Four-axis mechanical arm

Abstract

The utility model discloses a four-axis mechanical arm. The four-axis mechanical arm comprises a base, a large mechanical arm, a main small mechanical arm, an auxiliary small mechanical arm and a vertical mechanical claw, the mechanical large arm is connected with the base, the main mechanical small arm is connected with the mechanical large arm, one end of the auxiliary mechanical small arm is connected with the base based on a rotating flange, the other end of the auxiliary mechanical small arm is connected with the main mechanical small arm based on a connecting rod, and the vertical mechanical claw is located at the tail end of the main mechanical small arm. The main mechanical small arm is driven by the auxiliary mechanical small arm to rotate with the joint of the main mechanical small arm and the mechanical large arm as the circle center. The main mechanical small arm and the auxiliary mechanical small arm are arranged, the motor controls the auxiliary mechanical small arm to drive the main mechanical small arm to rotate, the main mechanical small arm is made to move to the corresponding position, supporting force is provided for the main mechanical small arm, and meanwhile the rotating angle of the main mechanical small arm is limited.

Description

Technical Field

[0001] The utility model relates to the field of mechanical arms, in particular to a four-axis 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 currently released SCARA robot mechanical structure, each section of the robotic arm is directly controlled by a motor. When the motor rotates to drive the robotic arm to rotate, the motor rotates too fast, causing the robotic arm to rotate too much and collide with the outside. Utility Model Content

[0004] The purpose of the utility model is to overcome the deficiencies of the prior art. The utility model provides a four-axis robotic arm. By setting a main robotic arm and a secondary robotic arm, a motor controls the secondary robotic arm to drive the main robotic arm to rotate, so that the main robotic arm is moved to a corresponding position, providing support force for the main robotic arm while limiting the rotation angle of the main robotic arm.

[0005] Accordingly, the utility model proposes a four-axis robotic arm, which comprises: a base, a mechanical arm, a main mechanical arm, a secondary mechanical arm and a vertical mechanical claw;

[0006] The mechanical arm is connected to the base, the main mechanical arm is connected to the mechanical arm, one end of the auxiliary mechanical arm is connected to the base based on a rotating flange, and the other end of the auxiliary mechanical arm is connected to the main mechanical arm based on a connecting rod;

[0007] The main mechanical small arm is driven by the auxiliary mechanical small arm to rotate with the connection between the main mechanical small arm and the mechanical large arm as the center.

[0008] Preferably, a J1 motor, a J2 motor and a J3 motor are distributed around the base, and a J4 motor is arranged at the bottom of the base.

[0009] Preferably, the four-axis robot arm is provided with a first transmission mechanism, a second transmission mechanism, a third transmission mechanism and a fourth transmission mechanism;

[0010] The first transmission mechanism is connected to the J1 motor, the second transmission mechanism is connected to the J2 motor, the third transmission mechanism is connected to the J3 motor, and the fourth transmission mechanism is connected to the J4 motor.

[0011] Preferably, the four-axis robotic arm further comprises: a vertical robotic claw, the vertical robotic claw being mounted at the end of the main robotic arm;

[0012] The vertical mechanical claw is driven by the third transmission mechanism to move along the positive and negative directions of the Z axis, and the vertical mechanical claw is driven by the fourth transmission mechanism to rotate with the axis of the vertical mechanical claw as the center of the circle.

[0013] Preferably, the first transmission mechanism is installed in the base, and the output end of the first transmission mechanism is connected to the mechanical arm;

[0014] The mechanical arm is driven by the first transmission mechanism to rotate with the connection between the mechanical arm and the base as the center.

[0015] Preferably, the input end of the second transmission mechanism is installed in the base, and the second transmission mechanism is connected to the rotating flange;

[0016] The rotating flange is driven by the second transmission mechanism to rotate with the geometric center of the rotating flange as the center of the circle.

[0017] Preferably, the mechanical arm includes a first outer wall and a second outer wall, and the first outer wall is provided with a first rectangular hole, and the second outer wall is provided with a second rectangular hole.

[0018] Preferably, the area of ​​the first rectangular hole is S1, the area of ​​the second rectangular hole is S2, and the constraint relationship between S1 and S2 is S1>S2.

