Robotic arm

Abstract

The present application relates to a kind of mechanical hands, including sequentially connected base, support arm and holder and for driving the driving mechanism of holder movement, the driving mechanism is installed on base, transmission mechanism is installed on the support arm, the transmission mechanism is connected between holder and driving mechanism, for the power of driving mechanism is delivered to holder, to drive holder movement.This technical solution, by the driving mechanism from support arm to base, can greatly reduce the weight of support arm, reduce the inertia that support arm has when swinging, can effectively improve the fixed-point positioning effect of holder;At the same time, the driving mechanism is transferred to base, can increase the weight of base, make the overall center of mechanical hand down, can improve the stability of overall structure in the process of operation to some extent.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and specifically to a robotic arm. Background Technology

[0002] A robotic arm typically consists of a base, a robotic arm, and a gimbal. The two ends of the robotic arm are connected to the base and the gimbal, respectively. The base serves as a fixed foundation, and the gimbal serves as the mounting foundation for the functional mechanisms. The robotic arm includes a support structure and a mounting foundation for the drive mechanism that drives the gimbal's movement. In other words, the drive mechanism is integrated into the robotic arm, which greatly increases the weight of the robotic arm. During operation, the robotic arm needs to swing continuously, but due to its large weight, the inertia during swing is large. To improve the fixation effect of the swing position, it is necessary to reduce its swing speed, which also reduces its response speed. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to provide a robotic arm to solve the problems of existing robotic arms that integrate drive mechanisms, resulting in large overall weight of the robotic arm, large inertia during swinging, and poor fixation of the swing position during rapid swinging.

[0004] This invention is achieved through the following technical solution:

[0005] A robotic arm includes a base, a support arm, and a gimbal connected in sequence, as well as a drive mechanism for driving the gimbal to move. The drive mechanism is mounted on the base, and a transmission mechanism is mounted on the support arm. The transmission mechanism is connected between the gimbal and the drive mechanism to transmit power from the drive mechanism to the gimbal to drive the gimbal to move.

[0006] Further specified, the gimbal is connected to a first support shaft and a second support shaft, the first support shaft and the second support shaft are respectively arranged on opposite sides of the gimbal and are arranged in parallel;

[0007] The transmission mechanism includes a first transmission part and a second transmission part;

[0008] The first transmission unit includes a first transmission shaft rotatably mounted on the support arm. The upper end of the first transmission shaft extends out of the support arm, and a sleeve is sleeved on the upper end of the first transmission shaft. The sleeve is in single-degree-of-freedom sliding fit with the first transmission shaft, and the sleeve is movably connected to the support arm.

[0009] The upper end of the first drive shaft is rotatably connected to the first support shaft, and the sleeve is provided with a rocker arm, the upper and lower ends of which are rotatably connected to the second support shaft and the sleeve, respectively.

[0010] The second transmission part includes a second transmission shaft rotatably mounted on the support arm and arranged parallel to the first transmission shaft. A first threaded rod is coaxially fixedly connected to the second transmission shaft. A support plate is provided on the sleeve. One end of the support plate is rotatably connected to the sleeve through an opening, and the other end is sleeved on the first threaded rod through an opening and connected to the first threaded rod through a threaded engagement.

[0011] Further defined, the support arm includes a hollow upper arm and a lower arm, the upper arm and the lower arm are slidably connected along the length direction of the first transmission shaft and the second transmission shaft, the first threaded rod is rotatably installed in the upper arm, and both ends abut against the inner wall of the upper arm;

[0012] The lower ends of the first drive shaft and the second drive shaft both extend into the lower arm and are respectively fitted with a first sleeve and a second sleeve. The first sleeve and the second sleeve are respectively slidably connected to the first drive shaft and the second drive shaft with a single degree of freedom.

[0013] The transmission mechanism further includes a third transmission part, which includes a second threaded rod arranged parallel to the first and second transmission shafts and a third transmission shaft rotatably disposed in the lower arm. The upper end of the second threaded rod is connected to the bottom of the upper arm, and the lower end is inserted into the lower arm. A threaded sleeve is fitted on the outside of the second threaded rod through threaded engagement, and the threaded sleeve is rotatably connected to the lower arm.

