Mechanical operation arm and stand column type mechanical arm

Abstract

The utility model discloses a mechanical operation arm and a stand column type mechanical arm, and belongs to the technical field of manipulators, the mechanical operation arm comprises a fixed arm, a first driving arm and a second driving arm, the first driving arm is rotationally connected with the fixed arm, one end of the second driving arm is rotationally connected with the first driving arm, and the other end of the second driving arm is provided with an operation part; the first driving arm is provided with a first driving machine and a transmission mechanism used for achieving speed reduction transmission. The transmission mechanism comprises a first transmission piece, a second transmission piece and a linkage piece. The first transmission part is in transmission connection with the output end of the first driving machine, and the second transmission part is fixedly connected with the second driving arm; the first driving machine drives the first transmission part to rotate, drives the second transmission part to rotate at a rotating speed smaller than that of the first transmission part through the linkage part, and drives the second driving arm to rotate at a reduced speed relative to the first driving arm. The first transmission piece drives the second transmission piece to rotate at a lower rotating speed through the linkage piece, speed reduction adjustment is formed, and the load torque of the transmission system is reduced.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of mechanical hands, and particularly relates to a mechanical operation arm and a column type mechanical arm. BACKGROUND

[0002] With the rapid development of industrial automation technology, the mechanical arm, as the core equipment for realizing automatic production and precise operation, has been widely applied to many fields such as automobile manufacturing, electronic processing, logistics and warehousing, and precise assembly. Among them, the multi-joint mechanical arm, with its flexible motion ability and wide operation range, has become the key equipment for realizing complex operation tasks, and the driving and transmission design at the joint directly affects the motion accuracy, load capacity and structural compactness of the mechanical arm, and is one of the core research directions of the development of mechanical arm technology.

[0003] In the structural design of the existing multi-joint mechanical arm, for the rotary driving of adjacent driving arms (such as the first driving arm and the second driving arm), the traditional scheme usually adopts a direct driving mode of the driving mechanism to realize the joint motion. Specifically, to realize the rotation of the second driving arm relative to the first driving arm, the driving mechanism usually needs to be directly connected with the rotary shaft of the second driving arm. Although this direct transmission structure is simple and direct in principle, it has many limitations in actual application:

[0004] On the one hand, the installation position of the driving machine is strictly limited. Since the second driving arm needs to be directly driven, the driving mechanism often needs to be close to or integrated at the rotary joint of the second driving arm, and usually needs to be arranged above or beside the second driving arm to ensure the directness of the transmission path. This installation method not only causes the connection part of the first driving arm and the second driving arm to be bulky in structure, increases the overall volume and weight of the arm body, but also limits the flexibility of the driving machine selection. When a driving machine with larger torque output is needed, its size increase may further interfere with the surrounding structure, making it difficult to adapt to the compact mechanical arm design requirements.

[0005] On the other hand, the transmission precision and stability are insufficient, and it is difficult to meet the precise operation requirements. The direct driving method lacks the necessary speed reduction adjustment link, and the output speed of the driving machine is directly transmitted to the second driving arm, resulting in a large load torque of the transmission system, and the moment of inertia of the end operation part and the output characteristics of the driving machine are difficult to match. In actual operation, this structure is easy to vibrate and impact due to load fluctuation, which not only reduces the motion positioning accuracy of the mechanical arm, but also may exacerbate the wear of the driving mechanism, shortening the service life of the equipment. Especially in the scenes such as electronic component assembly and precise detection which have high requirements on motion stability, the defects of the traditional direct transmission structure are more prominent, which seriously limits the application expansion of the mechanical arm in the precision field.

[0006] In addition, in the overall mechanical arm device comprising the column support, the column of the conventional structure is poor in integration with the main body of the mechanical arm, the lifting adjusting mechanism and the driving system of the mechanical arm are often independent of each other, the space occupation of the overall device is large, and the cooperation of the lifting motion and the joint motion is insufficient, which further affects the work efficiency. Practical new type content

[0007] The application provides a mechanical work arm and a column type mechanical arm to solve the technical problems of insufficient transmission precision in the transmission mechanical work arm and complex structure at the connecting part caused by the limited installation position of the inner member of the first driving arm.

