Cascade motion device and mechanical arm assembly

Abstract

The utility model discloses a cascade movement device and a mechanical arm assembly, and relates to the technical field of mechanical arms. The primary fork arm is movably arranged on the base and is used for moving relative to the base along a first direction; the second-stage fork arm is movably arranged on the first-stage fork arm and used for moving relative to the first-stage fork arm at least in the first direction, the second-stage fork arm comprises a suspension end, and the suspension end is constructed to extend to the outer side of the first-stage fork arm when moving relative to the first-stage fork arm in the first direction; and the suspension end is used for mounting a mechanical arm. According to the cascade movement device and the mechanical arm assembly, the movement space of the mechanical arm can be increased, the coverage range of the mechanical arm can be expanded, meanwhile, the torque requirement and the load capacity requirement of the mechanical arm can be met, the action of the mechanical arm is not limited in some narrow spaces, and the applicability of the mechanical arm is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to a cascade motion device and a mechanical arm component. Background Art

[0002] With the application of multi-axis robots in industrial scenarios, a large range of motion has always been a difficulty for robots to expand their work content. Generally, the arm's coverage is expanded by increasing the length of the arm. However, this greatly increases the torque requirements for the robot arm, which greatly reduces the load capacity of the robot arm. For parts with heavy weight and force requirements, there are fewer applicable robot arms. At the same time, an overly long robot arm increases the space requirements for the robot arm's movement. For some narrow spaces, the movement of the robot arm will be limited. Therefore, there are still shortcomings and deficiencies in the prior art. Utility Model Content

[0003] The utility model aims to provide a cascade motion device and a mechanical arm assembly, which solves the technical problem that an overly long mechanical arm will increase the space requirement for the mechanical arm movement and the movement of the mechanical arm will be limited in some narrow spaces.

[0004] In order to achieve the above object, the utility model provides a cascade motion device, comprising:

[0005] Base;

[0006] a primary fork arm, movably disposed on the base, and configured to move relative to the base along a first direction;

[0007] A secondary fork arm is movably arranged on the primary fork arm, and is used to move relative to the primary fork arm at least along the first direction. The secondary fork arm includes a suspension end, and the suspension end is constructed to extend to the outside of the primary fork arm when moving relative to the primary fork arm along the first direction. The suspension end is used to install the mechanical arm.

[0008] Preferably, the length extension direction of the primary fork arm and the secondary fork arm is the same, and the base is also provided with a first driving mechanism and a second driving mechanism, the first driving mechanism is used to drive the primary fork arm to make a linear motion on the base, and the second driving mechanism is used to drive the secondary fork arm to make a linear motion on the primary fork arm.

[0009] Preferably, the first driving mechanism comprises a first driving motor, a first gear and a first rack, the first driving motor is fixedly mounted on the primary fork arm, the first gear is arranged on the output shaft of the first driving motor, the first rack is arranged on the base, and the first gear is meshedly connected with the first rack; and / or,

[0010] The second driving mechanism includes a second driving motor, a second gear and a second rack. The second driving motor is fixedly mounted on the primary fork arm. The second gear is arranged on the output shaft of the second driving motor. The second rack is fixedly connected to the secondary fork arm. The second rack is meshed with the second gear.

[0011] Preferably, a connecting piece is provided on the base, the first rack is provided on the connecting piece, and the first rack is fixedly connected to the top of the connecting piece.

[0012] Preferably, a mounting plate is fixedly provided on the secondary fork arm, and the second drive motor is mounted on the mounting plate.

[0013] Preferably, a fixing plate is provided on the primary fork arm, a first guide groove is provided on the fixing plate, a first guide rail is provided on the base, the first guide rail is partially accommodated in the first guide groove, and when the first driving mechanism drives the primary fork arm to make a linear motion on the base, the first guide groove slides along the first guide rail.

[0014] Preferably, a second guide groove is provided on the mounting plate, a second guide rail is provided on the secondary fork arm, the second guide rail is partially accommodated in the second guide groove, and when the second driving mechanism drives the secondary fork arm to make a linear motion on the primary fork arm, the second guide rail slides along the second guide groove.

