Multi-joint mechanical arm

Abstract

The utility model discloses a multi-joint mechanical arm which comprises a lifting assembly, a mechanical arm module and a clamping assembly. The lifting assembly can drive the mechanical arm module to ascend and descend. The mechanical arm module comprises a plurality of cantilever assemblies which are sequentially connected end to end. The cantilever assembly located at the head end is installed on the lifting base. According to the mechanical arm module, the corresponding rotary drivers are arranged in the cantilever assemblies for control, so that the cantilever beam frames in the cantilever assemblies can rotate freely, and the flexibility of the mechanical arm module is improved. Meanwhile, a wire slot is formed in the top surface of the cantilever beam frame. A wiring through hole penetrating through the cantilever beam frame is formed in the tail end of the wire groove. Electric wires connected to the rotary driver penetrate through the wiring through holes and are laid in the wire grooves in sequence. The electric wires laid in the wire groove are effectively prevented from being separated, and the situation that the cantilever beam frames in the cantilever assemblies move is disturbed is effectively avoided.

Description

Technical Field

[0001] The utility model belongs to the technical field of mechanical arms, and in particular relates to a multi-joint mechanical arm. Background Art

[0002] In the prior art, to improve the brewing efficiency of workers when brewing beverages such as coffee and milk tea, a robot is usually used to assist. The robot grasps the target object and transfers it to the worker's hands. The target object can be a cup body, cup lid, beverage bottle, etc.

[0003] A Chinese patent with publication number "CN113647819A" discloses a beverage making device, including a filter rack, a robotic arm, a liquid storage device, a brewing rack and a controller, wherein the filter rack is provided with a mounting position for placing the filter; the brewing rack is used to support the filter and place the sharing pot so that the filter is located directly above the sharing pot; and the controller is used to control the robotic arm to place the filter on the filter rack in the brewing rack, and control the robotic arm to grab the liquid storage device and pour brewing liquid into the filter placed on the brewing rack to make a target beverage.

[0004] The manipulator part in the above patent adopts an industrial manipulator. Since it needs to realize three-dimensional rotation, it has high requirements for the motor and the control is complex, which has the disadvantage of high application cost. Utility Model Content

[0005] In order to make up for the deficiencies of the prior art, the utility model provides a multi-joint robotic arm to solve the technical problems of complex structure and cumbersome control of the robotic arm.

[0006] In order to achieve the above purpose, the specific technical solutions of the present utility model are as follows:

[0007] A multi-joint robotic arm comprises a lifting assembly, a robotic arm module and a clamping assembly.

[0008] The clamping assembly is used to clamp the target object; the robotic arm module includes multiple cantilever assemblies connected in sequence end to end, and the cantilever assembly includes a cantilever beam frame and a rotary driver for driving the cantilever beam frame to rotate. All cantilever assemblies move in the horizontal direction. The cantilever assembly at the end of the robotic arm module is connected to the clamping assembly, and the robotic arm module drives the clamping assembly to move horizontally through the rotation of multiple cantilever assemblies; the lifting assembly is used to drive the clamping assembly to rise and fall.

[0009] Furthermore, the lifting assembly includes a mounting base, a lifting base and a lifting motor; a slide groove that cooperates with the lifting base is opened on the mounting base; the lifting base is slidably connected in the slide groove and can slide under the drive of the lifting motor.

[0010] Furthermore, the rotation driver adopts a steering gear or a motor; a wire groove is provided on the top surface of the cantilever beam; and a wiring through hole is provided at the end of the wire groove and passes through the cantilever beam.

[0011] Furthermore, the cantilever assemblies comprise three groups, namely, from bottom to top, a first cantilever assembly, a second cantilever assembly, and a third cantilever assembly. The rotary actuator in the first cantilever assembly is fixed to the lifting base. The rotary actuators in the second and third cantilever assemblies are respectively fixed to the outer ends of the cantilever beam frames in the adjacent first and second cantilever assemblies.

[0012] Furthermore, mounting brackets are secured to the outer ends of the cantilever beams in the first and second cantilever assemblies. The mounting brackets are housing structures that define mounting chambers between the mounting brackets and the cantilever beams. The rotary actuators in the second and third cantilever assemblies are secured within their respective mounting chambers.

[0013] Furthermore, the clamping assembly includes a clamping base, a drive motor, and two clamping jaws. The clamping base is fixed to the outer end of the cantilever beam frame in the third cantilever assembly. The two clamping jaws are symmetrically arranged, and the inner ends of each are rotatably connected to the clamping base. The ends of the two clamping jaws are provided with intermeshing tooth grooves. The drive motor is fixed to the clamping base, and the output shaft is connected to one of the clamping jaws.

