Large-range foldable planar mechanical arm

Abstract

The utility model discloses a large-range foldable plane mechanical arm, and relates to mechanical arms. Aspects include: a shaft assembly disposed at a predetermined installation to provide support; the connecting rod assembly is arranged on the shaft assembly, the connecting rod assembly comprises a first connecting rod assembly, a second connecting rod assembly and a third connecting rod assembly, the first connecting rod assembly is driven on the shaft assembly to change the circumferential angle, the second connecting rod assembly is driven on the first connecting rod assembly to change the circumferential angle, and the third connecting rod assembly is driven on the second connecting rod assembly to change the circumferential angle. The third connecting rod assembly is driven on the second connecting rod assembly to change the circumferential angle. And the execution assembly moves along with the third connecting rod assembly so as to transfer the adsorbed object to a preset position. The robot is reasonable in structural design, high in automation degree, large in movement range, high in operation efficiency, flexible to operate, high in movement precision, high in movement speed and wide in application scene.

Description

Technical Field

[0001] The utility model relates to the technical field of robotic arms, and more specifically, to a large-range foldable planar robotic arm. Background Art

[0002] As a planar handling mechanism, the planar robotic arm is widely used in the workpiece handling scenario of point-to-point. Generally, the planar SCARA robotic arm is usually used in the small-range and high-speed object picking scenario, but it is less used in some object picking scenarios that require a large range and large load but have no high requirements for speed. In particular, the existing robotic arms are not applicable to the scenario of cleaning damaged glass panels under the photovoltaic panel production line, mainly manifested in: 1. For the narrow vertical space under the production line, there are restrictions on the overall size of the robotic arm in the vertical direction, and the existing robotic arms cannot meet the requirement of occupying extremely small space in the vertical direction in terms of structural layout; 2. For the long photovoltaic panel production line, there are economic requirements for the layout of the robotic arm, requiring a large arm span and a wide coverage space, while the existing robotic arms cannot achieve a lightweight design with an ultra-large arm span; 3. For the production process of photovoltaic panels, the end of the robotic arm should have the dual functions of sucking and picking objects and dust suction, while the existing robotic arms cannot meet the required telescopic freedom and rotational freedom; 4. For the narrow and complex space scenario under the production line, the exposed layout of the existing robotic arms with cables and air pipes is likely to cause snagging. Summary of the Utility Model

[0003] In order to overcome the above defects, the utility model provides a large-range foldable planar robotic arm, and specifically adopts the following technical solutions:

[0004] A large-range foldable planar robotic arm includes:

[0005] An axis assembly, which is arranged at a predetermined installation position to provide support;

[0006] A link assembly, which is arranged on the axis assembly. The link assembly includes a first link assembly, a second link assembly and a third link assembly. The first link assembly is driven on the axis assembly to change the circumferential angle, the second link assembly is driven on the first link assembly to change the circumferential angle, and the third link assembly is driven on the second link assembly to change the circumferential angle;

[0007] An execution assembly, which follows on the third link assembly to transfer the adsorbed object to a predetermined position.

[0008] Preferably, the axis assembly includes an axis base and a first integrated machine. The axis base is installed at the predetermined installation position, and the first integrated machine provides circumferential rotation power on the axis base.

[0009] Preferably, the first link assembly includes a first link support and a first link rotating member. One end of the first link support is driven on the first all-in-one machine, and the first link rotating member provides circumferential rotation power at the other end of the first link support.

[0010] Preferably, the second link assembly includes a second link support and a second link rotating member. One end of the second link support is driven on the first link rotating member, and the second link rotating member provides circumferential rotation power at the other end of the second link support.

[0011] Preferably, one end of the third link assembly is driven on the second link rotating member, and the third link assembly provides support for the execution assembly.

[0012] Preferably, the execution assembly includes a Z-axis drive power member, a Z-axis rotating member, an X-axis rotating member, a suction execution member, and a pipeline member. The Z-axis drive power member follows at the other end of the third link assembly. The Z-axis rotating member is driven by the Z-axis drive power member on the Z-axis drive power member to reciprocate along the Z-axis. The X-axis rotating member is driven by the Z-axis rotating member on the Z-axis rotating member to move circumferentially along the Z-axis line. The suction execution member is driven by the X-axis rotating member on the X-axis rotating member to move circumferentially along the X-axis line. The pipeline member is on the link assembly and is electrically connected to the Z-axis drive power member, the Z-axis rotating member, and the X-axis rotating member respectively, and the pipeline member is used to provide negative pressure for the suction execution member.

