Low-inertia two-axis mechanical arm based on topological optimization

Abstract

The invention provides a low-inertia two-axis mechanical arm based on topological optimization. The low-inertia two-axis mechanical arm comprises a rack; the first motor is arranged on the rack, and a first driving wheel is arranged on an output shaft of the first motor; the first end of the first working arm is rotationally connected with the rack through a first rotating shaft, a first driven wheel coaxial with the first rotating shaft is fixed to the first end of the first working arm, and the first driven wheel is in transmission connection with the first driving wheel; the first end is further provided with an output wheel and an extension transmission mechanism capable of driving the output wheel to rotate. An input wheel is arranged at the second end and is in transmission connection with the output wheel; the first end of the second working arm is fixedly connected with the input wheel. According to the invention, the output wheel on the first working arm drives the input wheel to rotate, and the input wheel drives the second working arm to swing; main transmission structures can be installed by means of a rack, topological space optimization is achieved, the maintenance cost is low, and the device is suitable for light-weight and high-precision development; and the weight and inertia of the tail end of the working arm are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of two-axis robotic arms, and particularly to a two-axis robotic arm with low inertia based on topology optimization. Background Art

[0002] In the design of traditional two-axis robotic arms, each working arm mostly adopts an integral casting structure. A driving mechanism is arranged at the end of the first working arm to drive the second working arm to rotate. Therefore, for the installation, transmission, etc. of the driving mechanism, multiple supporting structures and transmission components need to be designed separately, with a complex structure and high installation and maintenance costs. At the same time, components such as the driving mechanism at the end of the working arm are heavy, greatly increasing its inertia, not only consuming high energy, but also accelerating component wear during long-term use and affecting the equipment life. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a two-axis robotic arm with low inertia, low maintenance cost and long service life.

[0004] The technical solution of the present invention to solve the above technical problem is as follows:

[0005] The present invention provides a two-axis robotic arm with low inertia based on topology optimization, including:

[0006] A frame;

[0007] A first motor, arranged on the frame, and a first driving wheel is arranged on the output shaft of the first motor;

[0008] A first working arm, the first end of which is rotatably connected to the frame through a first rotating shaft, and a first driven wheel coaxial with the first rotating shaft is fixed thereon. The first driven wheel is in transmission connection with the first driving wheel; an output wheel and an extended transmission mechanism capable of driving the output wheel to rotate are also arranged at the first end; an input wheel is arranged at the second end, and the input wheel is in transmission connection with the output wheel;

[0009] A second working arm, the first end of which is fixedly connected to the input wheel.

[0010] The beneficial effects of the present invention are:

[0011] The output wheel on the first working arm drives the input wheel to rotate, and the input wheel drives the second working arm to swing, realizing the motion superposition of the two-axis robotic arm, with a wide range of applicable scenarios;

[0012] The main transmission structures such as the motor, the driving wheel and the output wheel are located at the first end of the first working arm, so they can all be installed relying on the frame, realizing the topological space optimization, significantly reducing the overall structural redundancy, with low maintenance cost, and being suitable for the development of lightweight and high precision;

[0013] The transmission structure is short in distance from the stationary rotation center, reducing the weight and inertia at the end of the working arm, lowering energy consumption and wear, and extending the service life.

[0014] Based on the above technical solutions, the present invention can be further improved as follows.

[0015] Furthermore, a second motor is also provided on the frame, and a second driving wheel is provided on the output shaft of the second motor; a second driven wheel is further provided at the first end of the first working arm, and the second driven wheel is in transmission connection with the second driving wheel; the second driven wheel is fixedly connected to the output wheel.

[0016] As an extended transmission mechanism, the second driven wheel obtains power from the second motor, thereby driving the output wheel and the input wheel to rotate, facilitating the independent swinging of the second working arm relative to the first working arm and improving flexibility.

[0017] Furthermore, both the second driven wheel and the output wheel are connected to the first rotating shaft through bearings.

[0018] Mounting the second driven wheel and the output wheel on the basis of the first rotating shaft improves the utilization rate of components, optimizes the redundant structure, reduces the volume and weight, has a compact structure, and lowers the cost; the second working arm and the first working arm swing along the same plane, so that the working end of the second working arm can move to any point within the working distance, with high flexibility and wide application fields.

[0019] Furthermore, motor mounting plates are respectively provided on the opposite sides of the frame, and a motor fixing plate is correspondingly provided on the inner side of each motor mounting plate. The motor mounting plates and the motor fixing plates are arranged at intervals and connected by fixing columns; the first motor and the second motor respectively penetrate through a motor mounting plate and are fixed to the corresponding motor fixing plates, and the output shafts of the first motor and the second motor respectively pass through their corresponding motor fixing plates; the frame is of a hollow structure.