[0014] A transmission wheel is mounted on the third transmission shaft. The transmission wheel is connected to a threaded sleeve, and the threaded sleeve can rotate with the third transmission shaft under the drive of the transmission wheel.

[0015] Further specifying, the upper arm is provided with a guide rod, the upper end of the guide rod is connected to the bottom of the upper arm, the lower end is inserted into the lower arm and slidably connected with the lower arm, and the guide rod is arranged parallel to the second threaded rod.

[0016] Further specified, the lower ends of the first sleeve, the second sleeve, and the third drive shaft are all rotatably connected to the lower arm, and are all connected to a driven bevel gear;

[0017] The drive mechanism includes a first drive motor, a second drive motor, and a third drive motor mounted on the base, and the first drive motor, the second drive motor, and the third drive motor are respectively connected to the driven bevel gear transmission.

[0018] Further specified, the lower end of the lower arm is slidably connected to the base, and the top surface of the base is provided with a first sliding groove and a second sliding groove, the first sliding groove and the second sliding groove intersect perpendicularly or the extension lines of the first sliding groove and the second sliding groove intersect perpendicularly.

[0019] A first sliding support is provided in the first sliding groove, and a first push plate is provided on the first sliding support. One end of the first push plate is connected to the first sliding support, and the other end extends perpendicularly to the first sliding groove and is inserted into the lower arm to slide and connect with the lower arm.

[0020] A second sliding support is provided in the second slide groove, and a second push plate is provided on the second sliding support. One end of the second push plate is connected to the second sliding support, and the other end extends perpendicularly to the second slide groove and is inserted into the lower arm to slide and connect with the lower arm.

[0021] Each of the first drive motor, the second drive motor, and the third drive motor is provided with a transmission assembly between itself and the driven bevel gear. The transmission assembly includes a first transmission rod and a second transmission rod, which are respectively arranged parallel to the first slide groove and the second slide groove. One end of the first transmission rod is connected to the output shaft of the first drive motor, the second drive motor, or the third drive motor. The other end of the first transmission rod and both ends of the second transmission rod are provided with transmission bevel gears. The two ends of the second transmission rod are respectively connected to the end of the first transmission rod away from the drive motor and the driven bevel gear, the second driven gear, or the third driven gear through the transmission bevel gears.

[0022] Both the first and second transmission rods are telescopic rods.

[0023] Further defined, the first transmission rod includes a first inner rod and a first outer rod. The first outer rod is rotatably mounted on the base and one end is connected to the output shaft of the first drive motor, the second drive motor or the third drive motor. The first inner rod is rotatably connected to the first sliding support and one end is inserted into the first outer rod and is slidably connected to the first outer rod with a single degree of freedom.

[0024] The second transmission rod includes a second inner rod and a second outer rod. One end of the second inner rod is rotatably connected to the first sliding seat, and the other end is inserted into the second outer rod and slidably connected to the second outer rod with a single degree of freedom. The second outer rod is rotatably connected to the lower arm.

[0025] Further specified, the first sliding support is provided with a first rack arranged parallel to the first slide groove, and the second sliding support is provided with a second rack arranged parallel to the second slide groove;

[0026] The drive mechanism also includes a fourth drive motor and a fifth drive motor, both of which are fixedly mounted on the base, and each of the fourth drive motor and the fifth drive motor has a drive gear that meshes with the first rack and the second rack respectively on its output shaft.

[0027] Further specified, a first arm and a second arm are respectively provided between the gimbal and the first support shaft and the second support shaft. One end of the first arm and the second arm are connected to the gimbal, and the other end extends outward. The included angle between the first arm and the second arm is 90°.

[0028] The second support shaft is connected to the end of the second arm away from the gimbal and extends away from the first arm. The first support shaft is connected to the end of the first arm away from the gimbal and is coaxial with the first arm.

[0029] Further specified, the lower end of the upper arm is provided with a cylindrical sliding support part, the upper end of the sliding support part is connected to the lower end of the upper arm, and the lower end of the sliding support part is sleeved on the lower arm and slidably connected to the lower arm.

[0030] The beneficial effects of this invention are as follows:

[0031] This robotic arm transfers the drive mechanism from the support arm to the base, which can greatly reduce the weight of the support arm and reduce the inertia of the support arm when it swings, thus effectively improving the positioning effect of the gimbal.

