Two-degree-of-freedom SCARA mechanical arm

By designing a two-degree of freedom SCARA robot arm, using the deceleration and speed increase of the transmission mechanism, multiple degrees of freedom can be adjusted by only a single motor, which solves the problem of high cost of existing robot arms and reduces the cost of robot arms.

CN222904025UActive Publication Date: 2025-05-27BEIJING DAHU ZHIYUAN TECHNOLOGY CO LTD
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Patent Information

Application Number
CN202421484452.7
Authority / Receiving Office
CN · China
Patent Type
Utility models(China)
Current Assignee / Owner
Filing Date
2024-06-27
Publication Date
2025-05-27
Estimated Expiration
2034-06-27

AI Technical Summary

Technical Problem

When existing robotic arms realize multi-degree-of-freedom movement adjustment, they need to drive multiple motors and other driving mechanisms, resulting in increased costs.

Method used

A two-degree-of-freedom SCARA robot arm is designed, and by providing a first arm body, a second arm body, a third arm body, a base, a boom and a transmission mechanism, multiple degrees of freedom can be realized by only a single motor.

Benefits of technology

Multi-degree-of-freedom movement adjustment is achieved through a single motor, reducing the cost of the robotic arm.

✦ Generated by Eureka AI based on patent content.

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Abstract

The utility model relates to the technical field of mechanical arms, and provides a two-degree-of-freedom SCARA mechanical arm which comprises a first arm body, a second arm rod rotationally installed on the first arm body, a second arm body fixedly connected to one end of the second arm rod, a third arm rod rotationally installed on the second arm body and a third arm body fixedly connected to one end of the third arm rod. A base is arranged on one side of the first arm body, a first arm rod is rotationally installed on the base, the first arm body is fixedly installed at one end of the first arm rod, a driving mechanism is arranged on the inner side of the base, and the driving mechanism is connected with the first arm rod. Through the arrangement of the first arm body, the second arm body, the third arm body, the base, the first arm rod, the second arm rod, the third arm rod, the driving mechanism, the speed reducing transmission mechanism and the speed increasing transmission mechanism, the device can achieve multi-degree-of-freedom movement adjustment only through a single motor, and then the cost of the mechanical arm is reduced.
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Description

Technical Field

[0001] The utility model relates to the technical field of robotic arms, and particularly relates to a two-degree-of-freedom SCARA robotic arm. Background Art

[0002] A robotic arm refers to a complex system with high precision, multiple inputs and outputs, high nonlinearity, and strong coupling. Due to its unique operational flexibility, it has been widely used in industrial assembly, safety explosion protection, and other fields.

[0003] In aspects such as mechanical manufacturing, the robotic arm is an indispensable part. However, for current robotic arms, when realizing multi-degree-of-freedom movement adjustment, generally multiple driving mechanisms such as motors are required for driving, thus increasing the cost investment. Therefore, a two-degree-of-freedom SCARA robotic arm is needed. Summary of the Utility Model

[0004] The utility model provides a two-degree-of-freedom SCARA robotic arm, which solves the problem in the related art that when realizing multi-degree-of-freedom movement adjustment, generally multiple driving mechanisms such as motors are required for driving, thus increasing the cost investment.

[0005] The technical solution of the utility model is as follows: A two-degree-of-freedom SCARA robotic arm includes: a first arm body, a second arm rod rotatably installed on the first arm body, a second arm body fixedly connected to one end of the second arm rod, a third arm rod rotatably installed on the second arm body, and a third arm body fixedly connected to one end of the third arm rod;

[0006] A base is arranged on one side of the first arm body. A first arm rod is rotatably installed on the base, and the first arm body is fixedly installed at one end of the first arm rod. A driving mechanism is arranged inside the base, and the driving mechanism is connected to the first arm rod;

[0007] A speed reduction transmission mechanism is arranged inside the first arm body, and the first arm rod and the second arm rod are connected through the speed reduction transmission mechanism;

[0008] A speed increasing transmission mechanism is arranged inside the second arm body, and the second arm rod and the third arm rod are connected through the speed increasing transmission mechanism.

[0009] Preferably, a wrist rotation flange and a first motor are respectively installed on the third arm body. The wrist rotation flange is rotatably connected to the third arm body, and the output end of the first motor is connected to the wrist rotation flange.