[0020] The two motors are arranged correspondingly, and after being embedded in the frame, the motors are fixed to the motor fixing plates, occupying a small space, having good stability, and high installation strength; the hollow structure ensures the strength of the frame while reducing the overall weight of the machine.

[0021] Furthermore, the first end of the first working arm is connected to the first rotating shaft through a bearing, and the first rotating shaft is fixedly connected to the frame.

[0022] The resistance of the first working arm to swing is reduced. At the same time, the interference of the rotation of the first rotating shaft to the output wheel is avoided, and the movement accuracy is improved.

[0023] Further, the first working arm includes two first arm plates facing each other and arranged at intervals. The first ends of the first arm plates are rotatably connected to the frame through a first rotating shaft. The output wheel is arranged between the first ends of the two first arm plates. A second rotating shaft is arranged between the second ends of the two first arm plates. The input wheel and the first end of the second working arm are both connected to the second rotating shaft through bearings.

[0024] The two first arm plates are arranged at intervals, which ensures the structural strength while reducing the material weight and the inertia. At the same time, it is beneficial to reduce the eccentric load at both ends of the rotating shaft and the deflection of the rotating shaft, and is suitable for the development of lightweight and high precision. In addition, it can protect the chain drive or belt drive structure between the output wheel and the input wheel.

[0025] Further, a reinforcing frame is also provided on the side of the first end of the first arm plate. A protective sleeve is provided in the middle of the reinforcing frame. The protective sleeve is sleeved on the first rotating shaft. The reinforcing frame is connected to the frame through a thrust bearing.

[0026] The first rotating shaft is protected by the reinforcing frame and the sleeve. At the same time, the force-bearing surface between the first rotating shaft and the first arm plate is increased, and the structural stability is improved.

[0027] Further, the second working arm includes two second arm plates facing each other and arranged at intervals. The first end of the second arm plate is located between the second ends of the two first arm plates. The two ends of the input wheel are respectively connected to the inner sides of the first ends of the two second arm plates. A connecting column is arranged between the second ends of the two second arm plates.

[0028] The input wheel and the connecting column can restrict the relative positions of the two second arm plates, which ensures the structural strength while reducing the material weight and the inertia. It is suitable for the development of lightweight and high precision. In addition, it can protect the chain drive or belt drive structure between the output wheel and the input wheel.

[0029] Further, a second limiting block is also provided on the outer side of the second arm plate; a first limiting block is also provided on the outer side of the first arm plate.

[0030] When the second working arm swings close to the first working arm, the second limiting block can contact the first working arm, avoiding the second working arm hitting the transmission structure inside the first working arm; when the first working arm swings close to the frame, the first limiting block can contact the frame, avoiding the first working arm being stuck in the frame; the movement reliability is improved.

[0031] Further, the output wheel and the input wheel are connected by a synchronous belt drive.

[0032] The transmission reliability is good and the vibration is small. Description of the Drawings

[0033] Figure 1 It is a schematic structural diagram of the present invention.

[0034] Figure 2 It is a schematic structural diagram of the frame.

[0035] Figure 3 It is a schematic structural diagram of two working arms.

[0036] Figure 4 It is an exploded schematic diagram of the first working arm.

[0037] Figure 5 It is an exploded schematic diagram of the second working arm.

[0038] In the attached drawings, the technical features represented by each reference numeral are as follows:

[0039] 1 - Frame; 11 - Motor mounting plate; 12 - Motor fixing plate; 13 - Fixed column;

[0040] 2 - First working arm; 21 - First arm plate; 22 - Second rotating shaft; 23 - Reinforcing frame; 24 - Protection sleeve; 25 - First limit block;

[0041] 3 - Second working arm; 31 - Second arm plate; 32 - Connecting column; 33 - Second limit block;

[0042] 4 - First motor; 41 - First driving wheel; 5 - First rotating shaft; 51 - First driven wheel; 6 - Output wheel; 7 - Input wheel; 8 - Second motor; 81 - Second driving wheel; 9 - Second driven wheel. Specific embodiments

[0043] The principles and features of the present invention are described below. The examples given are only used to explain the present invention and are not intended to limit the scope of the present invention.

[0044] Refer to the present invention Figures 1-5 .