[0032] Meanwhile, moving the drive mechanism to the base increases the weight of the base, lowers the overall center of gravity of the robot, and improves the stability of the overall structure during operation to some extent.

[0033] Other advantages, objectives, and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination, or may be learned from practice of the invention. The objectives and other advantages of the invention can be realized and obtained through the following description. Attached Figure Description

[0034] Figure 1 This is the front view of the present invention;

[0035] Figure 2 The three-dimensional representation of the present invention Figure 1 ;

[0036] Figure 3 The three-dimensional representation of the present invention Figure 2 ;

[0037] Figure 4 The three-dimensional representation of the present invention Figure 3 ;

[0038] Figure 5 for Figure 4 Enlarged view of A in the middle;

[0039] Figure 6 for Figure 4 Enlarged view of B in the middle;

[0040] Figure 7 for Figure 4 Enlarged view of C in the middle;

[0041] Figure 8 This is a schematic diagram of the mating structure between the second threaded rod and the threaded sleeve.

[0042] In the diagram: 1. Base; 2. Gimbal; 3. First support shaft; 4. Second support shaft; 5. First drive shaft; 6. Sleeve; 7. Rocker arm; 8. Second drive shaft; 9. First threaded rod; 10. Support plate; 11. Upper arm; 12. Lower arm; 13. First sleeve; 14. Second sleeve; 15. Second threaded rod; 16. Third drive shaft; 17. Threaded sleeve; 18. Guide rod; 19. Driven bevel gear; 20. First drive motor; 21. Second drive motor; 22. Third drive motor; 23. First slide groove; 24. Second slide groove; 25. First sliding support; 26. First push plate; 27. Second sliding support; 28. Second push plate; 29. ​​Transmission bevel gear; 30. First inner rod; 31. First outer rod; 32. Second inner rod; 33. Second outer rod; 34. Fourth drive motor; 35. Fifth drive motor; 36. First rack; 37. Second rack; 38. Drive gear; 39. First support arm; 40. Second support arm; 41. Sliding support part; 42. Transmission wheel. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0044] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0045] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0046] In the above description of the present invention, it should be noted that the terms "one side," "the other side," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is conventionally placed during use. These terms are used only for the convenience of describing the present invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0047] Furthermore, terms such as "identical" do not imply that components must be absolutely identical; minor differences are permissible. The term "perpendicular" simply means that the positional relationship between components is more perpendicular than "parallel," not that the structure must be perfectly perpendicular; a slight tilt is acceptable.

[0048] Please see Figure 1-8 The present invention provides a technical solution: a robotic arm, comprising a base 1, a support arm and a gimbal 2 connected in sequence, and a drive mechanism for driving the gimbal 2 to move. The drive mechanism is mounted on the base 1, and a transmission mechanism is mounted on the support arm. The transmission mechanism is connected between the gimbal 2 and the drive mechanism to transmit the power of the drive mechanism to the gimbal 2 to drive the gimbal 2 to move.

[0049] The base 1 serves as the mounting base for the support arm, while the support arm serves as the mounting base for the transmission mechanism. The drive mechanism is mounted on the base 1 and connected to the gimbal 2 through the transmission mechanism. During operation, the support arm only bears the transmission mechanism and the gimbal 2. Transferring the drive mechanism from the support arm to the base 1 can greatly reduce the weight of the support arm and reduce the inertia of the support arm when it swings, which can effectively improve the positioning effect of the gimbal 2.

[0050] Meanwhile, transferring the drive mechanism to base 1 increases the weight of base 1, causing the overall center of gravity of the robot to shift downward, which can improve the stability of the overall structure during operation to a certain extent.

[0051] In this embodiment, the gimbal 2 is connected to a first support shaft 3 and a second support shaft 4. The first support shaft 3 and the second support shaft 4 are respectively arranged on opposite sides of the gimbal 2 and are arranged in parallel.

[0052] The transmission mechanism includes a first transmission part and a second transmission part;

[0053] The first transmission unit includes a first transmission shaft 5 rotatably mounted on the support arm. The upper end of the first transmission shaft 5 extends out of the support arm, and a sleeve 6 is sleeved on the upper end of the first transmission shaft 5. The sleeve 6 is in single-degree-of-freedom sliding fit with the first transmission shaft 5, and the sleeve 6 is movably connected to the support arm.

