Lightweight airborne six-axis mechanical arm

By designing a lightweight, airborne six-axis robotic arm, using brushless joint motors and low-reduction ratio torque brushless motors, the response problem of traditional robotic arms in scenarios with high dynamic performance is solved, and better dynamic position response is achieved and shock-proof effects, suitable for mobile platform applications.

CN222155641UActive Publication Date: 2024-12-13BEIJING SAIBOTAN ROBOT TECHNOLOGY CO LTD
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Patent Information

Application Number
CN202420612076.9
Authority / Receiving Office
CN · China
Patent Type
Utility models(China)
Current Assignee / Owner
Filing Date
2024-03-27
Publication Date
2024-12-13
Estimated Expiration
2034-03-27

AI Technical Summary

Technical Problem

Traditional high-reduction ratio robotic arms perform poorly in scenarios with high dynamic performance requirements, especially in applications with floating bases or mobile platforms, which are difficult to meet the needs of rapid response and dynamic adaptability.

Method used

A lightweight onboard six-axis robotic arm is designed, using a brushless joint motor and a low-speed reduction ratio torque brushless motor. The bending and picking and rotating work is achieved through the connection between the brushless joint motor, and through the mechanical The claw members realize the grasping function, improving the dynamic position response performance and shock-proof effect of the robot arm.

Benefits of technology

Through low reduction ratio design and joint layout, the dynamic position response performance and end tracking performance of the robotic arm are improved, meeting the needs of fast response and adaptability, and are suitable for mobile platform applications with high dynamic performance.

✦ Generated by Eureka AI based on patent content.

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Abstract

The utility model discloses a light-weight airborne six-axis mechanical arm which comprises a first brushless joint motor, a second brushless joint motor, a third brushless joint motor, a fourth brushless joint motor, a fifth brushless joint motor, a sixth brushless joint motor and a seventh brushless joint motor. A first connecting piece is connected among the second brushless joint motor, the third brushless joint motor and the fourth brushless joint motor, the other end of the fourth brushless joint motor is connected with a second connecting piece, one end of a seventh brushless joint motor is connected with a mechanical claw component, and the other end of the seventh brushless joint motor is connected with a third connecting piece. The mechanical arm has the advantages that the torque brushless motor with the low reduction ratio is adopted, in order to achieve the good position tracking and shockproof effect of the tail end of the mechanical arm, compared with an existing industrial mechanical arm and an existing cooperative mechanical arm, the dynamic position response performance of the tail end of the mechanical arm is improved through the low reduction ratio on one hand, and the anti-vibration performance of the tail end of the mechanical arm is improved. And secondly, the mechanical arm can better pay attention to the tracking performance of the tail end through the joint layout.
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Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, and in particular to a lightweight airborne six-axis mechanical arm. Background Art

[0002] Traditional industrial robotic arms and collaborative robotic arms are usually designed with a high reduction ratio, which helps improve accuracy and stability and is suitable for industrial scenarios that require high precision and collaborative operations. However, in some scenarios with high dynamic performance requirements, this high reduction ratio design may not perform well.

[0003] Especially in applications on floating bases or mobile platforms, such as quadruped robots, higher requirements are placed on the dynamic performance of the manipulator. This is because these robots need to move and operate flexibly in different terrains or environments, so faster response speed and better dynamic adaptability are required.

[0004] In order to meet these requirements, some new robot arm designs have emerged in recent years to improve dynamic performance. This includes the use of lightweight materials, optimization of joint structure to reduce inertia, and the use of advanced sensors and control algorithms to achieve faster motion response and better adaptability.

[0005] Therefore, the choice of robot arm design needs to be weighed according to the specific application scenario. In industrial operations with high requirements for precision and stability, traditional high reduction ratio robots may be more suitable. For mobile platform applications that require higher dynamic performance, a more suitable robot arm design may need to be selected to meet the needs of fast response and adaptability. Utility Model Content

[0006] In view of the deficiencies in the prior art, the utility model aims to provide a lightweight airborne six-axis robotic arm.

[0007] In order to achieve the above-mentioned purpose, the utility model is realized through the following technical scheme: a lightweight airborne six-axis robotic arm, including brushless joint motor one, brushless joint motor two, brushless joint motor three, brushless joint motor four, brushless joint motor five, brushless joint motor six and brushless joint motor seven, wherein a connecting piece one is connected between the brushless joint motor two, the brushless joint motor three and the brushless joint motor four, the other end of the brushless joint motor four is connected to a connecting piece two, the brushless joint motor five is installed on the brushless joint motor six, one end of the brushless joint motor six is ​​connected to the brushless joint motor seven, and one end of the brushless joint motor seven is connected to a mechanical claw component.