[0010] Preferably, the driving mechanism includes a second motor fixedly installed inside the base through a mounting frame. A first gear is fixedly installed at the output end of the second motor. A second gear is fixedly installed on the outer side wall of the first arm rod. A connecting drive belt is arranged on the outer side wall of the second gear, and the first gear and the second gear are in tension engagement connection through the connecting drive belt.

[0011] Preferably, the speed reduction transmission mechanism includes a third gear and a fourth gear arranged inside the first arm body. The third gear is fixedly installed on the outer side wall of the first arm rod, and the fourth gear is fixedly installed on the outer side wall of the second arm rod. A speed reduction drive belt is arranged on the outer side wall of the fourth gear, and the third gear and the fourth gear are in tension engagement connection through the speed reduction drive belt.

[0012] Preferably, the speed increase transmission mechanism includes a fifth gear and a sixth gear arranged inside the second arm body. The fifth gear is fixedly installed on the outer side wall of the second arm rod, and the sixth gear is fixedly installed on the outer side wall of the third arm rod. A speed increase drive belt is arranged on the outer side wall of the sixth gear, and the fifth gear and the sixth gear are in tension engagement connection through the speed increase drive belt.

[0013] Preferably, tensioning devices are fixedly installed on the inner side walls of the first arm body and the second arm body, and the two tensioning devices are in contact with the speed reduction transmission mechanism and the speed increase transmission mechanism respectively.

[0014] The working principle and beneficial effects of the present utility model are as follows:

[0015] By providing the first arm body, the second arm body, the third arm body, the base, the first arm rod, the second arm rod, the third arm rod, the driving mechanism, the speed reduction transmission mechanism and the speed increase transmission mechanism, the device can achieve multi-degree-of-freedom movement adjustment with only a single motor, thereby reducing the cost of the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The following further elaborates on the present utility model in detail in conjunction with the drawings and specific embodiments.

[0017] Figure 1 is a schematic three-dimensional structure diagram of the whole proposed by the present utility model;

[0018] Figure 2 is a schematic three-dimensional sectional structure diagram of the first arm body proposed by the present utility model;

[0019] Figure 3 is a schematic three-dimensional structure diagram of the driving mechanism proposed by the present utility model;

[0020] Figure 4This is a three-dimensional structural schematic diagram of the speed-increasing transmission mechanism proposed by the present utility model;

[0021] In the figure: 1. First arm body; 2. Second arm body; 3. Third arm body; 4. Base; 5. First arm rod; 6. Second arm rod; 7. Third arm rod;

[0022] 8. Driving mechanism; 81. Second motor; 82. First gear; 83. Second gear; 84. Connecting transmission belt;

[0023] 9. Reduction transmission mechanism; 91. Third gear; 92. Fourth gear; 93. Reduction transmission belt;

[0024] 10. Speed-increasing transmission mechanism; 101. Fifth gear; 102. Sixth gear; 103. Speed-increasing transmission belt;

[0025] 11. Wrist rotation flange; 12. First motor; 13. Tensioning device. Specific embodiments

[0026] Next, in combination with the embodiments of the present utility model, the technical solutions in the embodiments of the present utility model will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments in the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present utility model.

[0027] Embodiment 1

[0028] Please refer to Figure 1 - Figure 4 , a two-degree-of-freedom SCARA robotic arm, including: a first arm body 1, a second arm rod 6 rotatably installed on the first arm body 1, a second arm body 2 fixedly connected to one end of the second arm rod 6, a third arm rod 7 rotatably installed on the second arm body 2, and a third arm body 3 fixedly connected to one end of the third arm rod 7;

[0029] On one side of the first arm body 1, there is a base 4. A first arm rod 5 is rotatably installed on the base 4, and the first arm body 1 is fixedly installed at one end of the first arm rod 5. Inside the base 4, there is a driving mechanism 8, and the driving mechanism 8 is connected to the first arm rod 5;

[0030] Inside the first arm body 1, there is a reduction transmission mechanism 9, and the first arm rod 5 and the second arm rod 6 are connected through the reduction transmission mechanism 9;

[0031] Inside the second arm body 2, there is a speed-increasing transmission mechanism 10, and the second arm rod 6 and the third arm rod 7 are connected through the speed-increasing transmission mechanism 10;

[0032] A wrist rotation flange 11 and a first motor 12 are respectively installed on the third arm body 3, and the wrist rotation flange 11 is rotatably connected to the third arm body 3, and the output end of the first motor 12 is connected to the wrist rotation flange 11.