[0019] Preferably, the input end of the first transmission mechanism is located at the bottom of the base, the input end of the second transmission mechanism is located at the bottom of the input end of the first transmission mechanism, the input end of the third transmission mechanism is located at the bottom of the input end of the second transmission mechanism, and the input end of the fourth transmission mechanism is located at the bottom of the input end of the third transmission mechanism.

[0020] Preferably, the material of the mechanical arm is carbon fiber, the material of the main mechanical arm is carbon fiber, and the material of the auxiliary mechanical arm is carbon fiber.

[0021] Beneficial effects of the utility model:

[0022] The utility model sets a main mechanical arm and a sub-mechanical arm, and a motor controls the sub-mechanical arm to drive the main mechanical arm to rotate, so that the main mechanical arm moves to a corresponding position, thereby reducing the mass of the arm part; secondly, one end of the sub-mechanical arm is connected to the main mechanical arm, and the other end of the sub-mechanical arm is connected to a rotating flange. The sub-mechanical arm provides a supporting force for the main mechanical arm, thereby reducing the shape change of the main mechanical arm when removing heavy objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] 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.

[0024] Figure 1 It is a structural schematic diagram of the four-axis mechanical arm in the utility model;

[0025] Figure 2 It is a front view of the four-axis mechanical arm in the utility model;

[0026] Figure 3 It is a cross-sectional view of the four-axis mechanical arm in the utility model;

[0027] Figure 4 It is an enlarged view of point A in the utility model.

[0028] In the accompanying drawings, 10, base; 11, rotating flange; 12, mechanical arm; 121, first layer outer wall; 1211, first rectangular hole; 122, second layer outer wall; 1221, second rectangular hole; 13, main mechanical arm; 14, auxiliary mechanical arm; 15, vertical mechanical claw; 1, J1 motor; 2, J2 motor; 3, J3 motor; 4, J4 motor; 5, first transmission mechanism; 51, first transmission rod; 6, second transmission mechanism; 61, second transmission rod; 7, third transmission mechanism; 71, third transmission rod; 72, fourth transmission rod; 8, fourth transmission mechanism; 81, fifth transmission rod; 82, sixth 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; 700, seventh transmission track. DETAILED DESCRIPTION

[0029] 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.

[0030] Figure 1 The schematic diagram of the structure of the four-axis mechanical arm in the utility model is shown. Figure 2 The front view of the four-axis robot arm in the utility model is shown. Figure 3 A cross-sectional view of the four-axis robotic arm in the utility model is shown, and the four-axis robotic arm includes: a base 10, a robotic arm 12, a main robotic arm 13, an auxiliary robotic arm 14 and a vertical robotic claw 15; the robotic arm 12 is connected to the base 10, the main robotic arm 13 is connected to the robotic arm 12, one end of the auxiliary robotic arm 14 is connected to the base 10 based on a rotating flange 11, and the other end of the auxiliary robotic arm 14 is connected to the main robotic arm 13 based on a connecting rod, and the vertical robotic claw 15 is located at the end of the main robotic arm 13.

[0031] The main mechanical arm 13 is driven by the auxiliary mechanical arm 14 to rotate with the connection between the main mechanical arm 13 and the mechanical arm 12 as the center. The auxiliary mechanical arm 14 drives the main mechanical arm 13 to rotate, which can limit the rotation angle of the main mechanical arm 13 and reduce the risk of collision with the main mechanical arm 13 due to the rotation angle problem. The auxiliary mechanical arm 14 can not only drive the main mechanical arm 13 to rotate, but also provide a supporting force for the main mechanical arm 13, reducing the shape change of the main mechanical arm 13 when removing heavy objects.

[0032] Furthermore, J1 motor 1, J2 motor 2 and J3 motor 3 are distributed around the base 10, and J4 motor 4 is provided at the bottom of the base 10. The J1 motor 1, J2 motor 2 and J3 motor 3 are arrayed around the base 10, and there is a certain interval between the J1 motor 1, J2 motor 2 and J3 motor 3. The four motors have no direct contact with the mechanical arm 12 or the main mechanical arm 13 or the auxiliary mechanical arm 14, reducing the mass of the mechanical arm, reducing the inertia of the elbow joint, quickly moving to the corresponding position and operating according to instructions.