[0008] The technical scheme adopted by the application is as follows:

[0009] A mechanical work arm comprises a fixed arm, a first driving arm and a second driving arm, the first driving arm is rotationally connected with the fixed arm, one end of the second driving arm is rotationally connected with the first driving arm, and the other end is provided with an operation part for mounting an end effector; the first driving arm is provided with a first driving machine and a transmission mechanism for realizing speed reduction transmission, the transmission mechanism comprises a first transmission member, a second transmission member and a linkage member connecting the first transmission member and the second transmission member; the first transmission member is in transmission connection with the output end of the first driving machine, and the second transmission member is fixedly connected with the second driving arm; the first driving machine drives the first transmission member to rotate, the second transmission member is driven by the linkage member to rotate at a speed smaller than that of the first transmission member, and in turn drives the second driving arm to rotate at a reduced speed relative to the first driving arm.

[0010] The mechanical work arm described in the application further comprises the following additional technical features:

[0011] Preferably, the first driving arm comprises a first main body, the first main body is hollow inside to form a first cavity, and the transmission mechanism is mounted in the first cavity; the first driving machine and the first transmission member are located on one side of the first cavity away from the second driving arm, and the second transmission member is located above the second driving arm.

[0012] Preferably, the transmission mechanism further comprises a mounting plate mounted on the first main body, the mounting plate has a first mounting surface and a second mounting surface on both sides respectively, the first driving machine is mounted on the first mounting surface, and the first transmission member and the second transmission member are respectively mounted on both ends of the second mounting surface.

[0013] The mounting plate is provided with a first through hole corresponding to the first transmission member and a second through hole corresponding to the second transmission member, the first transmission member is configured as a first transmission wheel, the second transmission member is configured as a second transmission wheel, the diameter of the second transmission wheel is greater than that of the first transmission wheel, the output end of the first driving machine is arranged to pass through the first through hole and is fixedly connected with the shaft center of the first transmission wheel, and a transmission shaft passing through the second through hole is arranged at the shaft center of the second transmission wheel and is fixedly connected with the second driving arm.

[0014] Preferably, the linkage member is configured as a transmission belt sleeved with the first transmission wheel and the second transmission wheel respectively, and the transmission mechanism further comprises a tensioning member mounted on the second mounting surface, the tensioning member abuts against the transmission belt to tension the transmission belt.

[0015] Preferably, the fixed arm is internally provided with a second driving machine, the output end of the second driving machine is fixedly connected with the first driving arm, and the second driving machine drives the first driving arm to rotate relative to the fixed arm.

[0016] Preferably, the fixed arm, the first driving arm and the second driving arm are sequentially arranged in a vertical direction, the first driving arm has a first rotating end rotatably connected with the fixed arm and a first free end away from the first rotating end, the second driving arm has a second rotating end rotatably connected with the first driving arm and a second free end away from the second rotating end, and the operation part is located at the second free end.

[0017] The application further provides a column type mechanical arm, which comprises a lifting column and a mechanical operation arm as described above, the mechanical operation arm being mounted on the lifting column and being capable of vertically moving relative to the lifting column.

[0018] The column type mechanical arm described in the application further comprises the following additional technical features:

[0019] The lifting column comprises a main body and a lifting assembly mounted inside the main body, the lifting assembly comprising a lifting member and a driving member, the mechanical operation arm being mounted on the lifting member, and the driving member driving the lifting member to vertically move relative to the main body so as to synchronously drive the mechanical operation arm to vertically move.

[0020] Preferably, the main body is hollow to form a mounting cavity, the lifting assembly is located inside the mounting cavity, and the mechanical operation arm is at least partially located inside the mounting cavity.

[0021] Thanks to the above technical solutions, the application has the following beneficial effects:

[0022] 1. The mechanical operating arm of the present application comprises a first driving arm and a second driving arm, wherein the second driving arm can rotate relative to the first driving arm to realize the movement of the operating part in different working ranges. The first driving arm is provided with a first driving machine and a transmission mechanism, which breaks the limitation that the first driving machine must be close to the rotation joint of the second driving arm in terms of installation flexibility. The first driving machine can be flexibly arranged at a suitable position of the first driving arm according to the spatial layout needs through indirect transmission of the first transmission member, the connecting member and the second transmission member, for example, arranged at a position away from the second driving arm, without being limited to the space above or beside the second driving arm, avoiding the problem of bulky structure of the joint part connected by the first driving arm and the second driving arm caused by direct driving of the first driving machine. In this way, the flexibility of selection of the first driving machine is significantly improved, and even if a larger torque first driving machine is selected, its spatial interference with the surrounding structure can be reduced through reasonable layout to adapt to the design requirements of compact mechanical operating arm.

