Multi-directional cooperative robot arm

Abstract

The utility model discloses a multidirectional cooperative robot arm which comprises a base, a robot arm body, a robot arm body and a robot arm body. The first connecting part is rotatably arranged on the base; one end of the first mechanical arm is rotatably arranged on the side surface of the first connecting part; one end of the second mechanical arm is rotatably arranged on the side surface of the other end of the first mechanical arm; one end of the second connecting part is rotatably arranged at the other end of the second mechanical arm; the third connecting part is rotatably arranged at the other end of the second connecting part; and the end part is rotatably arranged on the third connecting part and is used for connecting a manipulator. The device has the characteristics of small motion conversion range and high precision.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and more specifically, to a multi-directional collaborative robot arm. Background Art

[0002] With the development of society, the advancement of science and technology, and the substantial improvement in the degree of automation, robots have been increasingly widely used in the fields of machinery, construction, energy, medical care, etc., mainly used for the placement or transfer of objects.

[0003] Robot arms are an important branch of robots. Existing robot arms are mostly large machines that can generally only perform straight-up or straight-down linear motion. With the improvement of technology, researchers have developed robot arms that can switch to multiple angles. However, since this type of robot arm has a large movement angle, it requires a large working space and is in urgent need of upgrading again. Utility Model Content

[0004] The utility model designs and develops a multi-directional collaborative robot arm, wherein the range required for motion conversion of multiple robot arms and connecting parts is smaller, the rotation is more precise, and the occupied space is reduced.

[0005] The technical solution provided by the utility model is:

[0006] A multi-directional collaborative robot arm, comprising:

[0007] Base; and

[0008] A first connecting portion, which is rotatably disposed on the base;

[0009] A first mechanical arm, one end of which is rotatably disposed on a side surface of the first connecting portion;

[0010] A second mechanical arm, one end of which is rotatably arranged on the side of the other end of the first mechanical arm;

[0011] A second connecting portion, one end of which is rotatably disposed at the other end of the second mechanical arm;

[0012] a third connecting portion, which is rotatably disposed at the other end of the second connecting portion;

[0013] The end portion is rotatably arranged on the third connecting portion and is used for connecting the manipulator.

[0014] Preferably, the first connecting portion is an L-shaped structure.

[0015] Preferably, the first connecting portion and the second mechanical arm are both arranged on the same side of the first mechanical arm.

[0016] Preferably, the second connecting portion and the first mechanical arm are both arranged on the same side of the second mechanical arm.

[0017] Preferably, it also includes:

[0018] a first motor, which is fixed in the first connecting portion;

[0019] The output end of the first harmonic reducer is fixed in the base, and the input end of the first harmonic reducer is connected to the power output end of the first motor.

[0020] Preferably, it also includes:

[0021] A second motor fixed in one end of the first mechanical arm;

[0022] The output end of the second harmonic reducer is fixed in the first connecting portion, and the input end of the second harmonic reducer is connected to the power output end of the second motor.

[0023] Preferably, it also includes:

[0024] a third motor fixed in one end of the second mechanical arm;

[0025] The output end of the third harmonic reducer is fixed in the other end of the first mechanical arm, and the input end of the third harmonic reducer is connected to the power output end of the third motor.

[0026] Preferably, it also includes:

[0027] a fourth motor, which is fixed in the second connecting portion;

[0028] The output end of the fourth harmonic reducer is fixed in the other end of the second mechanical arm, and the input end of the fourth harmonic reducer is connected to the power output end of the fourth motor.

[0029] Preferably, it also includes:

[0030] a fifth motor, which is fixed in the third connecting portion;

[0031] The fifth harmonic reducer has an output end fixed in the second connecting portion, and an input end of the fifth harmonic reducer is connected to a power output end of the fifth motor.

[0032] Preferably, it also includes:

[0033] a sixth motor, which is fixed in the third connecting portion;

[0034] The output end of the sixth harmonic reducer is fixed in the end portion, and the input end of the sixth harmonic reducer is connected to the power output end of the sixth motor.

[0035] Beneficial effects of the utility model:

[0036] The multi-directional collaborative robot arm provided by the utility model realizes the multi-directional collaboration of the robot arm through the combination of multiple mechanical arms and moving parts, and makes the range required for its motion conversion smaller, the rotation more precise, and the occupied space reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a schematic diagram of the structure of the multi-directional collaborative robot arm of the utility model.

[0038] Figure 2 It is a schematic diagram of the assembly structure of the base of the utility model.

[0039] Figure 3 This is a schematic diagram of the assembly structure of the second mechanical arm of the utility model.

[0040] Figure 4 It is a schematic diagram of the assembly structure of the third connecting part of the utility model.

[0041] Figure 5 This is a schematic diagram of the assembly structure of the first motor and the first harmonic reducer of the utility model. DETAILED DESCRIPTION

[0042] The present invention will be further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0043] like Figure 1 As shown, the utility model provides a multi-directional collaborative robot arm, comprising:

[0044] The base 110 , the first connecting portion 120 , the first mechanical arm 130 , the second mechanical arm 140 , the second connecting portion 150 , the third connecting portion 160 and the end portion 170 .

[0045] like Figure 2 As shown, the base 110 can be detachably fixed to any working position such as the ground or a bracket by bolts, the first connecting portion 120 is an L-shaped structure with both ends open, one end of which is rotatably arranged on the base 110, the first mechanical arm 130 is a cylindrical structure as a whole, and one end of the first mechanical arm 130 is rotatably arranged at the other end of the first connecting portion 120, as shown in FIG. Figure 3As shown, the second mechanical arm 140 is also a cylindrical structure as a whole, and one end of the second mechanical arm 140 is rotatably connected to the other end of the first mechanical arm 130, as shown in FIG. Figure 4 As shown, the second connection part 150 and the third connection part 160 are both L-shaped structures as a whole, and one end of the second connection part 150 is connected to the other end of the second robot arm 140, and one end of the third connection part 160 is connected to the other end of the second connection part 150, and the end part 170 is rotatably arranged on the other end of the third connection part 160 for detachable connection to the robot arm.