[0033] A two-degree-of-freedom SCARA robotic arm provided by the present utility model drives the first arm rod 5 through a driving mechanism 8, so that while the first arm rod 5 drives the first arm body 1 to rotate, it can simultaneously drive a speed reduction transmission mechanism 9, and then the speed reduction transmission mechanism 9 drives the second arm rod 6 on the first arm body 1, so that while the second arm rod 6 drives the second arm body 2 to rotate, it can drive a speed increase transmission mechanism 10 thereon, and the speed increase transmission mechanism 10 can drive the third arm rod 7 on the second arm body 2 and the third arm body 3 at one end of the third arm rod 7, so that the mechanical claw installed on the wrist rotation flange 11 can perform telescopic movement, enabling the device to achieve multi-degree-of-freedom movement adjustment with only a single motor, thereby reducing the cost of the robotic arm. Finally, the first motor 12 on the third arm body 3 drives the wrist rotation flange 11, so that the tilt angle of the mechanical claw can be adjusted, thereby ensuring that the mechanical claw can grasp an object.

[0034] Further, the driving mechanism 8 includes a second motor 81 fixedly installed inside the base 4 through a mounting frame, a first gear 82 is fixedly installed at the output end of the second motor 81, a second gear 83 is fixedly installed on the outer side wall of the first arm rod 5, a connecting transmission belt 84 is arranged on the outer side wall of the second gear 83, and the first gear 82 and the second gear 83 are tensioned and meshed through the connecting transmission belt 84.

[0035] Specifically, the second motor 81 drives the first gear 82 to rotate, and then the rotating first gear 82 drives the second gear 83 through the connecting transmission belt 84, so that the first arm rod 5 can drive the speed reduction transmission mechanism 9 to rotate.

[0036] Further, the speed reduction transmission mechanism 9 includes a third gear 91 and a fourth gear 92 arranged inside the first arm body 1, the third gear 91 is fixedly installed on the outer side wall of the first arm rod 5, the fourth gear 92 is fixedly installed on the outer side wall of the second arm rod 6, a speed reduction transmission belt 93 is arranged on the outer side wall of the fourth gear 92, and the third gear 91 and the fourth gear 92 are tensioned and meshed through the speed reduction transmission belt 93.

[0037] Specifically, while the first arm rod 5 drives the first arm body 1 to rotate, it synchronously drives the third gear 91, and then the third gear 91 drives the fourth gear 92 through the speed reduction transmission belt 93, so that the second arm body 2 rotates relative to the first arm body 1 at an angular velocity of -2ω.

[0038] It should be further noted that when the driving mechanism 8 drives the first arm 5 to rotate, the first arm body 1 will rotate relative to the base 4 at an angular velocity of ω. Since the tooth number ratio of the third gear 91 provided on the first arm 5 to the fourth gear 92 on the second arm 6 is 2:1, the second arm body 2 will rotate relative to the first arm body 1 at an angular velocity of -2ω. At this time, the spatial motion curve of a point on the axis of the third arm 7 is a straight line. At the same time, the third arm body 3 will rotate relative to the second arm body 2 at an angular velocity of ω. In the absolute coordinate system, the third arm body 3 has a linear motion in only one direction relative to the first arm body 1.

[0039] Furthermore, the speed increasing transmission mechanism 10 includes a fifth gear 101 and a sixth gear 102 provided inside the second arm body 2. The fifth gear 101 is fixedly installed on the outer side wall of the second arm 6, and the sixth gear 102 is fixedly installed on the outer side wall of the third arm 7. A speed increasing transmission belt 103 is provided on the outer side wall of the sixth gear 102, and the fifth gear 101 and the sixth gear 102 are tightly meshed and connected through the speed increasing transmission belt 103.

[0040] Specifically, when the second arm 6 drives the second arm body 2 to rotate, it simultaneously drives the fifth gear 101. Then, the fifth gear 101 drives the sixth gear 102 through the speed increasing transmission belt 103, so that the third arm body 3 will rotate relative to the second arm body 2 at an angular velocity of ω. In the absolute coordinate system, the third arm body 3 has a linear motion in only one direction relative to the first arm body 1.