[0013] Preferably, the Z-axis drive power member includes a Z-axis power member and a Z-axis transmission member. Both the Z-axis power member and the Z-axis transmission member are arranged on the third link, and the Z-axis transmission member reciprocates along the Z-axis after being driven on the Z-axis power member.

[0014] Preferably, the Z-axis rotating member includes a Z-axis rotating bracket and a first motor. The Z-axis rotating bracket follows on the Z-axis transmission member, and the first motor provides a circumferential rotation force along the Z-axis line on the Z-axis rotating bracket.

[0015] Preferably, the X-axis rotating member includes an X-axis rotating bracket and a second motor. The X-axis rotating bracket is driven on the output shaft of the first motor, and the second motor provides a circumferential rotation force along the X-axis line on the X-axis rotating bracket.

[0016] Preferably, the suction execution member includes an execution bracket, an execution mounting bracket, a silica gel suction cup member, and a vacuum suction cup member. The execution bracket is arranged on the output shaft of the second motor, the execution mounting bracket is arranged on the execution bracket, and both the silica gel suction cup member and the vacuum suction cup member are arranged on the execution mounting bracket.

[0017] The utility model has at least the following beneficial effects:

[0018] 1) The large-range foldable planar robotic arm of the utility model has a reasonable structure design, high automation degree, large movement range, high operation efficiency, flexible operation, high movement accuracy, fast movement speed and wide application scenarios;

[0019] 2) The large-range foldable planar robotic arm of the utility model realizes extremely small space occupation in the vertical direction in terms of structural layout, effectively adapting to the narrow vertical space below the production line and the requirements for the overall dimensions of the robotic arm in the vertical direction;

[0020] 3) For the long photovoltaic panel production line, the large-range foldable planar robotic arm of the utility model has economic requirements for the layout of the robotic arm, requiring a large arm span and wide coverage space. This robotic arm achieves a lightweight design with an ultra-large arm span;

[0021] 4) For the robotic arm to have dual functions of sucking and dusting at the end, the large-range foldable planar robotic arm of the utility model is designed with telescopic and rotational degrees of freedom at the end;

[0022] 5) For the narrow and complex space scenario below the production line, the robotic arm is not allowed to have exposed wire and air pipes to prevent snagging. The large-range foldable planar robotic arm of the utility model uses an integrated pipeline package and internal wiring design.

[0023] Other advantages, objectives and features of the utility model will be partially reflected by the following description and partially understood by those skilled in the art through the research and practice of the utility model. Brief Description of the Drawings

[0024] Figure 1 is a schematic three-dimensional structure diagram of the large-range foldable planar robotic arm of the utility model;

[0025] Figure 2 is a bottom view of the large-range foldable planar robotic arm of the utility model;

[0026] Figure 3 is the large-range foldable planar robotic arm of the utility model Figure 2 front view of the cross-section in the A-A direction;

[0027] Figure 4 is an enlarged view of the execution component in the large-range foldable planar robotic arm of the utility model;

[0028] Figure 5 is an exploded view of the first link assembly in the large-range foldable planar robotic arm of the utility model;

[0029] Figure 6This is an exploded view of the connection relationship between the first link assembly and the second link assembly in the large-range foldable planar robotic arm of the present utility model;

[0030] Figure 7 This is a three-dimensional structural schematic diagram of the Z-axis transmission member in the large-range foldable planar robotic arm of the present utility model;

[0031] Figure 8 This is an exploded view of the execution assembly in the large-range foldable planar robotic arm of the present utility model.

[0032] Wherein: 1 - shaft base, 2 - first all-in-one machine, 3 - first link, 4 - first axis tube, 5 - second all-in-one machine, 6 - second link, 7 - second axis tube, 8 - third all-in-one machine, 9 - third link, 10 - first motor, 11 - driving wheel, 13 - driven wheel, 14 - transmission belt, 15 - support plate, 16 - guiding sliding member, 17 - ball screw assembly, 18 - Z-axis rotating bracket, 19 - second motor, 20 - X-axis rotating bracket, 21 - third motor, 22 - execution bracket, 23 - execution mounting bracket, 24 - silicone suction cup member, 25 - vacuum suction cup member, 26 - pipeline package. Detailed implementation manners

[0033] The technical solutions of the present utility model will be described in detail below by way of embodiments with reference to the accompanying drawings. It should be noted here that the description of these embodiments is for helping to understand the present utility model, but does not constitute a limitation to the present utility model.

