Multi-shaft mechanical arm

Abstract

The utility model provides a multi-shaft mechanical arm which is characterized in that the multi-shaft mechanical arm comprises a base mechanism and at least one rotating shaft set, the base mechanism comprises a base shell and a first motor fixedly arranged in the base shell, and the rotating shaft set comprises a first rotating shaft and a second rotating shaft; the first rotating shaft comprises a first rotating shaft shell and a second motor, and the second rotating shaft comprises a second rotating shaft shell and a third motor. According to the multi-shaft mechanical arm, through the rotating shaft set and the base mechanism which rotate relatively, the connecting structure of the base and the rotating shaft set is optimized, each joint corresponds to one motor, and the flexibility of the multi-shaft mechanical arm is improved. The mechanical arm is simple and compact in structure, motor installation layout of all the joints facilitates calculation of a motion algorithm of the mechanical arm, and parts are simple in structure and convenient to install.

Description

Technical Field

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

[0002] A robotic arm is one of the most common devices in the field of robotics technology. It includes a base and a robotic arm body arranged on the base. The robotic arm body includes multiple joints, and each joint is equipped with a corresponding motor, which makes the robotic arm as a whole highly flexible.

[0003] Existing multi-axis robotic arms have complex structures and lack agility when operated through algorithms. Furthermore, the number of joints is fixed during the robotic arm design, making it difficult to add joints later to improve flexibility. This requires redesigning the joint connection structure, resulting in complex structures and high installation difficulties. Utility Model Content

[0004] In light of this, the present invention aims to provide a multi-axis robotic arm that utilizes a relatively rotating shaft assembly and base mechanism, optimizing the connection structure between the base and shaft assembly to achieve a motor for each joint, thereby enhancing the flexibility of the multi-axis robotic arm. The present invention features a simple and compact structure, with the motor mounting layout at each joint facilitating the calculation of the robotic arm's motion algorithms. The components are simple and easy to install.

[0005] The utility model provides a multi-axis robotic arm, comprising a base mechanism and at least one rotating shaft group, wherein the base mechanism comprises a base housing and a first motor fixedly arranged therein, the rotating shaft group comprises a first rotating shaft and a second rotating shaft, the first rotating shaft comprises a first rotating shaft housing and a second motor, and the second rotating shaft comprises a second rotating shaft housing and a third motor;

[0006] The first rotating shaft housing is provided with a first motor portion and a first connecting portion, wherein the first motor portion is used to fix the second motor, and the first connecting portion is fixedly connected to the output end of the first motor and rotates therewith;

[0007] The second shaft housing is provided with a second motor portion and a second connecting portion, the second motor portion being used to fix the third motor, and the second connecting portion being fixedly connected to the output end of the second motor and rotating therewith;

[0008] The central axis of the second motor is arranged to be perpendicular to the central axis of the first motor, and the central axis of the third motor is arranged to be perpendicular to the central axis of the second motor and parallel to the central axis of the first motor.

[0009] Specifically, scale lines are provided on the base shell and the first connecting portion. When the zero lines of the two are aligned, the central axis of the second motor is perpendicular to and intersects with the central axis of the first motor.

[0010] Specifically, scale lines are provided on the first motor portion and the second connecting portion. When the zero lines of the two are aligned, the central axis of the third motor is perpendicular to and intersects with the central axis of the second motor.

[0011] Specifically, when the zero lines of the base housing and the first connecting portion are aligned and the zero lines of the first motor portion and the second connecting portion are also aligned, the central axis of the third motor coincides with the central axis of the first motor.

[0012] Specifically, the first rotating shaft further includes a first inspection cover. A first inspection opening is provided on the first motor portion. The first inspection opening faces the side of the second motor facing away from the output end. The first inspection cover is detachably mounted on the first inspection opening.

[0013] Specifically, the second rotating shaft further includes a second inspection cover, the second connecting portion is provided with a second inspection opening, the second inspection opening faces the output end of the second motor, and the second inspection cover is detachably mounted on the second inspection opening.

[0014] Specifically, the first connecting portion and the second connecting portion are both provided with wiring channels, and the wiring channels sequentially connect the first motor, the second motor, and the third motor in series.

