Multi-connecting-rod self-inspection cooperative mechanical arm

Abstract

The utility model relates to the technical field of mechanical arms, and discloses a multi-connecting-rod self-inspection cooperation mechanical arm. The mechanical arm comprises a mechanical arm main arm, a telescopic arm is installed on the mechanical arm main arm, a mechanical arm tail end executing head is installed on the telescopic arm, the telescopic arm comprises an outer cylinder installed on the mechanical arm main arm, a first telescopic cylinder is installed in the outer cylinder in a sliding mode, a second telescopic cylinder is installed in the first telescopic cylinder in a sliding mode, and the second telescopic cylinder is installed on the mechanical arm tail end executing head. A first motor is fixedly installed on the outer cylinder, a first gear and a second gear are rotatably installed in the outer cylinder, the first gear is located in the first telescopic cylinder, the second gear is located in the second telescopic cylinder, the first motor is in transmission connection with the first gear, and the first gear is in transmission connection with the second gear. And a first rack is arranged on the inner wall of the top of the first telescopic cylinder. The mechanical arm can stretch out and draw back, and the operation distance of the mechanical arm can be adjusted according to using requirements.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to a multi-link self-checking cooperative mechanical arm. Background Art

[0002] A multi-link self-inspection collaborative robot arm is a robot arm that can cooperate with humans. It has a high degree of intelligence and can independently and assist humans to complete specific tasks, such as sorting, stacking, and visual inspection. At the same time, due to its multi-link characteristics, it is more flexible. For example, the patent document with patent number (CN208645324U) discloses a multi-link self-inspection collaborative robot arm with a simple structure, light weight, and low cost. It can achieve a longer arm span and a heavier load than similar collaborative robot arms. Each part is relatively independent, and the arm span or load can be further increased by increasing power or changing the transmission ratio. It has good scalability. However, it cannot achieve the extension and retraction of the robot arm, resulting in the robot arm being unable to adjust its length according to usage needs, and its applicability is relatively insufficient. Utility Model Content

[0003] In order to solve the above technical problems, the utility model provides a multi-link self-inspection cooperative mechanical arm.

[0004] The utility model adopts the following technical scheme to achieve: a main arm of a robot arm, a telescopic arm is installed on the main arm of the robot arm, a robot arm end execution head is installed on the telescopic arm, the telescopic arm comprises an outer cylinder installed on the main arm of the robot arm, a first telescopic cylinder is slidably installed in the outer cylinder, a second telescopic cylinder is slidably installed in the first telescopic cylinder, a first motor is fixedly installed on the outer cylinder, a first gear and a second gear are rotatably installed in the outer cylinder, the first gear is in the first telescopic cylinder, the second gear is in the second telescopic cylinder, the first motor is connected with the first gear in transmission, the first gear is connected with the second gear in transmission, a first rack is provided on the top inner wall of the first telescopic cylinder, the first gear is meshed with the first rack, a second rack is provided on the bottom inner wall of the second telescopic cylinder, the second gear is meshed with the second rack, and a counterweight is threadedly installed on one end of the second telescopic cylinder.

[0005] As a further improvement of the above scheme, a first shaft rod and a second shaft rod are rotatably installed in the outer cylinder, both ends of the first shaft rod and the second shaft rod extend outside the outer cylinder, one end of the first shaft rod is fixedly connected to the output shaft of the first motor, and one end of the first shaft rod and the second shaft rod are respectively fixedly installed with a first synchronous wheel and a second synchronous wheel, and the first synchronous wheel and the second synchronous wheel are sleeved with a synchronous belt.

[0006] As a further improvement of the above solution, a long cover shell is provided on one side of the outer cylinder, and the first synchronous wheel, the second synchronous wheel and the synchronous belt are all located in the long cover shell, and the long cover shell consists of two parts: a shell body and a shell cover.

[0007] As a further improvement of the above solution, a limiting ring is provided on the sliding sleeve of the second telescopic cylinder, and the limiting ring is threadedly connected to the outer cylinder.

[0008] As a further improvement of the above solution, a second motor is fixedly installed in the first telescopic cylinder, and the output shaft of the second motor is connected to the shaft head of the actuator head at the end of the robot arm.