[0054] The upper end of the first drive shaft 5 is rotatably connected to the first support shaft 3, and the sleeve 6 is provided with a rocker arm 7. The upper and lower ends of the rocker arm 7 are rotatably connected to the second support shaft 4 and the sleeve 6, respectively.

[0055] The second transmission part includes a second transmission shaft 8 rotatably mounted on the support arm and arranged parallel to the first transmission shaft 5. A first threaded rod 9 is coaxially fixedly connected to the second transmission shaft 8. A support plate 10 is provided on the sleeve 6. One end of the support plate 10 is rotatably connected to the sleeve 6 through an opening, and the other end is sleeved on the first threaded rod 9 through an opening and is connected to the first threaded rod 9 through a threaded engagement.

[0056] The first support shaft 3 and the second support shaft 4 are parallel. When the gimbal 2 uses the first support shaft 3 as the fulcrum for rotation, the second support shaft 4 will rotate with the first support shaft 3 as the axis while keeping parallel to the first support shaft 3. That is, the gimbal 2 rotates with the first support shaft 3 as the axis.

[0057] Similarly, when the gimbal 2 uses the second support shaft 4 as the pivot point, the first support shaft 3 will rotate around the second support shaft 4 while remaining parallel to it; that is, the gimbal 2 will rotate around the second support shaft 4.

[0058] The first drive shaft 5 is rotatably mounted on the support arm, and a sleeve 6 is sleeved on its upper end. The sleeve 6 is connected to the first drive shaft 5 by a key. That is, when the first drive shaft 5 rotates, the sleeve 6 will rotate synchronously with the first drive shaft 5 under the constraint of the connecting key, and the sleeve 6 can slide along the length direction of the first drive shaft 5.

[0059] The upper end of the first drive shaft 5 is rotatably connected to the first support shaft 3. A rocker arm 7 is provided on the sleeve 6, and the two ends of the rocker arm 7 are respectively hinged to the second support shaft 4 and the sleeve 6. That is, the first support shaft 3 and the rocker arm 7 serve as the support structure for the gimbal 2. When the two are relatively fixed, they provide stable support for the gimbal 2.

[0060] When the first drive shaft 5 is driven to rotate, the sleeve 6 will rotate synchronously with the first drive shaft 5, that is, maintain a stable support for the gimbal 2 and drive the gimbal 2 to rotate synchronously.

[0061] Furthermore, the first threaded rod 9 is arranged parallel to the first transmission shaft 5, and the first threaded rod 9 is coaxially connected to the second transmission shaft 8. It can rotate under the drive of the second transmission shaft 8. The sleeve 6 and the first threaded rod 9 are connected by a support plate 10. One end of the support plate 10 is rotatably connected to the sleeve 6, and the other end is connected to the first threaded rod 9 by a threaded engagement. That is, when the sleeve 6 rotates, both ends of the support plate 10 are fixed under the constraints of the sleeve 6 and the first threaded rod 9, respectively. Conversely, when the first threaded rod 9 rotates under the drive of the second transmission shaft 8, since one end of the support plate 10 is connected to the first threaded rod 9 by a threaded engagement through an opening, and the other end is rotatably supported on the sleeve 6, the support plate 10 moves along the first transmission shaft 5 under the threaded push of the first threaded rod 9. That is, it pushes the sleeve 6 to move along the first transmission shaft 5, and then pushes the rocker arm 7 to move, so that the gimbal 2 rotates with the first support shaft 3 as the fulcrum.

[0062] In this embodiment, the support arm includes a hollow upper arm 11 and a lower arm 12. The upper arm 11 and the lower arm 12 are slidably connected along the length direction of the first transmission shaft 5 and the second transmission shaft 8. The first threaded rod 9 is rotatably installed inside the upper arm 11, and both ends abut against the inner wall of the upper arm 11.

[0063] The lower ends of the first drive shaft 5 and the second drive shaft 8 both extend into the lower arm 12, and are respectively fitted with a first sleeve 13 and a second sleeve 14. The first sleeve 13 and the second sleeve 14 are respectively slidably connected to the first drive shaft 5 and the second drive shaft 8 with a single degree of freedom.