[0015] Specifically, the first rotating shaft also includes a first adapter, which is a circular ring. The bottom of the first adapter is fixedly connected to the output end of the first motor, and the side of the first adapter is fixedly connected to the inner wall of the wiring channel of the first connecting part.

[0016] Specifically, the first rotating shaft also includes a limit pin, which is fixedly arranged on the first motor part, and the second connecting part is provided with a limit slot; when the second connecting part is fixedly connected to the output end of the second motor, the limit pin is inserted into the limit slot; the limit slot is used to limit the rotation angle of the first connecting part.

[0017] Specifically, the number of the rotating shaft groups is greater than or equal to two, and the multiple rotating shaft groups are connected to each other, and the output end of the third motor of the first group is fixedly connected to the first connecting portion of the second group.

[0018] In summary, the multi-axis robotic arm of this utility model optimizes the connection structure between the base and the rotating shaft assembly by means of a relatively rotating shaft assembly and base mechanism, achieving a motor for each joint and improving the flexibility of the multi-axis robotic arm. The utility model has a simple and compact structure, and the motor installation layout of each joint facilitates the calculation of the robotic arm's motion algorithm. The simple component structure makes installation easy.

[0019] Optionally, the hollow design facilitates wiring harness arrangement and makes the robotic arm more aesthetically pleasing.

[0020] Optionally, the rotation angle of the joint is limited by cooperating with the limit pin and the limit slot, which is beneficial to the implementation of the robot arm algorithm. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 This is a schematic structural diagram of a multi-axis robotic arm in an embodiment of the present utility model;

[0023] Figure 2 This is an exploded view of the structure of the multi-axis robotic arm in the embodiment of the present utility model;

[0024] Figure 3 This is an exploded view of the base structure and the first rotating shaft in an embodiment of the present utility model;

[0025] Figure 4 This is an exploded view of the structure of the first rotating shaft and the second rotating shaft in the embodiment of the present utility model;

[0026] Figure 5 This is a schematic diagram of the connection structure between the first rotating shaft and the second rotating shaft in an embodiment of the present utility model;

[0027] Figure 6 This is a schematic diagram of the connection structure between the base structure and the first rotating shaft in an embodiment of the present utility model;

[0028] Figure 7 It is a side view of the multi-axis robotic arm in an embodiment of the present utility model.

[0029] The reference numerals of the embodiments of the present invention in the above drawings are as follows:

[0030] 100, base mechanism; 110, base housing; 120, first motor; 130, shielding ring;

[0031] 200, shaft assembly;

[0032] 210, first rotating shaft; 211, first rotating shaft housing; 212, first motor unit; 213, first inspection port; 214, first connecting portion; 215, first inspection cover; 216, second motor; 217, first adapter; 218, limit pin;

[0033] 220. Second rotating shaft; 221. Second rotating shaft housing; 222. Second motor unit; 223. Second inspection port; 224. Second connecting portion; 225. Limiting groove; 226. Second inspection cover; 227. Third motor; 228. Scale line; 229. Wiring channel. DETAILED DESCRIPTION

[0034] Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some of the embodiments of the present invention, and not all of them. Based on the description of the present invention, all other embodiments derived by persons of ordinary skill in the art without inventive effort are also within the scope of protection of the present invention.

[0035] In the description of this utility model, unless otherwise specified or limited, the terms "disposed," "installed," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; and direct or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of these terms based on the specific circumstances.

[0036] The directions or positional relationships indicated by terms such as "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inside" and "outside" are based on the directions or positional relationships shown in the accompanying drawings, or are the directions or positional relationships in which the utility model product is usually placed when in use. They are only for the convenience and simplification of description, 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. Therefore, they should not be understood as limitations on the utility model.

[0037] The terms "first," "second," "third," etc. are merely used to distinguish elements of similar nature and do not indicate or imply relative importance or a particular order.

[0038] The terms "comprises," "comprising," or any other variations thereof, are intended to cover a non-exclusive inclusion of elements other than the listed elements and may also include additional elements not specifically listed.

[0039] The following is a detailed description through specific embodiments.