[0015] Preferably, it also includes a transport cabin, at least one side of which is provided with an opening, and the base is arranged in the transport cabin, and when the primary fork arm and the secondary fork arm make linear motion, the primary fork arm and the secondary fork arm can be retracted into the transport cabin or extended out of the transport cabin through the opening.

[0016] Preferably, a first cable drag chain is provided on the primary fork arm, and a second cable drag chain is provided on the secondary fork arm.

[0017] The utility model also provides a mechanical arm assembly, comprising the cascade motion device provided by any of the above solutions.

[0018] Compared with the above-mentioned background technology, the cascade motion device and the robot arm assembly provided by the utility model include a base and a first-level fork arm. The first-level fork arm is movably arranged on the base and is used to move relative to the base along a first direction; the second-level fork arm is movably arranged on the first-level fork arm and is used to move relative to the first-level fork arm at least along the first direction. The second-level fork arm includes a suspension end, and the suspension end is constructed to extend to the outside of the first-level fork arm when moving relative to the first-level fork arm along the first direction. The suspension end is used to install the robot arm. As the movement of the first-level fork arm and the second-level fork arm drives the robot arm to move, the space for the robot arm to move can be increased, and the coverage range of the robot arm can be expanded. At the same time, the torque requirements and load capacity requirements of the robot arm can be met. For some narrow spaces, the movement of the robot arm will not be restricted, thereby improving the applicability of the robot arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] 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 in the following description are only embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0020] Figure 1 It is an overall schematic diagram of the mechanical arm assembly provided by the utility model;

[0021] Figure 2 for Figure 1 An exploded schematic diagram of the robotic arm assembly shown;

[0022] Figure 3 for Figure 1 A schematic diagram of a portion of the structure of the robotic arm assembly shown;

[0023] Figure 4 for Figure 3 Explosion diagram.

[0024] Figure 1-Figure 4 , the reference numerals include:

[0025] 10. Base; 11. Connector; 12. First guide rail; 20. Primary fork arm; 21. Fixing plate; 211. First guide groove; 212. First cable drag chain; 30. Secondary fork arm; 31. Mounting plate; 311. Second guide groove; 312. Second cable drag chain; 32. Second guide rail; 33. Suspension end; 40. Robotic arm; 50. First drive mechanism; 501. First drive motor; 502. First gear; 503. First rack; 60. Second drive mechanism; 601. Second drive motor; 602. Second gear; 603. Second rack; 70. Transport cabin; 71. Opening. 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 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.

[0027] In order to enable those skilled in the art to better understand the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0028] Please also read Figures 1 to 4 The cascade motion device provided by the utility model comprises a base 10, a primary fork arm 20 and a secondary fork arm 30, wherein the primary fork arm 20 is movably arranged on the base 10 and is used to move relative to the base 10 along a first direction, wherein the first direction is the attachment Figure 1 The secondary fork arm 30 is movably disposed on the primary fork arm 20 in the left and right directions, and is used to move relative to the primary fork arm 20 at least along a first direction.

[0029] Please also read Figures 1 to 4 The secondary fork arm 30 includes a suspension end 33 , which is configured to extend to the outside of the primary fork arm 20 when moving relative to the primary fork arm 20 along the first direction, and the suspension end 33 is used to install the robot arm 40 .

[0030] In this embodiment, the secondary fork arm 30 moves relative to the primary fork arm 20 along the first direction, and the length extension direction of the primary fork arm 20 and the secondary fork arm 30 are the same. It can be understood that in other embodiments, the secondary fork arm 30 can also move relative to the primary fork arm 20 along other directions, such as the second direction, which is the second direction of the attachment. Figure 1 The front-to-back direction.

[0031] The cascade motion device provided by the utility model can increase the space requirement for the movement of the robot arm 40, and the movement of the robot arm 40 will not be restricted in some narrow spaces. At the same time, for situations where the robot arm 40 needs to be operated in non-fixed places, it is more flexible and convenient to use compared with the traditional fixed robot arm 40.

[0032] Please also read Figures 1 to 4 The cascade motion device also includes a first driving mechanism 50 and a second driving mechanism 60. The first driving mechanism 50 is used to drive the first fork arm 20 to perform linear motion on the base 10, and the second driving mechanism 60 is used to drive the second fork arm 30 to perform linear motion on the first fork arm 20.

