Three-axis truss mechanical arm

Abstract

The three-axis truss mechanical arm comprises a supporting assembly, a movable base and a three-axis driving device, the supporting assembly comprises multiple sets of supporting frames, a transverse fixing frame and an inclined supporting frame, the multiple sets of supporting frames are movably arranged on the horizontal plane, the transverse fixing frame is arranged on the top wall of the multiple sets of supporting frames, and the inclined supporting frame is arranged on the top wall of the transverse fixing frame. The two ends of the inclined supporting frame are connected to the supporting frames and the transverse fixing frame respectively, the movable base is arranged on the supporting frames, the three-axis driving device is arranged on the transverse fixing frame and comprises a horizontal driving assembly and a longitudinal driving assembly, the horizontal driving assembly is movably arranged on the transverse fixing frame, and the longitudinal driving assembly is arranged on the transverse fixing frame. The longitudinal driving assembly is movably arranged on the longitudinal driving assembly. Therefore, the three-axis truss is used for controlling, the overall stability is enhanced through the inclined supporting frame, the mechanical arm runs more stably, the out-of-control phenomenon is avoided, meanwhile, three-axis driving multi-direction collaborative operation is achieved, the working blind area is reduced, and the executed task is better completed.

Description

Technical Field

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

[0002] As a fine simulator of human arm movements, the robotic arm is made of precise joints and connectors, and each joint has a built-in high-efficiency motor as a power source. There are many types, including but not limited to rectangular coordinate type, cylindrical coordinate type, spherical coordinate type and joint coordinate type (also known as multi-joint robotic arm), which are widely used in many fields such as industry, medical treatment, service and military. Various types of robotic arms are precisely divided according to their application scenarios, number of degrees of freedom and driving mechanism.

[0003] However, in the existing technical system, some robotic arms are limited by single-axis or dual-axis drive design, which significantly restricts their freedom of movement. Faced with complex tasks that require multi-directional collaborative operations, such robotic arms are often unable to cope with them and find it difficult to fully cover the workspace. They may even form blind spots in specific areas, resulting in incomplete task execution. In addition, single-axis and dual-axis drive mechanisms are also insufficient in terms of stability and are easily affected by external environmental interference, which in turn affects the stability and accuracy of the robotic arm's movement. In extreme cases, they may even cause loss of control. Utility Model Content

[0004] The utility model aims to solve one of the technical problems in the related art at least to a certain extent.

[0005] To this end, the purpose of the utility model is to propose a three-axis truss robot arm, which is controlled by a three-axis truss and adopts an inclined support frame to enhance the overall stability. The robot arm runs more smoothly and avoids loss of control. At the same time, the three-axis drive works in multiple directions in a coordinated manner, reducing working blind spots and better completing the execution tasks.

[0006] To achieve the above-mentioned purpose, the utility model proposes a three-axis truss robot arm, comprising a support assembly, a mobile base and a three-axis drive device, wherein the support assembly comprises a support frame, a transverse fixed frame and an inclined support frame, wherein the support frames are divided into multiple groups, and the multiple groups of support frames are movably arranged on a horizontal plane; the transverse fixed frame is arranged on the top walls of the multiple groups of support frames; the two ends of the inclined support frame are respectively connected to the support frame and the transverse fixed frame; the mobile base is arranged on one group of the support frames; the three-axis drive device is arranged on the transverse fixed frame, and the three-axis drive device comprises a horizontal drive assembly and a longitudinal drive assembly, wherein the horizontal drive assembly is movably arranged on the transverse fixed frame; the longitudinal drive assembly is movably arranged on the longitudinal drive assembly.

[0007] The three-axis truss robot arm of the utility model is controlled by a three-axis truss and adopts an inclined support frame to enhance the overall stability. The robot arm runs more smoothly and avoids the phenomenon of losing control. At the same time, the three-axis drive works in multiple directions in a coordinated manner, which reduces the working blind spots and better completes the execution tasks.

