Four-axis light-weight mechanical arm

Abstract

The utility model discloses a four-axis light-weight mechanical arm. The four-axis light-weight mechanical arm comprises a base, a large mechanical arm, a first small mechanical arm, a second small mechanical arm and a Z-axis moving mechanical rod. The base is connected with the large mechanical arm based on a first transmission mechanism, the base is connected with the first small mechanical arm based on a second transmission mechanism, and the base is connected with the Z-axis moving mechanical rod based on a third transmission mechanism; a first motor, a second motor and a third motor are arranged on the periphery of the base, the first motor is connected with the input end of the first transmission mechanism, the second motor is connected with the input end of the second transmission mechanism, and the third motor is connected with the input end of the third transmission mechanism. The first motor, the second motor and the third motor are arranged on the base, so that the mass of the mechanical forearm is reduced, the inertia of the elbow joint is reduced, and the elbow joint can be quickly moved to the corresponding position and operated according to instructions.

Description

Technical Field

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

[0002] The SCARA robot has three rotating joints, whose axes are parallel to each other, and are positioned and oriented in the plane. The other joint is a mobile joint, which is used to complete the movement of the end piece perpendicular to the plane. The position of the wrist reference point is determined by the angular displacements φ1 and φ2 of the two rotating joints and the displacement z of the mobile joint. This type of robot has a light structure and fast response. It is most suitable for plane positioning and vertical assembly operations.

[0003] However, in the mechanical structure of the currently released SCARA robots, the motor and accessories are completely or partially concentrated in the forearm part, which makes the overall mass of the forearm part large, the inertia of the elbow joint increases, and the speed decreases, making it impossible to quickly move to the corresponding position and operate according to instructions. Utility Model Content

[0004] The purpose of the utility model is to overcome the shortcomings of the prior art. The utility model provides a four-axis lightweight robotic arm. By arranging a first motor, a second motor and a third motor around a base, the overall mass of the robotic arm is reduced, the inertia of the elbow joint is reduced, and the arm can be quickly moved to a corresponding position and operated according to instructions.

[0005] Accordingly, the utility model proposes a four-axis lightweight mechanical arm, which comprises: a base, a mechanical arm, a first mechanical arm, a second mechanical arm and a Z-axis moving mechanical rod;

[0006] The base is connected to the mechanical arm based on a first transmission mechanism, the base is connected to the first mechanical arm based on a second transmission mechanism, and the base is connected to the Z-axis moving mechanical rod based on a third transmission mechanism;

[0007] The base is surrounded by a first motor, a second motor and a third motor. The first motor is connected to the input end of the first transmission mechanism, the second motor is connected to the input end of the second transmission mechanism, and the third motor is connected to the input end of the third transmission mechanism.

[0008] Preferably, one end of the second mechanical arm is rotatably connected to the base, and the other end of the second mechanical arm is rotatably connected to the first mechanical arm.

[0009] Preferably, the mechanical arm is rotated by the first transmission mechanism with the connection end of the mechanical arm as the center, and the rotation angle of the mechanical arm is greater than 360°.

[0010] Preferably, the first mechanical small arm is rotated by the second transmission mechanism with the connecting end of the first mechanical small arm and the mechanical large arm as the center, and the rotation angle of the first mechanical small arm is less than 360°.

[0011] Preferably, the Z-axis moving mechanical rod is driven by a third transmission mechanism to move up and down along the Z-axis direction.

[0012] Preferably, the first transmission mechanism includes: a first transmission rod, and the first transmission rod is connected to the first motor based on a first transmission track.

[0013] Preferably, the second transmission mechanism comprises: a second transmission rod and a third transmission rod, the second transmission rod is sleeved in the first transmission rod, and the third transmission rod is arranged at the connection end between the first mechanical small arm and the mechanical large arm;

[0014] The second transmission rod is connected to the second motor via a second transmission belt.

[0015] Preferably, the third transmission mechanism comprises: a fourth transmission rod and a fifth transmission rod, wherein the fourth transmission rod is sleeved in the second transmission rod;

[0016] The fourth transmission rod is connected to the third motor based on the third transmission track.

[0017] Preferably, the end of the first transmission mechanism is located above the end of the second transmission mechanism, and the end of the second transmission mechanism is located above the end of the third transmission mechanism.

[0018] Preferably, the second mechanical arm is made of metal.