[0033] Furthermore, the four-axis robot arm is provided with a first transmission mechanism 5, a second transmission mechanism 6, a third transmission mechanism 7 and a fourth transmission mechanism 8; the first transmission mechanism 5 is connected to the J1 motor 1, the second transmission mechanism 6 is connected to the J2 motor 2, the third transmission mechanism 7 is connected to the J3 motor 3, and the fourth transmission mechanism 8 is connected to the J4 motor 4. The first transmission mechanism 5 is connected to the output end of the J1 motor 1 through a first transmission crawler 100, the second transmission mechanism 6 is connected to the output end of the J2 motor 2 through a second transmission crawler 200, the third transmission mechanism 7 is connected to the J3 motor 3 through a fourth transmission crawler 400; the fourth transmission mechanism 8 is directly connected to the output end of the J4 motor 4.

[0034] Furthermore, the first transmission mechanism 5 is installed in the base 10, and the output end of the first transmission mechanism 5 is connected to the mechanical arm 12; the mechanical arm 12 is driven by the first transmission mechanism 5 to rotate with the connection between the mechanical arm 12 and the base 10 as the center. The first transmission mechanism 5 includes: a first transmission rod 51, and the first transmission rod 51 is connected to the J1 motor 1 based on the first transmission track 100. The output end of the first transmission rod 51 is rotationally connected to one end of the mechanical arm 12, and the input end of the first transmission rod 51 is connected to the J1 motor 1 based on the first transmission track 100. The first transmission track 100 covers the input end of the first transmission rod 51 and the output end of the J1 motor 1.

[0035] Specifically, when the output end of the J1 motor 1 starts to operate, the first transmission track 100 drives the first transmission rod 51 to rotate clockwise. At the same time, when the first transmission rod 51 rotates clockwise, it drives the robotic arm 12 to rotate clockwise, thereby enabling the four-axis lightweight robotic arm to adjust its movement posture and angle to adapt to different working environments.

[0036] Furthermore, the input end of the second transmission mechanism 6 is installed in the base 10, and the second transmission mechanism 6 is connected to the rotating flange 11; the rotating flange 11 is driven by the second transmission mechanism 6 to rotate with the geometric center of the rotating flange 11 as the center of the circle. The second transmission mechanism 6 includes: a second transmission rod 61, and the second transmission rod 61 is connected to the J2 motor 2 based on the second transmission track 200. The output end of the second transmission rod 61 is rotatably connected to one end of the rotating flange 11, and the input end of the second transmission rod 61 is connected to the J2 motor 2 based on the second transmission track 200. The second transmission track 200 covers the input end of the second transmission rod 61 and the output end of the J2 motor 2.

[0037] Specifically, when the output end of the J2 motor 2 starts to run, the second transmission track 200 drives the second transmission rod 61 to rotate clockwise. At the same time, when the second transmission rod 61 rotates clockwise, it drives the rotating flange 11 to rotate clockwise, and then drives the auxiliary robotic arm 14 to rotate clockwise, so that the four-axis lightweight robotic arm can adjust its movement posture and angle to adapt to different working environments.

[0038] Further, the vertical mechanical claw 15 is driven by the third transmission mechanism 7 to move along the positive and negative directions of the Z axis, and the vertical mechanical claw 15 is driven by the fourth transmission mechanism 8 to rotate with the axis of the vertical mechanical claw 15 as the center of the circle. The third transmission mechanism 7 includes: a third transmission rod 71 and a fourth transmission rod 72, the third transmission rod 71 is sleeved in the second transmission rod 61, the fourth transmission rod 72 is located at the connection between the mechanical arm 12 and the main mechanical arm 13, and the third transmission rod 71 is connected to the J3 motor 3 based on the third transmission track 300. The output end of the third transmission rod 71 is rotatably connected to one end of the rotating flange 11, the input end of the third transmission rod 71 is connected to the J3 motor 3 based on the third transmission track 300, the output end of the third transmission rod 71 is connected to the input end of the fourth transmission rod 72 based on the fourth transmission track 400, and the output end of the fourth transmission rod 72 is connected to the rotating end of the vertical mechanical claw 15 based on the fifth transmission track 500. The third transmission track 300 covers the input end of the third transmission rod 71 and the output end of the J3 motor 3, the fourth transmission track 400 covers the output end of the third transmission rod 71 and the input end of the fourth transmission rod 72, and the fifth transmission track 500 covers the output end of the fourth transmission rod 72 and the rotating end of the vertical mechanical claw 15. The fourth transmission mechanism 8 includes: a fifth transmission rod 81 and a sixth transmission rod 82, the input end of the fifth transmission rod 81 is inserted on the output end of the J4 motor 4, the output end of the fifth transmission rod 81 is connected to the sixth transmission rod 82 based on the sixth transmission track 600, and the sixth transmission rod 82 is connected to the Z-axis moving end of the vertical mechanical claw 15 based on the seventh transmission track 700.