[0064] The transmission mechanism further includes a third transmission part, which includes a second threaded rod 15 arranged parallel to the first transmission shaft 5 and the second transmission shaft 8, and a third transmission shaft 16 rotatably disposed in the lower arm 12. The upper end of the second threaded rod 15 is connected to the bottom of the upper arm 11, and the lower end is inserted into the lower arm 12. A threaded sleeve 17 is fitted outside the second threaded rod 15 through threaded engagement, and the threaded sleeve 17 is rotatably connected to the lower arm 12.

[0065] A transmission wheel 42 is mounted on the third transmission shaft 16. The transmission wheel 42 is connected to the threaded sleeve 17. The threaded sleeve 17 can rotate with the third transmission shaft 16 under the drive of the transmission wheel 16.

[0066] The support arm consists of an upper arm 11 and a lower arm 12. The upper arm 11 serves as a support structure for the first threaded rod 9 and the first support shaft 3. The upper arm 11 forms a support with the lower arm 12 through the second threaded rod 15.

[0067] The threaded sleeve 17 is rotatably connected to the lower arm 12. The second threaded rod 15 is threadedly engaged with the threaded sleeve 17, and its upper end is fixed to the upper arm 11. When the third transmission shaft 16 rotates, it will drive the threaded sleeve 17 to rotate through the transmission wheel 42. When the threaded sleeve 17 rotates, it will push the second threaded rod 15 to move along the length direction through thread compression, that is, push the upper arm 11 closer to or away from the lower arm 12, so as to shorten or lengthen the support arm.

[0068] Furthermore, the first drive shaft 5 and the second drive shaft 8 are respectively connected by key to the first sleeve 13 and the second sleeve 14. The first sleeve 13 and the second sleeve 14 are rotatably connected inside the lower arm 12, serving as structural extensions of the first drive shaft 5 and the second drive shaft 8, respectively. When the upper arm 11 and the lower arm 12 are relatively close or far apart, the first drive shaft 5 and the second drive shaft 8 slide with the first sleeve 13 and the second sleeve 14 to achieve extension and retraction to adapt to the changes in the upper arm 11 and the lower arm 12.

[0069] In this embodiment, a guide rod 18 is provided on the upper arm 11. The upper end of the guide rod 18 is connected to the bottom of the lower arm 12, and the lower end is inserted into the lower arm 12 and slidably connected with the upper arm 11. The guide rod 18 is arranged parallel to the second threaded rod 15.

[0070] By setting the guide rod 18 to cooperate with the second threaded rod 15 to limit the rotation of the upper arm 11, the stability of the upper arm 11 during movement is improved.

[0071] In this embodiment, the lower ends of the first sleeve 13, the second sleeve 14 and the third transmission shaft 16 are all rotatably connected to the lower arm 12, and are all connected to a driven bevel gear 19.

[0072] The drive mechanism includes a first drive motor 20, a second drive motor 21, and a third drive motor 22 mounted on the base 1. The first drive motor 20, the second drive motor 21, and the third drive motor 22 are respectively connected to the driven bevel gear 19 for transmission.

[0073] The first drive motor 20, the second drive motor 21, and the third drive motor 22 are used to drive the driven bevel gear 19 to rotate, and to control the rotation of the first sleeve 13, the second sleeve 14, and the third transmission shaft 16, respectively, that is, to control the rotation of the first transmission shaft 5, the second transmission shaft 8, and the third transmission shaft 16, respectively.

[0074] In this embodiment, the lower end of the lower arm 12 is slidably connected to the base 1. The top surface of the base 1 is provided with a first sliding groove 23 and a second sliding groove 24. The first sliding groove 23 and the second sliding groove 24 intersect perpendicularly or the extension lines of the first sliding groove 23 and the second sliding groove 24 intersect perpendicularly.

[0075] A first sliding support 25 is provided in the first sliding groove 23. A first push plate 26 is provided on the first sliding support 25. One end of the first push plate 26 is connected to the first sliding support 25, and the other end extends perpendicularly to the first sliding groove 23 and is inserted into the lower arm 12 and slidably connected to the lower arm 12.

[0076] A second sliding support 27 is provided in the second sliding groove 24, and a second push plate 28 is provided on the second sliding support 27. One end of the second push plate 28 is connected to the second sliding support 27, and the other end extends perpendicularly to the second sliding groove 24 and is inserted into the lower arm 12 and slidably connected to the lower arm 12.