[0045] The present invention provides a two - axis robotic arm based on topology - optimized low inertia, including:

[0046] Frame 1;

[0047] A first motor 4, arranged on the frame 1, and a first driving wheel 41 is provided on the output shaft of the first motor 4;

[0048] A first working arm 2, the first end of which is rotatably connected to the frame 1 through a first rotating shaft 5, and a first driven wheel 51 coaxial with the first rotating shaft 5 is fixed. The first driven wheel 51 is in transmission connection with the first driving wheel 41; The first end is also provided with an output wheel 6 and an extended transmission mechanism capable of driving the output wheel 6 to rotate; The second end is provided with an input wheel 7, and the input wheel 7 is in transmission connection with the output wheel 6;

[0049] The second working arm 3 has its first end fixedly connected to the input wheel 7.

[0050] Principle:

[0051] A first motor 4 is installed on the frame 1. When the first motor 4 operates, it drives the first driven wheel 51 to rotate through the first driving wheel 41. The first driven wheel 51 is coaxial with the first working arm 2 and fixed to the first working arm 2, thereby driving the first working arm 2 to swing around the first rotating shaft 5. Meanwhile, the extended transmission mechanism can obtain power from the first motor 4 or other motors. The extended transmission mechanism drives the output wheel 6 to rotate, and the output wheel 6 drives the input wheel 7 to rotate. The input wheel 7 can drive the second working arm 3 to swing around its first end. The second end of the second working arm 3 is the working end and can be used to install various external actuators, such as welding torches, manipulators, etc.; thereby driving the actuator to move and work within a certain range.

[0052] By adopting the present invention, the output wheel 6 on the first working arm 2 drives the input wheel 7 to rotate, and the input wheel 7 drives the second working arm 3 to swing, realizing the motion superposition of the two-axis robotic arm, with a wide range of applicable scenarios; the main transmission structures such as the motor, the driving wheel, and the output wheel 6 are located at the first end of the first working arm 2, so they can all be installed relying on the frame 1, realizing the optimization of the topological space, significantly reducing the redundancy of the overall structure, having a low maintenance cost, and being suitable for lightweight and high-precision development; the transmission structure is short from the stationary rotation center, reducing the weight and inertia at the end of the working arm, reducing energy consumption and wear, and extending the service life.

[0053] Furthermore, a second motor 8 is also provided on the frame 1, and a second driving wheel 81 is provided on the output shaft of the second motor 8; a second driven wheel 9 is also provided at the first end of the first working arm 2, and the second driven wheel 9 is in transmission connection with the second driving wheel 81; the second driven wheel 9 is fixedly connected to the output wheel 6.

[0054] Preferably, the first driven wheel 51 and the first driving wheel 41 are gears and mesh with each other; the second driven wheel 9 and the second driving wheel 81 are gears and mesh with each other.

[0055] The second driven wheel 9, as the extended transmission mechanism, obtains power from the second motor 8, thereby driving the output wheel 6 and the input wheel 7 to rotate, facilitating the driving of the second working arm 3 to swing independently of the first working arm 2, and improving the flexibility.

[0056] Furthermore, both the second driven wheel 9 and the output wheel 6 are connected to the first rotating shaft 5 through bearings.

[0057] The second driven wheel 9 and the output wheel 6 are installed relying on the first rotating shaft 5, which improves the utilization rate of components, optimizes the redundant structure, reduces the volume and weight, has a compact structure, and reduces the cost; the second working arm 3 and the first working arm 2 swing along the same plane, so that the working end of the second working arm 3 can move to any point within the working distance, with high flexibility and wide application fields.

[0058] Further, motor mounting plates 11 are respectively provided on opposite sides of the frame 1. An inner side of each motor mounting plate 11 is correspondingly provided with a motor fixing plate 12. The motor mounting plates 11 and the motor fixing plates 12 are arranged at intervals and connected by fixing columns 13; the first motor 4 and the second motor 8 respectively penetrate through a motor mounting plate 11 and are fixed on the corresponding motor fixing plates 12. Output shafts of the first motor 4 and the second motor 8 respectively penetrate through their corresponding motor fixing plates 12; the frame 1 is a hollow structure.

[0059] The two motors are correspondingly arranged, and after the motors are embedded in the frame 1, they are fixed on the motor fixing plates 12, with small occupied space, good stability, and high installation strength; the hollow structure ensures the strength of the frame 1 while reducing the weight of the whole machine.

[0060] Further, a first end of the first working arm 2 is connected to the first rotating shaft 5 through a bearing, and the first rotating shaft 5 is fixedly connected to the frame 1.

[0061] Note: The first rotating shaft 5 and the frame 1 can also be rotatably connected, and it can also realize that the first end is rotatably connected to the frame 1 through the first rotating shaft 5.