[0009] As a further improvement of the above scheme, the inner walls on both sides of the first telescopic cylinder and the second telescopic cylinder are provided with a first long slide, the first shaft rod and the second shaft rod respectively pass through the corresponding first long slide and are slidably connected to the corresponding first long slide, and the top inner wall of the second telescopic cylinder is provided with a second long slide, the first rack is located in the second long slide and is slidably connected to the second long slide.

[0010] As a further improvement of the above solution, the top inner wall and the bottom inner wall of the outer cylinder are both provided with sliding grooves, and the top and bottom of the first telescopic cylinder are both provided with convex strips, which extend into the two sliding grooves respectively and are slidably connected with the two sliding grooves.

[0011] Compared with the prior art, the beneficial effects of the present invention are:

[0012] The utility model forms a telescopic arm structure of a robot arm by cooperating with structures such as an outer cylinder, a first telescopic cylinder, a second telescopic cylinder, a first motor and a counterweight block, so that the robot arm can be telescoped, so as to adjust the operating range and distance according to needs, thereby improving the applicability of the robot arm. At the same time, the existence of the second telescopic cylinder and the counterweight block also makes it possible for the other end of the telescopic arm to be extended when the telescopic arm is extended, thereby ensuring that the motor of the main arm of the robot arm used to control the telescopic arm can reduce the burden when lifting the extended telescopic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the overall structure of the multi-link self-inspection cooperative mechanical arm of the utility model from the right perspective;

[0014] Figure 2 It is a schematic diagram of the overall structure of the multi-link self-checking cooperative mechanical arm of the utility model from a left perspective;

[0015] Figure 3 It is a schematic diagram of the shell-disassembling structure of the multi-link self-inspection cooperative robot arm of the utility model;

[0016] Figure 4 It is a cross-sectional structural schematic diagram of the multi-link self-inspection cooperative mechanical arm of the utility model;

[0017] Figure 5 It is a schematic diagram of the disassembled structure of the multi-link self-checking cooperative robot arm of the utility model;

[0018] Figure 6It is a schematic diagram of the disassembled cross-sectional structure of the multi-link self-inspection cooperative robot arm of the utility model.

[0019] Description of main symbols:

[0020] 1. Main arm of the robot; 2. Outer cylinder; 3. First telescopic cylinder; 4. Second telescopic cylinder; 5. First motor; 6. First shaft; 7. First gear; 8. First rack; 9. First synchronous wheel; 10. Second shaft; 11. Second synchronous wheel; 12. Synchronous belt; 14. Second gear; 15. Second rack; 16. Counterweight; 17. Limiting ring; 18. Second motor; 19. End actuator of the robot. DETAILED DESCRIPTION

[0021] The present invention is further described below in conjunction with the accompanying drawings and specific implementation methods.

[0022] Please combine Figures 1 to 6 The multi-link self-checking cooperative robot arm of this embodiment comprises: a robot arm main arm 1, a telescopic arm is installed on the robot arm main arm 1, a robot arm end execution head 19 is installed on the telescopic arm, the telescopic arm comprises an outer cylinder 2 installed on the robot arm main arm 1, the outer cylinder 2 is connected to the driving shaft of the robot arm main arm 1, a first telescopic cylinder 3 is slidably installed in the outer cylinder 2, the first telescopic cylinder 3 serves as an extension arm of the telescopic arm, a second telescopic cylinder 4 is slidably installed in the first telescopic cylinder 3, the second telescopic cylinder 4 serves as an opposite balance extension arm, which drives the counterweight 16 to extend and retract in the opposite direction of the robot arm end execution head 19, so as to keep the whole telescopic arm balanced, and the outer cylinder 2 is fixed A first motor 5 is installed, and a first gear 7 and a second gear 14 are rotatably installed in the outer cylinder 2. The first gear 7 is in the first telescopic cylinder 3, and the second gear 14 is in the second telescopic cylinder 4. The first motor 5 is connected to the first gear 7, and the first gear 7 is connected to the second gear 14. A first rack 8 is provided on the top inner wall of the first telescopic cylinder 3, and the first gear 7 is meshed with the first rack 8. A second rack 15 is provided on the bottom inner wall of the second telescopic cylinder 4, and the second gear 14 is meshed with the second rack 15. A counterweight 16 is threadedly installed at one end of the second telescopic cylinder 4. The counterweight 16 is divided into different models according to size and can be replaced as needed.