[0019] Beneficial effects of the utility model:

[0020] The utility model reduces the mass on the mechanical arm by arranging the first motor, the second motor and the third motor on the base, thereby reducing the inertia of the elbow joint, quickly moving to the corresponding position and operating according to instructions; the utility model is also provided with multiple transmission mechanisms, the multiple transmission mechanisms are connected to the corresponding motors, and the connections between each transmission mechanism and the motor do not interfere with each other, reducing the risk of mutual wear of the connected crawlers at the same height, and extending the service life of the four-axis lightweight mechanical arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] 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 or the description of the prior art 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.

[0022] Figure 1 It is a structural schematic diagram of the four-axis lightweight mechanical arm in the utility model;

[0023] Figure 2 It is a front view of the four-axis lightweight mechanical arm in the utility model;

[0024] Figure 3 It is a cross-sectional view of the four-axis lightweight mechanical arm in the utility model.

[0025] In the accompanying drawings, 10, base; 20, mechanical arm; 30, first mechanical arm; 40, second mechanical arm; 50, Z-axis moving mechanical rod; 1, first motor; 2, second motor; 3, third motor; 4, first transmission mechanism; 41, first transmission rod; 5, second transmission mechanism; 51, second transmission rod; 52, third transmission rod; 6, third transmission mechanism; 61, fourth transmission rod; 62, fifth transmission rod; 100, first transmission track; 200, second transmission track; 300, third transmission track; 400, fourth transmission track; 500, fifth transmission track; 600, sixth transmission track. DETAILED DESCRIPTION

[0026] 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 of 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.

[0027] Figure 1 The schematic diagram of the structure of the four-axis lightweight mechanical arm in the utility model is shown. Figure 2 The front view of the four-axis lightweight mechanical arm in the utility model is shown. Figure 3A cross-sectional view of the four-axis lightweight robotic arm in the utility model is shown, and the four-axis lightweight robotic arm includes: a base 10, a robotic arm 20, a first robotic arm 30, a second robotic arm 40 and a Z-axis movable mechanical rod 50; the base 10 is connected to the robotic arm 20 based on a first transmission mechanism 4, the base 10 is connected to the first robotic arm 30 based on a second transmission mechanism 5, and the base 10 is connected to the Z-axis movable mechanical rod 50 based on a third transmission mechanism 6.

[0028] The base 10 is surrounded by a first motor 1, a second motor 2 and a third motor 3. The first motor 1 is connected to the input end of the first transmission mechanism 4, the second motor 2 is connected to the input end of the second transmission mechanism 5, and the third motor 3 is connected to the input end of the third transmission mechanism 6.

[0029] Furthermore, the end of the first transmission mechanism 4 is located above the end of the second transmission mechanism 5, and the end of the second transmission mechanism 5 is located above the end of the third transmission mechanism 6. The height of the output end of the first motor 1 is H1, the height of the output end of the second motor 2 is H2, and the height of the output end of the third motor 3 is H3. The constraint relationship between H1, H2 and H3 is H1>H2>H3. The output end heights of the first motor 1, the second motor 2 and the third motor 3 are inconsistent, and each motor has a corresponding height with the transmission mechanism connected to it, which reduces the risk of mutual wear of each connected crawler at the same height, and prolongs the service life of the four-axis lightweight robot arm.

[0030] Furthermore, one end of the second mechanical arm 40 is rotatably connected to the base 10, and the other end of the second mechanical arm 40 is rotatably connected to the first mechanical arm 30. The second mechanical arm 40 acts as a bridge to connect the base 10 and the mechanical arm. When the first mechanical arm 30 grabs a heavy object, the second mechanical arm 40 can provide a supporting force to the first mechanical arm 30 to avoid the first mechanical arm 30 from tilting downward at one end of the first mechanical arm 30 close to the Z-axis moving mechanical rod 50 when the first mechanical arm 30 grabs a heavy object, thereby affecting the grabbing effect, and ensuring that the first mechanical arm 30 can maintain its grabbing effect and reduce grabbing errors under long-term use.

[0031] Furthermore, the first transmission mechanism 4 includes: a first transmission rod 41, and the first transmission rod 41 is connected to the first motor 1 based on a first transmission crawler 100. The output end of the first transmission rod 41 is rotatably connected to one end of the mechanical arm 20, and the input end of the first transmission rod 41 is connected to the first motor 1 based on the first transmission crawler 100. The first transmission crawler 100 covers the input end of the first transmission rod 41 and the output end of the first motor 1.