[0033] Please also read Figures 1 to 4 The first driving mechanism 50 includes a first driving motor 501, a first gear 502 and a first rack 503. The first driving motor 501 is fixedly mounted on the primary fork arm 20. The first gear 502 is arranged on the output shaft of the first driving motor 501. Specifically, the first gear 502 is fixedly connected to the output shaft of the first driving motor 501.

[0034] Please also read Figures 1 to 4 A connecting member 11 is provided on the base 10, and the connecting member 11 is fixedly provided on the top of the base 10. A first rack 503 is provided on the connecting member 11, and the first rack 503 is fixedly connected to the top of the connecting member 11. The first gear 502 is meshed and connected with the first rack 503.

[0035] The first drive motor 501 drives the first gear 502 arranged on the output shaft of the first drive motor 501 to rotate, and the first gear 502 is meshed and connected with the first rack 503. Since the first rack 503 is fixedly connected to the top of the base 10 through the connecting member 11, the first drive motor 501 is installed on the primary fork arm 20. Therefore, as the first gear 502 rotates, the first drive motor 501 is driven to make a linear motion along the first rack 503, that is, the primary fork arm 20 makes a linear motion on the base 10. Through such a setting, under the drive of the first drive mechanism 50, the primary fork arm 20 can be driven to make a linear motion on the base 10. It can be understood that as the first drive motor 501 rotates forward and reversely, the first drive mechanism 50 can drive the primary fork arm 20 to make a linear motion on the base 10.

[0036] Please also read Figures 1 to 4 The second driving mechanism 60 includes a second driving motor 601, a second gear 602 and a second rack 603. The second driving motor 601 is fixedly mounted on the primary fork arm 20. The second gear 602 is arranged on the output shaft of the second driving motor 601. Specifically, the second gear 602 is fixedly connected to the output shaft of the second driving motor 601.

[0037] Please also read Figures 1 to 4 The second rack 603 is fixedly connected to the secondary fork arm 30 , and the second rack 603 is meshingly connected to the second gear 602 .

[0038] The second drive motor 601 drives the second gear 602 arranged on the output shaft of the second drive motor 601 to rotate, and the second gear 602 is meshed and connected with the second rack 603. Since the second rack 603 is fixedly connected to the secondary fork arm 30, and the second drive motor 601 is fixedly installed on the primary fork arm 20, the second gear 602 drives the second rack 603 to make a linear motion, that is, the secondary fork arm 30 makes a linear motion on the primary fork arm 20. Through such a setting, under the drive of the second drive mechanism 60, the secondary fork arm 30 can be driven to make a linear motion on the primary fork arm 20. It can be understood that as the second drive motor 601 rotates forward and reversely, the second drive mechanism 60 can drive the secondary fork arm 30 to make a linear motion on the primary fork arm 20.

[0039] Please also read Figures 1 to 4 In some of the embodiments, a mounting plate 31 is fixedly provided on the secondary fork arm 30 , and the second drive motor 601 is mounted on the mounting plate 31 .

[0040] Please also read Figures 1 to 4 In some embodiments, a fixing plate 21 is provided on the primary fork arm 20, and the fixing plate 21 is fixedly connected to the top of the primary fork arm 20. A first guide groove 211 is provided on the fixing plate 21. A first guide rail 12 is provided on the base 10, and the first guide rail 12 is fixedly connected to the top of the base 10. Part of the first guide rail 12 is accommodated in the first guide groove 211. When the first driving mechanism 50 drives the primary fork arm 20 to make a linear motion on the base 10, the first guide groove 211 slides along the first guide rail 12. By setting the first guide rail 12 and the first guide groove 211, a guiding role can be played to ensure that the primary fork arm 20 maintains a linear motion on the base 10.

[0041] Please also read Figures 1 to 4 In some embodiments, a second guide groove 311 is provided on the mounting plate 31, and the second guide groove 311 is provided at the bottom of the mounting plate 31. A second guide rail 32 is provided on the secondary fork arm 30, and the second guide rail 32 is fixedly connected to the top of the secondary fork arm 30. The second guide rail 32 is partially accommodated in the second guide groove 311. When the second driving mechanism 60 drives the secondary fork arm 30 to make a linear motion on the primary fork arm 20, the second guide rail 32 slides along the second guide groove 311. By setting the second guide rail 32 and the second guide groove 311, a guiding role can be played to ensure that the secondary fork arm 30 maintains a linear motion on the primary fork arm 20.