[0023] A first shaft rod 6 and a second shaft rod 10 are rotatably installed in the outer cylinder 2. Both ends of the first shaft rod 6 and the second shaft rod 10 extend outside the outer cylinder 2. One end of the first shaft rod 6 is fixedly connected to the output shaft of the first motor 5. A first synchronous wheel 9 and a second synchronous wheel 11 are fixedly installed on one end of the first shaft rod 6 and the second shaft rod 10 respectively. A synchronous belt 12 is sleeved on the first synchronous wheel 9 and the second synchronous wheel 11.

[0024] Through the above technical solution, the first shaft rod 6 and the second shaft rod 10 are mainly used as support members for the first gear 7 and the second gear 14. At the same time, the two cooperate with the first synchronous wheel 9, the second synchronous wheel 11 and the synchronous belt 12 to also serve as transmission members for the first gear 7 and the second gear 14, so that the first telescopic cylinder 3 and the second telescopic cylinder 4 can extend in opposite directions at the same time.

[0025] A long cover is provided on one side of the outer cylinder 2. The first synchronous wheel 9, the second synchronous wheel 11 and the synchronous belt 12 are all located in the long cover. The long cover consists of two parts: a shell and a shell cover.

[0026] Through the above technical solution, the long cover is mainly used to cover and protect the first synchronous wheel 9, the second synchronous wheel 11 and the synchronous belt 12, and also plays an aesthetic role.

[0027] A limiting ring 17 is slidably sleeved on the second telescopic cylinder 4 , and the limiting ring 17 is threadedly connected to the outer cylinder 2 .

[0028] Through the above technical solution, the limiting ring 17 is mainly used to cover one end of the first telescopic cylinder 3. If the cover is to be opened, grease can be poured into the outer cylinder 2. It is also used to limit the second telescopic cylinder 4 so that the second telescopic cylinder 4 can stably perform telescopic sliding.

[0029] A second motor 18 is fixedly installed in the first telescopic cylinder 3 , and an output shaft of the second motor 18 is connected to a shaft head of an actuator head 19 at the end of the robot arm.

[0030] Through the above technical solution, the second motor 18 enables the end-effector 19 of the robot arm to rotate longitudinally, thereby increasing the adjustable angle of the end-effector 19 of the robot arm.

[0031] A first long sliding opening is provided on the inner walls on both sides of the first telescopic cylinder 3 and the second telescopic cylinder 4, the first shaft rod 6 and the second shaft rod 10 respectively penetrate the corresponding first long sliding opening and are slidably connected with the corresponding first long sliding opening, and a second long sliding opening is provided on the top inner wall of the second telescopic cylinder 4, the first rack 8 is located in the second long sliding opening and is slidably connected with the second long sliding opening.

[0032] Through the above technical solution, the first long slide ensures that the first telescopic tube 3 and the second telescopic tube 4 will not be restricted by the first shaft rod 6 and the second shaft rod 10 when telescoping, and the second long slide ensures that the first rack 8 on the first telescopic tube 3 will not restrict the second telescopic tube 4.

[0033] The top inner wall and the bottom inner wall of the outer cylinder 2 are both provided with sliding grooves, and the top and the bottom of the first telescopic cylinder 3 are both provided with convex strips, and the two convex strips extend into the two sliding grooves respectively and are slidably connected with the two sliding grooves.

[0034] Through the above technical solution, the slide groove cooperates with the convex strip, which can ensure the stability of the first telescopic cylinder 3 in the outer cylinder 2, so that it will not be deflected by external forces when it is normally extended and retracted.