[0023] In addition, the second transmission member is driven to rotate at a lower speed through the first transmission member and the connecting member, forming a speed reduction adjustment link, which effectively reduces the load torque of the transmission system. This speed reduction transmission mode makes the rotational inertia transmitted to the end operating part by the first driving machine more precise, greatly reduces the vibration and impact caused by load fluctuation, and significantly improves the motion positioning accuracy of the mechanical operating arm. It is especially suitable for working scenes that require high-precision operation, such as plate arrangement of small components. At the same time, the speed reduction transmission of the transmission mechanism disperses the output pressure of the first driving machine, reduces the working loss of the first driving machine, prolongs the service life of the equipment, and enables it to be stably applied to scenes with high requirements for operation stability, such as electronic component assembly, precision detection, etc.

[0024] 2. The first cavity is hollow formed inside the first body, which provides a closed and integrated mounting space for the transmission mechanism, and has a good protection effect on the transmission mechanism. On the one hand, it avoids the adverse effects of external dust, machining debris and other dirt on the transmission mechanism, which helps to ensure the stability of the speed reduction transmission. On the other hand, the arrangement of the first cavity avoids exposing the transmission mechanism to the user's field of view, making the appearance of the first driving arm more simple. On this basis, the first driving machine and the first transmission part are away from the second driving arm, and the second transmission part is located above the second driving arm, which further optimizes the weight distribution of the first driving arm. In the traditional direct drive structure, the arrangement of the driving machine close to the joint is easy to cause the weight concentration at the front end of the arm body, resulting in the phenomenon of "head heavy and foot light" during movement, which affects the response speed and positioning accuracy. By placing the first driving machine at the rear, the design balances the front and rear loads of the first driving arm, making the mechanical operation arm more stable in the process of rotation, reducing the extra vibration and energy consumption caused by the center of gravity deviation, and further enhancing the stability of the equipment in precise operation. In addition, this layout makes the transmission path naturally extend along the structure trend of the first driving arm, shortens the invalid transmission distance, and improves the power transmission efficiency.

[0025] 3. The mounting plate serves as a standardized mounting carrier, which helps to improve the orderliness of the installation layout of the components inside the first cavity. The first mounting surface and the second mounting surface on both sides of the mounting plate bear the first driving machine and the transmission mechanism respectively, so that each component is arranged in order according to the preset position inside the first cavity, greatly reducing the probability of interference between components caused by misplacement. This modular design not only facilitates standardized assembly in batch production, reduces assembly errors, but also improves product consistency. The same batch of mechanical operation arms can ensure the relative position accuracy of the driving machine and the transmission part through the unified specification of the mounting plate, ensuring the performance stability of the speed reduction transmission. When assembling the first driving arm and the transmission mechanism, the first driving machine, the first transmission part, the second transmission part, the connecting part and other components can be installed on the mounting plate, and then the mounting plate is installed in the first driving arm, reducing the assembly difficulty of the first driving arm. In addition, the mounting plate concentrates the driving force of the first driving machine and the transmission force of the transmission part to form a rigid support frame. Through the overall force transmission of the mounting plate, the force distribution brought by the first driving machine to the mounting plate is more uniform when the first driving machine is working, reducing the risk of deformation of the internal structure of the first driving arm and prolonging the service life of the equipment. Further, the double-sided layout of the mounting plate provides convenience for maintenance operation. The first driving machine, the first transmission part and the second transmission part are respectively located on both sides of the mounting plate, which can be disassembled on one side for targeted maintenance without the need for overall disassembly of the first driving arm, greatly shortening the maintenance time and improving the usability of the equipment. BRIEF DESCRIPTION OF DRAWINGS

[0026] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:

[0027] Figure 1 A structural schematic diagram of a mechanical arm part structure according to an embodiment of the application;

[0028] Figure 2 A sectional view of a mechanical arm according to an embodiment of the application;

[0029] Figure 3 A structural schematic diagram of a transmission mechanism according to an embodiment of the application;

[0030] Figure 4 A top view of a transmission mechanism according to an embodiment of the application;

[0031] Figure 5 A side view of a column type mechanical arm according to an embodiment of the application;

[0032] Figure 6 A structural schematic diagram of a lifting column according to an embodiment of the application.

[0033] List of components and reference numerals:

[0034] 1. first driving arm; 11. first body; 12. first cavity; 13. first rotating end; 14. first free end;

[0035] 2. second driving arm; 21. operating part; 22. second body; 23. second cavity; 24. second rotating end; 25. second free end;

[0036] 3. transmission mechanism; 31. first transmission part; 32. second transmission part; 33. connecting part; 34. mounting plate; 35. tensioning part;

[0037] 4. first driving machine;

[0038] 5. fixed arm; 51. second driving machine;

[0039] 6. lifting column; 61. body; 62. mounting cavity; 63. lifting assembly;

[0040] 7. mechanical gripper. DETAILED DESCRIPTION

[0041] In order to more clearly illustrate the overall concept of the application, the following will be described in detail with reference to the accompanying drawings.