[0041] Embodiment 2

[0042] Based on Embodiment 1, in this embodiment: Tensioning devices 13 are fixedly installed on the inner side walls of the first arm body 1 and the second arm body 2, and the two tensioning devices 13 are respectively in contact with the deceleration transmission mechanism 9 and the speed increasing transmission mechanism 10.

[0043] The technical solution provided in this embodiment is: Through the tensioning devices 13 on the inner sides of the first arm body 1 and the second arm body 2, the deceleration transmission belt 93 can be in close contact with the third gear 91 and the fourth gear 92, and the speed increasing transmission belt 103 can be in close contact with the fifth gear 101 and the sixth gear 102.

[0044] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A two-degree-of-freedom SCARA robot arm, characterized in that: include: A first arm body (1), a second arm rod (6) rotatably mounted on the first arm body (1), a second arm body (2) fixedly connected to one end of the second arm rod (6), a third arm rod (7) rotatably mounted on the second arm body (2), and a third arm body (3) fixedly connected to one end of the third arm rod (7); A base (4) is provided on one side of the first arm body (1), a first arm rod (5) is rotatably mounted on the base (4), and the first arm body (1) is fixedly mounted on one end of the first arm rod (5), a driving mechanism (8) is provided on the inner side of the base (4), and the driving mechanism (8) is connected to the first arm rod (5); A reduction transmission mechanism (9) is provided on the inner side of the first arm body (1), and the first arm rod (5) and the second arm rod (6) are connected via the reduction transmission mechanism (9); A speed-increasing transmission mechanism (10) is provided on the inner side of the second arm body (2), and the second arm rod (6) and the third arm rod (7) are connected via the speed-increasing transmission mechanism (10).

2. A two-degree-of-freedom SCARA robot arm according to claim 1, characterized in that: A wrist swivel flange (11) and a first motor (12) are respectively mounted on the third arm body (3), and the wrist swivel flange (11) and the third arm body (3) are rotatably connected, and an output end of the first motor (12) is connected to the wrist swivel flange (11).

3. A two-degree-of-freedom SCARA robot arm according to claim 1, characterized in that: The driving mechanism (8) comprises a second motor (81) fixedly mounted on the inner side of the base (4) via a mounting frame, a first gear (82) fixedly mounted on the output end of the second motor (81), a second gear (83) fixedly mounted on the outer side wall of the first arm (5), a connecting transmission belt (84) provided on the outer side wall of the second gear (83), and the first gear (82) and the second gear (83) are tensionedly meshed and connected via the connecting transmission belt (84).

4. A two-degree-of-freedom SCARA robot arm according to claim 1, characterized in that: The reduction transmission mechanism (9) comprises a third gear (91) and a fourth gear (92) arranged on the inner side of the first arm body (1), and the third gear (91) is fixedly mounted on the outer side wall of the first arm rod (5), and the fourth gear (92) is fixedly mounted on the outer side wall of the second arm rod (6), and a reduction transmission belt (93) is arranged on the outer side wall of the fourth gear (92), and the third gear (91) and the fourth gear (92) are tensionedly meshed and connected via the reduction transmission belt (93).

5. A two-degree-of-freedom SCARA robot arm according to claim 1, characterized in that: The speed increasing transmission mechanism (10) comprises a fifth gear (101) and a sixth gear (102) arranged on the inner side of the second arm body (2), and the fifth gear (101) is fixedly mounted on the outer side wall of the second arm rod (6), and the sixth gear (102) is fixedly mounted on the outer side wall of the third arm rod (7). The outer side wall of the sixth gear (102) is provided with a speed increasing transmission belt (103), and the fifth gear (101) and the sixth gear (102) are tensionedly meshed and connected via the speed increasing transmission belt (103).

6. A two-degree-of-freedom SCARA robot arm according to claim 1, characterized in that: The inner side walls of the first arm body (1) and the second arm body (2) are both fixedly mounted with tensioning devices (13), and the two tensioning devices (13) are respectively in contact with the speed reduction transmission mechanism (9) and the speed increase transmission mechanism (10).