[0014] Furthermore, the lifting motor is fixed to the bottom of the mounting base by screws, and a screw is fixed to the output shaft. A connecting piece that cooperates with the screw is fixed to the lifting base. The screw is threadedly engaged with a threaded hole provided on the connecting piece.

[0015] Furthermore, a support frame is fixed in the slide groove of the mounting base, a slider is provided on the outside of the support frame, and a slide rail that matches the slider is fixed on the inner side wall of the lifting base.

[0016] Furthermore, a water cup casing is fixed on each of the two clamping jaws. When the two water cup casings are in the clamping state, a receiving chamber adapted to the shape of the clamped cup body is formed therebetween.

[0017] Furthermore, the top edges of the two water cup sleeves are each provided with an outwardly extending connecting edge, which is fixed to the corresponding clamping jaws by screws.

[0018] Furthermore, an infrared sensor is fixed on the bottom surface of the clamping base.

[0019] Compared with the prior art, the utility model has the following advantages:

[0020] 1. This utility model utilizes a lifting assembly and multiple cantilever assemblies connected end-to-end. Each cantilever assembly is equipped with a corresponding rotary actuator for control. The cantilever assembly at the end is connected to the clamping assembly, enabling the clamping assembly to complete horizontal and vertical movement under the control of the cantilever assemblies and the lifting assembly. This simplifies the structure and movement path of the robotic arm module, thereby reducing the cost of robotic arm module development. The cantilever beams in each cantilever assembly can rotate freely, enhancing the flexibility of the robotic arm module.

[0021] 2. The present invention provides a cable trough on the top surface of the cantilever beam. A cable routing hole is provided at the end of the trough, extending through the cantilever beam. Wires connected to the rotary actuator are inserted through the routing hole and subsequently routed through the trough. Furthermore, a cover is provided at the opening of the trough to seal the trough, effectively preventing wires from becoming detached and interfering with the movement of the cantilever beams in each cantilever assembly.

[0022] 3. The cup cover on the clamp of the utility model is detachably fixed, so that it can be disassembled and replaced, so that the clamp can be used in a wider range of scenarios, and can be applied to coffee machines, vending machines, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0024] Figure 2 Schematic diagram of the relative positions of the lifting assembly and the cantilever assembly in the present utility model;

[0025] Figure 3 For this utility model Figure 2 A partial enlarged view of part A;

[0026] Figure 4 This is a schematic diagram of the position of the support frame on the mounting base in the present invention;

[0027] Figure 5 For this utility model Figure 2 A partial enlarged view of part B;

[0028] Figure 6 It is a structural schematic diagram of the clamping assembly in the utility model.

[0029] Figure markings: 1. Lifting assembly; 1-1. Mounting base; 1-2. Lifting base; 1-3. Lifting motor; 1-4. Support frame; 1-5. Slide rail; 1-6. Connector; 2. Cantilever assembly; 2-1. Rotation drive; 2-2. Cantilever beam frame; 2-3. Cover; 2-4. Wire trough; 2-5. Wiring hole; 3. Clamping assembly; 3-1. Clamping base; 3-2. Clamping claw. DETAILED DESCRIPTION

[0030] In the description of the present invention, it should be understood that the terms "one end", "the other end", "outside", "upper", "inside", "horizontal", "coaxial", "center", "end", "length", "outer end", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0031] The present invention will be further described below with reference to the accompanying drawings.

[0032] like Figure 1 and 2 As shown, a multi-joint robotic arm comprises a lifting assembly 1, a robotic arm module, and a clamping assembly 3. The robotic arm module is mounted at the driving end of the lifting assembly 1 and can be raised and lowered vertically under the drive of the lifting assembly 1. The clamping assembly 3 is mounted at the end of the robotic arm module and can be extended outward under the drive of the robotic arm module to achieve gripping of distant objects.

[0033] like Figure 2-4 As shown, the lifting assembly 1 includes a mounting base 1-1, a lifting base 1-2 and a lifting motor 1-3. Among them, a slide groove that cooperates with the lifting base 1-2 is provided in the middle of the mounting base 1-1. The lifting base 1-2 is slidably connected in the slide groove. The lifting motor 1-3 is fixed to the bottom of the mounting base 1-1 by screws, and a screw is fixed on the output shaft. A connector 1-6 that cooperates with the screw is fixed on the lifting base 1-2. The screw is threadedly engaged with the threaded hole provided on the connector 1-6. When the screw rotates under the drive of the lifting motor 1-3, it drives the connector 1-6 to perform a lifting movement, thereby driving the lifting base 1-2 and the robotic arm module installed on the lifting base 1-2 to complete the lifting operation.

