Robot arm

Abstract

The utility model provides a robotic arm which comprises a lifting arm, a first swing arm and a second swing arm, the lifting arm ascends and descends in the first direction, the first swing arm and the second swing arm are arranged in a stacked mode in the first direction, and the axial direction of a rotating shaft of the first swing arm and the axial direction of a rotating shaft of the second swing arm extend in the first direction. Rotating shafts of the first swing arm and the second swing arm are correspondingly and eccentrically arranged on the first swing arm and the second swing arm, the second swing arm swings relative to the first swing arm, the lifting arm is connected with the first swing arm and / or the second swing arm, the first swing arm and the second swing arm are sequentially distributed from the head end to the tail end of the machine arm, and an installation rotating part is arranged at the tail end of the second swing arm. The axial direction of the installation rotating part extends in the first direction. According to the embodiment of the utility model, through the four-axis design that the lifting arm is matched with the rotating shafts of the first swing arm and the second swing arm and the mounting rotating part, the flexibility of the mechanical arm is better.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial robots, in particular to a robot arm. Background Art

[0002] Collaborative robots are robots designed to interact closely with humans in a shared workspace. While they offer greater flexibility, they are slow and have mutual restrictions between their arms. The cost-effectiveness of collaborative robots in industrial applications may not be as good as traditional industrial robots, making them unsuitable for industrial use. The key feature of SCARA (Selective Compliance Assembly Robot Arm) robots is their horizontal compliance. Their range of motion is primarily limited to the horizontal plane, with limited vertical movement. Therefore, current SCARA robots lack sufficient flexibility and are only suitable for simple tasks such as object handling and assembly. They are not well suited for industrial applications requiring highly flexible robotic arms. Summary of the Invention

[0003] In view of this, an object of the present invention is to provide a more flexible robotic arm.

[0004] The technical solution used in this utility model is:

[0005] A robot arm is provided, comprising a lifting arm, a first swing arm, and a second swing arm. The lifting arm is lifted and lowered along a first direction, the first swing arm and the second swing arm are stacked along the first direction, the rotating shafts of the first swing arm and the second swing arm axially extend along the first direction, the rotating shafts of the first swing arm and the second swing arm are eccentrically arranged on the first swing arm and the second swing arm respectively, the second swing arm swings relative to the first swing arm, the lifting arm is connected to the first swing arm and / or the second swing arm, the first swing arm and the second swing arm are distributed in sequence from the head end to the tail end of the robot arm, the tail end of the second swing arm is provided with a mounting rotating part, the axial direction of the mounting rotating part extends along the first direction.

[0006] Preferably, the robot arm also includes a first swing arm joint, a second swing arm joint, and an installation rotating part joint. The rotating shafts of the first swing arm, the second swing arm, and the installation rotating part are respectively located in the first swing arm joint, the second swing arm joint, and the installation rotating part joint. The first swing arm joint, the second swing arm joint, and the installation rotating part joint are also respectively provided with a first swing arm driving device, a second swing arm driving device, and an installation rotating part driving device for driving the first swing arm, the second swing arm, and the rotating shaft of the installation rotating part to rotate.

[0007] Preferably, at least one of the first swing arm joint, the second swing arm joint, and the mounting rotating part joint adopts the following joint assembly:

[0008] The joint assembly includes a main output shaft, a connecting shaft, a driving mechanism and a reduction mechanism. The main output shaft is an axially through-hollow structure. The connecting shaft is sleeved on the outside of the main output shaft. The reduction mechanism is sleeved on the outside of the main output shaft. The connecting shaft is connected to the input end of the reduction mechanism. The output end of the reduction mechanism is connected to the main output shaft. The driving mechanism is sleeved on the outside of the connecting shaft and is used to drive the connecting shaft to rotate, and then drive the main output shaft to rotate after being decelerated by the reduction mechanism.

[0009] The main output shaft is the corresponding first swing arm, the second swing arm or the rotating shaft of the installation rotating part, and the driving mechanism is the corresponding first swing arm driving device, the second swing arm driving device, or the installation rotating part driving device.

[0010] Preferably, an end cover is provided at the end of the main output shaft away from the reduction mechanism, the end cover is sleeved on the outside of the main output shaft, and a first bearing is provided between the end cover and the main output shaft, the reduction mechanism is a harmonic reducer, and the reduction mechanism includes a wave generator, a flexible spline and a rigid spline, the wave generator is sleeved on the outside of the main output shaft and connected to the connecting shaft, the flexible spline is sleeved on the outside of the wave generator, and the rigid spline is sleeved on the outside of the flexible spline and connected to the main output shaft.

[0011] Preferably, the deceleration mechanism is a harmonic reducer, and the joint assembly further includes a brake mechanism and a heat dissipation mechanism. The brake mechanism cooperates with the connecting shaft to prevent the connecting shaft from rotating, thereby preventing the main output shaft from rotating. The heat dissipation mechanism is sleeved on the outside of the connecting shaft and can rotate with the connecting shaft. The heat dissipation mechanism, brake mechanism, drive mechanism and deceleration mechanism are arranged along the axial direction of the main output shaft toward the output end of the main output shaft.

[0012] Preferably, the heat dissipation mechanism includes a heat dissipation mounting seat, and fan blades are provided on the heat dissipation mechanism. The heat dissipation mounting seat is sleeved on the outside of the connecting shaft and can rotate with the connecting shaft. An annular connecting plate is provided on the heat dissipation mounting seat, and a plurality of fan blades are provided on the annular connecting plate at intervals along its circumference.

