Multi-degree-of-freedom large-torque mechanical arm

Abstract

The utility model discloses a multi-degree-of-freedom large-torque mechanical arm which comprises at least three arm bodies, the multiple arm bodies are linearly distributed, the ends, close to each other, of every two adjacent arm bodies are rotationally connected, a driving part is arranged at each rotary connecting position, at least one driving part is a telescopic cylinder, and the telescopic cylinders are arranged on the two adjacent arm bodies. And the rest driving parts are driving motors, so that part of joints of the mechanical arm are driven by the driving motors, the rest joints of the mechanical arm are driven by the telescopic cylinders, the driving torque of the telescopic cylinders is larger than that of the joint motors, but the flexibility of the joint motors is better than that of the telescopic cylinders, and the mechanical arm has good flexibility through combination of the driving parts and the telescopic cylinders. And meanwhile, the driving end of the whole mechanical arm can bear a large load during operation.

Description

Technical Field

[0001] The utility model belongs to the field of mechanical arms, in particular to a multi-freedom high-torque mechanical arm. Background Art

[0002] At present, the joints of multi-degree-of-freedom robotic arms are mostly driven by joint motors. Although the joint motors have the advantage of small size, they also have the defect of insufficient torque. When the load on the driving end of the robotic arm is large, conventional robotic arms are difficult to meet the needs. Although the document number CN109848981B "A fully hydraulic cylinder driven four-degree-of-freedom telescopic robotic arm actuator" discloses a fully hydraulically driven robotic arm, this makes its structure more complicated and its size larger. Utility Model Content

[0003] In order to solve the above technical problems, the purpose of the present invention is to provide a multi-degree-of-freedom high-torque robotic arm with a simple structure, large output torque, and good operational flexibility.

[0004] In order to achieve the above-mentioned purpose, the technical solution of the present invention is as follows: a multi-degree-of-freedom, high-torque robotic arm, comprising at least three arm bodies, and the multiple arm bodies are linearly distributed, and the ends of two adjacent arm bodies that are close to each other are rotationally connected, and a driving member is provided at each rotating connection, and at least one of the driving members is a telescopic cylinder, and the remaining driving members are driving motors.

[0005] The beneficial effect of the above technical solution is that some joints of the robotic arm are driven by the drive motor, while the remaining joints are driven by the telescopic cylinder, wherein the driving torque of the telescopic cylinder is greater than that of the joint motor, but the flexibility of the joint motor is better than that of the telescopic cylinder. The combination of the two makes the robotic arm more flexible, and at the same time enables the driving end of the entire robotic arm to bear a larger load during operation.

[0006] In the above technical solution, the multiple arm bodies are respectively the first arm body, the second arm body, the third arm body, the fourth arm body and the fifth arm body. The first arm body and the second arm body are rotatably connected at one end close to each other, and a first driving member is provided at the rotating connection between the two. The second arm body and the third arm body are rotatably connected at one end close to each other, and a second driving member is provided at the rotating connection between the two. The third arm body and the fourth arm body are rotatably connected at one end close to each other, and a third driving member is provided at the rotating connection between the two. The fourth arm body and the fifth arm body are rotatably connected at one end close to each other, and a fourth driving member is provided at the rotating connection between the two. The first driving member, the second driving member and the fourth driving member are all driving motors, and the third driving member is a telescopic cylinder.

[0007] The beneficial effect of the above technical solution is that the robotic arm has four joints, three of which are driven by drive motors, and the remaining joint is driven by a telescopic cylinder. It has good overall flexibility and can withstand large loads.

[0008] In the above technical solution, the first driving member, the second driving member and the fourth driving member are all joint motors.

[0009] The beneficial effect of the above technical solution is that it is small in size, thereby making the structure of the entire robotic arm compact.

[0010] The third driving member in the above technical solution is a hydraulic cylinder or a telescopic cylinder.

[0011] The beneficial effect of the above technical solution is that its output torque is large.

[0012] In the above technical solution, the movable surfaces of the first arm, the second arm, the third arm and the fourth arm are coplanar or parallel to each other.

[0013] The beneficial effect of the above technical solution is that the first arm body, the second arm body, the third arm body and the fourth arm body can flexibly move in two dimensions within the same plane by jointly driving the driving end of the robotic arm.

[0014] In the above technical solution, the axis of the rotation of the fourth arm and the fifth arm is perpendicular to the length direction of the fourth arm.

[0015] The beneficial effect of the above technical solution is that the fourth driving member can drive the first arm body, the second arm body, the third arm body and the fourth arm body to rotate as a whole in a horizontal plane.