[0042] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be practiced without the specific details. In other instances, well-known methods, procedures, components, and circuits have not been described in detail so as not to unnecessarily obscure aspects of the present application. It can be understood that the embodiments of the present application and the characteristics of the embodiments can be combined with each other under the condition of no conflict.

[0043] In addition, in the description of the present application, it needs to be understood that the terms "top", "bottom", "inner", "outer", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0044] In the present application, unless specifically defined and limited otherwise, the terms "mount", "connect", "connection", "fixed", and the like are to be broadly understood, for example, can be fixed connection, can also be detachable connection, or integral; can be mechanical connection, can also be electrical connection, and can also be communication; can be directly connected, can also be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0045] In the present application, unless specifically defined and limited otherwise, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through an intermediate medium. In the description of the specification, the description referring to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" 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 the present specification, the illustrative description of the above terms does 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.

[0046] As Figures 1 to 4As shown, a mechanical operation arm comprises a fixed arm 5, a first driving arm 1 and a second driving arm 2, the first driving arm 1 is rotationally connected with the fixed arm 5, one end of the second driving arm 2 is rotationally connected with the first driving arm 1, and the other end is provided with an operation part 21 for mounting an end effector; the first driving arm 1 is provided with a first driving machine 4 and a transmission mechanism 3 for realizing deceleration transmission, the transmission mechanism 3 comprises a first transmission member 31, a second transmission member 32 and a linkage member 33 connecting the first transmission member 31 and the second transmission member 32; the first transmission member 31 is in transmission connection with the output end of the first driving machine 4, the second transmission member 32 is fixedly connected with the second driving arm 2; the first driving machine 4 drives the first transmission member 31 to rotate, and drives the second transmission member 32 to rotate at a lower speed than the first transmission member 31 through the linkage member 33, thereby driving the second driving arm 2 to rotate at a lower speed relative to the first driving arm 1.

[0047] The mechanical operation arm of the present application comprises a first driving arm 1 and a second driving arm 2, wherein the second driving arm 2 can rotate relative to the first driving arm 1 to realize the movement of the operation part 21 in different working ranges. And the first driving arm 1 is provided with a first driving machine 4 and a transmission mechanism 3, which breaks the restriction that the first driving machine 4 must be close to the rotation joint of the second driving arm 2 in terms of installation flexibility. The first driving machine 4 can be flexibly arranged at a suitable position of the first driving arm 1 according to the space layout needs through indirect transmission of the first transmission member 31, the linkage member 33 and the second transmission member 32, for example, it can be arranged away from the second driving arm 2, without being limited to the space above or beside the second driving arm 2, avoiding the problem of bulky structure of the joint part connecting the first driving arm 1 and the second driving arm 2 caused by direct driving of the first driving machine 4. In this way, the flexibility of selection of the first driving machine 4 is significantly improved, even if a larger torque first driving machine 4 is selected, it can also reduce the space interference with the surrounding structure through reasonable layout, adapting to the design requirements of compact mechanical operation arm.

[0048] In addition, the second transmission member 32 is driven to rotate at a lower speed than the first transmission member 31 through the first transmission member 31 and the linkage member 33, forming a deceleration adjustment link, effectively reducing the load torque of the transmission system. This deceleration transmission mode makes the rotational inertia transmitted by the first driving machine 4 to the end operation part 21 more precise, greatly reducing the vibration and impact caused by load fluctuation, significantly improving the motion positioning accuracy of the mechanical operation arm. It is especially suitable for working scenes that require high-precision operation, such as tray placement of small components. At the same time, the deceleration transmission of the transmission mechanism 3 disperses the output pressure of the first driving machine 4, reduces the working loss of the first driving machine 4, prolongs the service life of the equipment, and enables it to be stably applied to scenes such as electronic component assembly, precision detection and other scenes with high requirements for operation stability.

[0049] Specifically, the end effector in the present application can be adjusted adaptively according to the use scene and working mode of the mechanical working arm, for example, the end effector can be a mechanical gripper 7 to grasp the target object and then transfer it to a designated position; or the end effector can be configured as a magnetic transfer part to attract the target workpiece by magnetism and then transfer it.