[0013] Preferably, the lifting arm is connected to the head end of the first swing arm, the first swing arm is connected to the lifting arm through a first swing arm joint, the first swing arm can be driven to rotate relative to the lifting arm, and the second swing arm is connected to the tail end of the first swing arm through a second swing arm joint.

[0014] Preferably, the lifting arm is connected to the head end of the first swing arm, and the lifting arm includes a lifting arm body, a storage seat and a lifting drive device. The second end of the lifting arm body is installed in the storage seat, and the lifting drive device is also installed in the storage seat. The lifting drive device is connected to the second end of the lifting arm body. A lifting through hole is provided on the top of the storage seat. The first end of the lifting arm body passes through the lifting through hole and is connected to the first swing arm. The lifting arm body is lifted and lowered relative to the lifting through hole of the storage seat under the drive of the lifting drive device.

[0015] Preferably, a through hole is provided at the bottom of the second end of the lifting arm body, and the lifting drive device includes a lifting drive motor and a lifting transmission assembly, and the lifting transmission assembly is transmission-connected between the lifting drive motor and the lifting arm body, and the lifting drive motor is located directly below the second end of the lifting arm body. When the first end of the lifting arm body is retracted into the storage seat, the lifting drive motor is inserted into the through hole at the bottom of the second end of the lifting arm body.

[0016] Preferably, the lifting drive device includes a lifting drive motor and a lifting transmission assembly, the lifting transmission assembly is transmission-connected between the lifting drive motor and the lifting arm body, a lifting slider is fixed to the bottom of the lifting arm body, a lifting slide rail extending along the first direction is provided in the storage seat, the lifting transmission assembly includes a driving wheel, a driven wheel, a synchronous belt and a screw rod, the lifting slider is threadedly engaged with the screw rod and slidingly engaged with the lifting slide rail, the driving wheel is connected to the output shaft of the lifting drive motor, the screw rod is connected to the driven wheel, the driving wheel and the driven wheel are driven by the synchronous belt, the lifting drive motor drives the screw rod to rotate through the above-mentioned driving wheel, driven wheel and synchronous belt, and further causes the lifting slider to move up and down relative to the screw rod.

[0017] Preferably, the lifting slider includes a vertical plate extending along the first direction and a horizontal plate vertically connected to the vertical plate, the lifting slide rail is arranged on the side wall of the storage seat, the vertical plate is slidably connected to the lifting slide rail, the screw rod is threadedly engaged with the vertical plate, the second end of the lifting arm body is fixed on the horizontal plate, the lifting drive motor is located directly below the horizontal plate and is half surrounded by the vertical plate and the horizontal plate, an avoidance through hole is opened on the horizontal plate, when the first end of the lifting arm body is retracted into the storage seat, the lifting drive motor is inserted into the avoidance through hole, an annular seal is provided at the lifting through hole, the lifting arm body passes through the annular seal and is sealed with the annular seal.

[0018] Preferably, the first end of the lifting arm body is provided with a hollow structure, and the rotating shaft of the first swing arm is installed in the hollow structure. When the first end of the lifting arm body is retracted into the storage seat, the rotating shaft portion of the first swing arm extends into the storage seat.

[0019] Preferably, the robotic arm further includes electric wires and / or air pipes, and the first swing arm and the second swing arm have swing arm wiring channels, and some of the electric wires and / or air pipes can pass through the swing arm wiring channels of the first swing arm and the second swing arm.

[0020] Preferably, the rotating shafts of the first swing arm and the second swing arm both have rotating shaft threading channels, the swing arm wiring channel includes the rotating shaft threading channels, and part of the wires and / or air pipes pass through the rotating shaft threading channels of the first swing arm and the second swing arm rotating shafts.

[0021] Preferably, the lifting arm is connected to the head end of the first swing arm, the shaft threading channel extends along the first direction and has a first end and a second end along the first direction, and part of the wires and / or air pipes enter the first swing arm from the lifting arm through the first end of the shaft threading channel of the first swing arm, pass out from the second end of the shaft threading channel of the first swing arm, enter the shaft of the second swing arm from the first end of the shaft threading channel of the second swing arm, pass out from the second end of the shaft threading channel of the second swing arm, and enter the installation rotating part.

[0022] Preferably, the first swing arm and / or the second swing arm is provided with an operating opening communicating with the outside at the rotating shaft through which the wires and / or the air pipes pass in or out, and a cover body capable of opening or closing the operating opening.

[0023] Preferably, the first swing arm and / or the second swing arm is connected to a visual detection system, and the visual detection system includes a camera.

[0024] Preferably, a sealing structure is provided at the connection between any two of the lifting arm, the first swing arm and the second swing arm.

[0025] Preferably, the axes of the rotating shafts of the first swing arm, the second swing arm and the mounting rotating part are parallel, and the rotating shafts of the first swing arm, the second swing arm and the mounting rotating part are not coaxially arranged, and the rotation angle ranges of the first swing arm, the second swing arm and the mounting rotating part are all greater than or equal to 360 degrees.

[0026] Preferably, one or more of a grabbing device, a fixing fixture, and a connecting device are installed on the installation rotating part, and the installation rotating part can drive one or more of the grabbing device, the fixing fixture, and the connecting device to rotate.

[0027] The embodiment of the utility model provides a four-axis design with a lifting arm, a first swing arm, a second swing arm, and a rotating shaft for installing a rotating part, so that the flexibility of the robot arm is better. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The above and other purposes, features and advantages of the present invention will become more apparent through a more detailed description of the preferred embodiments of the present invention shown in the accompanying drawings. The same reference numerals indicate the same parts throughout the drawings, and the drawings are not intentionally scaled to actual size. The emphasis is on illustrating the subject matter of the present invention.