[0016] In the above technical solution, a first hinge is provided on the third arm body, a second hinge is provided on the fourth arm body, the third driving member is rotatably connected to the second hinge seat, the telescopic end of the third driving member is rotatably connected to the first hinge seat, and the third driving member extends or contracts to drive the third arm body to rotate relative to the fourth arm body.

[0017] The beneficial effect of the above technical solution is that it makes it easier to install the third driving member between the third arm body and the fourth arm body.

[0018] In the above technical solution, a turntable is coaxially arranged at one end of the fourth arm body close to the fifth arm body, and a sensing component cooperating with the turntable is arranged at one end of the fifth arm body close to the fourth arm body. The turntable and the sensing component cooperate with each other to monitor the rotation parameters of the fourth arm body relative to the fifth arm body.

[0019] The beneficial effect of the above technical solution is that the sensor and the turntable can cooperate to monitor the rotation angle and rotation angular velocity of the fourth arm relative to the fifth arm.

[0020] In the above technical solution, a plurality of marking grooves are evenly spaced circumferentially on one side of the turntable close to the sensing element. The sensing element is a ranging probe, and its detection end is perpendicular to the turntable and aligned with the rotation trajectory of the marking groove on the turntable.

[0021] The beneficial effect of the above technical solution is that by arranging the marking groove on the turntable, the sensing element can measure the rotation parameters with reference to the marking groove.

[0022] The above technical solution also includes a touch block radially protruding from the edge of the turntable, and a position sensor is also provided at one end of the fifth arm close to the fourth arm. The turntable rotates until the touch block approaches or contacts the position sensor to generate a sensing signal.

[0023] The beneficial effect of the above technical solution is that its structure is simple, so that the touch rod can be set to rotate with the turntable, and when the touch rod approaches or contacts the position sensor, the fourth drive member can stop or start to reverse, thereby limiting the rotation angle range of the fourth arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is an elevation view of the multi-degree-of-freedom, high-torque robotic arm according to an embodiment of the present utility model;

[0025] Figure 2 This is a side view of the multi-degree-of-freedom, high-torque robotic arm according to an embodiment of the present utility model;

[0026] Figure 3 This is a partial enlarged view of the connection between the fourth arm and the fifth arm in the embodiment of the present utility model;

[0027] Figure 4 Schematic diagram of the structure of the turntable in the embodiment of the present utility model.

[0028] In the figure: 1. Arm body; 1a. First arm body; 1b. Second arm body; 1c. Third arm body; 1d. Fourth arm body; 1e. Fifth arm body; 11. First hinge seat; 12. Second hinge seat; 13. Flange connecting plate; 2. Driving member; 2a. First driving member; 2b. Second driving member; 2c. Third driving member; 2d. Fourth driving member; 3. Turntable; 31. Marking groove; 32. Touch block; 4. Sensing member; 5. Position sensor. DETAILED DESCRIPTION

[0029] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only used to explain the present invention and are not intended to limit the scope of the present invention. The following paragraphs describe the present invention in more detail by way of example with reference to the accompanying drawings. The advantages and features of the present invention will be more clearly described according to the following description and claims. It should be noted that the drawings are all in a very simplified form and are not in exact proportions. They are only used to facilitate and clearly illustrate the purpose of the embodiments of the present invention.

[0030] like Figure 1-Figure 3 As shown, this embodiment provides a multi-degree-of-freedom, high-torque robotic arm, comprising at least three arm bodies 1, and the plurality of arm bodies 1 are linearly distributed, and two adjacent arm bodies 1 are rotationally connected at one end close to each other, and a driving member 2 is provided at each rotating connection, and at least one of the driving members 2 is a telescopic cylinder, and the remaining driving members 2 are driving motors, so that some joints of the robotic arm are driven by the driving motor, and the remaining joints are driven by the telescopic cylinder, wherein the driving torque of the telescopic cylinder is larger than that of the joint motor, but the flexibility of the joint motor is better than that of the telescopic cylinder, and the combination of the two makes the robotic arm have better flexibility, and at the same time, the driving end of the entire robotic arm can bear a larger load during operation; the plurality of arm bodies 1 are respectively the first arm body 1a, the second arm body 1b, the third arm body 1c, the fourth arm body 1d and the fifth arm body 1e, the first arm body 1a and the second arm body 1b are rotationally connected at one end close to each other, and a first driving member 2a is provided at the rotating connection between the two, and the second arm The arm 1b and the third arm 1c are rotatably connected at one end close to each other, and a second driving member 2b is provided at the rotational connection between the two. The third arm 1c and the fourth arm 1d are rotatably connected at one end close to each other, and a third driving member 2c is provided at the rotational connection between the two. The fourth arm 1d and the fifth arm 1e are rotatably connected at one end close to each other, and a fourth driving member 2d is provided at the rotational connection between the two. The first driving member 2a, the second driving member 2b and the fourth driving member 2d are all driving motors, and the third driving member 2c is a telescopic cylinder, so that the robotic arm has four joints, and three of the joints are driven by driving motors, and the remaining joint is driven by a telescopic cylinder. It has good overall flexibility and can withstand large loads; the first driving member 2a, the second driving member 2b and the fourth driving member 2d are all joint motors, and their size is small, which makes the structure of the entire robotic arm compact; the third driving member 2c is a hydraulic cylinder or a telescopic cylinder, and its output torque is large.