[0050] Further, the first driving arm 1 and the second driving arm 2 both extend in the horizontal direction, and during the rotation of the second driving arm 2 relative to the first driving arm 1, the plane in which the axis of the second driving arm 2 lies is always parallel to the plane in which the axis of the first driving arm 1 lies. The operation part 21 is provided with a mounting flange, and a plurality of uniformly distributed threaded holes are formed in the mounting flange, which facilitates the quick disassembly and assembly of the end effector.

[0051] As a preferred embodiment of the present application, as shown in Figures 1 to 4 The first driving arm 1 includes a first body 11, the first body 11 is hollow inside to form a first cavity 12, and the transmission mechanism 3 is installed in the first cavity 12; the first driving motor 4 and the first transmission member 31 are located on the side of the first cavity 12 away from the second driving arm 2, and the second transmission member 32 is located above the second driving arm 2.

[0052] The first cavity 12 formed by the hollow inside of the first body 11 provides a closed and integrated installation space for the transmission mechanism 3, which has a good protection effect on the transmission mechanism 3. On the one hand, it avoids the adverse effects of external dust, machining debris and other dirt on the transmission mechanism 3, which helps to ensure the stability of the speed reduction transmission; on the other hand, the arrangement of the first cavity 12 avoids exposing the transmission mechanism 3 to the user's field of view, making the appearance of the first driving arm 1 more simple. On this basis, the first driving motor 4 and the first transmission member 31 are located away from the second driving arm 2, and the second transmission member 32 is located above the second driving arm 2, which further optimizes the weight distribution of the first driving arm 1. In the traditional direct drive structure, the arrangement of the driving motor close to the joint easily causes the weight to concentrate at the front end of the arm body, resulting in the phenomenon of "head heavy and foot light" during movement, which affects the response speed and positioning accuracy; and the present design balances the front and rear loads of the first driving arm 1 by placing the first driving motor 4 at the rear, so that the center of gravity of the mechanical working arm is more stable during rotation, reducing the additional vibration and energy consumption caused by the deviation of the center of gravity, and further enhancing the stability of the equipment in precise operation. In addition, this layout makes the transmission path naturally extend along the structural trend of the first driving arm 1, shortens the invalid transmission distance, and improves the power transmission efficiency.

[0053] Further, the first body 11 is provided with an inspection window, and a see-through part is arranged at the inspection window, which can close or open the inspection window. The worker can observe the internal components of the first body 11 through the see-through part, and open the see-through part to maintain or replace the components in the first cavity 12 through the inspection window.

[0054] Further, the second driving arm 2 comprises a second body 22, the second body 22 comprises a second cavity 23, a driving mechanism is installed in the second cavity 23 to control the operation of the operation part 21. The first body 11 and the second body 22 are detachably assembled by a top plate, a side plate and a bottom plate.

[0055] As a preferred embodiment of the present embodiment, as shown in Figure 3 、 Figure 4 The transmission mechanism 3 further comprises a mounting plate 34 mounted on the first body 11, the mounting plate 34 has a first mounting surface and a second mounting surface on both sides, the first driving machine 4 is mounted on the first mounting surface, and the first transmission member 31 and the second transmission member 32 are respectively mounted on both ends of the second mounting surface.

[0056] The mounting plate 34 serves as a standardized mounting carrier, which helps to improve the orderliness of the installation layout of the internal components of the first cavity 12. The first mounting surface and the second mounting surface on both sides of the mounting plate 34 respectively bear the first driving machine 4 and the transmission mechanism 3, so that each component is orderly arranged in the first cavity 12 according to the predetermined position, greatly reducing the probability of interference between components due to mispositioning. This modular design not only facilitates standardized assembly in batch production, reduces assembly errors, but also improves product consistency. The mechanical operating arm of the same batch can ensure the relative position accuracy of the driving machine and the transmission member through the unified specification of the mounting plate 34, and ensure the performance stability of the speed reduction transmission. When assembling the first driving arm 1 and the transmission mechanism 3, the components such as the first driving machine 4, the first transmission member 31, the second transmission member 32 and the connecting member 33 can be installed on the mounting plate 34, and then the mounting plate 34 is installed in the first driving arm 1, which reduces the assembly difficulty of the first driving arm 1. In addition, the mounting plate 34 concentrates the driving force of the first driving machine 4 and the transmission force of the transmission member to form a rigid support frame. Through the overall force transmission of the mounting plate 34, the force distribution brought by the first driving machine 4 to the mounting plate 34 is more uniform when the first driving machine 4 works, which reduces the deformation risk of the internal structure of the first driving arm 1 and prolongs the service life of the equipment. Further, the double-sided layout of the mounting plate 34 provides convenience for maintenance operation. The first driving machine 4, the first transmission member 31 and the second transmission member 32 are respectively located on both sides of the mounting plate 34, so that the single-sided components can be dismantled during maintenance without the need to disassemble the first driving arm 1 as a whole, which greatly shortens the maintenance time and improves the availability of the equipment.