[0039] Specifically, when the output end of the J3 motor 3 starts to operate, the third transmission track 300 drives the third transmission rod 71 to rotate clockwise, and when the third transmission rod 71 rotates clockwise, it drives the fourth transmission track 400 to rotate clockwise, and then drives the fourth transmission rod 72 to rotate clockwise, and the fourth transmission rod 72 rotates clockwise, drives the fifth transmission track 500 to transmit clockwise, drives the rotating end of the vertical mechanical claw 15 to rotate clockwise, and then makes the vertical mechanical claw 15 move negatively upward along the Z axis. Similarly, when the output end of the J3 motor 3 rotates counterclockwise, the vertical mechanical claw 15 moves positively upward along the Z axis, so that the four-axis lightweight robot arm can adjust its movement posture and angle to adapt to different working environments.

[0040] When the output section of the J4 motor 4 starts to operate, the fifth transmission rod 81 is driven by the output end of the J4 motor 4 to rotate clockwise, and the fifth transmission rod 81 drives the sixth transmission track 600 to rotate clockwise, and the sixth transmission track 600 drives the sixth transmission rod 82 to rotate clockwise, and the sixth transmission rod 82 rotates clockwise to drive the seventh transmission track 700 to rotate clockwise, and the seventh transmission track 700 rotates to drive the Z-axis moving end of the vertical mechanical claw 15 to rotate clockwise, and the Z-axis moving end rotates clockwise, thereby causing the vertical mechanical claw 15 to rotate clockwise with the axis of the vertical mechanical claw 15 as the center of the circle. Similarly, when the output end of the J4 motor 4 rotates counterclockwise, the vertical mechanical claw 15 rotates counterclockwise with the axis of the vertical mechanical claw 15 as the center of the circle, so that the four-axis lightweight robot arm can adjust its movement posture and angle to adapt to different working environments.

[0041] Furthermore, the mechanical arm 12 includes a first outer wall 121 and a second outer wall 122, and the first outer wall 121 is provided with a first rectangular hole 1211, and the second outer wall 122 is provided with a second rectangular hole. The first outer wall 121 wraps the second outer wall 122, so that the mechanical arm 12 can withstand more force even if the outer thickness of the mechanical arm 12 becomes thicker. The first outer wall 121 and the second outer wall 122 are fixedly connected, so that the mechanical strength of the mechanical arm 12 is improved.

[0042] Furthermore, the area of ​​the first rectangular hole 1211 is S1, the area of ​​the second rectangular hole is S2, and the constraint relationship between S1 and S2 is S1>S2. The first rectangular hole 1211 is located above the second rectangular hole, and the first rectangular hole 1211 and the second rectangular hole cooperate to form a step. When the stepped structure is subjected to force, due to its shape characteristics, it can disperse and guide the force flow. This dispersing and guiding effect enables the stepped structure to more effectively distribute force to various parts when it is subjected to pressure or external force, thereby reducing the risk of local stress concentration. At the same time, each step of the stepped structure can be regarded as a support point, which increases the stability and bearing capacity of the structure, which is conducive to improving the mechanical strength of the mechanical arm 12.

[0043] Furthermore, the input end of the first transmission mechanism 5 is located at the bottom of the base 10, the input end of the second transmission mechanism 6 is located at the bottom of the input end of the first transmission mechanism 5, the input end of the third transmission mechanism 7 is located at the bottom of the input end of the second transmission mechanism 6, and the input end of the fourth transmission mechanism 8 is located at the bottom of the input end of the third transmission mechanism 7. Each transmission mechanism is connected to its corresponding motor by a transmission track, and the vertical heights of each transmission mechanism are inconsistent, which reduces the risk of mutual wear of the connected tracks at the same height and prolongs the service life of the lightweight robotic arm.