[0035] The implementation principle of a multi-link self-checking collaborative robot arm in the embodiment of the present application is:

[0036] Step 1: When the telescopic arm on the robot arm needs to be extended, the first motor 5 is started, and the first motor 5 drives the first shaft 6 to rotate through the output shaft, and the first shaft 6 drives the first gear 7 and the first synchronous wheel 9 to rotate. When the first gear 7 rotates, it drives the first telescopic cylinder 3 to slide through the first rack 8, so that the first telescopic cylinder 3 drives the end actuator 19 of the robot arm to extend, thereby completing the extension of the robot arm, so that the robot arm can operate at a longer distance;

[0037] Step 2: At the same time, the first synchronous wheel 9 drives the second synchronous wheel 11 to rotate through the synchronous belt 12, the second synchronous wheel 11 drives the second gear 14 to rotate through the second shaft 10, and the second gear 14 drives the second telescopic cylinder 4 and the counterweight 16 to extend in opposite directions through the second rack 15, so that the weight at both ends of the telescopic arm on the robot arm can be balanced, so that when the robot arm is lifted up during grasping, the burden of controlling the telescopic arm motor on the robot arm main arm 1 can be reduced. At the same time, start the second motor 18, and the second motor 18 can also drive the end actuator 19 of the robot arm to rotate longitudinally, so as to ensure the flexibility of the end actuator 19 of the robot arm.

[0038] The above-mentioned implementation modes are only preferred implementation modes of the present invention, and cannot be used to limit the protection scope of the present invention. Any non-substantial changes and substitutions made by technicians in this field on the basis of the present invention shall fall within the scope of protection required by the present invention.

Claims

1. A multi-link self-inspection collaborative robot arm, characterized in that: include: A main arm of a robotic arm, a telescopic arm is installed on the main arm of the robotic arm, and a robotic arm end execution head is installed on the telescopic arm, the telescopic arm includes an outer cylinder installed on the main arm of the robotic arm, a first telescopic cylinder is slidably installed in the outer cylinder, a second telescopic cylinder is slidably installed in the first telescopic cylinder, a first motor is fixedly installed on the outer cylinder, a first gear and a second gear are rotatably installed in the outer cylinder, the first gear is in the first telescopic cylinder, the second gear is in the second telescopic cylinder, the first motor is connected to the first gear in transmission, the first gear is connected to the second gear in transmission, a first rack is provided on the top inner wall of the first telescopic cylinder, the first gear is meshed with the first rack, a second rack is provided on the bottom inner wall of the second telescopic cylinder, the second gear is meshed with the second rack, and a counterweight is threadedly installed on one end of the second telescopic cylinder.

2. The multi-link self-inspection collaborative robot arm according to claim 1, characterized in that: A first shaft rod and a second shaft rod are rotatably installed in the outer cylinder, both ends of the first shaft rod and the second shaft rod extend outside the outer cylinder, one end of the first shaft rod is fixedly connected to the output shaft of the first motor, and one end of the first shaft rod and the second shaft rod are respectively fixedly installed with a first synchronous wheel and a second synchronous wheel, and the first synchronous wheel and the second synchronous wheel are sleeved with a synchronous belt.

3. The multi-link self-inspection collaborative robot arm according to claim 2, characterized in that: A long cover shell is provided on one side of the outer cylinder, and the first synchronous wheel, the second synchronous wheel and the synchronous belt are all located in the long cover shell, and the long cover shell consists of two parts: a shell body and a shell cover.

4. The multi-link self-checking collaborative robot arm according to claim 1, characterized in that: The sliding sleeve on the second telescopic cylinder is provided with a limiting ring, and the limiting ring is threadedly connected with the outer cylinder.

5. The multi-link self-inspection collaborative robot arm according to claim 1, characterized in that: A second motor is fixedly installed in the first telescopic cylinder, and an output shaft of the second motor is connected to the shaft head of the actuator head at the end of the robot arm.

6. The multi-link self-checking collaborative robot arm according to claim 2, characterized in that: The inner walls on both sides of the first telescopic cylinder and the second telescopic cylinder are provided with a first long sliding opening, the first shaft rod and the second shaft rod respectively penetrate the corresponding first long sliding opening and are slidably connected to the corresponding first long sliding opening, the top inner wall of the second telescopic cylinder is provided with a second long sliding opening, the first rack is located in the second long sliding opening and is slidably connected to the second long sliding opening.

7. The multi-link self-checking collaborative robot arm according to claim 1, characterized in that: The top inner wall and the bottom inner wall of the outer cylinder are both provided with sliding grooves, and the top and the bottom of the first telescopic cylinder are both provided with convex strips, and the two convex strips extend into the two sliding grooves respectively and are slidably connected with the two sliding grooves.

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