[0031] like Figure 1 and Figure 2As shown, in the above technical solution, the movable surfaces of the first arm 1a, the second arm 1b, the third arm 1c and the fourth arm 1d are coplanar or parallel to each other, so that the first arm 1a, the second arm 1b, the third arm 1c and the fourth arm 1d can flexibly make two-dimensional movements in the same plane at the driving end of the common robot arm, and the axis of rotation of the fourth arm 1d and the fifth arm 1e is perpendicular to the length direction of the fourth arm 1d, so that the fourth driving member can drive the first arm 1a, the second arm 1b, the third arm 1c and the fourth arm to rotate as a whole in the horizontal plane.

[0032] like Figure 1 and Figure 2 As shown, in the above technical solution, the third arm 1c is provided with a first hinge seat 11, the fourth arm 1d is provided with a second hinge seat 12, the third driving member 2c is rotatably connected to the second hinge seat 12, the telescopic end of the third driving member 2c is rotatably connected to the first hinge seat 11, and the third driving member 2c extends or contracts to drive the third arm 1c to rotate relative to the fourth arm 1d, so that the third driving member is more convenient to install between the third arm and the fourth arm.

[0033] like Figure 1-Figure 3 As shown, in this embodiment, a flange connecting plate 13 (which can be connected by welding) is provided at one end of the fifth arm body away from the fourth arm body, and the multi-degree-of-freedom high-torque robotic arm is installed on the carrier through the flange connecting plate.

[0034] like Figure 3 and Figure 4 As shown, in the above technical solution, a turntable 3 is coaxially provided at one end of the fourth arm 1d close to the fifth arm 1e, and a sensor 4 cooperating with the turntable 3 is provided at one end of the fifth arm 1e close to the fourth arm 1d. The turntable 3 and the sensor 4 cooperate with each other to monitor the rotation parameters of the fourth arm 1d relative to the fifth arm 1e, so that the rotation angle and rotation angular velocity of the fourth arm relative to the fifth arm can be monitored by the sensor and the turntable.

[0035] like Figure 4As shown, in the above technical solution, a plurality of marking grooves 31 are evenly spaced circumferentially on one side of the turntable 3 close to the sensing element 4. The sensing element 4 is a ranging probe, and its detection end is perpendicular to the turntable 3 and aligned with the rotation trajectory of the marking groove 31 on the turntable 3. By arranging the marking groove 31 on the turntable, the sensing element can use the marking groove 31 as a reference to measure the rotation parameters (wherein the sensing element will form a spacing change signal at the marking groove, at this time the rotation angle of the turntable can be known, and the angle between the two adjacent marking grooves is certain, and the time difference between the two adjacent spacing change signals is also knowable, and the rotation angular velocity of the turntable can be known based on this).

[0036] The turntable and the sensor described in this embodiment are combined to form an encoder. Of course, the existing encoder is directly used to install the rotation connection between the fourth arm and the fifth arm to monitor the rotation parameters (angular velocity and angle) of the fourth arm.

[0037] like Figure 4 As shown, the above technical solution also includes a touch block 32 radially protruding at the edge of the turntable 3 (the touch block 32 can also be directly connected to the fourth arm body), and the fifth arm body 1e is further provided with a position sensor 5 at one end close to the fourth arm body 1d. The turntable 3 rotates until the touch block 32 approaches or contacts the position sensor 5 to generate a sensing signal. The structure is simple, and the touch rod can be set to rotate with the turntable, and when the touch rod approaches or contacts the position sensor, the fourth driving member can stop or start to reverse, thereby limiting the rotation angle range of the fourth arm body.

[0038] The position sensor described in this embodiment can be a travel switch or a proximity switch. The position sensor and the touch rod described in this embodiment jointly limit the rotation angle range of the fourth arm relative to the fifth arm, mainly to prevent the fourth arm from continuously rotating in one direction relative to the fifth arm. The maximum range of its forward rotation and flipping is 360°, which can avoid the power supply wires and pipelines of the first drive member, the second drive member and the third drive member from being entangled and knotted (or pulled apart).