[0040] like Figures 1 to 2As shown, an embodiment of the present invention provides a multi-axis robotic arm, including a base mechanism 100 and at least one set of rotating shaft groups 200. The base mechanism 100 includes a base housing 110 and a first motor 120 fixedly disposed therein. The rotating shaft group 200 includes a first rotating shaft 210 and a second rotating shaft 220. The first rotating shaft 210 includes a first rotating shaft housing 211 and a second motor 216. The second rotating shaft 220 includes a second rotating shaft housing 221 and a third motor 227.

[0041] The first shaft housing 211 is provided with a first motor portion 212 and a first connecting portion 214. The first motor portion 212 is used to fix the second motor 216. The first connecting portion 214 is fixedly connected to the output end of the first motor 120 and rotates therewith.

[0042] The second shaft housing 221 is provided with a second motor portion 222 and a second connecting portion 224. The second motor portion 222 is used to fix the third motor 227. The second connecting portion 224 is fixedly connected to the output end of the second motor 216 and rotates therewith.

[0043] The central axis of the second motor 216 is arranged to be perpendicular to the central axis of the first motor 120 , and the central axis of the third motor 227 is arranged to be perpendicular to the central axis of the second motor 216 .

[0044] Specifically, the first rotating shaft housing 211 and the second rotating shaft housing 221 are both composed of two symmetrical left and right housings, with a cavity in the middle for accommodating motors and circuits, etc. The third motor 227 of the second rotating shaft 220 is exposed and is used to connect to the first connecting portion 214 of the next rotating shaft group 200 or to connect to other accessories, such as accessories for spot welding, arc welding, handling, laser cutting, spraying and assembly to complete the corresponding work. The first joint is between the base and the first rotating shaft 210, and the second joint is between the first rotating shaft 210 and the second rotating shaft 220. If there are multiple rotating shaft groups 200, multiple joints are added accordingly, and each joint is driven by a corresponding motor, so that the overall flexibility of the robotic arm is higher.

[0045] like Figure 7 As shown, in this embodiment, scale lines 228 are provided on the base housing 110 and the first connecting portion 214 . When the zero lines of the two are aligned, the central axis of the second motor 216 is perpendicular to and intersects with the central axis of the first motor 120 .

[0046] In this embodiment, scale lines 228 are provided on the first motor portion 212 and the second connecting portion 224 . When the zero lines of the two are aligned, the central axis of the third motor 227 is perpendicular to and intersects with the central axis of the second motor 216 .

[0047] In this embodiment, when the zero lines of the base housing 110 and the first connecting portion 214 are aligned and the zero lines of the first motor portion 212 and the second connecting portion 224 are also aligned, the central axis of the third motor 227 coincides with the central axis of the first motor 120 .

[0048] Specifically, the scale lines 228 are used to calibrate and debug the homing accuracy of each joint, as well as to verify the working condition of the robot arm algorithm. A zero position scale line 228 is designed on the adjacent shell of each joint for zero position calibration of each rotating axis during debugging.

[0049] like Figure 3 As shown, in this embodiment, the first rotating shaft 210 also includes a first inspection cover 215, and a first inspection port 213 is opened on the first motor part 212. The first inspection port 213 faces the side of the second motor 216 facing away from the output end, and the first inspection cover 215 is detachably installed on the first inspection port 213.

[0050] Specifically, after removing the first inspection cover 215, the connection line between the first motor 120 and the tail of the second motor 216 can be seen, and the tail of the second motor 216 can also be seen, which is convenient for inspection, replacement, debugging, etc.

[0051] like Figure 4 As shown, in this embodiment, the second rotating shaft 220 also includes a second inspection cover 226, and a second inspection port 223 is opened on the second connecting portion 224. The second inspection port 223 faces the output end of the second motor 216, and the second inspection cover 226 is detachably installed on the second inspection port 223.

[0052] Specifically, after removing the second inspection cover 226, the connection line between the output end of the second motor 216 and the tail of the third motor 227 can be seen, and the output end of the second motor 216 can also be seen, which is convenient for inspection, replacement, debugging, etc.

