Mechanical arm

Abstract

The utility model discloses a mechanical arm, which relates to the technical field of mechanical arms and comprises a rotary base, a first movable arm, a second movable arm and a clamping jaw mechanism. The first movable arm is connected to the rotating base and can swing in a pitching mode relative to the rotating base. The second movable arm is connected to the end, away from the rotating base, of the first movable arm and can swing in a pitching mode relative to the first movable arm. The clamping jaw mechanism is connected to the end, away from the first movable arm, of the second movable arm and comprises a clamping jaw capable of being movably opened and closed, and main bodies of the first movable arm, the second movable arm and the clamping jaw mechanism are all of an aluminum alloy structure.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical arm technical field, especially mechanical arm. BACKGROUND

[0002] Arm robot, especially mechanical arm, has been widely used in multiple fields, and exhibits significant technical advantages, and robot technology breaks through constantly, such as the successful research and development of low-cost, miniaturized robot arm makes the application field of mechanical arm more and more extensive, such as personal / family, entertainment and leisure and commercial field, breaks the limitation that high-end robot arm technology is only applied to industrial field. SUMMARY

[0003] The utility model discloses a mechanical arm, which aims to reduce the overall weight of the mechanical arm, facilitate movement and operation.

[0004] To achieve the above object, the utility model discloses a mechanical arm, which comprises:

[0005] Rotary base;

[0006] First movable arm, the first movable arm is connected to the rotary base, and can be swung relative to the rotary base;

[0007] Second movable arm, the second movable arm is connected to the first movable arm away from the rotary base one end, and can be swung relative to the first movable arm;And

[0008] Claw mechanism, the claw mechanism is connected to the second movable arm away from the first movable arm one end, the claw mechanism includes the claw that can be opened and closed, the first movable arm, the second movable arm and the main part of claw mechanism are all aluminum alloy structure.

[0009] In an embodiment, the first movable arm and the second movable arm all include a first connecting plate and a second connecting plate, the first connecting plate and the second connecting plate are all arranged in U shape, and the opening is opposite, the second connecting plate on the first movable arm is rotationally connected with the first connecting plate on the second movable arm.

[0010] In an embodiment, the mechanical arm further comprises a driving assembly, the driving assembly comprises a first driving member, a second driving member and a third driving member;

[0011] The first driving member is arranged on the rotary base, and the output end of the first driving member is connected with the first movable arm.

[0012] The second driving member is arranged on the first movable arm, and an output end of the second driving member is connected to the second movable arm.

[0013] The third driving member is arranged on the second movable arm, and an output end of the third driving member is connected to the clamping jaw mechanism.

[0014] In an embodiment, the mechanical arm further comprises a connecting assembly, the connecting assembly comprising a first connecting member, a second connecting member and a third connecting member, opposite ends of the first connecting member being connected to the first driving member and the first movable arm respectively, opposite ends of the second connecting member being connected to the second driving member and the second movable arm respectively, and opposite ends of the third connecting member being connected to the third driving member and the clamping jaw mechanism respectively.

[0015] In an embodiment, the clamping jaw mechanism further comprises a third connecting plate, a mounting seat and a fourth driving member, the third connecting plate being rotatably connected to the second movable arm, the mounting seat being connected to the third connecting plate, the clamping jaw being movably connected to the mounting seat, and an output end of the fourth driving member being connected to the clamping jaw and capable of driving the clamping jaw to open and close.

[0016] In an embodiment, the clamping jaw comprises a first clamping arm, a second clamping arm, a connecting rod and a transmission assembly.

[0017] The first clamping arm and the second clamping arm are respectively provided with a first clamping portion and a second clamping portion, and the transmission assembly comprises a first gear, a second gear and a third gear, the third gear being connected to an output end of the fourth driving member.

[0018] The connecting rod is movably connected to the mounting seat and the middle part of the first clamping arm / second clamping arm at two ends in the extending direction of the connecting rod, the first gear is connected to an end of the first clamping arm away from the first clamping portion, the second gear is connected to an end of the second clamping arm away from the second clamping portion, the first gear is engaged with the second gear, and the third gear is engaged with the first gear.