[0046] In this embodiment, in order to shorten the motion conversion range of the robot arm, the first connecting portion 120 and the second robotic arm 140 are both arranged on the same side of the first robotic arm 130 , and the second connecting portion 150 and the first robotic arm 130 are both arranged on the same side of the second robotic arm 140 .

[0047] like Figure 5 As shown, in this embodiment, a first motor is fixed in the first connecting part 120, and the first motor includes a stator 192 and a rotor 191. The stator 192 is fixed inside the first connecting part, and the rotor 191 can rotate in the stator 192. The output shaft is fixed at the center of the rotor 191 for power output. The first harmonic reducer 193 is fixed in the base through the output surface, and its input end is the output shaft of the first motor.

[0048] In this embodiment, a second motor is fixed in the first robotic arm 130, the output end of the second harmonic reducer is fixed in the first connecting part 120, and the input end thereof is the output shaft of the second motor; a third motor is fixed in one end of the second robotic arm 140, the output end of the third harmonic reducer is fixed in the other end of the first robotic arm 130, and the input end thereof is the output shaft of the third motor; a fourth motor is fixed in the second connecting part 150, the output end of the fourth harmonic reducer is fixed in the other end of the second robotic arm 140, and the input end thereof is the output shaft of the fourth motor; a fifth motor is fixed in the third connecting part 160, the output end of the fifth harmonic reducer is fixed in the second connecting part 150, and the input end thereof is the output shaft of the fifth motor; a sixth motor is fixed in the third connecting part 160, the output end of the sixth harmonic reducer is fixed in the end part 170, and the input end thereof is the output shaft of the sixth motor.

[0049] In this embodiment, the second motor and the second harmonic reducer, the third motor and the third harmonic reducer, the fourth motor and the fourth harmonic reducer, the fifth motor and the fifth harmonic reducer, and the sixth motor and the sixth harmonic reducer are all installed in the same way as the first motor and the first harmonic reducer 193.

[0050] The robot arm described in the utility model realizes the movement of each part through the forward and reverse rotation of the first motor, the second motor, the third motor, the fourth motor, the fifth motor and the sixth motor, thereby realizing the movement of the robot arm.

[0051] The multi-directional collaborative robot arm provided by the utility model realizes the multi-directional collaboration of the robot arm through the combination of multiple mechanical arms and moving parts, and makes the range required for its motion conversion smaller, the rotation more precise, and the occupied space reduced.

[0052] Although the implementation scheme of the utility model has been disclosed as above, it is not limited to the applications listed in the specification and implementation modes. It can be fully applied to various fields suitable for the utility model. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the utility model is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A multi-directional collaborative robot arm, characterized in that: include: Base; as well as A first connecting portion, which is rotatably disposed on the base; A first mechanical arm, one end of which is rotatably disposed on a side surface of the first connecting portion; A second mechanical arm, one end of which is rotatably arranged on the side of the other end of the first mechanical arm; A second connecting portion, one end of which is rotatably disposed at the other end of the second mechanical arm; a third connecting portion, which is rotatably disposed at the other end of the second connecting portion; The end portion is rotatably arranged on the third connecting portion and is used for connecting the manipulator.

2. The multi-directional collaborative robot arm according to claim 1, characterized in that: The first connecting portion is an L-shaped structure.

3. The multi-directional collaborative robot arm according to claim 2, characterized in that: The first connecting portion and the second mechanical arm are both arranged on the same side of the first mechanical arm.

4. The multi-directional collaborative robot arm according to claim 3, characterized in that: The second connecting portion and the first mechanical arm are both arranged on the same side of the second mechanical arm.

5. The multi-directional collaborative robot arm according to claim 4, characterized in that: Also includes: a first motor, which is fixed in the first connecting portion; The output end of the first harmonic reducer is fixed in the base, and the input end of the first harmonic reducer is connected to the power output end of the first motor.

6. The multi-directional collaborative robot arm according to claim 5, characterized in that: Also includes: A second motor fixed in one end of the first mechanical arm; The output end of the second harmonic reducer is fixed in the first connecting portion, and the input end of the second harmonic reducer is connected to the power output end of the second motor.

7. The multi-directional collaborative robot arm according to claim 6, characterized in that: Also includes: a third motor fixed in one end of the second mechanical arm; The output end of the third harmonic reducer is fixed in the other end of the first mechanical arm, and the input end of the third harmonic reducer is connected to the power output end of the third motor.

8. The multi-directional collaborative robot arm according to claim 7, characterized in that: Also includes: a fourth motor, which is fixed in the second connecting portion; The output end of the fourth harmonic reducer is fixed in the other end of the second mechanical arm, and the input end of the fourth harmonic reducer is connected to the power output end of the fourth motor.

9. The multi-directional collaborative robot arm according to claim 8, characterized in that: Also includes: a fifth motor, which is fixed in the third connecting portion; The fifth harmonic reducer has an output end fixed in the second connecting portion, and an input end of the fifth harmonic reducer is connected to a power output end of the fifth motor.

10. The multi-directional collaborative robot arm according to claim 8, characterized in that: Also includes: a sixth motor, which is fixed in the third connecting portion; The output end of the sixth harmonic reducer is fixed in the end portion, and the input end of the sixth harmonic reducer is connected to the power output end of the sixth motor.

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