[0034] The term "and / or" in this article is merely a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, B exists alone, and A and B exist simultaneously. The term " / and" in this article describes another association relationship of associated objects, indicating that there can be two relationships. For example, A / and B can represent: A exists alone, and A and B exist alone. In addition, the character " / " in this article generally represents that the front and rear associated objects are in an "or" relationship.

[0035] According to Figures 1-8 As shown, a large-range foldable planar robotic arm includes a shaft assembly, a link assembly, and an execution assembly. The shaft assembly is installed at a predetermined position to provide a support point. The link assembly is disposed on the shaft assembly, and the execution assembly is disposed on the link assembly.

[0036] The shaft assembly includes a shaft base 1 and a first integrated machine 2. The shaft base 1 is in the shape of a circular groove, and the notch of the shaft base 1 is installed at the predetermined position by a first screw, providing support for the connecting rod assembly and the execution assembly. The first integrated machine 2 includes a power component and a harmonic reducer, and the harmonic reducer is arranged on the power component. Specifically, the power component provides torque to the harmonic reducer, and after the torque is increased by deceleration through the harmonic reducer, it is output externally to do work. Further, the harmonic reducer is a three - harmonic reducer.

[0037] The connecting rod assembly includes a first connecting rod assembly, a second connecting rod assembly, and a third connecting rod assembly. The first connecting rod assembly is arranged on the shaft assembly, the second connecting rod assembly is arranged on the first connecting rod assembly, and the third connecting rod assembly is arranged on the second connecting rod assembly. The first connecting rod assembly includes a first connecting rod support and a first connecting rod rotating member. The first connecting rod support is arranged on the harmonic reducer and is driven by the harmonic reducer to rotate circumferentially around the axis of the harmonic reducer. The first connecting rod rotating member is arranged on the first connecting rod support. The first connecting rod support includes a first connecting rod 3 and a first axis tube 4. The first connecting rod 3 is in a plate shape, one end of the first connecting rod 3 is horizontally fastened to the output shaft of the harmonic reducer by a second screw, and the first wire - passing through hole at one end of the first connecting rod 3 communicates with the hollow hole of the output shaft of the harmonic reducer. A first rubber wire - passing sleeve is embedded in the first wire - passing through hole to facilitate the passing of the first cable. The first axis tube 4 is arranged on the first wire tube fixing seat on the first connecting rod 3. The first axis tube 4 facilitates the passing of the first cable.

[0038] The first connecting rod rotating member includes a second integrated machine 5, and the second integrated machine 5 is arranged on the first connecting rod. The second integrated machine 5 has the same structure as the first integrated machine 2, and the second integrated machine 5 is fastened and installed in the first installation through - hole at the other end of the first connecting rod by a third screw. Further, a first cover is fastened and sealed at the free port of the first installation through - hole to improve the dust - proof and waterproof performance of the second integrated machine 5.

[0039] The second link assembly includes a second link support and a second link rotating member. The second link support is disposed on the second all-in-one machine 5 to be driven by the second all-in-one machine 5 to rotate circumferentially around the axis of the second all-in-one machine 5. The second link rotating member is disposed on the second link support. The second link support includes a second link 6 and a second axis tube 7. The second link 6 is in a plate shape. One end of the second link 6 is horizontally fastened to the output shaft of the second all-in-one machine 5 by a fourth screw, and a second wire passing through hole at one end of the second link 6 communicates with the hollow hole of the output shaft of the second all-in-one machine 5. A second rubber wire passing sleeve is embedded in the second wire passing through hole to facilitate the transmission of the first cable. The second axis tube 7 is disposed on a second wire tube fixing seat on the second link 6. The second axis tube 7 facilitates the first cable to pass through.

[0040] The second link rotating member includes a third all-in-one machine 8, and the third all-in-one machine 8 is disposed on the second link. The third all-in-one machine 8 has the same structure as the first all-in-one machine 2, and the third all-in-one machine 8 is fastened and disposed in a second mounting through hole at the other end of the second link by a fifth screw. Further, a second cover is fastened and sealed at the free port of the second mounting through hole to improve the dustproof and waterproof performance of the third all-in-one machine 8.

[0041] The third link assembly includes a third link 9. One end of the third link 9 is horizontally fastened to the output shaft of the third all-in-one machine 8 by a sixth screw and is driven by the third all-in-one machine 8 to rotate circumferentially around the axis of the third all-in-one machine 8. Further, the first cable is electrically connected to the first all-in-one machine 2, the second all-in-one machine 5, and the third all-in-one machine 8 respectively.