[0057] Preferably, the mounting plate 34 is detachably connected with the first body 11 by bolt connection or the like.

[0058] As a preferred example under the present embodiment, the mounting plate 34 is provided with a first through hole aligned with the first transmission member 31 and a second through hole aligned with the second transmission member 32, the first transmission member 31 is configured as a first transmission wheel, the second transmission member 32 is configured as a second transmission wheel, the diameter of the second transmission wheel is larger than that of the first transmission wheel; the output end of the first drive machine 4 is inserted through the first through hole and fixedly connected with the shaft center of the first transmission wheel, and the shaft center of the second transmission wheel is provided with a transmission shaft inserted through the second through hole and fixedly connected with the second drive arm 2.

[0059] The diameter difference between the second transmission wheel and the first transmission wheel enables the high-speed output of the first drive machine 4 to be stably converted into the low-speed large-torque movement of the second drive arm 2 after being transmitted through the transmission wheel, and the rigid structure of the diameter difference can ensure the long-term stability of the speed reduction ratio, reduce the speed reduction effect attenuation caused by the wear of the transmission member, and ensure that the rotational inertia of the end operation part 21 is always within the fine control range, thereby providing continuous and stable power output for high-precision operations such as fine component tray placing. In addition, the first through hole and the second through hole of the mounting plate 34 are respectively aligned with the first transmission wheel and the second transmission wheel, which ensures the coaxiality and parallelism of the shaft centers of the first transmission wheel and the second transmission wheel. Through the limiting action of the first through hole and the second through hole, the rotation centers of the first transmission wheel and the second transmission wheel always maintain a predetermined distance, and the structure that the transmission shaft is inserted through the second through hole and connected with the second drive arm 2 strengthens the rigid connection between the transmission wheel and the drive arm. Furthermore, when assembling the transmission mechanism 3, the first through hole and the second through hole on the mounting plate 34 can also play a mounting guiding role for the first transmission wheel and the second transmission wheel, indicating that the first transmission wheel and the second transmission wheel are installed according to the predetermined position.

[0060] As a preferred mode under the present example, as shown in Figure 4 The linkage member 33 is configured as a transmission belt that is sleeved with the first transmission wheel and the second transmission wheel respectively, and the transmission mechanism 3 further includes a tensioning member 35 mounted on the second mounting surface, which abuts against the transmission belt to tension the transmission belt.

[0061] The transmission mode of the transmission belt sleeved with the first and second transmission wheels has good elastic buffering characteristics. When the mechanical operation arm is running, the transmission belt can absorb part of the impact energy generated when the operation part 21 grasps the heavy component with weight changes through its own deformation, thereby reducing the transmission of vibration to the first drive machine 4 and the drive arm. Especially in scenes such as fine component tray placing that are sensitive to vibration, the transmission belt can effectively avoid operation errors caused by vibration and improve the end positioning accuracy. At the same time, the transmission belt has lower transmission noise, which improves the working environment and adapts to the workshop scene that requires noise control.

[0062] The design of the tensioner 35 abutting against the transmission belt greatly alleviates the problem of the transmission belt being prone to relaxation after long-term use. The tensioner 35 continuously provides tension to the transmission belt, which can automatically compensate for the relaxation of the transmission belt, ensuring that the transmission belt is always in close contact with the transmission wheel, reducing the risk of slipping. This automatic adjustment function not only ensures the continuity and stability of the speed reduction transmission, but also reduces the frequency of downtime maintenance caused by the relaxation of the transmission belt, reducing manual intervention. In addition, the combined weight of the transmission belt and the tensioner 35 is relatively light, which helps to reduce the overall load of the first driving arm 1, making the movement of the mechanical working arm more flexible.

[0063] As a preferred embodiment of the present application, as shown in Figure 1 、 Figure 2 , the mechanical working arm further comprises a fixed arm 5, and the fixed arm 5 is provided with a second driving machine 51. The output end of the second driving machine 51 is fixedly connected with the first driving arm 1, and the second driving machine 51 drives the first driving arm 1 to rotate relative to the fixed arm 5.