[0042] Please also read Figures 1 to 4In some of the embodiments, a first cable drag chain 212 is further provided on the fixing plate 21, and a second cable drag chain 312 is provided on the mounting plate 31. The first cable drag chain 212 and the second cable drag chain 312 are used for cable wiring of various types of electrical components required for the cascade motion device provided by the utility model, thereby protecting the cables and facilitating the movement of the cables during the operation of the cascade motion device.

[0043] Please also read Figures 1 to 4 The cascade motion device provided by the utility model also includes a transport cabin 70, at least one side of which is provided with an opening 71, and the base 10 is arranged in the transport cabin 70. When the primary fork arm 20 and the secondary fork arm 30 make linear motion, the primary fork arm 20 and the secondary fork arm 30 can be retracted into the interior of the transport cabin 70 or extended out of the transport cabin 70 through the opening 71.

[0044] For situations where the robot arm 40 needs to be operated in a non-fixed location, the traditional robot arm 40 is not suitable for non-fixed location operation conditions because the installation position needs to be fixed. However, the cascade motion device provided by the utility model is provided with a transport cabin 70. During transportation, as the primary fork arm 20 and the secondary fork arm 30 make linear motion, the primary fork arm 20 and the secondary fork arm 30 can be received into the interior of the transport cabin 70 through the opening 71 on the transport cabin 70. During transportation, the transport cabin 70 can play a waterproof and dustproof role, thereby playing a certain protective role for the components in the transport cabin 70. When in use, the transport cabin 70 is placed in the operating position, the primary fork arm 20 and the secondary fork arm 30 make linear motion and extend from the opening 71 on the transport cabin 70, and the robot arm 40 works. After the robot arm 40 completes the task, the primary fork arm 20 and the secondary fork arm 30 make linear motion and are received into the transport cabin 70 from the opening 71 on the transport cabin 70, so that it can be applied to non-fixed location operation conditions, and has strong applicability.

[0045] In some of the embodiments, anti-collision sensors (not shown) are installed on the primary fork arm 20 and / or the secondary fork arm 30. By installing the anti-collision sensors, collisions between the primary fork arm 20 and / or the secondary fork arm 30 during movement can be avoided, thereby playing a protective role.

[0046] In some of the embodiments, a wire encoder (not shown) is installed on the primary fork arm 20 and / or the secondary fork arm 30. By installing the wire encoder, the linear motion of the primary fork arm 20 and / or the secondary fork arm 30 can be detected, thereby facilitating the measurement and control of the movement displacement of the primary fork arm 20 and / or the secondary fork arm 30.

[0047] In some of the embodiments, a laser ranging sensor (not shown) is installed on the primary fork arm 20 and / or the secondary fork arm 30. By installing the laser ranging sensor, the linear motion of the primary fork arm 20 and / or the secondary fork arm 30 can be detected, which facilitates the measurement of the moving distance of the primary fork arm 20 and / or the secondary fork arm 30, thereby accurately detecting the position and status of the primary fork arm 20 and the secondary fork arm 30.

[0048] The utility model provides a cascade motion device, in which a transport cabin 70 is provided so that a mechanical arm 40 can be upgraded to a mobile device as it moves with the transport cabin 70, and can be applied to open-air places. As the primary fork arm 20 and the secondary fork arm 30 make linear motion, the primary fork arm 20 and the secondary fork arm 30 can be retracted into the interior of the transport cabin 70 through an opening 71, and can be stored in the transport cabin 70 when the environment is harsh. The primary fork arm 20 is movably arranged on the base 10, and the secondary fork arm 30 is movably arranged on the primary fork arm 20. The mechanical arm 40 is installed on the secondary fork arm 30. As the primary fork arm 20 and the secondary fork arm 30 make linear motion, the space for the mechanical arm 40 to move can be increased, and the coverage range of the mechanical arm 40 can be expanded. At the same time, the torque requirements and load capacity requirements of the mechanical arm 40 can be met. For some narrow spaces, the movement of the mechanical arm 40 will not be restricted, which improves the applicability of the mechanical arm 40 and turns it into a mobile mechanical arm 40.