[0019] In an embodiment, the first clamping portion and the second clamping portion are respectively provided with an anti-skid portion on the side close to each other.

[0020] In an embodiment, the mechanical arm further comprises a pressure sensor, the pressure sensor being arranged at a matching position of the first clamping portion and the second clamping portion, and being used for detecting the clamping force of the clamping jaw.

[0021] In an embodiment, the rotating base comprises a base, a rotating disc arranged above the base, and a rotating motor arranged on the base, an output end of the rotating motor being connected to the rotating disc and driving the rotating disc to rotate along the base.

[0022] In an embodiment, the base is provided with a plurality of support portions, each of the support portions being arranged at a periphery of the base, and the support portions supporting the rotating disc.

[0023] The technical scheme of the utility model provides a kind of mechanical arm, including rotating base, first movable arm, second movable arm and gripper mechanism.This design makes that mechanical arm can carry out the movement of multiple degrees of freedom, realizes complex operation task.Rotating base provides the rotation of mechanical arm, and first movable arm and second movable arm then allow mechanical arm to carry out pitching swing in space, increase the operating range and flexibility of mechanical arm.The opening and closing function of gripper mechanism makes that mechanical arm can grasp and release object.Overall, it adopts aluminum alloy structure, both guarantee the strength of mechanical arm, and reduce weight, improve the load capacity and operation efficiency of mechanical arm, be favorable to guarantee the overall stability of mechanical arm. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or prior art, the drawings needed to be used in the embodiment or prior art description will be briefly introduced below, and obviously, the drawings in the following description are only some embodiments of the utility model, and for those skilled in the art, other drawings can be obtained according to the structure shown in these drawings without creative labor.

[0025] Figure 1 The structural schematic diagram of an embodiment of the mechanical arm provided by the utility model is shown in the figure.

[0026] Figure 2 The structural schematic diagram of another view of the mechanical arm in the utility model is shown in the figure. Figure 1

[0027] Figure 3 The front view of the mechanical arm is shown in the figure.

[0028] Figure 4 The local enlarged schematic view of the gripper mechanism in the utility model is shown in the figure. Figure 1

[0029] Explanation of reference numerals:

[0030] ​​1000, mechanical arm; 1, rotating base; 11, base; 111, support part; 12, rotating disc; 2, first movable arm; 21, first connecting plate; 22, second connecting plate; 3, second movable arm; 4, clamping jaw mechanism; 41, clamping jaw; 411, first clamping arm; 411a, first clamping part; 412, second clamping arm; 412a, second clamping part; 413, connecting rod; 414, transmission assembly; 4141, first gear; 4142, second gear; 4143, third gear; 42, third connecting plate; 43, mounting seat; 44, fourth driving piece; 5, driving assembly; 51, first driving piece; 52, second driving piece; 53, third driving piece; 6, connecting assembly; 61, first connecting piece; 62, second connecting piece; 63, third connecting piece.

[0031] The realization, functional features and advantages of the utility model will be further described in combination with embodiments with reference to the drawings. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the utility model will be clearly and completely described below in combination with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor belong to the protection scope of the utility model.

[0033] It should be noted that if the embodiments of the utility model involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement condition, etc. between components in a certain posture, and if the certain posture changes, the directional indications also change accordingly.

[0034] In addition, if the embodiments of the utility model involve descriptions of "first", "second", etc., the descriptions of "first", "second", etc. are only for description purposes, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first" and "second" can explicitly or implicitly include at least one of the features. In addition, "and / or" or "and / or" appearing throughout the text means that the three parallel schemes are included, taking "A and / or B" as an example, including A scheme, or B scheme, or A and B simultaneously satisfy the scheme. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of the ordinary skill in the art, and when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the protection scope required by the utility model.

[0035] Arm robot, especially mechanical arm, has been widely used in many fields and shows significant technical advantages, and robot technology continues to break through, such as the successful development of low-cost and small-sized robot arm, which makes the application field of mechanical arm more and more widely, such as personal / family, entertainment and leisure and commercial field, breaking the limitation that high-end robot arm technology is only applied to industrial field. However, the existing mechanical arm still has not small defects in actual application, and the overall weight of the mechanical arm is large, which is easy to affect the precision and stability of the mechanical arm.