[0008] In addition, the three-axis truss robot arm proposed in the application may also have the following additional technical features:

[0009] Specifically, the horizontal drive assembly includes a base, a first drive component, a second drive component, a first transmission component, a first follower, a second transmission component and a second follower, wherein the first transmission component and the second transmission component are respectively arranged on the transverse fixed frame; the base is movably arranged on the first transmission component; the first drive component and the second drive component are respectively arranged on the base; the first follower is arranged at the output end of the first drive component, and the first follower is meshed and connected with the first transmission component; the second follower is arranged at the output end of the second drive component, and the second follower is meshed and connected with the second transmission component.

[0010] Specifically, the longitudinal drive assembly includes a third driving component, a driven frame, a mechanical arm, a third transmission component and an engaging component, wherein the third driving component is arranged on the transverse fixed frame; the driven frame is arranged on the transverse fixed frame; the mechanical arm is movably arranged on the driven frame; the engaging component is arranged on the mechanical arm; the third transmission component is arranged at the output end of the third driving component, and the third transmission component and the engaging component are engaged and connected.

[0011] Specifically, the second transmission member is a positioning frame fixedly arranged on the transverse fixing frame, and the second transmission member is provided with meshing teeth.

[0012] Specifically, a limiting sliding groove is provided on the transverse fixing frame, and a limiting sliding block matching with the limiting sliding groove is provided on the base.

[0013] Specifically, the support frame and the oblique support frame are respectively I-beam supports.

[0014] Additional aspects and advantages of the present invention will be given in part in the following description and in part will become apparent from the following description or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0016] Figure 1 A schematic diagram of the structure of a three-axis truss mechanical arm according to an embodiment of the utility model;

[0017] Figure 2 A schematic diagram of the structure of a three-axis truss mechanical arm according to an embodiment of the utility model;

[0018] Figure 3 This is a schematic diagram of the longitudinal drive assembly structure of a three-axis truss robot arm according to an embodiment of the utility model;

[0019] Figure 4 This is a schematic diagram of the connection structure of the third driving component of the three-axis truss robot arm according to an embodiment of the utility model;

[0020] Figure 5 This is a schematic diagram of the structure of the horizontal drive assembly of a three-axis truss robot arm according to an embodiment of the utility model.

[0021] As shown in the figure: 10, support assembly; 101, support frame; 102, horizontal fixing frame; 103, inclined support frame; 20, mobile base; 30, three-axis driving device; 301, horizontal driving assembly; 3011, base; 3012, first driving component; 3013, second driving component; 3014, first transmission member; 3015, first driven member; 3016, second transmission member; 3017, second driven member; 302, longitudinal driving assembly; 3021, third driving component; 3022, driven frame; 3023, mechanical arm; 3024, third transmission member; 3025, engaging member. DETAILED DESCRIPTION

[0022] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limitations on the present invention. On the contrary, the embodiments of the present invention include all changes, modifications, and equivalents that fall within the spirit and connotation of the appended claims.

[0023] The three-axis truss robot arm of the embodiment of the utility model is described below with reference to the accompanying drawings.

[0024] like Figure 1-5 As shown, the three-axis truss robot arm of the embodiment of the utility model includes a support assembly 10, a mobile base 20 and a three-axis driving device 30.

[0025] The support assembly 10 includes a support frame 101 , a transverse fixing frame 102 and an inclined support frame 103 .

[0026] There are multiple groups of support frames 101, which are movably arranged on a horizontal plane, and the transverse fixing frames 102 are arranged on the top walls of the multiple groups of support frames 101. Both ends of the inclined support frames 103 are respectively connected to the support frames 101 and the transverse fixing frames 102.

[0027] It should be noted that a universal wheel is provided at the bottom of the transverse fixing frame 102 , and a brake pad is provided on the universal wheel, and the position is adjusted by moving the transverse fixing frame 102 .

[0028] The mobile base 20 is arranged on a group of support frames 101 , and the three-axis driving device 30 is arranged on a transverse fixed frame 102 . The three-axis driving device 30 includes a horizontal driving component 301 and a longitudinal driving component 302 .

[0029] The horizontal driving component 301 is movably disposed on the transverse fixing frame 102 , and the longitudinal driving component 302 is movably disposed on the longitudinal driving component 302 .