[0008] Preferably, the connecting member 1 is composed of a two-axis connecting member, a two-axis connecting member housing, a two-axis connecting member, and a three-axis connecting member and a four-axis connecting member, wherein the two-axis connecting member is fixed to the output shaft of the brushless joint motor 1 by an annular screw array 1, the two-axis connecting member housing is located outside the two-axis connecting member and is fixed by screw 1, the two-axis connecting member is fixed to the output shaft of the brushless joint motor 2 by an annular screw array 2, the brushless joint motor 2 is fixed to the one-axis connecting member by screw 2, and the brushless joint motor 3 is fixed to the two-axis connecting member by screw 3.

[0009] Preferably, a decorative outer shell is installed outside the three-axis and four-axis connecting parts through connecting screws one and two.

[0010] Preferably, the connecting member 2 includes a fourth and fifth axis connecting member, a decorative member, a fifth and sixth axis connecting member and a sixth axis and claw connecting member, the fourth and fifth axis connecting member is fixed to the output shaft of the brushless joint motor 4 by an annular screw array 3, the decorative member is fixed to the brushless joint motor 6 by screws, the fifth and sixth axis connecting member is fixed to the output shaft of the brushless joint motor 5 by an annular screw 4, and the sixth axis and claw connecting member is fixed to the output shaft of the brushless joint motor by an annular screw array 5.

[0011] Preferably, the brushless joint motor five is fixed to the four-fifth axis connecting member by means of screw four, and the brushless joint motor is fixed to the five-sixth axis connecting member.

[0012] Preferably, the mechanical claw assembly consists of a claw slide rail bracket, a claw, a slide rail, a slider, a gear and a connecting rear shell, the claw slide rail bracket is fixed to the brushless joint motor seven by screw five, the claw is fixed to the slider by screw six, the slider is slidably set on the slide rail, the gear is engaged with the rack on the claw, and the gear is fixed to the output shaft of the brushless joint motor six by an annular screw array.

[0013] Preferably, the brushless joint motor seven is connected and fixed to the connecting rear shell through an annular screw array six, and the connecting rear shell is connected and fixed to the six-axis and claw connecting piece.

[0014] The utility model provides a lightweight airborne six-axis robotic arm, which has the following beneficial effects:

[0015] By setting brushless joint motor 1, brushless joint motor 2, brushless joint motor 3, brushless joint motor 4, brushless joint motor 5 and brushless joint motor 6 as the power of the robot arm, a connecting piece 1 is set between brushless joint motor 2, brushless joint motor 3 and brushless joint motor 4 to realize the bending and grasping work of the whole robot arm, brushless joint motor 1 drives brushless joint motor 2 to complete the rotation work, and the set brushless joint motor 7 can realize the grasping work of the claw. The utility model adopts a torque brushless motor with a low reduction ratio as a whole. In order to achieve better position tracking and shockproof effect at the end of the robot arm, compared with the existing industrial robot arm and collaborative robot arm, a lower reduction ratio is used to improve the dynamic position response performance of the end of the robot arm on the one hand, and secondly, the joint layout also enables the robot arm to better focus on the tracking performance of the end. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a front view of a lightweight airborne six-axis robotic arm according to an embodiment of the utility model;

[0018] Figure 2 It is a structural schematic diagram of a connecting member 1 in a lightweight airborne six-axis robotic arm according to an embodiment of the utility model;

[0019] Figure 3 It is a structural schematic diagram of the third and fourth axis connecting parts in a lightweight airborne six-axis robotic arm according to an embodiment of the utility model;

[0020] Figure 4 It is a structural schematic diagram of a second pad connector of a lightweight airborne six-axis robotic arm according to an embodiment of the utility model;

[0021] Figure 5 It is a structural schematic diagram of a mechanical claw component in a lightweight airborne six-axis mechanical arm according to an embodiment of the utility model.

[0022] In the figure:

[0023] 1. Brushless joint motor 1; 2. Brushless joint motor 2; 3. Brushless joint motor 3; 4. Brushless joint motor 4; 5. Brushless joint motor 5; 6. Brushless joint motor 6; 7. Brushless joint motor 7; 8. Connector 1; 9. Connector 2; 10. Mechanical claw component; 11. One- and two-axis connector; 12. Two- and three-axis connector housing; 13. Two- and three-axis connector; 14. Circular screw array 1; 15. Screw 2; 16. Screw 1; 17. Screw 3; 18. Circular screw array 2; 19. Four- and five-axis connector; 2 0. Decorative parts; 21. Five-six axis connecting parts; 22. Sixth axis and claw connecting parts; 23. Screws; 24. Annular screw array four; 25. Annular screw array five; 26. Claw slide rail bracket; 27. Claw; 28. Slide rail; 29. ​​Slider; 30. Gear; 31. Connecting back shell; 32. Annular screw array six; 33. Screw five; 34. Annular screw array; 35. Screw six; 36. Three-four axis connecting parts; 37. Decorative outer shell parts; 38. Connecting screw one; 39. Connecting screw two; 40. Annular screws. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0025] See also Figure 1-5 The utility model provides a lightweight airborne six-axis robot arm, including a brushless joint motor 1, a brushless joint motor 2, a brushless joint motor 3, a brushless joint motor 4, a brushless joint motor 5, a brushless joint motor 6 and a brushless joint motor 7, wherein a connecting piece 8 is connected between the brushless joint motor 2, the brushless joint motor 3 and the brushless joint motor 4, the other end of the brushless joint motor 4 is connected to a connecting piece 2 9, the brushless joint motor 5 5 is installed on the brushless joint motor 6, and one end of the brushless joint motor 6 6 is connected to the brushless joint motor 6 Motor seven 7 is connected, one end of the brushless joint motor seven 7 is connected to a mechanical claw component 10, and the brushless joint motor one 1, brushless joint motor two 2, brushless joint motor three 3, brushless joint motor four 4, brushless joint motor five 5, and brushless joint motor six 6 are used as the power of the mechanical arm. A connecting piece 8 is set between the brushless joint motor two 2, the brushless joint motor three 3 and the brushless joint motor four 4 to realize the bending and grasping work of the overall mechanical arm. The brushless joint motor one 1 drives the brushless joint motor two 2 to complete the rotation work, and the set brushless joint motor seven 7 can realize the grasping work of the claw 27.

[0026] In one embodiment, please refer to the attached manual. Figure 2-3 As shown, the connecting member 8 is composed of a two-axis connecting member 11, a two-axis connecting member housing 12, a two-axis connecting member 13 and a three-axis connecting member 36, wherein the two-axis connecting member 11 is fixed to the output shaft of the brushless joint motor 1 through an annular screw array 14, the two-axis connecting member housing 12 is located outside the two-axis connecting member 13 and is fixed by a screw 16, the two-axis connecting member 13 is fixed to the output shaft of the brushless joint motor 2 through an annular screw array 2 18, the brushless joint motor 2 2 is fixed to the one-axis connecting member 11 through a screw 2 15, the brushless joint motor 3 3 is fixed to the two-axis connecting member 13 through a screw 3 17, and a decorative housing member 37 is installed outside the three-axis connecting member 36 through a connecting screw 1 38 and a connecting screw 2 39.

[0027] In one embodiment, please refer to the attached manual. Figure 4 As shown, the connecting member 29 includes a four-fifth axis connecting member 19, a decorative member 20, a five-sixth axis connecting member 21 and a six-axis and claw connecting member 22. The four-fifth axis connecting member 19 is fixed to the output shaft of the brushless joint motor four 4 by an annular screw array three, the decorative member 20 is fixed to the brushless joint motor six 6 by a screw 23, the five-sixth axis connecting member 21 is fixed to the output shaft of the brushless joint motor five 5 by an annular screw 40, the six-axis and claw connecting member 22 is fixed to the output shaft of the brushless joint motor six 6 by an annular screw array five 25, the brushless joint motor five 5 is fixed to the four-fifth axis connecting member 19 by an annular screw array four 24, and the brushless joint motor six 6 is fixed to the five-sixth axis connecting member 21.

[0028] In one embodiment, please refer to the attached manual. Figure 5 As shown, the mechanical claw component is composed of a claw rail bracket 26, a claw 27, a rail 28, a slider 29, a gear 30 and a connecting rear shell 31. The claw rail bracket 26 is fixed to the brushless joint motor 77 by screws 5 33, the claw 27 is fixed to the slider 29 by screws 6 35, the slider 29 is slidably arranged on the rail 28, the gear 30 is meshed with the rack on the claw 27, the gear 30 is fixed to the output shaft of the brushless joint motor 66 by an annular screw array 34, the brushless joint motor 77 is connected and fixed to the connecting rear shell 31 by an annular screw array 6 32, and the connecting rear shell 31 is connected and fixed to the six-axis claw connector 22. The gear 30 is driven to rotate by the brushless joint motor 77, so that the gear 30 drives the rack to work, so that the two claws 27 complete the clamping work under the action of the slider 29 and the rail 28.