[0049] It should be noted that the solution provided by the present invention only specifically describes the situation in which the cascade motion device adopts a cascaded two-layer fork arm, and the robot arm 40 is installed on the secondary fork arm 30. A multi-layer fork arm structure can also be adopted, and the robot arm 40 can be installed on the topmost fork arm. The purpose of expanding the motion range of the robot arm 40 is achieved by moving the multi-layer fork arms. For example, when a three-layer fork arm structure is adopted, the robot arm 40 is installed on the third-level fork arm located on the top layer.

[0050] The utility model also provides a robotic arm assembly, which includes a robotic arm 40 and a cascade motion device provided by any of the above embodiments. Since the robotic arm assembly has all the technical features of the cascade motion device provided by any of the above embodiments, it has the same technical effect as the cascade motion device.

[0051] It should be noted that, in this specification, relational terms such as first and second are merely used to distinguish one entity from other entities, but do not necessarily require or imply any actual relationship or order between these entities.

[0052] This article uses specific examples to illustrate the principles and implementation methods of the utility model. The above examples are only used to help understand the method and core ideas of the utility model. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the utility model, the utility model can also be improved and modified, and these improvements and modifications also fall within the scope of protection of the utility model.

Claims

1. A cascade motion device, characterized in that: include: Base; a primary fork arm, movably disposed on the base, and configured to move relative to the base along a first direction; A secondary fork arm is movably arranged on the primary fork arm, and is used to move relative to the primary fork arm at least along the first direction. The secondary fork arm includes a suspension end, and the suspension end is constructed to extend to the outside of the primary fork arm when moving relative to the primary fork arm along the first direction. The suspension end is used to install the mechanical arm.

2. The cascade motion device according to claim 1, characterized in that: The length extension direction of the primary fork arm and the secondary fork arm is the same. The base is also provided with a first driving mechanism and a second driving mechanism. The first driving mechanism is used to drive the primary fork arm to perform linear motion on the base, and the second driving mechanism is used to drive the secondary fork arm to perform linear motion on the primary fork arm.

3. The cascade motion device according to claim 2, characterized in that: The first driving mechanism comprises a first driving motor, a first gear and a first rack, the first driving motor is fixedly mounted on the primary fork arm, the first gear is arranged on the output shaft of the first driving motor, the first rack is arranged on the base, and the first gear is meshedly connected with the first rack; and / or, The second driving mechanism includes a second driving motor, a second gear and a second rack. The second driving motor is fixedly mounted on the primary fork arm. The second gear is arranged on the output shaft of the second driving motor. The second rack is fixedly connected to the secondary fork arm. The second rack is meshed with the second gear.

4. The cascade motion device according to claim 3, characterized in that: A connecting piece is arranged on the base, the first rack is arranged on the connecting piece, and the first rack is fixedly connected to the top of the connecting piece.

5. The cascade motion device according to claim 3, characterized in that: A mounting plate is fixedly provided on the secondary fork arm, and the second drive motor is mounted on the mounting plate.

6. The cascade motion device according to claim 3, characterized in that: A fixing plate is provided on the primary fork arm, a first guide groove is provided on the fixing plate, a first guide rail is provided on the base, the first guide rail is partially accommodated in the first guide groove, and when the first driving mechanism drives the primary fork arm to make a linear motion on the base, the first guide groove slides along the first guide rail.

7. The cascade motion device according to claim 5, characterized in that: A second guide groove is provided on the mounting plate, and a second guide rail is provided on the secondary fork arm. The second guide rail is partially accommodated in the second guide groove. When the second driving mechanism drives the secondary fork arm to make a linear motion on the primary fork arm, the second guide rail slides along the second guide groove.

8. The cascade motion device according to claim 1, characterized in that: It also includes a transport cabin, at least one side of which is provided with an opening, and the base is arranged in the transport cabin. When the primary fork arm and the secondary fork arm make linear motion, the primary fork arm and the secondary fork arm can be retracted into the transport cabin or extended out of the transport cabin through the opening.

9. The cascade motion device according to claim 1, characterized in that: The first-stage fork arm is provided with a first cable drag chain, and the second-stage fork arm is provided with a second cable drag chain.

10. A robotic arm assembly, characterized in that: It comprises a cascade motion device as described in any one of claims 1 to 9 above.

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