[0042] The execution assembly includes a Z-axis driving power member, a Z-axis rotating member, an X-axis rotating member, a sucking execution member, and a pipeline member. The Z-axis driving power member is disposed on the third link assembly. The Z-axis rotating member is disposed on the Z-axis driving power member. The X-axis rotating member is disposed on the Z-axis rotating member. The sucking execution member is disposed on the X-axis rotating member.

[0043] The Z-axis driving power member includes a Z-axis power member and a Z-axis transmission member, and both the Z-axis power member and the Z-axis transmission member are provided on the third connecting rod 9. The Z-axis power member includes a first motor 10, a driving wheel 11, a relay shaft, a driven wheel 13, and a transmission belt 14. The first motor 10 is fastened to the other end of the third connecting rod 9 by a seventh screw. The driving wheel 11 is fixedly sleeved on the rotating shaft of the first motor 10. One end of the relay shaft rotatably penetrates through the other end of the third connecting rod 9. The driven wheel 13 is fixedly sleeved on the other end of the relay shaft. The transmission belt 14 is simultaneously sleeved on the driving wheel 11 and the driven wheel 13. Further, both the driving wheel 11 and the driven wheel 13 are synchronous wheels, and the driven belt is a synchronous belt. As an option, a tensioning assembly is provided beside the transmission belt 14 to maintain the transmission accuracy of the transmission belt 14.

[0044] The Z-axis transmission member includes a support plate 15, a guiding sliding member 16, and a ball screw assembly 17. The support plate 15 is vertically and fixedly provided on the bottom surface of the other end of the third connecting rod 9. Both the guiding sliding member 16 and the ball screw assembly 17 are provided on the support plate 15. The guiding sliding member 16 includes a slider and a chute. The slider is fixedly provided on the support plate 15, and the longitudinal line of the slider is parallel to the Z-axis line. The chute is slidably sleeved on the slider. One end of the screw rod of the ball screw assembly 17 is connected and driven to one end of the relay shaft. The nut bracket on the ball screw assembly 17 is fixedly connected to the chute. To drive the Z-axis rotating member to reciprocate along the Z-axis direction.

[0045] The Z-axis rotating member includes a Z-axis rotating bracket 18 and a second motor 19. The Z-axis rotating bracket 18 is in the shape of a right-angled plate. One right-angled side of the Z-axis rotating bracket 18 is fastened to the nut bracket. The second motor 19 is fixedly provided on the other right-angled side of the Z-axis rotating bracket 18, so that the axis of the second motor 19 is parallel to the Z-axis line. To drive the X-axis rotating member to rotate circumferentially around the axis of the second motor 19.

[0046] The X-axis rotating member includes an X-axis rotating bracket 20 and a third motor 21. The X-axis rotating bracket 20 is in the shape of a right-angled plate. One right-angled side of the X-axis rotating bracket 20 is fastened to the output shaft of the second motor 19. The third motor 21 is fixedly provided on the other right-angled side of the X-axis rotating bracket 20, so that the axis of the third motor 21 is parallel to the X-axis line (horizontal plane). To drive the sucking execution member to rotate circumferentially around the axis of the third motor 21.

[0047] The suction execution member includes an execution support 22, an execution mounting frame 23, a silica gel suction cup member 24, and a vacuum suction cup member 25. The execution support 22 is in the shape of a right-angled plate. One right-angled side of the execution support 22 is arranged on the output shaft of the third motor 21. The execution mounting frame 23 is in the shape of a plate. One side of the execution mounting frame 23 is fixedly arranged on the other right-angled side of the execution support 22. The silica gel suction cup member 24 and the vacuum suction cup member 25 are both arranged on the execution mounting frame 23.

[0048] The silica gel suction cup member 24 includes a transition sleeve, a quick connector, and a silica gel circular suction hood. The transition sleeve is fastened to the execution mounting frame 23. One end of the quick connector passes through the execution mounting frame 23 and is connected in a through manner to one end of the transition sleeve. The small end of the silica gel circular suction hood is hermetically connected in a through manner to the other end of the transition sleeve. The vacuum suction cup member 25 includes a vacuum suction cup and a tracheal adapter. The vacuum suction cup is arranged on the execution mounting frame 23. The tracheal adapter is arranged on the vacuum suction cup.