[0029] In actual application, the brushless joint motor 1, brushless joint motor 2, brushless joint motor 3, brushless joint motor 4, brushless joint motor 5, and brushless joint motor 6 are used as the power of the robot arm, and a connecting piece 8 is set between the brushless joint motor 2, brushless joint motor 3 and brushless joint motor 4 to realize the bending and grasping work of the whole robot arm. The brushless joint motor 1 drives the brushless joint motor 2 to complete the rotation work, and the set brushless joint motor 7 can realize the grasping work of the claw 27. The utility model adopts a torque brushless motor with a low reduction ratio as a whole. In order to achieve better position tracking and shockproof effect at the end of the robot arm, compared with the existing industrial robot arm and collaborative robot arm, a lower reduction ratio is used to improve the dynamic position response performance of the end of the robot arm. Secondly, the joint layout also enables the robot arm to better focus on the tracking performance of the end.

[0030] Although this specification is described according to implementation modes, not every implementation mode includes only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A lightweight airborne six-axis robotic arm, characterized in that: The invention comprises a brushless joint motor 1 (1), a brushless joint motor 2 (2), a brushless joint motor 3 (3), a brushless joint motor 4 (4), a brushless joint motor 5 (5), a brushless joint motor 6 (6) and a brushless joint motor 7 (7), wherein a connecting piece 1 (8) is connected between the brushless joint motor 2 (2), the brushless joint motor 3 (3) and the brushless joint motor 4 (4), the other end of the brushless joint motor 4 (4) is connected to a connecting piece 2 (9), the brushless joint motor 5 (5) is mounted on the brushless joint motor 6 (6), one end of the brushless joint motor 6 (6) is connected to the brushless joint motor 7 (7), and one end of the brushless joint motor 7 (7) is connected to a mechanical claw component (10).

2. A lightweight airborne six-axis robotic arm according to claim 1, characterized in that: The connecting member 1 (8) is composed of a two-axis connecting member (11), a two-axis connecting member housing (12) and a two-axis connecting member (13), wherein the two-axis connecting member (11) is fixed to the output shaft of the brushless joint motor 1 (1) by means of an annular screw array 1 (14), the two-axis connecting member housing (12) is located outside the two-axis connecting member (13) and is fixed by means of a screw 1 (16), the two-axis connecting member (13) is fixed to the output shaft of the brushless joint motor 2 (2) by means of an annular screw array 2 (18), the brushless joint motor 2 (2) is fixed to the two-axis connecting member (11) by means of a screw 2 (15), and the brushless joint motor 3 (3) is fixed to the two-axis connecting member (13) by means of a screw 3 (17).

3. A lightweight airborne six-axis robotic arm according to claim 2, characterized in that: The second connecting member (9) comprises a fourth-fifth axis connecting member (19), a decorative member (20), a fifth-sixth axis connecting member (21), a sixth axis and claw connecting member (22) and a third-fourth axis connecting member (36), wherein the fourth-fifth axis connecting member (19) is fixed to the output shaft of the fourth brushless joint motor (4) by means of a third annular screw array, the decorative member (20) is fixed to the sixth brushless joint motor (6) by means of a screw (23), the fifth-sixth axis connecting member (21) is fixed to the output shaft of the fifth brushless joint motor (5) by means of an annular screw (40), and the sixth axis and claw connecting member (22) is fixed to the output shaft of the sixth brushless joint motor (6) by means of a fifth annular screw array (25).

4. A lightweight airborne six-axis robotic arm according to claim 3, characterized in that: A decorative outer shell component (37) is installed outside the three-axis and four-axis connecting component (36) via a first connecting screw (38) and a second connecting screw (39).

5. A lightweight airborne six-axis robotic arm according to claim 4, characterized in that: The brushless joint motor five (5) is fixed to the four-fifth axis connecting member (19) via a ring screw array four (24), and the brushless joint motor six (6) is fixed to the five-sixth axis connecting member (21).

6. A lightweight airborne six-axis robotic arm according to claim 5, characterized in that: The mechanical claw assembly consists of a claw slide rail bracket (26), a claw (27), a slide rail (28), a slider (29), a gear (30) and a connecting rear shell (31); the claw slide rail bracket (26) is fixed to the brushless joint motor seven (7) by screw five (33); the claw (27) is fixed to the slider (29) by screw six (35); the slider (29) is slidably arranged on the slide rail (28); the gear (30) is meshed with a rack on the claw (27); and the gear (30) is fixed to the output shaft of the brushless joint motor six (6) by an annular screw array (34).

7. A lightweight airborne six-axis robotic arm according to claim 6, characterized in that: The brushless joint motor seven (7) is connected and fixed to the connecting rear shell (31) through an annular screw array six (32), and the connecting rear shell (31) is connected and fixed to the six-axis and claw connecting piece (22).