[0030] It should be noted that the mobile base 20 described in this embodiment is installed on a group of support frames 101 on one side, and the mobile base 20 and the support frames 101 are arranged vertically and staggered with each other.

[0031] In one embodiment of the present invention, Figure 2 and Figure 5 As shown, the horizontal driving assembly 301 includes a base 3011 , a first driving component 3012 , a second driving component 3013 , a first transmission member 3014 , a first follower 3015 , a second transmission member 3016 and a second follower 3017 .

[0032] The first transmission member 3014 and the second transmission member 3016 are respectively arranged on the transverse fixing frame 102, the base 3011 is movably arranged on the first transmission member 3014, and the first driving component 3012 and the second driving component 3013 are respectively arranged on the base 3011. The first follower 3015 is arranged at the output end of the first driving component 3012, and the first follower 3015 is meshedly connected with the first transmission member 3014, and the second follower 3017 is arranged at the output end of the second driving component 3013, and the second follower 3017 is meshedly connected with the second transmission member 3016.

[0033] It should be noted that the first driving component 3012 and the second driving component 3013 are servo motors respectively. The first driving component 3012 is operated by controlling the switch and the power supply. The operation of the first driving component 3012 drives the second follower 3017 and the second transmission component 3016 to engage and connect, thereby driving the longitudinal driving component 302 to adjust and move.

[0034] In one embodiment of the present invention, Figure 2 , Figure 3 and Figure 4 As shown, the longitudinal drive assembly 302 includes a third driving component 3021 , a driven frame 3022 , a mechanical arm 3023 , a third transmission component 3024 and an engaging component 3025 .

[0035] The third driving component 3021 is arranged on the transverse fixing frame 102, the driven frame 3022 is arranged on the transverse fixing frame 102, and the mechanical arm 3023 is movably arranged on the driven frame 3022. The meshing component 3025 is arranged on the mechanical arm 3023, the third transmission member 3024 is arranged at the output end of the third driving component 3021, and the third transmission member 3024 and the meshing component 3025 are meshed and connected.

[0036] It should be noted that the third driving component 3021 is a servo motor, and the third driving component 3021 is operated by controlling the switch and the power supply. The third driving component 3021 drives the third transmission component 3024 to rotate, and the third transmission component 3024 is engaged with the engaging component 3025, thereby driving the robot arm 3023 to limit the lifting and sliding in the driven frame 3022.

[0037] In one embodiment of the present invention, Figure 2 and Figure 4 As shown, the second transmission member 3016 is a positioning frame fixedly disposed on the transverse fixing frame 102 , and meshing teeth are provided on the second transmission member 3016 .

[0038] It should be noted that the second transmission member 3016 is provided with meshing teeth, the mechanical arm 3023 and the first transmission member 3014 are provided with meshing teeth respectively, and the third transmission member 3024, the second follower member 3017 and the first follower member 3015 are meshing gears.

[0039] In one embodiment of the present invention, Figure 1 As shown, a limiting slide groove is provided on the transverse fixing frame 102, and a limiting sliding block matching with the limiting slide groove is provided on the base 3011.

[0040] It should be noted that the limiting slider slides in the limiting sliding groove, so that the base 3011 slides in the limiting position on the transverse fixing frame 102.

[0041] In one embodiment of the present invention, Figure 1 As shown, the support frame 101 and the oblique support frame 103 are respectively I-beam supports.

[0042] It should be noted that the support frame 101 and the oblique support frame 103 are respectively provided with an I-beam support, and the I-beam support and the oblique support frame 103 are connected and fixed to each other, thereby enhancing the stability of the support frame 101.

[0043] Specifically, the steps of controlling the robot arm through the three-axis truss are as follows: an inclined support frame 103 is provided at the connection between the horizontal fixing frame 102 and the support frame 101 to enhance the overall stability. During operation, the first driving component 3012 is operated by controlling the switch and the power supply connection, and the first driving component 3012 drives the first driven member 3015 to rotate during operation, and the first driven member 3015 is meshed and connected with the first transmission member 3014, thereby driving the base 3011 to move and adjust the position on the horizontal fixing frame 102.