[0029] Figure 1 Schematic diagram of the robotic arm structure.

[0030] Figure 2 This is a schematic diagram of the structure of the robotic arm after removing some parts.

[0031] Figure 3 This is a schematic diagram of the robotic arm looking down.

[0032] Figure 4 for Figure 3 AA section view.

[0033] Figure 5 Schematic diagram of the internal structure of the lifting arm of the robot arm.

[0034] Figure 6 Schematic diagram of the structure after removing the top cover of the robot arm to expose the operating opening.

[0035] Figure 7 Schematic diagram of the structure of the joint assembly of the embodiment.

[0036] Figure 8 for Figure 7 Cross-sectional view of the joint assembly.

[0037] Figure 9 for Figure 8 Schematic diagram of the structure of the heat dissipation mechanism of the joint component. DETAILED DESCRIPTION

[0038] The technical solution of the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and implement it. However, the embodiments cited do not limit the present invention. In this embodiment, it should be understood that the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation of the present invention.

[0039] It should be noted that when an element is considered to be "connected" to another element, it may be directly connected to the other element and integrated therewith, or there may be an intermediate element. The terms "mounted," "one end," "the other end," and similar expressions used in this utility model are for illustrative purposes only.

[0040] Please refer to Figures 1 to 9 An embodiment of the present invention provides a robotic arm, which includes a lifting arm 10, a first swing arm 20, and a second swing arm 30. The lifting arm 10 can be driven to rise and fall along a first direction. Figure 1 The first direction shown is the vertical direction. In other embodiments, when the multi-axis robot arm is installed in other ways, such as fixed to a wall, it can also be a horizontal direction. The lifting referred to here is also for the convenience of understanding the technical solution. It does not limit the first direction to the vertical direction, but refers to movement along the first direction. The first swing arm 20 and the second swing arm 30 are stacked along the first direction. The stacking arrangement referred to here does not limit the first swing arm 20 and the second swing arm 30 to being stacked together, but refers to the first swing arm 20 and the second swing arm 30 being at different heights in the first direction. The axial direction of the rotating shaft of the first swing arm 20 and the second swing arm 30 extends along the first direction, and the rotating shafts of the first swing arm 20 and the second swing arm 30 are not coaxially arranged. The axial extension of the rotating shaft of the first swing arm 20 and the second swing arm 30 along the first direction does not strictly limit the axial direction of the rotating shaft to be parallel to the first direction, and there can also be a certain angle deviation (for example, a deviation of 2-10 degrees). The rotation axes of the first swing arm 20 and the second swing arm 30 are not coaxially arranged, which means that the rotation axes of the first swing arm 20 and the second swing arm 30 are separated by a certain distance in a plane perpendicular to the first direction. Figure 1 The dotted lines on the first swing arm 20 and the second swing arm 30 are the axial directions of their rotation shafts.

[0041] The rotating shafts of the first swing arm 20 and the second swing arm 30 are eccentrically arranged on the first swing arm 20 and the second swing arm 30 respectively. The eccentric arrangement refers to that the distance from one part of the swing arm to the center of the rotating shaft is greater than the distance from the other part to the center of the rotating shaft. The first swing arm 20 and the second swing arm 30 are distributed in sequence from the head end to the tail end of the robot arm. The tail end of the second swing arm 20 is provided with a mounting rotating part 40, and the axial direction of the mounting rotating part 40 extends along the first direction. The robot arm of this embodiment is usually installed in a certain position, and the mounting rotating part 40 can carry other working parts (such as a grasping device, a detection device, a welding device, a fixing fixture, other connecting devices, etc.) to work. The head end of the robot arm referred to here refers to its mounting end, and the tail end refers to its working end.

[0042] The first and second swing arms 20, 30 are sequentially arranged along the front and rear ends of the multi-axis robot arm. This does not necessarily require the first and second swing arms 20, 30 to be continuous; other arm segments may be added between them. The only requirement is the order in which the first and second swing arms 20, 30 appear from the front to the rear. The second swing arm 30 is drivably rotatable relative to the first swing arm 20.

[0043] The lifting arm 10 is connected to the first swing arm 20 and / or the second swing arm 30, which means that the lifting arm 10 is only connected to the first swing arm 20, or the lifting arm 10 is only connected to the second swing arm 30, or the lifting arm 10 is located between the first swing arm 20 and the second swing arm 30 and is connected to the first swing arm 20 and the second swing arm 30 respectively.

[0044] Those skilled in the art will appreciate that the term "drivably" refers to being movable under the drive of a drive mechanism. In one embodiment, at least one of the lifting arm 10, the first swing arm 20, the second swing arm 30, and the mounting and rotating portion 40 can also be moved under human drive. Alternatively, the lifting arm 10, the first swing arm 20, the second swing arm 30, and the mounting and rotating portion 40 can all be independently driven, that is, the lifting arm 10, the first swing arm 20, the second swing arm 30, and the mounting and rotating portion 40 are each provided with an independent drive mechanism, so that the movement of each arm segment does not interfere with each other, thereby improving flexibility and operability.

[0045] The embodiment of the present invention provides a lifting arm 10, a first swing arm 20, a second swing arm 30, and a mounting rotating part 40, thereby providing greater flexibility when mounting the rotating part to carry other working parts. Each axis can rotate over 360 degrees in any posture, without any limitations imposed by the mechanism or wiring.