[0032] Furthermore, the mechanical arm 20 is driven by the first transmission mechanism 4 to rotate with the connection end of the mechanical arm 20 as the center, and the rotation angle of the mechanical arm 20 is greater than 360°. When the output end of the first motor 1 starts to rotate clockwise, the first transmission track 100 drives the first transmission rod 41 to rotate clockwise. At the same time, when the first transmission rod 41 rotates clockwise, it drives the mechanical arm 20 to rotate clockwise, thereby enabling the four-axis lightweight mechanical arm to adjust its movement posture and angle to adapt to different working environments. Secondly, by rotating the mechanical arm 20 360°, the four-axis lightweight mechanical arm can move from one position to another faster, reducing unnecessary movement and waiting.

[0033] Further, the second transmission mechanism 5 includes: a second transmission rod 51 and a third transmission rod 52, wherein the second transmission rod 51 is sleeved in the first transmission rod 41, and the third transmission rod 52 is arranged at the connection end between the first mechanical arm 30 and the mechanical arm 20; the second transmission rod 51 is connected to the second motor 2 based on the second transmission crawler 200, and the second transmission rod 51 is connected to the third transmission crawler 300 and the third transmission rod 52. The second transmission crawler 200 sleeves the input end of the second transmission rod 51 and the output end of the second motor 2, and the third transmission crawler 300 sleeves the output end of the second transmission rod 51 and the input end of the second mechanical arm 40.

[0034] Furthermore, the first mechanical arm 30 is rotated by the second transmission mechanism 5 with the connection end of the first mechanical arm 30 and the mechanical arm 20 as the center, and the rotation angle of the first mechanical arm 30 is less than 360°. When the output end of the second motor 2 starts to rotate clockwise, the second transmission track 200 drives the second transmission rod 51 to rotate clockwise, and at the same time, the second transmission rod 51 rotates clockwise to drive the third transmission track 300 to move, thereby driving the third transmission rod 52 to rotate clockwise, and the third clockwise rotation drives the first mechanical arm 30 to rotate clockwise, thereby enabling the four-axis lightweight mechanical arm to adjust its movement posture and angle to adapt to different working environments. Secondly, the rotation angle of the first mechanical arm 30 is less than 360°, which avoids the overlap of the first mechanical arm 30 with the mechanical arm 20, resulting in the collision and wear of the Z-axis moving mechanical rod 50 with the mechanical arm 20, thereby extending the service life of the equipment.

[0035] Further, the third transmission mechanism 6 includes: a fourth transmission rod 61 and a fifth transmission rod 62, the fourth transmission rod 61 is sleeved in the second transmission rod 51; the fifth transmission rod 62 is sleeved in the third transmission rod 52, the fourth transmission rod 61 is connected to the third motor 3 based on the fourth transmission crawler 400, the fifth transmission rod 62 is connected to the fourth transmission rod 61 based on the fifth transmission crawler 500, and the fifth transmission rod 62 is connected to the Z-axis moving mechanical rod 50 based on the sixth transmission crawler 600. The fourth transmission crawler 400 sleeves the input end of the fourth transmission rod 61 and the output end of the third motor 3, the fifth transmission crawler 500 sleeves the output end of the fourth transmission rod 61 and the input end of the fifth transmission rod 62, and the sixth transmission crawler 600 sleeves the output end of the fifth transmission rod 62 and the input end of the Z-axis moving mechanical rod 50.

[0036] Furthermore, the Z-axis moving mechanical rod 50 is driven by the third transmission mechanism 6 to move up and down along the Z-axis. When the output end of the third motor 3 starts to rotate clockwise, the fourth transmission track 400 drives the fourth transmission rod 61 to rotate clockwise, and the fourth transmission rod 61 rotates clockwise to drive the fifth transmission track 500 to move, thereby driving the fifth transmission rod 62 to rotate clockwise. The fifth transmission rod 62 rotates clockwise to drive the sixth transmission track 600 to move, thereby driving the input end of the Z-axis moving mechanical rod 50 to rotate clockwise, and the clockwise rotation of the input end of the Z-axis moving mechanical rod 50 causes the Z-axis moving mechanical rod 50 to move downward along the Z-axis. Similarly, when the output end of the third motor 3 starts to rotate counterclockwise, the fourth transmission track 400 drives the fourth transmission rod 61 to rotate counterclockwise, and the fourth transmission rod 61 rotates counterclockwise to drive the fifth transmission track 500 to move, thereby driving the fifth transmission rod 62 to rotate counterclockwise. The fifth transmission rod 62 rotates counterclockwise, driving the sixth transmission track 600 to move, thereby driving the input end of the Z-axis moving mechanical rod 50 to rotate counterclockwise, and the input end of the Z-axis moving mechanical rod 50 rotates counterclockwise to cause the Z-axis moving mechanical rod 50 to move upward along the Z axis.