[0044] The second driving component 3013 is operated to drive the second driven member 3017 to rotate, and the second driven member 3017 is meshed and connected with the second transmission member 3016, thereby driving the longitudinal driving assembly 302 to horizontally move and adjust the position on the transverse fixing frame 102. The third driving component 3021 is operated to drive the third transmission member 3024 to rotate, and the third transmission member 3024 is meshed and connected with the meshing component 3025, thereby driving the mechanical arm 3023 to move up and down on the driven frame 3022 for adjustment.

[0045] In summary, the three-axis truss robot arm of the embodiment of the utility model is controlled by a three-axis truss and adopts an inclined support frame to enhance the overall stability. The robot arm runs more smoothly and avoids the phenomenon of loss of control. At the same time, the three-axis drive works in multiple directions in a coordinated manner, reducing working blind spots and better completing the execution tasks.

[0046] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in this field can change, modify, replace and deform the above embodiments within the scope of the present invention.

Claims

1. A three-axis truss robot arm, characterized in that: It comprises a support assembly (10), a movable base (20) and a three-axis driving device (30), wherein: The support assembly (10) comprises a support frame (101), a transverse fixing frame (102) and an inclined support frame (103), wherein: The support frames (101) are multiple groups, and the multiple groups of support frames (101) are movably arranged on a horizontal plane; The transverse fixing frame (102) is arranged on the top walls of multiple groups of the supporting frames (101); Two ends of the oblique support frame (103) are respectively connected to the support frame (101) and the transverse fixing frame (102); The mobile base (20) is arranged on a group of the support frames (101); The three-axis driving device (30) is arranged on the transverse fixing frame (102), and the three-axis driving device (30) comprises a horizontal driving component (301) and a longitudinal driving component (302), wherein: The horizontal driving assembly (301) is movably arranged on the transverse fixing frame (102); The longitudinal drive assembly (302) is movably arranged on the longitudinal drive assembly (302).

2. The three-axis truss robot arm according to claim 1, characterized in that: The horizontal driving assembly (301) comprises a base (3011), a first driving component (3012), a second driving component (3013), a first transmission component (3014), a first driven component (3015), a second transmission component (3016) and a second driven component (3017), wherein: The first transmission member (3014) and the second transmission member (3016) are respectively arranged on the transverse fixing frame (102); The base (3011) is movably arranged on the first transmission member (3014); The first driving component (3012) and the second driving component (3013) are respectively arranged on the base (3011); The first driven member (3015) is arranged at the output end of the first driving member (3012), and the first driven member (3015) is meshingly connected with the first transmission member (3014); The second follower (3017) is arranged at the output end of the second driving component (3013), and the second follower (3017) and the second transmission component (3016) are meshingly connected.

3. The three-axis truss robot arm according to claim 1, characterized in that: The longitudinal drive assembly (302) comprises a third drive component (3021), a driven frame (3022), a mechanical arm (3023), a third transmission component (3024) and an engagement component (3025), wherein: The third driving component (3021) is arranged on the transverse fixing frame (102); The driven frame (3022) is arranged on the transverse fixed frame (102); The mechanical arm (3023) is movably arranged on the driven frame (3022); The engaging component (3025) is arranged on the mechanical arm (3023); The third transmission member (3024) is arranged at the output end of the third driving member (3021), and the third transmission member (3024) and the meshing member (3025) are meshingly connected.

4. The three-axis truss robot arm according to claim 2, characterized in that: The second transmission member (3016) is a positioning frame fixedly arranged on the transverse fixing frame (102), and the second transmission member (3016) is provided with meshing teeth.

5. The three-axis truss robot arm according to claim 2, characterized in that: The transverse fixing frame (102) is provided with a limiting sliding groove, and the base (3011) is provided with a limiting sliding block matching the limiting sliding groove.

6. The three-axis truss robot arm according to claim 1, characterized in that: The support frame (101) and the oblique support frame (103) are respectively I-beam supports.

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