[0044] Furthermore, the material of the mechanical arm 12 is carbon fiber, the material of the main mechanical arm 13 is carbon fiber, and the material of the auxiliary mechanical arm 14 is carbon fiber. Carbon fiber has a low density. Under the same volume, the weight of carbon fiber is lighter than the weight of most metals, which can significantly reduce the weight of the four-axis robot arm, thereby reducing the inertia of the elbow joint, quickly moving to the corresponding position and operating according to instructions; secondly, carbon fiber has high strength and rigidity, so that the four-axis robot arm can withstand high loads while maintaining structural stability, avoiding bending of the robot arm when transferring heavy objects, and extending the service life of the four-axis robot arm.

[0045] In addition, the above is a detailed introduction to a four-axis 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 of the utility model and its core idea; 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 robotic arm, characterized in that: The four-axis robotic arm comprises: a base, a mechanical arm, a main mechanical arm, a secondary mechanical arm and a vertical mechanical claw; The mechanical arm is connected to the base, the main mechanical arm is connected to the mechanical arm, one end of the auxiliary mechanical arm is connected to the base based on a rotating flange, the other end of the auxiliary mechanical arm is connected to the main mechanical arm based on a connecting rod, and the vertical mechanical claw is located at the end of the main mechanical arm; The main mechanical small arm is driven by the auxiliary mechanical small arm to rotate with the connection between the main mechanical small arm and the mechanical large arm as the center.

2. The four-axis robot arm according to claim 1, characterized in that: A J1 motor, a J2 motor and a J3 motor are distributed around the base, and a J4 motor is arranged at the bottom of the base.

3. The four-axis robot arm according to claim 2, characterized in that: The four-axis robotic arm is provided with a first transmission mechanism, a second transmission mechanism, a third transmission mechanism and a fourth transmission mechanism; The first transmission mechanism is connected to the J1 motor, the second transmission mechanism is connected to the J2 motor, the third transmission mechanism is connected to the J3 motor, and the fourth transmission mechanism is connected to the J4 motor.

4. The four-axis robot arm according to claim 3, characterized in that: The vertical mechanical claw is driven by the third transmission mechanism to move along the positive and negative directions of the Z axis, and the vertical mechanical claw is driven by the fourth transmission mechanism to rotate with the axis of the vertical mechanical claw as the center of the circle.

5. The four-axis robot arm according to claim 3, characterized in that: The first transmission mechanism is installed in the base, and the output end of the first transmission mechanism is connected to the mechanical arm; The mechanical arm is driven by the first transmission mechanism to rotate with the connection between the mechanical arm and the base as the center.

6. The four-axis robot arm according to claim 3, characterized in that: The input end of the second transmission mechanism is installed in the base, and the second transmission mechanism is connected to the rotating flange; The rotating flange is driven by the second transmission mechanism to rotate with the geometric center of the rotating flange as the center of the circle.

7. The four-axis robot arm according to claim 1, characterized in that: The mechanical arm includes a first outer wall and a second outer wall, and the first outer wall is provided with a first rectangular hole, and the second outer wall is provided with a second rectangular hole.

8. The four-axis robot arm according to claim 7, characterized in that: The area of ​​the first rectangular hole is S1, the area of ​​the second rectangular hole is S2, and the constraint relationship between S1 and S2 is S1>S2.

9. The four-axis robot arm according to claim 3, characterized in that: The input end of the first transmission mechanism is located at the bottom of the base, the input end of the second transmission mechanism is located at the bottom of the input end of the first transmission mechanism, the input end of the third transmission mechanism is located at the bottom of the input end of the second transmission mechanism, and the input end of the fourth transmission mechanism is located at the bottom of the input end of the third transmission mechanism.

10. The four-axis robot arm according to claim 1, characterized in that: The material of the mechanical arm is carbon fiber, the material of the main mechanical arm is carbon fiber, and the material of the auxiliary mechanical arm is carbon fiber.

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