[0053] like Figure 3 and Figure 4 As shown, in this embodiment, the first connecting portion 214 and the second connecting portion 224 are both provided with a wiring channel 229 , and the wiring channel 229 sequentially connects the first motor 120 , the second motor 216 , and the third motor 227 in series.

[0054] Specifically, the hollow and connected internal space design facilitates wiring harness arrangement to make the robotic arm more beautiful in appearance, facilitates wiring, and allows for rapid maintenance and debugging through the first inspection port 213 and the second inspection port 223 .

[0055] like Figure 3As shown, in this embodiment, the first rotating shaft 210 also includes a first adapter 217, which is a circular ring. The bottom of the first adapter 217 is fixedly connected to the output end of the first motor 120, and the side of the first adapter 217 is fixedly connected to the inner wall of the wiring channel 229 of the first connecting part 214.

[0056] Specifically, the first motor 120 is axially connected to the first adapter 217 through a fastening screw. The first connecting portion 214 of the first rotating shaft 210 is in a sleeve shape and is radially connected to the first adapter 217 through a fastening screw. The shielding ring 130 is installed in the groove of the first rotating shaft housing 211 to shield the fastening screws exposed at the first connecting portion 214, so that the appearance of the arm body is more beautiful.

[0057] like Figure 5 As shown, in this embodiment, the first rotating shaft 210 also includes a limit pin 218, which is fixedly arranged on the first motor part 212, and the second connecting part 224 is provided with a limit slot 225; when the second connecting part 224 is fixedly connected to the output end of the second motor 216, the limit pin 218 is inserted into the limit slot 225; the limit slot 225 is used to limit the rotation angle of the first connecting part 214.

[0058] Specifically, Figure 5 The connection structure between the first rotating shaft 210 and the second rotating shaft 220 is a circular arc, which is set along the periphery of the second connecting portion 224 and has a length of three-quarters of a circle. The length can be designed according to the needs to determine the maximum angle and range of rotation. Figure 6 The figure shows the connection structure between the first rotating shaft 210 and the base mechanism 100. The limiting groove 225 is a complete circle, allowing the first rotating shaft 210 to rotate 360 ​​degrees on the base mechanism 100. When there are multiple rotating shaft groups 200, any adjacent first rotating shaft 210 and second rotating shaft 220 also adopt the same design, which facilitates the setting of the maximum rotation angle and range of each joint.

[0059] The base's limiting pin 218 is mounted on the upper end of the base housing 110, next to the output end of the first motor 120. A limiting slot 225 is located at the lower end of the first rotating shaft 210 at the lower end of the first connecting portion 214. The base's limiting pin 218 and the limiting slot 225 of the first connecting portion 214 cooperate to limit the angular motion of the first rotating shaft 210. The limiting pin 218 at the upper end of the first rotating shaft 210 is mounted on the first motor portion 212, while the limiting slot 225 at the lower end of the second rotating shaft 220 is mounted on the second connecting portion 224. The limiting pin 218 of the first rotating shaft 210 and the limiting slot 225 of the second rotating shaft 220 cooperate to limit the angular motion of the second rotating shaft 220. In this embodiment, there are three rotating shaft groups 200, and each joint is designed with a corresponding limit for limiting the movement angles of the ends of the third rotating shaft (the first rotating shaft 210 of the second rotating shaft 220 group 200), the fourth rotating shaft (the second rotating shaft 220 of the second rotating shaft 220 group 200), the fifth rotating shaft (the first rotating shaft 210 of the third rotating shaft group 200), and the sixth rotating shaft (the first rotating shaft 210 of the third rotating shaft group 200).

[0060] like Figure 1 As shown, in this embodiment, the number of the rotating shaft groups 200 is greater than or equal to two, and the multiple rotating shaft groups 200 are connected to each other, and the output end of the first group of third motors 227 is fixedly connected to the second group of first connecting parts 214.

[0061] Specifically, in this embodiment, the number of the rotating shaft groups 200 is three, and the corresponding number of joints and motors are both seven, so it is a seven-axis robotic arm.