[0034] Furthermore, a support frame 1-4 is fixed within the slide groove of the mounting base 1-1. A slider is provided on the outside of the support frame 1-4. A slide rail 1-5 is fixed to the inner sidewall of the lifting base 1-2, which cooperates with the slider. The cooperation between the slide rail 1-5 and the slider completes the sliding cooperation between the mounting base 1-1 and the lifting base 1-2.

[0035] like Figure 2 、 5 As shown in Figure 6, the robot arm module includes multiple cantilever assemblies 2 connected end to end. The cantilever assembly 2 at the head end is installed on the lifting base 1-2. The clamping assembly 3 is installed on the cantilever assembly 2 at the tail end.

[0036] The cantilever assembly 2 includes a rotary drive 2-1, a cantilever beam 2-2 and a cover 2-3. The inner end of the cantilever beam 2-2 is connected to the output shaft of the rotary drive 2-1 and can rotate under the drive of the rotary drive 2-1. A wire groove 2-4 is provided on the top surface of the cantilever beam 2-2. A wiring through hole 2-5 that passes through the cantilever beam 2-2 is provided at the end of the wire groove 2-4. During assembly, the wires connected to the rotary drive 2-1 are passed through the wiring through hole 2-5 and laid in the wire groove 2-4 in sequence. The cover 2-3 is fixed to the top surface of the cantilever beam 2-2 by screws, and can close the notch of the wire groove 2-4 to prevent the wires laid in the wire groove 2-4 from detaching and interfering with the movement of the cantilever beams 2-2 in each cantilever assembly 2.

[0037] In this embodiment, the rotary drive is a steering gear or a motor, wherein the steering gear is preferably used.

[0038] The cantilever assemblies 2 consist of three groups: the first, second, and third cantilever assemblies, from bottom to top. The rotational actuator 2-1 in the first cantilever assembly is fixed to the lifting base 1-2. Mounting brackets are fixed to the outer ends of the cantilever beams 2-2 in both the first and second cantilever assemblies. These mounting brackets are shell structures that form mounting chambers with the cantilever beams 2-2. The rotational actuators 2-1 in the second and third cantilever assemblies are fixed in their respective mounting chambers, capable of driving their corresponding cantilever beams 2-2 for rotation.

[0039] In the initial state, each cantilever assembly 2 is folded sequentially, minimizing the storage space occupied by each cantilever assembly 2. When a target object needs to be clamped at a specified location, the rotation driver 2-1 in each cantilever assembly 2 is controlled to cause the cantilever beam frame 2-2 in each cantilever assembly 2 to rotate outward, driving the clamping assembly 3 to extend outward, thereby clamping the water cup at the specified location.

[0040] like Figure 6 As shown, the clamping assembly 3 includes a clamping base 3-1, a drive motor, and two clamping jaws symmetrically arranged on the clamping base 3-1. The clamping base 3-1 is fixed to the outer end of the cantilever beam frame 2-2 in the third cantilever assembly. The inner ends of the two clamping jaws are rotatably connected to the clamping base 3-1, and the ends are provided with mutually meshing tooth grooves. The drive motor is fixed to the clamping base 3-1, and the output shaft is connected to one of the clamping jaws. During operation, the drive motor drives one of the clamping jaws to rotate, and with the cooperation of the tooth groove, it drives the other clamping jaw to rotate synchronously to achieve clamping or loosening of the water cup.

[0041] In this embodiment, a cup housing is fixed on each of the two clamping jaws. When the two cup housings are in the clamping state, a receiving chamber adapted to the shape of the clamped cup body is formed between them, thereby completing the clamping of the clamped cup body.

[0042] Furthermore, the top edges of the two water cup shells are each provided with an outwardly extending connecting edge, which is fixed to the corresponding clamping jaws by screws.

[0043] Furthermore, an infrared sensor is fixed on the bottom surface of the clamping base 3-1 to detect whether the two clamping claws have completed clamping the water cup.

[0044] The working process of this utility model:

[0045] When it is necessary to clamp the target object at a specified position, the screw in the lifting assembly 1 rotates under the drive of the lifting motor 1-3, which will drive the lifting base 1-2 to move in the vertical direction, so that the clamping assembly 3 at the end of the mechanical module is flush with the target object on the horizontal plane.