[0046] refer to Figure 4 In a preferred embodiment, the multi-axis robot arm also includes a first swing arm joint 22, a second swing arm joint 32, and an installation rotating part joint 42. The rotating shaft 21 of the first swing arm 20, the rotating shaft 31 of the second swing arm 30, and the rotating shaft 41 of the installation rotating part 40 are respectively located in the first swing arm joint 22, the second swing arm joint 32, and the installation rotating part joint 42.

[0047] refer to Figure 4 In a preferred embodiment, the first swing arm joint 22, the second swing arm joint 32, and the installation rotating part joint 42 are also respectively provided with a first swing arm driving device, a second swing arm driving device, and an installation rotating part driving device for driving the rotating shaft 21 of the first swing arm 20, the rotating shaft 31 of the second swing arm 30, and the rotating shaft 41 of the installation rotating part 40 to rotate.

[0048] refer to Figure 4In a preferred embodiment, the lifting arm 10 is connected to the head end of a first swing arm 20. The first swing arm 20 is connected to the lifting arm 10 via a first swing arm joint 22. The first swing arm 20 can be driven by the first swing arm joint 22 to rotate relative to the lifting arm 10. The second swing arm 30 is connected to the tail end of the first swing arm 20 via a second swing arm joint 32. By driving the two swing arms separately, greater flexibility is achieved.

[0049] The first swing arm joint 22 is fixed relative to the lifting arm 10, the second swing arm joint 32 is fixed relative to the first swing arm 20, and the third swing arm joint 42 is fixed relative to the second swing arm 30. When the rotating shaft 21 of the first swing arm 20 is driven to rotate by the first swing arm driving device, the first swing arm 20 rotates relative to the lifting arm 10. Correspondingly, when the rotating shaft 31 of the second swing arm 30 rotates, the second swing arm 30 rotates relative to the first swing arm 20. When the rotating shaft 41 of the mounting rotating portion 40 rotates, the mounting rotating portion 40 rotates relative to the second swing arm 30.

[0050] Please refer to Figure 1-4 The lifting arm 10 includes a lifting arm body 11, a storage seat 12 and a lifting drive device 13. The storage seat 12 is in the shape of a box, the second end of the lifting arm body 11 is installed in the storage seat 12, and the lifting drive device 13 is also installed in the storage seat 12, and the lifting drive device 13 is transmission-connected to the second end of the lifting arm body 12. A lifting through hole is provided on the top of the storage seat 12, and the first end of the lifting arm body 11 passes through the lifting through hole and is connected to the first swing arm 20. Driven by the lifting drive device 13, the lifting arm body 11 is lifted and lowered relative to the lifting through hole of the storage seat 12. In this embodiment, the storage seat 12 can serve as the base of the multi-axis robot arm, and the storage seat 12 can be fixed on the ground or other mounting platforms.

[0051] refer to Figure 4 In a further preferred embodiment, the lift arm body 11 has a hollow structure, and a through-hole is defined at the bottom of the second end of the lift arm body 11. The lift drive device 13 includes a lift drive motor 131 and a lift transmission assembly. The lift transmission assembly is connected between the lift drive motor 131 and the lift arm body 11. The lift drive motor 131 is located directly below the second end of the lift arm body 11. When the first end of the lift arm body 11 is retracted into the storage seat 12, the lift drive motor 131 is inserted into the through-hole at the bottom of the second end of the lift arm body 11. When the lift arm body 11 is retracted, it slides over the lift drive motor 131, thereby reducing the overall height of the storage seat 12 and making the multi-axis robot arm more compact.

[0052] refer to Figure 4-5In a further preferred embodiment, the lifting drive device 13 includes a lifting drive motor 131 and a lifting transmission assembly. The lifting transmission assembly is connected between the lifting drive motor 131 and the lifting arm body 11. A lifting slider 14 is fixed to the bottom of the lifting arm body 11, and a lifting rail 123 extending along a first direction is provided in the storage base 12. The lifting transmission assembly includes a driving wheel 132, a driven wheel 133, a synchronous belt, and a screw rod 134. The lifting slider 14 is threadedly engaged with the screw rod 134 and slidingly engaged with the lifting rail 123. The driving wheel 132 is connected to the output shaft of the lifting drive motor 131, and the screw rod 134 is connected to the driven wheel 133. The driving wheel 132 and the driven wheel 133 are driven by a synchronous belt. The lifting drive motor 131 drives the screw rod 134 to rotate via the driving wheel 132, the driven wheel 133, and the synchronous belt, further causing the lifting slider 14 to move up and down relative to the screw rod 134.

[0053] In a further preferred embodiment, the lifting slider 14 includes a vertical plate 142 extending along a first direction and a horizontal plate 141 vertically connected to the vertical plate 142. The lifting rail 123 is provided on the side wall 122 of the storage seat 12, and the vertical plate 142 is slidably connected to the lifting rail 123. The screw rod 134 is threadedly engaged with the vertical plate 142. Specifically, two parallel lifting rails 123 are provided on the side wall 122 of the storage seat 12, and two sliding blocks corresponding to the lifting rails are provided on the back of the vertical plate 142. The screw rod 134 is located between the two lifting rails 123, and a nut threadedly engaged with the screw rod 134 is also provided on the back of the vertical plate 142. The second end of the lifting arm body 11 is fixed to the horizontal plate 141, and the lifting drive motor 131 is located directly below the horizontal plate 141 and is half-surrounded by the vertical plate 142 and the horizontal plate 141. In this embodiment, the lifting slider 14 is in an inverted "L" shape. In other embodiments, the lifting slider 14 may also be in an inverted "U" shape. A clearance hole 143 is defined in the horizontal plate 141. When the first end of the lifting arm body 11 is retracted into the storage seat 12, the lifting drive motor 131 is inserted into the clearance hole 143. This structure can also reduce the overall height of the storage seat 12, making the structure of the multi-axis robot arm more compact. Of course, in this embodiment, a through hole can also be defined at the bottom of the second end of the lifting arm body 11. When the first end of the lifting arm body 11 is retracted into the storage seat 12, the lifting drive motor 131 first inserts into the clearance hole 143 in the horizontal plate 141 and then into the through hole at the bottom of the second end of the lifting arm body 11. An annular seal is also provided at the lifting hole. The lifting arm body 11 passes through the annular seal and seals with the annular seal. The annular seal prevents dust, water droplets, etc. from entering the storage seat 12.

