanical arm upper bracket (101), and then fixed to the bottom through hole (22) of the second-level mechanical arm carbon tube (23). In the initial state, the base bracket (41) should just be in contact with the first-level mechanical arm upper bracket (101). Similarly, one end of the third wire harness is fixed to the idler wheel fixing screw (109) of the first-stage mechanical arm upper bracket (101), and the wire harness passes around the sixth V-shaped idler wheel (24) fixed on the curved surface of the second-stage mechanical arm upper bracket (21), and is then fixed to the bottom through hole (33) of the third-stage mechanical arm carbon tube (32), thus completing the direction of the wire harness when the mechanical arm is extended.
[0021] The direction of the wire harness during contraction of the present invention is as follows: first, one end of the first wire needs to be fixed to the square hole (110) of the upper bracket (101) of the first-stage mechanical arm, and the other end is passed around the seventh V-shaped idler wheel (42) on the plane of the base bracket (41), and then passed through the fifth V-shaped idler wheel (111) in the convex groove on the upper bracket (101) of the first-stage mechanical arm, and then passed through the upper through hole (51) of the fixing plate (5) and fixed to the lower wire wheel (72); then one end of the second wire harness is fixed to the first-stage mechanical arm. The wire harness is then passed through the fixing screw (112) of the upper bracket (101) of the first-stage mechanical arm, and then the other end of the wire harness is passed through the first V-shaped idler wheel (104) fixed on the lower bracket (103) of the first-stage mechanical arm, the ninth V-shaped idler wheel (46) fixed on the curved surface of the base bracket (41), and the second V-shaped idler wheel (105) fixed on the lower bracket (103) of the first-stage mechanical arm in sequence, and finally the wire harness is fixed on the fixing screw (34) of the upper bracket (31) of the third-stage mechanical arm, thus completing the direction of the wire harness when the mechanical arm is retracted.
[0022] (2) Telescopic method like Figure 1The brackets of each level, the base and the transmission mechanism are assembled and combined with each other. In the initial state of the assembly of the present invention, the base (4) should be in contact with the upper bracket (1) of the first-level robot arm, that is, in a fully retracted state. At this time, the servo motor (6) is energized. When the servo motor (6) rotates forward, it will drive the wire wheel (7) to start rotating forward. At this time, the wire harness of the upper wire wheel (71) will be recovered, and the wire harness of the lower wire wheel (72) will be released. The base (4) starts to move away from the upper bracket (101) of the first-level robot arm, and the robot arm will start to extend. Conversely, when the servo motor (6) rotates reversely, it will drive the wire wheel (7) to start reversing. At this time, the wire harness of the upper wire wheel (71) will be released, and the wire harness of the lower wire wheel (72) will be recovered. The base (4) starts to move closer to the upper bracket (101) of the first-level robot arm, and the robot arm will start to retract.
[0023] 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 nested telescopic robotic arm, characterized in that: A first-stage mechanical arm (1); a base (4), which is mutually nested with the first-stage mechanical arm carbon tube (102) via a graphite copper sleeve (45); a second-stage mechanical arm (2), which is mutually nested with the first-stage mechanical arm carbon tube (102); a third-stage mechanical arm (3), which is mutually nested with the second-stage mechanical arm carbon tube (23); a fixing plate (5); a wire wheel (7), which is fixedly connected to a power device (6) via the fixing plate (5); the power device (6), namely a servo motor; the first-stage mechanical arm ( 1) comprising a first-stage mechanical arm upper bracket (101), a first-stage mechanical arm lower bracket (103), a first-stage mechanical arm carbon tube (102), a first V-shaped idler wheel (104), a second V-shaped idler wheel (105), a third V-shaped idler wheel (106), a fourth V-shaped idler wheel (108) and a fifth V-shaped idler wheel (110), wherein the first-stage mechanical arm upper bracket (101) and the first-stage mechanical arm lower bracket (103) are fixedly connected via the first-stage mechanical arm carbon tube (102). The base (4) comprises a base support (41), a graphite copper sleeve (45), a seventh V-shaped idler wheel (42), an eighth V-shaped idler wheel (43) and a ninth V-shaped idler wheel (46); the second-stage mechanical arm (2) comprises a second-stage mechanical arm upper support (21), a second-stage mechanical arm carbon tube (23) and a sixth V-shaped idler wheel (24), and the second-stage mechanical arm upper support (21) is fixedly connected to the second-stage mechanical arm carbon tube (23); the third-stage mechanical arm (3) comprises a third-stage mechanical arm The mechanical arm upper bracket (31) and the third-level mechanical arm carbon tube (32) are fixedly connected to the third-level mechanical arm upper bracket (31); the fixing plate (5) comprises a fixing plate upper through hole (51) and a fixing plate lower through hole (52); the fixing plate (5) is fixedly connected to the base (4), the wire wheel (7) and the servo motor (6); the wire wheel (7) comprises an upper wire wheel (71) and a lower wire wheel (72); and the power device (6) is a servo motor.