[0064] The second driving machine 51 drives the first driving arm 1 to rotate relative to the fixed arm 5, so that the first driving arm 1 can drive the second driving arm 2 to realize a larger range of rotation, and the combination of the two forms a composite motion mode of basic rotation and local rotation, greatly expanding the spatial operation range of the operating part 21. In addition, the rotation of the first driving arm 1 and the rotation of the second driving arm 2 are independently controlled by the second driving machine 51 and the first driving machine 4 respectively, and the motion parameters can be adjusted individually. The action of each joint of the mechanical working arm can be precisely controlled in complex trajectory motion, reducing cumulative errors, especially suitable for multi-step precision assembly scenarios.

[0065] As a preferred embodiment of the present embodiment, as shown in Figure 1 、 Figure 2 , the fixed arm 5, the first driving arm 1 and the second driving arm 2 are arranged in sequence along the vertical direction. The first driving arm 1 has a first rotating end 13 rotatably connected with the fixed arm 5 and a first free end 14 away from the first rotating end 13. The second driving arm 2 has a second rotating end 24 rotatably connected with the first driving arm 1 and a second free end 25 away from the second rotating end 24. The operating part 21 is located at the second free end 25.

[0066] The vertical arrangement of the structure design expands the movement range of the mechanical operation arm in the vertical direction, greatly reducing the occupation of horizontal space. In the scene of limited space such as workshop and warehouse, the traditional horizontally expanded mechanical arm is easy to interfere with the surrounding equipment, while the design of the fixed arm 5, the first driving arm 1 and the second driving arm 2 is vertically stacked, making the overall structure more compact. At the same time, the vertical layout makes the center of gravity of the mechanical operation arm closer to the supporting foundation of the fixed arm 5, reducing the overturning moment in the movement process. The clear division of the rotating end and the free end makes the movement control of the mechanical operation arm more accurate. The first rotating end 13 of the first driving arm 1 is connected with the fixed arm 5, providing stable support for the overall rotation; the first free end 14 is connected with the second driving arm 2, ensuring that the rotation range of the second driving arm 2 is not limited.

[0067] As shown in Figure 5 , a column type mechanical arm includes a lifting column 6, and also includes a mechanical operation arm as described above, which is installed on the lifting column 6 and can move vertically relative to the lifting column 6.

[0068] The mechanical operation arm can move vertically with the lifting column 6, and combines its own horizontal rotation and joint rotation to form a working range covering a three-dimensional space. The lifting column 6 provides a solid support foundation for the mechanical operation arm, reducing the shaking of the mechanical operation arm during high-speed movement or heavy-load operation. The mechanical operation arm can still maintain high positioning accuracy during lifting, ensuring stable operation in scenes such as high-position precision assembly and low-position material sorting. At the same time, the integrated design of the mechanical operation arm and the lifting column 6 avoids the space waste of traditional separate equipment, making the overall device occupy less area.

[0069] Preferably, as shown in Figure 6 , the lifting column 6 includes a main body 61 and a lifting assembly 63 installed inside the main body 61, the lifting assembly 63 includes a lifting piece and a driving piece, the mechanical operation arm is installed on the lifting piece, and the driving piece drives the lifting piece to move vertically relative to the main body 61 to synchronously drive the mechanical operation arm to move vertically.

[0070] The modular division of the main body 61 and the lifting assembly 63 makes the lifting movement more reliable and controllable. The lifting assembly 63 is installed as an independent functional module inside the main body 61, and forms a clear division of labor with the main body 61 as "support-motion", avoiding the motion interference problem caused by the mixed structure of the traditional lifting mechanism and the main body 61. The power transmission path of the driving piece driving the lifting piece to move is clear and direct, reducing power loss and making the lifting movement more responsive. This modular design also facilitates separate optimization of lifting performance, allowing adjustment of driving piece power and lifting piece strength according to the load characteristics of the mechanical operation arm, ensuring stable lifting process without shaking and providing highly reliable vertical adjustment support for high-precision operation.

[0071] Further, as shown in Figure 6 The body 61 is hollow inside to form a mounting cavity 62, the lifting assembly 63 is located inside the mounting cavity 62, and the mechanical working arm is at least partially located inside the mounting cavity 62.