[0054] refer to Figure 4In a further preferred embodiment, the first end of the telescopic arm body 11 is provided with a hollow structure, into which the first swing arm joint 22 is mounted. When the first end of the telescopic arm body 11 is retracted into the storage seat 12, the first swing arm joint 22 extends into the storage seat 12. In this embodiment, the hollow structure of the first end of the telescopic arm body 11 is utilized to mount the first swing arm joint 22. Furthermore, when the telescopic arm body 11 is retracted, the first swing arm joint mounted in the hollow structure retracts along with the telescopic arm body 11 into the storage seat 12. This further reduces the height of the multi-axis robotic arm, making the multi-axis robotic arm more compact.

[0055] refer to Figure 4 In a preferred embodiment, the robot arm also includes wires and / or air pipes 900, and the first swing arm 20 and the second swing arm 30 have swing arm wiring channels, and part of the wires and / or air pipes 900 can pass through the swing arm wiring channels of the first swing arm 20 and the second swing arm 30. The part of the wires and / or air pipes 900 referred to is because part of the wires and air pipes 900 (for example, the wires connecting the first swing arm 20) do not need to extend to the installation rotating part. The wires are used to supply power to the electrical components in each arm section (such as the drive device), and the air pipes can be used to supply air to the load. In this embodiment, the wires and / or air pipes 900 are routed inside the first swing arm 20 and the second swing arm 30, so that the wires and / or air pipes 900 are not exposed, not easy to be entangled and more beautiful. The swing arm wiring channel in this embodiment refers to any non-exposed channel in the first swing arm 20 and the second swing arm 30 that can be threaded.

[0056] refer to Figure 4 In a further preferred embodiment, the rotating shafts of the first swing arm 20 and the second swing arm 30 both have rotating shaft threading channels. The rotating shaft threading channels are a way to implement the swing arm wiring channels. Of course, the swing arm wiring channels can also have other wiring channels in addition to the rotating shaft threading channels. The swing arm wiring channels are composed of the rotating shaft threading channels and other wiring channels in the arms. Some wires and / or air pipes 900 pass through the rotating shaft threading channels of the rotating shafts of the first swing arm 20 and the second swing arm 30. By directly routing the wires and / or air pipes 900 through the inside of the rotating shaft, the swing arm is not affected by the wires and / or air pipes 900 when it swings, and the wires and / or air pipes 900 are not affected by the swing of the swing arm.

[0057] refer to Figure 4 and Figure 6In a preferred embodiment, the lifting arm 10 is connected to the head end of the first swing arm 20, the shaft threading channel extends along the first direction, and has a first end and a second end along the first direction, and part of the wires and / or air pipes 900 pass from the lifting arm 10 through the first end of the shaft threading channel of the first swing arm 20 into the first swing arm 20, pass out from the second end of the shaft threading channel of the first swing arm 20, enter the shaft 31 of the second swing arm 30 from the first end of the shaft threading channel of the second swing arm 30, pass out from the second end of the shaft threading channel of the second swing arm 30, and enter the installation rotating part. In some embodiments, the air pipe may also be omitted. A connector 15 may be provided on the lifting arm 10 (for example, the storage seat 12 of the lifting arm 10) for connecting external wires and air pipes. Through this wiring method, the structure of the multi-axis robot arm can be made simpler and safer. The first and second ends of the shaft threading channel in this embodiment can refer to Figure 4 and Figure 6 To understand, for example Figure 6 After removing the cover, the second end of the shaft threading channel of the first swing arm 20 can be seen. The wires and / or air pipes 900 pass through the second end of the shaft threading channel of the first swing arm 20 and then enter the second swing arm 30. This wiring method does not take up space, but instead runs the wires inside the shaft, without affecting the swing of the swing arm.

[0058] refer to Figure 2 and Figure 6 The first swing arm 20 and / or the second swing arm 30 are provided with an operating opening connected to the outside at the rotating shaft through which the wires and / or air pipes pass in or out, and a cover body 100 that can open or close the operating opening; the ends of the first swing arm 20 and the second swing arm 30 have overlapping parts, and the operating opening is located at the part where the first swing arm 20 and the second swing arm 30 do not overlap. Figure 6 This diagram shows the top cover removed to reveal the access opening. Opening the top cover allows access to the access opening for threading wires and / or air pipes into the robot arm housing, making it particularly convenient for threading wires and / or air pipes through the swing arm's rotating shaft and facilitating maintenance.

[0059] refer to Figure 1 and Figure 2 In a preferred embodiment, the first swing arm and / or the second swing arm are connected to a visual inspection system including a camera. This allows the four-axis robotic arm provided in this embodiment to be applied to product visual inspection. The four-axis robotic arm, when used with any embodiment of the present invention, can achieve optimal swinging motion, enabling multi-angle motion for inspecting products, resulting in superior visual inspection results.