[0062] In summary, the multi-axis robotic arm of the present invention optimizes the connection structure between the base and the rotating shaft assembly 200 by means of the relatively rotating rotating shaft assembly 200 and the base mechanism 100, thereby achieving a corresponding motor for each joint and improving the flexibility of the multi-axis robotic arm. The present invention has a simple and compact structure, and the motor installation layout of each joint facilitates the calculation of the robotic arm's motion algorithm. The component structure is simple and easy to install.

[0063] Optionally, the hollow design facilitates wiring harness arrangement and makes the robotic arm more aesthetically pleasing.

[0064] Optionally, the limiting pin 218 cooperates with the limiting slot 225 to limit the rotation angle of the joint, which is beneficial to the implementation of the robot arm algorithm.

[0065] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this utility model should be included in the scope of protection of the present utility model. Therefore, the scope of protection of the present utility model shall be based on the appended claims.

Claims

1. A multi-axis robotic arm, characterized in that: The invention comprises a base mechanism and at least one rotating shaft group, wherein the base mechanism comprises a base housing and a first motor fixedly disposed therein, the rotating shaft group comprises a first rotating shaft and a second rotating shaft, the first rotating shaft comprises a first rotating shaft housing and a second motor, and the second rotating shaft comprises a second rotating shaft housing and a third motor; The first rotating shaft housing is provided with a first motor portion and a first connecting portion, wherein the first motor portion is used to fix the second motor, and the first connecting portion is fixedly connected to the output end of the first motor and rotates therewith; The second shaft housing is provided with a second motor portion and a second connecting portion, the second motor portion being used to fix the third motor, and the second connecting portion being fixedly connected to the output end of the second motor and rotating therewith; The central axis of the second motor is arranged to be perpendicular to the central axis of the first motor, and the central axis of the third motor is arranged to be perpendicular to the central axis of the second motor.

2. The multi-axis robotic arm according to claim 1, wherein: Scale lines are provided on the base shell and the first connecting portion. When the zero lines of the two are aligned, the central axis of the second motor is perpendicular to and intersects with the central axis of the first motor.

3. The multi-axis robotic arm according to claim 2, wherein: Scale lines are provided on the first motor portion and the second connecting portion. When the zero lines of the two are aligned, the central axis of the third motor is perpendicular to and intersects with the central axis of the second motor.

4. The multi-axis robotic arm according to claim 3, wherein: When the zero lines of the base housing and the first connecting portion are aligned and the zero lines of the first motor portion and the second connecting portion are also aligned, the central axis of the third motor coincides with the central axis of the first motor.

5. The multi-axis robotic arm according to claim 1, wherein: The first rotating shaft further includes a first inspection cover. A first inspection opening is provided on the first motor portion. The first inspection opening faces the side of the second motor facing away from the output end. The first inspection cover is detachably mounted on the first inspection opening.

6. The multi-axis robotic arm according to claim 1, wherein: The second rotating shaft further includes a second inspection cover. The second connecting portion is provided with a second inspection opening. The second inspection opening faces the output end of the second motor. The second inspection cover is detachably mounted on the second inspection opening.

7. The multi-axis robotic arm according to claim 1, wherein: The first connecting portion and the second connecting portion are both provided with wiring channels, and the wiring channels sequentially connect the first motor, the second motor, and the third motor in series.

8. The multi-axis robotic arm according to claim 2, wherein: The first rotating shaft also includes a first adapter, which is a circular ring. The bottom of the first adapter is fixedly connected to the output end of the first motor, and the side of the first adapter is fixedly connected to the inner wall of the wiring channel of the first connecting part.

9. The multi-axis robotic arm according to claim 1, wherein: The first rotating shaft also includes a limit pin, which is fixedly arranged on the first motor part, and the second connecting part is provided with a limit slot; when the second connecting part is fixedly connected to the output end of the second motor, the limit pin is inserted into the limit slot; the limit slot is used to limit the rotation angle of the first connecting part.

10. The multi-axis robotic arm according to claim 1, wherein: The number of the rotating shaft groups is greater than or equal to two, and the multiple rotating shaft groups are connected to each other, and the output end of the third motor of the first group is fixedly connected to the first connecting part of the second group.

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