[0077] Each of the first drive motor 20, the second drive motor 21, and the third drive motor 22 is provided with a transmission assembly between itself and the driven bevel gear 19. The transmission assembly includes a first transmission rod and a second transmission rod, which are respectively arranged parallel to the first slide groove 23 and the second slide groove 24. One end of the first transmission rod is connected to the output shaft of the first drive motor 20, the second drive motor 21, or the third drive motor 22. The other end of the first transmission rod and both ends of the second transmission rod are provided with transmission bevel gears 29. The two ends of the second transmission rod are respectively connected to the end of the first transmission rod away from the drive motor and the driven bevel gear 19, the second driven gear, or the third driven gear through the transmission bevel gears 29.

[0078] Both the first and second transmission rods are telescopic rods.

[0079] The first sliding support 25 is slidably fitted in the first slide groove 23 and is slidably connected to the lower arm 12 through the first push plate 26. The second sliding support 27 is slidably fitted in the second slide groove 24 and is slidably connected to the lower arm 12 through the second push plate 28. The first push plate 26 and the extension direction of the first slide groove 23 are perpendicular to each other, and the second push plate 28 and the extension direction of the second slide groove 24 are perpendicular to each other.

[0080] When the first sliding support 25 slides in the first slide groove 23, it will push the first push plate 26 to move laterally, and then push the lower arm 12 to move along the first slide groove 23 through the laterally moving first push plate 26; when the second sliding support 27 slides in the second slide groove 24, it will push the second push plate 28 to move laterally, and then push the lower arm 12 to move along the second slide groove 24 through the laterally moving second push plate 28.

[0081] The lower arm 12 will move on the surface of the base 1 under the action of the first sliding support 25 and the second sliding support 27;

[0082] The first and second transmission rods are connected sequentially and intersect perpendicularly, and are connected by a transmission bevel gear 29 so that they can rotate synchronously. Both the first and second transmission rods are telescopic structures, which can maintain the transmission connection between the driven bevel gear 19 and the first drive motor 20, the second drive motor 21 and the third drive motor 22 during the movement of the lower arm 12.

[0083] In this embodiment, the first transmission rod includes a first inner rod 30 and a first outer rod 31. The first outer rod 31 is rotatably mounted on the base 1, and one end is connected to the output shaft of the first drive motor 20, the second drive motor 21 or the third drive motor 22. The first inner rod 30 is rotatably connected to the first sliding support 25, and one end is inserted into the first outer rod 31 and is slidably connected to the first outer rod 31 with a single degree of freedom.

[0084] The second transmission rod includes a second inner rod 32 and a second outer rod 33. One end of the second inner rod 32 is rotatably connected to the first sliding seat, and the other end is inserted into the second outer rod 33 and slidably connected to the second outer rod 33 with a single degree of freedom. The second outer rod 33 is rotatably connected to the lower arm 12.

[0085] The first inner rod 30 is rotatably mounted on the base 1, and the first outer rod 31 is rotatably mounted on the first sliding support 25. The first inner rod 30 and the first outer rod 31 are connected by a key to achieve synchronous rotation, and the first inner rod 30 can slide inside the first outer rod 31.

[0086] Similarly, the second inner rod 32 is rotatably mounted on the base 1, and the second outer rod 33 is rotatably mounted on the second sliding support 27. The second inner rod 32 and the second outer rod 33 are connected by a key to achieve synchronous rotation, and the second inner rod 32 can slide within the second outer rod 33.

[0087] In this embodiment, the first sliding support 25 is provided with a first rack 36 arranged parallel to the first slide groove 23, and the second sliding support 27 is provided with a second rack 37 arranged parallel to the second slide groove 24.

[0088] The drive mechanism also includes a fourth drive motor 34 and a fifth drive motor 35. The fourth drive motor 34 and the fifth drive motor 35 are both fixedly mounted on the base 1, and the output shafts of the fourth drive motor 34 and the fifth drive motor 35 are each equipped with a drive gear 38 that meshes with the first rack 36 and the second rack 37, respectively.