[0062] The resistance of the swing of the first working arm 2 is reduced. At the same time, interference of the rotation of the first rotating shaft 5 to the output wheel 6 is avoided, and the motion accuracy is improved.

[0063] Further, as Figures 3-5 shown: The first working arm 2 includes two first arm plates 21 that face each other and are arranged at intervals. A first end of the first arm plate 21 is rotatably connected to the frame 1 through the first rotating shaft 5; the output wheel 6 is arranged between the first ends of the two first arm plates 21. A second rotating shaft 22 is arranged between second ends of the two first arm plates 21. The input wheel 7 and a first end of the second working arm 3 are both connected to the second rotating shaft 22 through bearings.

[0064] The two first arm plates 21 are arranged at intervals, which ensures the structural strength while reducing the material weight and the inertia; at the same time, it is beneficial to reduce the eccentric load at both ends of the rotating shaft and the deflection of the rotating shaft, and is suitable for the development of light weight and high precision; in addition, it can protect the chain drive or belt drive structure between the output wheel 6 and the input wheel 7.

[0065] Further, a reinforcing frame 23 is also provided on the side surface of the first end of the first arm plate 21. A protective sleeve 24 is provided in the middle of the reinforcing frame 23. The protective sleeve 24 is sleeved on the first rotating shaft 5. The reinforcing frame 23 is connected to the frame 1 through a thrust bearing.

[0066] The first rotating shaft 5 is protected by the reinforcing frame 23 and the sleeve. At the same time, the stress surface between the first rotating shaft 5 and the first arm plate 21 is increased, and the structural stability is improved.

[0067] Further, the second working arm 3 includes two second arm plates 31 that face each other and are arranged at intervals. The first end of the second arm plate 31 is located between the second ends of the two first arm plates 21. Both ends of the input wheel 7 are respectively connected to the inner sides of the first ends of the two second arm plates 31. A connecting column 32 is provided between the second ends of the two second arm plates 31.

[0068] The input wheel 7 and the connecting column 32 can restrict the relative positions of the two second arm plates 31, ensuring the structural strength while reducing the material weight and the inertia, which is suitable for the development of light weight and high precision. In addition, the chain drive or belt drive structure between the output wheel 6 and the input wheel 7 can be protected.

[0069] Further, a second limiting block 33 is also provided on the outer side of the second arm plate 31, and a first limiting block 25 is also provided on the outer side of the first arm plate 21.

[0070] When the second working arm 3 swings close to the first working arm 2, the second limiting block 33 can contact the first working arm 2, avoiding the second working arm 3 from hitting the transmission structure inside the first working arm 2. When the first working arm 2 swings close to the frame 1, the first limiting block 25 can contact the frame 1, avoiding the first working arm 2 from getting stuck in the frame 1, improving the motion reliability.

[0071] Further, the output wheel 6 and the input wheel 7 are connected by a synchronous belt drive.

[0072] The transmission reliability is good and the vibration is small.

[0073] In the description of the present invention, it should be understood that if descriptive terms indicating orientation, direction or positional relationship appear, such as: "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., the orientation or positional relationship indicated in this specification is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of understanding the present invention and simplifying the description, rather than indicating or implying that the part, element or whole referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0074] In addition, if descriptive terms indicating order appear, such as: "first", "second", etc., their use in this specification is for the convenience of understanding or simplifying the description. For example, in order to distinguish multiple technical features of the same type or function and when it is necessary to mention them separately, this specification may use the method of prefixing or suffixing order descriptive terms to distinguish them. Therefore, it should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0075] In the present invention, if descriptive terms indicating the relationship between structure and function are used, such as: "mount", "connect", "join", "fix", etc., unless otherwise clearly specified and defined, they should be understood in a broad sense. For example, "mount", "connect", "join", etc. can be a fixed connection, a detachable connection, or integrated; can be a mechanical connection or an electrical connection; can be directly connected or indirectly connected through an intermediate medium, and can be the communication inside two elements or the interaction relationship between two elements; "fix" can be a fixed connection forming an integral body or a detachable fixation through fasteners; can be directly fixed or fixed through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above descriptive terms in the present invention can be understood according to specific circumstances, the context, the coherence of the context before and after, etc.

[0076] In the present invention, if there are descriptive terms with affiliated or connecting meanings, for example, the first feature is "above" or "below" the second feature, unless otherwise clearly specified and limited, it should not be understood in a restrictive sense. For example, "above" or "below" may mean that the first and second features are in direct contact, or that the first feature and the second feature are in indirect contact through an intermediate medium. For those of ordinary skill in the art, the specific meaning of the above descriptive terms in the present invention can be understood according to the specific circumstances, the context, the coherence of the context before and after, etc.