[0072] The mounting cavity 62 formed by the hollow inside of the body 61 realizes the integrated storage of the lifting assembly 63 and the mechanical working arm. This design concentrates the originally possibly exposed lifting guide rail, driving member, and part of the structure of the mechanical working arm in the mounting cavity 62, so that the appearance of the column type mechanical arm is more simple, and the horizontal space occupation is greatly reduced. In the scene of limited space such as workshop and warehouse, this compact layout can reduce the interference risk of the equipment and the surrounding facilities. In addition, the mounting cavity 62 isolates the driving member and the guide rail of the lifting assembly 63 from the transmission mechanism and the driving machine of the mechanical working arm and the external environment, effectively blocks the invasion of impurities such as dust, oil stains, and cooling liquid, and reduces the wear or short circuit risk of the components caused by pollution.

[0073] The places not described in the present application can be realized by using or referring to the existing technology.

[0074] Each of the embodiments in the specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the difference from other embodiments.

[0075] The above only describes the embodiments of the present application and is not used to limit the present application. The present application can have various changes and variations for those skilled in the art. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the scope of the claims of the present application.

Claims

1. A mechanical work arm, characterized by, The mechanical working arm comprises a fixed arm, a first driving arm and a second driving arm, the first driving arm is rotationally connected with the fixed arm, one end of the second driving arm is rotationally connected with the first driving arm, and the other end is provided with an operation part for mounting an end effector; The first driving arm is provided with a first driving machine and a transmission mechanism for realizing deceleration transmission, the transmission mechanism comprises a first transmission part, a second transmission part and a linkage part connecting the first transmission part and the second transmission part; The first transmission part is in transmission connection with the output end of the first driving machine, and the second transmission part is in fixed connection with the second driving arm; The first driving machine drives the first transmission part to rotate, drives the second transmission part to rotate at a speed smaller than that of the first transmission part through the linkage part, and further drives the second driving arm to rotate at a speed smaller than that of the first driving arm.

2. The mechanical working arm according to claim 1, wherein The first driving arm comprises a first main body, the first main body is hollow inside to form a first cavity, and the transmission mechanism is mounted in the first cavity; the first driving machine and the first transmission part are located on one side of the first cavity away from the second driving arm, and the second transmission part is located above the second driving arm.

3. The mechanical working arm according to claim 2, wherein The transmission mechanism further comprises a mounting plate mounted on the first main body, the mounting plate is provided with a first mounting surface and a second mounting surface on both sides respectively, the first driving machine is mounted on the first mounting surface, and the first transmission part and the second transmission part are mounted on both ends of the second mounting surface respectively.

4. The mechanical working arm according to claim 3, wherein The mounting plate is provided with a first through hole aligned with the first transmission part and a second through hole aligned with the second transmission part, the first transmission part is configured as a first transmission wheel, the second transmission part is configured as a second transmission wheel, the diameter of the second transmission wheel is greater than that of the first transmission wheel; the output end of the first driving machine penetrates through the first through hole and is fixedly connected with the shaft center of the first transmission wheel, and the shaft center of the second transmission wheel is provided with a transmission shaft penetrating through the second through hole and fixedly connected with the second driving arm.

5. The mechanical working arm according to claim 4, wherein The linkage part is configured as a transmission belt sleeved with the first transmission wheel and the second transmission wheel respectively, and the transmission mechanism further comprises a tensioning part mounted on the second mounting surface, the tensioning part is in abutment with the transmission belt to tension the transmission belt.

6. The mechanical working arm according to claim 1, wherein The fixed arm is provided with a second driving machine inside, the output end of the second driving machine is fixedly connected with the first driving arm, and the second driving machine drives the first driving arm to rotate relative to the fixed arm.

7. The mechanical working arm according to claim 6, wherein The fixed arm, the first driving arm and the second driving arm are sequentially arranged in a vertical direction, the first driving arm has a first rotating end rotatably connected with the fixed arm and a first free end away from the first rotating end, the second driving arm has a second rotating end rotatably connected with the first driving arm and a second free end away from the second rotating end, and the operation part is located at the second free end.

8. A column-style robotic arm, characterized by, The mechanical operation arm comprises a lifting column and a mechanical operation arm as claimed in any one of claims 1 to 7, the mechanical operation arm being mounted on the lifting column and being capable of vertical movement relative to the lifting column.

9. The column-type mechanical arm according to claim 8, characterized in that, The lifting column comprises a main body and a lifting assembly mounted inside the main body, the lifting assembly comprising a lifting member and a driving member, the mechanical operation arm being mounted on the lifting member, and the driving member driving the lifting member to move vertically relative to the main body so as to synchronously drive the mechanical operation arm to move vertically.

10. The column-type mechanical arm according to claim 9, characterized in that, The main body is hollow to form a mounting cavity, the lifting assembly is located inside the mounting cavity, and the mechanical operation arm is at least partially located in the mounting cavity.

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