[0039] The position sensor, sensing element, first driving element, second driving element, third driving element and fourth driving element described in this embodiment can all be electrically connected to the control terminal so that the control terminal can control the operating state of the multi-degree-of-freedom high-torque robotic arm.

[0040] The above description is only a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Any ordinary technician in this industry can smoothly implement the present invention as shown in the drawings and described above. However, any equivalent changes, modifications and evolutions made by technicians familiar with this profession without departing from the scope of the technical solution of the present invention using the technical content disclosed above are all equivalent embodiments of the present invention. At the same time, any equivalent changes, modifications and evolutions made to the above embodiments based on the essential technology of the present invention are still within the scope of protection of the technical solution of the present invention.

Claims

1. A multi-degree-of-freedom high-torque robotic arm, characterized in that: The invention comprises at least three arms (1), wherein the plurality of arms (1) are linearly distributed, and two adjacent arms (1) are rotatably connected at one end thereof that is close to each other, and a driving member (2) is provided at each rotatable connection, and at least one of the driving members (2) is a telescopic cylinder, and the remaining driving members (2) are driving motors.

2. The multi-degree-of-freedom high-torque robotic arm according to claim 1, characterized in that: The plurality of arm bodies (1) are respectively a first arm body (1a), a second arm body (1b), a third arm body (1c), a fourth arm body (1d) and a fifth arm body (1e); the first arm body (1a) and the second arm body (1b) are rotatably connected at one end close to each other, and a first driving member (2a) is provided at the rotatable connection between the two; the second arm body (1b) and the third arm body (1c) are rotatably connected at one end close to each other, and a second driving member (2b) is provided at the rotatable connection between the two; the third arm body (1c) and the fourth arm body (1d) are rotatably connected at one end close to each other, and a third driving member (2c) is provided at the rotatable connection between the two; the fourth arm body (1d) and the fifth arm body (1e) are rotatably connected at one end close to each other, and a fourth driving member (2d) is provided at the rotatable connection between the two; the first driving member (2a), the second driving member (2b) and the fourth driving member (2d) are all driving motors, and the third driving member (2c) is a telescopic cylinder.

3. The multi-degree-of-freedom high-torque robotic arm according to claim 2, characterized in that: The first driving member (2a), the second driving member (2b) and the fourth driving member (2d) are all joint motors.

4. The multi-degree-of-freedom high-torque robotic arm according to claim 2, characterized in that: The third driving member (2c) is a hydraulic cylinder or a telescopic cylinder.

5. The multi-degree-of-freedom high-torque robotic arm according to claim 2, characterized in that: The movable surfaces of the first arm body (1a), the second arm body (1b), the third arm body (1c) and the fourth arm body (1d) are coplanar or parallel to each other.

6. The multi-degree-of-freedom high-torque robotic arm according to claim 2, characterized in that: The axes of rotation of the fourth arm body (1d) and the fifth arm body (1e) are perpendicular to the length direction of the fourth arm body (1d).

7. The multi-degree-of-freedom high-torque robotic arm according to claim 2, characterized in that: The third arm (1c) is provided with a first hinge seat (11), the fourth arm (1d) is provided with a second hinge seat (12), the third driving member (2c) is rotatably connected to the second hinge seat (12), the telescopic end of the third driving member (2c) is rotatably connected to the first hinge seat (11), and the third driving member (2c) extends or contracts to drive the third arm (1c) to rotate relative to the fourth arm (1d).

8. The multi-degree-of-freedom high-torque robotic arm according to claim 2, characterized in that: A turntable (3) is coaxially arranged at one end of the fourth arm (1d) close to the fifth arm (1e), and a sensing element (4) cooperating with the turntable (3) is arranged at one end of the fifth arm (1e) close to the fourth arm (1d). The turntable (3) and the sensing element (4) cooperate with each other to monitor the rotation parameters of the fourth arm (1d) relative to the fifth arm (1e).

9. The multi-degree-of-freedom high-torque robotic arm according to claim 8, characterized in that: A plurality of marking grooves (31) are evenly spaced in an annular direction on one side of the turntable (3) close to the sensing element (4); the sensing element (4) is a distance measuring probe, and its detection end is perpendicular to the turntable (3) and aligned with the rotation track of the marking grooves (31) on the turntable (3).

10. The multi-degree-of-freedom high-torque robotic arm according to claim 8, characterized in that: The invention also includes a touch block (32) radially protruding from the edge of the turntable (3); a position sensor (5) is also provided at one end of the fifth arm (1e) close to the fourth arm (1d); the turntable (3) rotates until the touch block (32) approaches or contacts the position sensor (5) to generate a sensing signal.

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