[0037] Furthermore, the material of the second mechanical arm 40 is metal. In the present embodiment, the material of the second mechanical arm 40 is aluminum alloy, which is light in weight and high in strength. The material of the second mechanical arm 40 is aluminum alloy, which reduces the overall mass of the mechanical arm, reduces the inertia of the elbow joint, and increases the speed. Secondly, a dense oxide film will be formed on the surface of the aluminum alloy when it contacts the air. This film can prevent corrosion and rust, and avoid rusting of the four-axis lightweight mechanical arm when it is located in a relatively humid working environment, thereby ensuring that the four-axis lightweight mechanical arm operates normally in a humid environment and reducing the risk of downtime due to environmental problems.

[0038] In summary, the utility model reduces the mass on the robotic arm by arranging the first motor, the second motor and the third motor on the base, thereby reducing the inertia of the elbow joint, quickly moving to the corresponding position and operating according to instructions; the utility model is also provided with multiple transmission mechanisms, and the multiple transmission mechanisms are connected to the corresponding motors, and the connection between each transmission mechanism and the motor does not interfere with each other, reducing the risk of mutual wear of the connected crawlers at the same height, thereby extending the service life of the four-axis lightweight robotic arm.

[0039] In addition, the above is a detailed introduction to a four-axis lightweight robotic arm provided by an embodiment of the utility model. Specific examples are used in this article to illustrate the principle and implementation method of the utility model. The description of the above embodiments is only used to help understand the method and core idea of ​​the utility model; at the same time, for general technical personnel in this field, according to the idea of ​​the utility model, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the utility model.

Claims

1. A four-axis lightweight robotic arm, characterized in that: The four-axis lightweight mechanical arm comprises: a base, a mechanical arm, a first mechanical arm, a second mechanical arm and a Z-axis moving mechanical rod; The base is connected to the mechanical arm based on a first transmission mechanism, the base is connected to the first mechanical arm based on a second transmission mechanism, and the base is connected to the Z-axis moving mechanical rod based on a third transmission mechanism; The base is surrounded by a first motor, a second motor and a third motor. The first motor is connected to the input end of the first transmission mechanism, the second motor is connected to the input end of the second transmission mechanism, and the third motor is connected to the input end of the third transmission mechanism.

2. The four-axis lightweight robotic arm according to claim 1, characterized in that: One end of the second mechanical arm is rotatably connected to the base, and the other end of the second mechanical arm is rotatably connected to the first mechanical arm.

3. The four-axis lightweight robotic arm according to claim 1, characterized in that: The mechanical arm is rotated by the first transmission mechanism with the connection end of the mechanical arm as the center, and the rotation angle of the mechanical arm is greater than 360°.

4. The four-axis lightweight robotic arm according to claim 1, characterized in that: The first mechanical small arm is rotated by the second transmission mechanism with the connection end of the first mechanical small arm and the mechanical large arm as the center, and the rotation angle of the first mechanical small arm is less than 360°.

5. The four-axis lightweight robotic arm according to claim 1, characterized in that: The Z-axis moving mechanical rod is driven by the third transmission mechanism to move up and down along the Z-axis direction.

6. The four-axis lightweight robotic arm according to claim 1, characterized in that: The first transmission mechanism includes: a first transmission rod, and the first transmission rod is connected to the first motor based on a first transmission track.

7. The four-axis lightweight robotic arm according to claim 6, characterized in that: The second transmission mechanism comprises: a second transmission rod and a third transmission rod, the second transmission rod is sleeved in the first transmission rod, and the third transmission rod is arranged at the connection end between the first mechanical small arm and the mechanical large arm; The second transmission rod is connected to the second motor via a second transmission belt.

8. The four-axis lightweight robotic arm according to claim 7, characterized in that: The third transmission mechanism comprises: a fourth transmission rod and a fifth transmission rod, wherein the fourth transmission rod is sleeved in the second transmission rod; The fourth transmission rod is connected to the third motor based on the third transmission track.

9. The four-axis lightweight robotic arm according to claim 1, characterized in that: The end of the first transmission mechanism is located above the end of the second transmission mechanism, and the end of the second transmission mechanism is located above the end of the third transmission mechanism.

10. The four-axis lightweight robotic arm according to claim 1, characterized in that: The second mechanical arm is made of metal.

Images