2. The wiring harness direction when the robot arm is extended includes fixing one end of the first wire on the square hole (107) of the first-level lower bracket (103), and the other end passing through the eighth V-shaped idler wheel (43) on the plane of the base bracket (41), and then passing through the third V-shaped idler wheel (106) in the convex groove on the first-level robot arm lower bracket (103), and then passing through the lower through hole (52) on the fixing plate (5) and fixed to the upper wire wheel (71); one end of the second wire harness is fixed to the fixing screw (44) on the curved surface of the base bracket (41), and the wire harness passes through the eighth V-shaped idler wheel (43) on the plane of the base bracket (41), and then passes through the third V-shaped idler wheel (106) in the convex groove on the first-level robot arm lower bracket (103), and then passes through the lower through hole (52) on the fixing plate (5) and fixed to the upper wire wheel (71); one end of the second wire harness is fixed to the fixing screw (44) on the curved surface of the base bracket (41), and the wire harness passes through the eighth V-shaped idler wheel (43) on the plane of the base bracket (41), and then passes through the third V-shaped idler wheel (106) in the convex groove on the first-level robot arm lower bracket (103). The fourth V-shaped idler wheel (108) fixed on the curved surface of the frame (101) is then fixed to the bottom through hole (22) of the carbon tube (23) of the second-stage mechanical arm. In the initial state, the base bracket (41) should just be in contact with the upper bracket (101) of the first-stage mechanical arm. Similarly, one end of the third wire harness is fixed to the idler wheel fixing screw (109) of the upper bracket (101) of the first-stage mechanical arm. The wire harness passes around the sixth V-shaped idler wheel (24) fixed on the curved surface of the upper bracket (21) of the second-stage mechanical arm, and is then fixed to the bottom through hole (33) of the carbon tube (32) of the third-stage mechanical arm. ); the wiring harness direction when the robot arm is retracted includes fixing one end of the first wire to the square hole (110) of the first-level robot arm upper bracket (101), and the other end passing through the seventh V-shaped idler wheel (42) on the plane of the base bracket (41), and then passing through the fifth V-shaped idler wheel (111) in the convex groove on the first-level robot arm upper bracket (101), and then passing through the upper through hole (51) of the fixing plate (5) and fixed to the lower wire wheel (72); then fixing one end of the second wire harness to the fixing screw (112) of the first-level robot arm upper bracket (101), and then fixing the wire harness The other end of the harness is passed through a first V-shaped idler wheel (104) fixed on the first-stage mechanical arm lower bracket (103), a ninth V-shaped idler wheel (46) fixed on the curved surface of the base bracket (41), and a second V-shaped idler wheel (105) fixed on the first-stage mechanical arm lower bracket (103), and finally the harness is fixed on a fixing screw (34) of the third-stage mechanical arm upper bracket (31); the first-stage mechanical arm (1), the second-stage mechanical arm (2), and the third-stage mechanical arm (3) are matched with each other through carbon tubes with gradually decreasing outer diameters to ensure relative sliding.