[0060] In a preferred embodiment, a sealing structure is provided at the connection between any two of the lifting arm 10, the first swing arm 20, and the second swing arm 30 to improve the sealing performance inside the multi-axis robotic arm, protect the precision components inside the multi-axis robotic arm, ensure the normal operation of the multi-axis robotic arm, and extend its service life.

[0061] refer to Figure 4 and Figure 7-9 At least one of the first swing arm joint 22, the second swing arm joint 32, and the mounting rotating part joint 42 mentioned in any of the above embodiments can also adopt the following joint assembly 70.

[0062] refer to Figure 7-9 The joint assembly 70 includes a main output shaft 701, a connecting shaft 702, a driving mechanism 704 and a reduction mechanism 703. The main output shaft 701 is an axially through hollow structure, which can allow wires and air pipes 900 to pass through. The output end of the main output shaft 701 is provided with a flange for connecting to the corresponding arm section body. The connecting shaft 702 is sleeved on the outside of the main output shaft 701, and the reduction mechanism 703 is sleeved on the outside of the main output shaft 701. The connecting shaft 702 is connected to the input end of the reduction mechanism 703, and the output end of the reduction mechanism 703 is connected to the main output shaft 702. The driving mechanism 704 is sleeved on the outside of the connecting shaft 702 and is used to drive the connecting shaft 702 to rotate, and then drive the main output shaft 701 to rotate after being decelerated by the reduction mechanism 703. Specifically, the drive mechanism 704 includes a stator 7042 and a rotor 7041. The rotor 7041 is mounted on the outside of the connecting shaft 702, and the stator 7042 is mounted on the outside of the rotor 7041, and is used to drive the rotor 7041 to rotate. The outer shell of the reduction mechanism 703 and the drive mechanism 704 can be fixed to the preceding arm section, and the output end of the main output shaft 701 is fixedly connected to the following arm section. Since the drive mechanism 704 generally rotates at a faster speed, while the swing arm rotates at a slower speed, the power of the drive mechanism 704 is output to the connecting shaft 702, transmitted through the connecting shaft 702 to the input end of the reduction mechanism 703, and after being decelerated by the reduction mechanism 703, it is output to the main output shaft 701 through the output end of the reduction mechanism 703, and then transmitted to the main arm section body through the main output shaft 701. The main output shaft 701 is configured as an axially through hollow structure, allowing cables, air pipes and other lines to pass through the inner cavity of the main output shaft 701 to achieve electrical connection, etc., avoiding the external placement of cables, air pipes, etc. of the robot arm, thereby making the internal structure of the robot arm compact and the appearance neat and beautiful.

[0063] It is understood that when the first swing arm joint 22, the second swing arm joint 32, and the third swing arm joint 42 adopt the above-mentioned joint assembly, the main output shaft 701 is the corresponding rotating shaft 21 of the first swing arm 20, the rotating shaft 31 of the second swing arm 30, and the rotating shaft 41 of the third swing arm 40, and the driving mechanism is the corresponding first swing arm driving device, the second swing arm driving device, and the third swing arm driving device. When the first rotation arm joint and the second rotation arm joint 522 adopt the above-mentioned joint assembly, the main output shaft 701 is the corresponding rotating shaft of the first rotation arm 51 or the second rotation arm 52, and the driving mechanism is the corresponding first rotation driving device or the second rotation driving device.

[0064] In a preferred embodiment, the joint assembly 70 further includes a brake mechanism 705 and a heat dissipation mechanism 706. The brake mechanism 705 cooperates with the connecting shaft 702 to prevent the connecting shaft 702 from rotating when braking, thereby preventing the main output shaft 701 from rotating. The heat dissipation mechanism 706 is sleeved on the outside of the connecting shaft 702 and can rotate with the connecting shaft 702. The heat dissipation mechanism 706 is provided with fan blades for dissipating heat to the joint assembly 70. The heat dissipation mechanism 706, the brake mechanism 705, the drive mechanism 704 and the speed reduction mechanism 703 are sequentially arranged along the axial direction of the main output shaft 701 toward the output end of the main output shaft 703, so as to Figure 8 From the perspective of FIG, the joint assembly 70 is arranged in sequence from bottom to top. This arrangement makes the structure of the joint assembly 70 very compact and small in size.

[0065] In a preferred embodiment, an end cap 707 is provided at the end of the main output shaft 701 facing away from the reduction mechanism 703 (i.e., the end opposite the output end). This end cap 707 is mounted on the outside of the main output shaft 701, and a first bearing 708 is disposed between the end cap 707 and the main output shaft 701. This first bearing 708 enhances the load-bearing capacity of the joint assembly 70 and increases its durability. The reduction mechanism 703 is a harmonic reducer, comprising a wave generator 7031, a flexspline 7033, and a rigid spline 7032. The wave generator 7031, serving as the input end of the reduction mechanism 703, is mounted on the outside of the connecting shaft 702 and the main output shaft 701. The flexspline 7033 is mounted on the outside of the wave generator 7031. The rigid spline 7032 is mounted on the outside of the flexspline 7033 and is connected to the main output shaft 701.