[0046] By controlling the rotary actuator 2-1 within each cantilever assembly 2, the cantilever beam 2-2 within each cantilever assembly 2 is able to rotate outward, driving the clamping assembly 3 to extend horizontally and outward. During this extension process, the output shaft of the drive motor within the clamping assembly 3 rotates, driving one of the gripping jaws to rotate. This, in conjunction with the toothed grooves, drives the other gripping jaw to rotate synchronously, achieving the opening of both gripping jaws. When the two gripping jaws reach the target object, the output shaft of the drive motor flips, controlling the two gripping jaws to complete gripping the target object. Under the coordinated control of the cantilever assemblies and the lifting assembly 1, the gripping jaws are then transported to the desired location.

[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-joint robotic arm, characterized in that: include: A clamping assembly, wherein the clamping assembly is used to clamp a target object; A robotic arm module, comprising a plurality of cantilever assemblies connected end-to-end in rotation, each cantilever assembly comprising a cantilever beam frame and a rotary actuator for driving the cantilever beam frame to rotate. All cantilever assemblies move horizontally. The cantilever assembly at the end of the robotic arm module is connected to a clamping assembly. The robotic arm module drives the clamping assembly to move horizontally through the rotation of the plurality of cantilever assemblies; and The lifting assembly is used to drive the clamping assembly to move up and down.

2. The multi-joint robotic arm according to claim 1, characterized in that: The lifting assembly (1) comprises a mounting base (1-1), a lifting base (1-2) and a lifting motor (1-3); a sliding groove cooperating with the lifting base (1-2) is provided on the mounting base (1-1); the lifting base (1-2) is slidably connected in the sliding groove and can slide under the drive of the lifting motor (1-3).

3. The multi-joint robotic arm according to claim 1, characterized in that: The rotary driver adopts a steering gear or a motor; a wire groove (2-4) is provided on the top surface of the cantilever beam frame (2-2); and a wiring through hole (2-5) penetrating the cantilever beam frame (2-2) is provided at the end of the wire groove (2-4).

4. The multi-joint robotic arm according to claim 1, characterized in that: The cantilever assemblies (2) comprise three groups, which are sequentially divided from bottom to top into a first cantilever assembly, a second cantilever assembly, and a third cantilever assembly; the rotary drive in the first cantilever assembly is fixed on a lifting base (1-2); the rotary drives (2-1) in the second cantilever assembly and the third cantilever assembly are respectively fixed to the outer ends of the cantilever beam frames (2-2) in the adjacent first cantilever assembly and the second cantilever assembly.

5. The multi-joint robotic arm according to claim 4, characterized in that: The outer ends of the cantilever beam frames (2-2) in the first cantilever assembly and the second cantilever assembly are both fixed with mounting frames; the mounting frame is a shell structure, and forms a mounting chamber with the cantilever beam frame (2-2); the rotation drives in the second cantilever assembly and the third cantilever assembly are respectively fixed in the corresponding mounting chambers.

6. The multi-joint robotic arm according to claim 1, characterized in that: The clamping assembly (3) comprises a clamping base (3-1), a drive motor and two clamping jaws (3-2); the clamping base (3-1) is fixed to the outer end of the cantilever beam frame (2-2) in the third cantilever assembly; the two clamping jaws (3-2) are symmetrically arranged, and the inner ends are both rotatably connected to the clamping base (3-1); the ends of the two clamping jaws (3-2) are provided with tooth grooves that mesh with each other; the drive motor is fixed to the clamping base (3-1), and the output shaft is connected to one of the clamping jaws (3-2).

7. The multi-joint robotic arm according to claim 6, characterized in that: A water cup casing is fixed on each of the two clamping jaws (3-2); when the two water cup casings are in a clamping state, a accommodating chamber adapted to the shape of the clamped cup body is formed therebetween.

8. The multi-joint robotic arm according to claim 2, characterized in that: The lifting motor (1-3) is fixed to the bottom of the mounting base (1-1) by screws, and a screw is fixed on the output shaft; a connecting piece (1-6) that matches the screw is fixed on the lifting base (1-2); the screw is threadedly matched with a threaded hole provided on the connecting piece (1-6).

9. The multi-joint robotic arm according to claim 2, characterized in that: A support frame (1-4) is fixed in the slide groove of the installation base (1-1); a slider is provided on the outside of the support frame (1-4); and a slide rail (1-5) that matches the slider is fixed on the inner side wall of the lifting base (1-2).

10. The multi-joint robotic arm according to claim 6, characterized in that: An infrared sensor is fixed on the bottom surface of the clamping base (3-1).

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