[0049] The pipeline member includes a pipeline package 26. The pipeline package 26 is arranged on the link assembly. The pipeline package 26 is used to pass through a negative pressure relay pipe and a second cable. The negative pressure relay pipe is used to provide negative pressure to the silica gel suction cup member 24 and the vacuum suction cup member 25. The second cable is used to be electrically connected to the first motor 10, the second motor 19, and the third motor 21.

[0050] Although the embodiments of the present invention have been disclosed as above, it is not limited to only the applications listed in the specification and embodiments. It can be fully applied to various fields suitable for the present invention. For those familiar with the field, additional modifications can be easily achieved. Therefore, without departing from the general concept defined by the claims and the equivalent scope, the present invention is not limited to the specific details and the illustrations shown and described here.

Claims

1. A large-scale foldable planar robot arm, characterized in that: include: A shaft assembly, which is arranged to provide support at a predetermined mounting location; A connecting rod assembly, which is arranged on the shaft assembly, the connecting rod assembly includes a first connecting rod assembly, a second connecting rod assembly and a third connecting rod assembly, the first connecting rod assembly is driven on the shaft assembly to change the circumferential angle, the second connecting rod assembly is driven on the first connecting rod assembly to change the circumferential angle, and the third connecting rod assembly is driven on the second connecting rod assembly to change the circumferential angle; An actuator assembly moves along the third link assembly to transfer the adsorbed object to a predetermined position.

2. The large-scale foldable planar robot arm according to claim 1, characterized in that: The shaft assembly includes a shaft base and a first integrated machine, the shaft base is installed at the predetermined installation location, and the first integrated machine provides circumferential rotational power on the shaft base.

3. The large-scale foldable planar robot arm according to claim 2, characterized in that: The first connecting rod assembly includes a first connecting rod support member and a first connecting rod rotating member. One end of the first connecting rod support member is driven on the first integrated machine, and the first connecting rod rotating member provides circumferential rotational power on the other end of the first connecting rod support member.

4. The large-scale foldable planar robot arm according to claim 3, characterized in that: The second link assembly includes a second link support member and a second link rotation member, one end of the second link support member is driven by the first link rotation member, and the second link rotation member provides circumferential rotation power on the other end of the second link support member.

5. The large-scale foldable planar robot arm according to claim 4, characterized in that: One end of the third connecting rod assembly is driven on the second connecting rod rotating member, and the third connecting rod assembly provides support for the actuator assembly.

6. The large-range foldable planar robot arm according to claim 1 or 2, characterized in that: The actuator assembly includes a Z-axis transmission power member, a Z-axis rotating member, an X-axis rotating member, a suction actuator and a pipeline member. The Z-axis transmission power member moves with the other end of the third connecting rod assembly, and the Z-axis rotating member is driven by the Z-axis transmission power member on the Z-axis transmission power member to slide back and forth along the Z-axis direction; the X-axis rotating member is driven by the Z-axis rotating member on the Z-axis rotating member to move circumferentially along the Z axis line; the suction actuator is driven by the X-axis rotating member on the X-axis rotating member to move circumferentially along the X axis line; the pipeline member is on the connecting rod assembly, and is electrically connected to the Z-axis transmission power member, the Z-axis rotating member and the X-axis rotating member, respectively, and the pipeline member is used to provide negative pressure for the suction actuator.

7. The large-scale foldable planar robot arm according to claim 6, characterized in that: The Z-axis transmission power member includes a Z-axis power member and a Z-axis transmission member, both of which are arranged on the third connecting rod, and the Z-axis transmission member slides back and forth along the Z-axis direction after being driven on the Z-axis power member.

8. The large-scale foldable planar robot arm according to claim 7, characterized in that: The Z-axis rotating member includes a Z-axis rotating bracket and a first motor. The Z-axis rotating bracket moves with the Z-axis transmission member, and the first motor provides a circumferential rotational force along the Z axis on the Z-axis rotating bracket.

9. The large-scale foldable planar robot arm according to claim 8, characterized in that: The X-axis rotating member includes an X-axis rotating bracket and a second motor. The X-axis rotating bracket is driven on the output shaft of the first motor, and the second motor provides a circumferential rotation force along the X-axis on the X-axis rotating bracket.

10. The large-scale foldable planar robot arm according to claim 9, characterized in that: The suction actuator includes an actuator bracket, an actuator mounting frame, a silicone suction cup member and a vacuum suction cup member. The actuator bracket is arranged on the output shaft of the second motor, the actuator mounting frame is arranged on the actuator bracket, and the silicone suction cup member and the vacuum suction cup member are both arranged on the actuator mounting frame.

Images