[0066] Please refer to Figure 9In a preferred embodiment, the heat dissipation mechanism 706 includes a heat dissipation mounting base 7061, which is mounted on the outside of the connecting shaft 702 and can rotate with the connecting shaft 706. The heat dissipation mounting base 7061 is provided with an annular connecting plate 7064, and a plurality of fan blades 7062 are arranged at intervals along the circumference of the annular connecting plate 7064. By providing the heat dissipation assembly 706, the rotation of the fan blades 7062 generates wind force to quickly dissipate the heat generated by the internal operation of the joint assembly 70. Multiple heat dissipation holes can be provided in the end cover 707. The hot air flow fanned by the fan blades 7062 will quickly flow out of the heat dissipation holes to the outside of the joint assembly 70, thereby ensuring the normal operation of the joint assembly 70.

[0067] In a preferred embodiment, the axes of rotation of the first swing arm 20, the second swing arm 30 and the mounting rotating part 40 are parallel, and the axes of rotation of the first swing arm 20, the second swing arm 30 and the mounting rotating part are not coaxially arranged, which means that in a plane perpendicular to the first direction, the axes of rotation of the first swing arm 20, the second swing arm 30 and the mounting rotating part 40 are spaced a certain distance apart, and the rotation angle range of one or both of the first swing arm 20, the second swing arm 30 and the mounting rotating part 40 is greater than or equal to 360 degrees, or the rotation angle range of the first swing arm 20, the second swing arm 30 and the mounting rotating part 40 is greater than or equal to 360 degrees.

[0068] In a preferred embodiment, one or more of a grabbing device, a fixing fixture, and a connecting device are installed on the mounting rotating portion 40, and the mounting rotating portion 40 can drive one or more of the grabbing device, the fixing fixture, and the connecting device to rotate.

[0069] In this specification, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it can mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it can mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0070] In the description of this specification, the description with reference to the terms "preferred embodiment", "further embodiment", "other embodiments" or "specific example" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0071] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A robotic arm, characterized in that: The robot arm includes a lifting arm, a first swing arm, and a second swing arm. The lifting arm is lifted and lowered along a first direction. The first swing arm and the second swing arm are stacked along the first direction. The rotating shafts of the first swing arm and the second swing arm axially extend along the first direction. The rotating shafts of the first swing arm and the second swing arm are eccentrically arranged on the first swing arm and the second swing arm respectively. The second swing arm swings relative to the first swing arm. The lifting arm is connected to the first swing arm and / or the second swing arm. The first swing arm and the second swing arm are distributed in sequence from the head end to the tail end of the robot arm. The tail end of the second swing arm is provided with a mounting rotating part, and the axial direction of the mounting rotating part extends along the first direction.

2. The robotic arm according to claim 1, wherein: The robotic arm also includes a first swing arm joint, a second swing arm joint, and an installation rotating part joint. The rotating shafts of the first swing arm, the second swing arm, and the installation rotating part are respectively located in the first swing arm joint, the second swing arm joint, and the installation rotating part joint. The first swing arm joint, the second swing arm joint, and the installation rotating part joint are also respectively provided with a first swing arm driving device, a second swing arm driving device, and an installation rotating part driving device for driving the first swing arm, the second swing arm, and the installation rotating part to rotate.

3. The robotic arm according to claim 2, wherein: At least one of the first swing arm joint, the second swing arm joint, and the mounting rotating part joint adopts the following joint assembly: The joint assembly includes a main output shaft, a connecting shaft, a driving mechanism and a reduction mechanism. The main output shaft is an axially through-hollow structure. The connecting shaft is sleeved on the outside of the main output shaft. The reduction mechanism is sleeved on the outside of the main output shaft. The connecting shaft is connected to the input end of the reduction mechanism. The output end of the reduction mechanism is connected to the main output shaft. The driving mechanism is sleeved on the outside of the connecting shaft and is used to drive the connecting shaft to rotate, and then drive the main output shaft to rotate after being decelerated by the reduction mechanism. The main output shaft is the corresponding first swing arm, the second swing arm or the rotating shaft of the installation rotating part, and the driving mechanism is the corresponding first swing arm driving device, the second swing arm driving device, or the installation rotating part driving device.

4. The robotic arm according to claim 3, wherein: An end cover is provided at one end of the main output shaft away from the reduction mechanism. The end cover is sleeved on the outside of the main output shaft, and a first bearing is provided between the end cover and the main output shaft. The reduction mechanism is a harmonic reducer. The reduction mechanism includes a wave generator, a flexible spline and a rigid spline. The wave generator is sleeved on the outside of the main output shaft and connected to the connecting shaft. The flexible spline is sleeved on the outside of the wave generator. The rigid spline is sleeved on the outside of the flexible spline and connected to the main output shaft.

5. The robotic arm according to claim 3, wherein: The deceleration mechanism is a harmonic reducer, and the joint assembly also includes a brake mechanism and a heat dissipation mechanism. The brake mechanism cooperates with the connecting shaft to prevent the connecting shaft from rotating, thereby preventing the main output shaft from rotating. The heat dissipation mechanism is sleeved on the outside of the connecting shaft and can rotate with the connecting shaft. The heat dissipation mechanism, brake mechanism, drive mechanism and deceleration mechanism are arranged along the axial direction of the main output shaft toward the output end of the main output shaft.

6. The robotic arm according to claim 5, wherein: The heat dissipation mechanism includes a heat dissipation mounting seat, on which fan blades are provided. The heat dissipation mounting seat is sleeved on the outside of the connecting shaft and can rotate with the connecting shaft. The heat dissipation mounting seat is provided with an annular connecting plate, and the annular connecting plate is provided with multiple fan blades at intervals along its circumference.