[0077] Furthermore, the first feature being "above", "over" and "on top of" the second feature may mean that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may mean that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0078] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms is not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments, examples, and the features of different embodiments and examples described in this specification, and these combinations or combinations should fall within the scope summarized by the present invention.

[0079] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can, within the scope of information available from public channels, make changes, modifications, substitutions, and variations to the above embodiments in combination with the technical inspiration given in this application document, and still fall within the protection scope of this application.

Claims

1. A two-axis robotic arm based on topology optimization for low inertia, characterized in that: Comprising: Frame (1); A first motor (4) is provided on the frame (1), and a first driving wheel (41) is provided on the output shaft of the first motor (4); A first working arm (2), the first end of which is rotatably connected to the frame (1) through a first rotating shaft (5), and a first driven wheel (51) coaxial with the first rotating shaft (5) is fixed. The first driven wheel (51) is in transmission connection with the first driving wheel (41); The first end is also provided with an output wheel (6) and an extended transmission mechanism capable of driving the output wheel (6) to rotate; The second end is provided with an input wheel (7), and the input wheel (7) is in transmission connection with the output wheel (6); A second working arm (3), the first end of which is fixedly connected to the input wheel (7).

2. The two-axis robotic arm based on topology optimization for low inertia according to claim 1, wherein: A second motor (8) is also provided on the frame (1), and a second driving wheel (81) is provided on the output shaft of the second motor (8); A second driven wheel (9) is also provided at the first end of the first working arm (2), and the second driven wheel (9) is in transmission connection with the second driving wheel (81); The second driven wheel (9) is fixedly connected to the output wheel (6).

3. The two-axis robotic arm based on topology optimization for low inertia according to claim 2, wherein: Both the second driven wheel (9) and the output wheel (6) are connected to the first rotating shaft (5) through bearings.

4. The two-axis robotic arm based on topology optimization of low inertia according to claim 3, characterized in that: Motor mounting plates (11) are respectively provided on the opposite sides of the frame (1). An inner side of each motor mounting plate (11) is correspondingly provided with a motor fixing plate (12). The motor mounting plates (11) and the motor fixing plates (12) are arranged at intervals and connected through fixing columns (13); The first motor (4) and the second motor (8) respectively penetrate through a motor mounting plate (11) and are fixed on the corresponding motor fixing plates (12). The output shafts of the first motor (4) and the second motor (8) respectively penetrate through their corresponding motor fixing plates (12); The frame (1) is a hollow structure.

5. The two-axis robotic arm with low inertia based on topological optimization according to claim 3, characterized in that: The first end of the first working arm (2) is connected to the first rotating shaft (5) through a bearing, and the first rotating shaft (5) is fixedly connected to the frame (1).

6. The two-axis robotic arm with low inertia based on topological optimization according to claim 5, characterized in that: The first working arm (2) includes two first arm plates (21) facing each other and arranged at intervals. The first end of the first arm plate (21) is rotatably connected to the frame (1) through a first rotating shaft (5); The output wheel (6) is arranged between the first ends of the two first arm plates (21). A second rotating shaft (22) is arranged between the second ends of the two first arm plates (21). The input wheel (7) and the first end of the second working arm (3) are both connected to the second rotating shaft (22) through bearings.

7. The two-axis robotic arm with low inertia based on topological optimization according to claim 6, characterized in that: A reinforcing frame (23) is also provided on the side surface of the first end of the first arm plate (21). A protective sleeve (24) is provided in the middle of the reinforcing frame (23). The protective sleeve (24) is sleeved on the first rotating shaft (5); The reinforcing frame (23) is connected to the frame (1) through a thrust bearing.

8. The two-axis robotic arm with low inertia based on topology optimization according to claim 6, characterized in that: The second working arm (3) includes two second arm plates (31) facing each other and arranged at intervals. The first end of the second arm plate (31) is located between the second ends of the two first arm plates (21). The two ends of the input wheel (7) are respectively connected to the inner sides of the first ends of the two second arm plates (31). A connecting column (32) is arranged between the second ends of the two second arm plates (31).

9. The two-axis robotic arm based on topology optimization with low inertia according to claim 8, wherein: A second limiting block (33) is further provided on the outer side of the second arm plate (31); a first limiting block (25) is further provided on the outer side of the first arm plate (21).

10. The two-axis robotic arm with low inertia based on topology optimization according to claim 1, characterized in that: The output wheel (6) and the input wheel (7) are connected by a synchronous belt drive.

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