[0089] The output shafts of the fourth drive motor 34 and the fifth drive motor 35 are respectively meshed with the first rack 36 and the second rack 37 via the connecting drive gear 38. The fourth drive motor 34 and the fifth drive motor 35 are fixed on the base 1. When rotating, they can respectively push the first rack 36 and the second rack 37 to move, that is, push the first sliding support 25 and the second sliding support 27 to move along the first slide groove 23 and the second slide groove 24 respectively, thereby pushing the lower arm 12 to move along the first slide groove 23 and the second slide groove 24, and finally realize the translation of the lower arm 12 on the surface of the base 1.

[0090] In this embodiment, a first support arm 39 and a second support arm 40 are respectively provided between the gimbal 2 and the first support shaft 3 and the second support shaft 4. One end of the first support arm 39 and the second support arm 40 are connected to the gimbal 2, and the other end extends outward. The included angle between the first support arm 39 and the second support arm 40 is 90°.

[0091] The second support shaft 4 is connected to the end of the second arm 40 away from the gimbal 2 and extends away from the first arm 39. The first support shaft 3 is connected to the end of the first arm 39 away from the gimbal 2 and is coaxial with the first arm 39.

[0092] The gimbal 2 is located at the junction of the first support arm 39 and the second support arm 40. The first support shaft 3 is connected to the first transmission shaft 5, while the second support shaft 4 is connected to the sleeve 6 through the rocker arm 7. When the sleeve 6 moves, it pushes the gimbal 2 with the first support shaft 3 as the fulcrum through the rocker arm 7, so that the gimbal 2 can maintain a fixed point of rotation.

[0093] In this embodiment, the lower end of the upper arm 11 is provided with a cylindrical sliding support part 41. The upper end of the sliding support part 41 is connected to the lower end of the upper arm 11, and the lower end of the sliding support part 41 is sleeved on the lower arm 12 and slidably connected to the lower arm 12.

[0094] The upper arm 11 is slidably connected to the lower arm 12 via a sliding support part 41. The sliding support part 41 serves as a support structure for the upper arm 11 on the lower arm 12, further improving the structural stability of the upper arm 11 and the lower arm 12 when they undergo relative displacement.

[0095] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A robotic arm, comprising a base, a support arm, and a gimbal connected in sequence, and a drive mechanism for driving the gimbal's movement, characterized in that: The drive mechanism is mounted on the base, and a transmission mechanism is mounted on the support arm. The transmission mechanism is connected between the gimbal and the drive mechanism and is used to transmit the power of the drive mechanism to the gimbal to drive the gimbal to move.

2. The robotic arm according to claim 1, characterized in that: The gimbal is connected to a first support shaft and a second support shaft, which are respectively located on opposite sides of the gimbal and are arranged in parallel. The transmission mechanism includes a first transmission part and a second transmission part; The first transmission unit includes a first transmission shaft rotatably mounted on the support arm. The upper end of the first transmission shaft extends out of the support arm, and a sleeve is sleeved on the upper end of the first transmission shaft. The sleeve is in single-degree-of-freedom sliding fit with the first transmission shaft, and the sleeve is movably connected to the support arm. The upper end of the first drive shaft is rotatably connected to the first support shaft, and the sleeve is provided with a rocker arm, the upper and lower ends of which are rotatably connected to the second support shaft and the sleeve, respectively. The second transmission part includes a second transmission shaft rotatably mounted on the support arm and arranged parallel to the first transmission shaft. A first threaded rod is coaxially fixedly connected to the second transmission shaft. A support plate is provided on the sleeve. One end of the support plate is rotatably connected to the sleeve through an opening, and the other end is sleeved on the first threaded rod through an opening and connected to the first threaded rod through a threaded engagement.

3. The robotic arm according to claim 1, characterized in that: The support arm includes a hollow upper arm and a lower arm, which are slidably connected along the length of the first and second drive shafts. The first threaded rod is rotatably installed inside the upper arm, and both ends of the rod abut against the inner wall of the upper arm. The lower ends of the first drive shaft and the second drive shaft both extend into the lower arm and are respectively fitted with a first sleeve and a second sleeve. The first sleeve and the second sleeve are respectively slidably connected to the first drive shaft and the second drive shaft with a single degree of freedom. The transmission mechanism further includes a third transmission part, which includes a second threaded rod arranged parallel to the first and second transmission shafts and a third transmission shaft rotatably disposed in the lower arm. The upper end of the second threaded rod is connected to the bottom of the upper arm, and the lower end is inserted into the lower arm. A threaded sleeve is fitted on the outside of the second threaded rod through threaded engagement, and the threaded sleeve is rotatably connected to the lower arm. A transmission wheel is mounted on the third transmission shaft. The transmission wheel is connected to a threaded sleeve, and the threaded sleeve can rotate with the third transmission shaft under the drive of the transmission wheel.