7. The robotic arm according to claim 2, wherein: The lifting arm is connected to the head end of the first swing arm, the first swing arm is connected to the lifting arm through a first swing arm joint, the first swing arm can be driven to rotate relative to the lifting arm, and the second swing arm is connected to the tail end of the first swing arm through a second swing arm joint.

8. The robotic arm according to claim 1, wherein: The lifting arm is connected to the head end of the first swing arm, and the lifting arm includes a lifting arm body, a storage seat and a lifting drive device. The second end of the lifting arm body is installed in the storage seat, and the lifting drive device is also installed in the storage seat. The lifting drive device is connected to the second end of the lifting arm body. A lifting through hole is opened on the top of the storage seat. The first end of the lifting arm body passes through the lifting through hole and is connected to the first swing arm. The lifting arm body is lifted and lowered relative to the lifting through hole of the storage seat under the drive of the lifting drive device.

9. The robotic arm according to claim 8, wherein: A through hole is provided at the bottom of the second end of the lifting arm body, and the lifting drive device includes a lifting drive motor and a lifting transmission assembly. The lifting transmission assembly is transmission-connected between the lifting drive motor and the lifting arm body. The lifting drive motor is located directly below the second end of the lifting arm body. When the first end of the lifting arm body is retracted into the storage seat, the lifting drive motor is inserted into the through hole at the bottom of the second end of the lifting arm body.

10. The robotic arm according to claim 8, wherein: The lifting drive device includes a lifting drive motor and a lifting transmission assembly, the lifting transmission assembly is transmission-connected between the lifting drive motor and the lifting arm body, a lifting slider is fixed to the bottom of the lifting arm body, and a lifting slide rail extending along a first direction is provided in the storage seat, the lifting transmission assembly includes a driving wheel, a driven wheel, a synchronous belt and a screw rod, the lifting slider is threadedly engaged with the screw rod and slidingly engaged with the lifting slide rail, the driving wheel is connected to the output shaft of the lifting drive motor, the screw rod is connected to the driven wheel, the driving wheel and the driven wheel are driven by the synchronous belt, and the lifting drive motor drives the screw rod to rotate through the above-mentioned driving wheel, driven wheel and synchronous belt, thereby further causing the lifting slider to move up and down relative to the screw rod.

11. The robotic arm according to claim 10, wherein: The lifting slider includes a vertical plate extending along the first direction and a horizontal plate vertically connected to the vertical plate. The lifting slide rail is arranged on the side wall of the storage seat. The vertical plate is slidably connected to the lifting slide rail. The screw rod is threadedly engaged with the vertical plate. The second end of the lifting arm body is fixed on the horizontal plate. The lifting drive motor is located directly below the horizontal plate and is half surrounded by the vertical plate and the horizontal plate. An avoidance through hole is opened on the horizontal plate. When the first end of the lifting arm body is retracted into the storage seat, the lifting drive motor is inserted into the avoidance through hole. An annular seal is provided at the lifting through hole. The lifting arm body passes through the annular seal and is sealed with the annular seal.

12. The robotic arm according to claim 8, wherein: The first end of the lifting arm body is provided with a hollow structure, and the rotating shaft of the first swing arm is installed in the hollow structure. When the first end of the lifting arm body is retracted into the storage seat, the rotating shaft portion of the first swing arm extends into the storage seat.

13. The robotic arm according to claim 1, wherein: The robotic arm also includes electric wires and / or air pipes. The first swing arm and the second swing arm are provided with swing arm wiring channels, and some of the electric wires and / or air pipes can pass through the swing arm wiring channels of the first swing arm and the second swing arm.

14. The robotic arm according to claim 13, wherein: The rotating shafts of the first swing arm and the second swing arm both have rotating shaft threading channels, and the swing arm wiring channels include the rotating shaft threading channels, and part of the wires and / or air pipes pass through the rotating shaft threading channels of the first swing arm and the second swing arm rotating shafts.

15. The robotic arm according to claim 14, wherein: The lifting arm is connected to the head end of the first swing arm, and the shaft threading channel extends along the first direction and has a first end and a second end along the first direction. Part of the wires and / or air pipes enter the first swing arm from the lifting arm through the first end of the shaft threading channel of the first swing arm, pass out from the second end of the shaft threading channel of the first swing arm, enter the shaft of the second swing arm from the first end of the shaft threading channel of the second swing arm, pass out from the second end of the shaft threading channel of the second swing arm, and enter the installation rotating part.

16. The robotic arm according to claim 14, wherein: The first swing arm and / or the second swing arm are provided with an operation opening communicating with the outside at the rotating shaft through which the electric wires and / or the air pipes pass in or out, and a cover body which can open or close the operation opening.

17. The robotic arm according to any one of claims 1 to 16, wherein: The first swing arm and / or the second swing arm are connected to a visual detection system, which includes a camera.

18. The robotic arm according to any one of claims 1 to 16, wherein: A sealing structure is provided at the connection between any two of the lifting arm, the first swing arm and the second swing arm.

19. The robotic arm according to any one of claims 1 to 16, wherein: The axes of the rotating shafts of the first swing arm, the second swing arm and the mounting rotating part are parallel, and the rotating shafts of the first swing arm, the second swing arm and the mounting rotating part are not coaxially arranged, and the rotation angle ranges of the first swing arm, the second swing arm and the mounting rotating part are all greater than or equal to 360 degrees.

20. The robotic arm according to any one of claims 1 to 15, wherein: One or more of a grabbing device, a fixing fixture, and a connecting device are installed on the installation rotating part, and the installation rotating part can drive one or more of the grabbing device, the fixing fixture, and the connecting device to rotate.

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