4. The robotic arm according to claim 1, characterized in that: A guide rod is provided on the upper arm. The upper end of the guide rod is connected to the bottom of the upper arm, and the lower end is inserted into the lower arm and slidably connected with the lower arm. The guide rod is arranged parallel to the second threaded rod.

5. The robotic arm according to claim 1, characterized in that: The lower ends of the first sleeve, the second sleeve, and the third drive shaft are all rotatably connected to the lower arm, and each is connected to a driven bevel gear; The drive mechanism includes a first drive motor, a second drive motor, and a third drive motor mounted on the base, and the first drive motor, the second drive motor, and the third drive motor are respectively connected to the driven bevel gear transmission.

6. The robotic arm according to claim 1, characterized in that: The lower end of the lower arm is slidably connected to the base. The top surface of the base is provided with a first sliding groove and a second sliding groove. The first sliding groove and the second sliding groove intersect perpendicularly or the extension lines of the first sliding groove and the second sliding groove intersect perpendicularly. A first sliding support is provided in the first sliding groove, and a first push plate is provided on the first sliding support. One end of the first push plate is connected to the first sliding support, and the other end extends perpendicularly to the first sliding groove and is inserted into the lower arm to slide and connect with the lower arm. A second sliding support is provided in the second slide groove, and a second push plate is provided on the second sliding support. One end of the second push plate is connected to the second sliding support, and the other end extends perpendicularly to the second slide groove and is inserted into the lower arm to slide and connect with the lower arm. Each of the first drive motor, the second drive motor, and the third drive motor is provided with a transmission assembly between itself and the driven bevel gear. The transmission assembly includes a first transmission rod and a second transmission rod, which are respectively arranged parallel to the first slide groove and the second slide groove. One end of the first transmission rod is connected to the output shaft of the first drive motor, the second drive motor, or the third drive motor. The other end of the first transmission rod and both ends of the second transmission rod are provided with transmission bevel gears. The two ends of the second transmission rod are respectively connected to the end of the first transmission rod away from the drive motor and the driven bevel gear, the second driven gear, or the third driven gear through the transmission bevel gears. Both the first and second transmission rods are telescopic rods.

7. The robotic arm according to claim 1, characterized in that: The first transmission rod includes a first inner rod and a first outer rod. The first outer rod is rotatably mounted on the base and one end is connected to the output shaft of the first drive motor, the second drive motor or the third drive motor. The first inner rod is rotatably connected to the first sliding support and one end is inserted into the first outer rod and is connected to the first outer rod in a single-degree-of-freedom sliding fit. The second transmission rod includes a second inner rod and a second outer rod. One end of the second inner rod is rotatably connected to the first sliding seat, and the other end is inserted into the second outer rod and slidably connected to the second outer rod with a single degree of freedom. The second outer rod is rotatably connected to the lower arm.

8. The robotic arm according to claim 1, characterized in that: The first sliding support is provided with a first rack arranged parallel to the first slide groove, and the second sliding support is provided with a second rack arranged parallel to the second slide groove; The drive mechanism also includes a fourth drive motor and a fifth drive motor, both of which are fixedly mounted on the base, and each of the fourth drive motor and the fifth drive motor has a drive gear that meshes with the first rack and the second rack respectively on its output shaft.

9. The robotic arm according to claim 1, characterized in that: A first arm and a second arm are respectively provided between the gimbal and the first support shaft and the second support shaft. One end of the first arm and the second arm are connected to the gimbal, and the other end extends outward. The included angle between the first arm and the second arm is 90°. The second support shaft is connected to the end of the second arm away from the gimbal and extends away from the first arm. The first support shaft is connected to the end of the first arm away from the gimbal and is coaxial with the first arm.

10. The robotic arm according to claim 1, characterized in that: The lower end of the upper arm is provided with a cylindrical sliding support part. The upper end of the sliding support part is connected to the lower end of the upper arm, and the lower end of the sliding support part is sleeved on the lower arm and slidably connected to the lower arm.

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