[0036] To solve the above problems, please refer to Figures 1 to 4 The utility model provides a kind of mechanical arm 1000, including rotating base 1, first movable arm 2, second movable arm 3 and jaw mechanism 4;First movable arm 2 is connected to rotating base 1, and can be pitch oscillated relative to rotating base 1;Second movable arm 3 is connected to the end of first movable arm 2 away from rotating base 1, and can be pitch oscillated relative to first movable arm 2;And jaw mechanism 4 is connected to the end of second movable arm 3 away from first movable arm 2, jaw mechanism 4 includes movable open-close jaw 41, and the main body of first movable arm 2, second movable arm 3 and jaw mechanism 4 is aluminum alloy structure.

[0037] The utility model discloses a kind of mechanical arm 1000, including rotating base 1, first movable arm 2, second movable arm 3 and jaw mechanism 4. This design makes mechanical arm 1000 can carry out multi-degree-of-freedom motion, realizes complex operation task. Rotating base 1 provides the rotation motion of mechanical arm 1000, and first movable arm 2 and second movable arm 3 allow mechanical arm 1000 to pitch oscillate in space, increase the operating range and flexibility of mechanical arm 1000. The open-close function of jaw mechanism 4 makes mechanical arm 1000 can grasp and release object. Overall using aluminum alloy structure, it guarantees the strength of mechanical arm 1000, and reduce weight, improve the load capacity and operation efficiency of mechanical arm 1000, it is favorable to guarantee the overall stability of mechanical arm 1000.

[0038] In an optional embodiment, for the connection of first movable arm 2 and second movable arm 3, please refer to Figures 1 to 3, the first movable arm 2 and the second movable arm 3 each include a first connecting plate 21 and a second connecting plate 22, the first connecting plate 21 and the second connecting plate 22 are each arranged in a U shape and the openings face opposite directions, and the second connecting plate 22 on the first movable arm 2 is rotationally connected with the first connecting plate 21 on the second movable arm 3. This design allows the two movable arms to be rotationally connected, thereby increasing the flexibility and operating range of the mechanical arm 1000. The rotational connection of the second connecting plate 22 on the first movable arm 2 with the first connecting plate 21 on the second movable arm 3 allows the mechanical arm 1000 to be adjusted at multiple angles in space to adapt to different operating requirements. The U-shaped connecting plate design also helps to improve the structural stability of the mechanical arm 1000, as they can provide better force transmission and dispersion, reducing structural deformation during high-load operation. In addition, the U-shaped structure helps to reduce the weight of the mechanical arm 1000, which can reduce material usage while maintaining structural strength.

[0039] In an optional embodiment, to realize the movement of the mechanical arm 1000, please refer to Figures 1 to 3 , the mechanical arm 1000 further includes a driving assembly 5, the driving assembly 5 includes a first driving member 51, a second driving member 52, and a third driving member 53; the first driving member 51 is arranged on the rotating base 1, and the output end of the first driving member 51 is connected with the first movable arm 2; the second driving member 52 is arranged on the first movable arm, and the output end of the second driving member 52 is connected with the second movable arm 3; the third driving member 53 is arranged on the second movable arm, and the output end of the third driving member 53 is connected with the gripper mechanism 4. This design ensures that each main moving component of the mechanical arm 1000 has independent driving force and can be independently controlled, thereby realizing precise movement control. The independent arrangement of each driving member allows the mechanical arm 1000 to perform complex multi-axis movement, improving the flexibility and accuracy of operation. In addition, the independent driving design helps to improve the response speed and work efficiency of the mechanical arm 1000, as each moving component can be operated simultaneously or as needed without waiting for other components to complete the action. This design also helps to improve the reliability of the mechanical arm 1000, as each driving member can be maintained and replaced individually without affecting the operation of the entire mechanical arm 1000.

[0040] Further, please refer to Figures 1 to 3 , the mechanical arm 1000 further includes a connecting assembly 6, the connecting assembly 6 includes a first connecting member 61, a second connecting member 62, and a third connecting member 63, the opposite ends of the first connecting member 61 are respectively connected with the first driving member 51 and the first movable arm 2, the opposite ends of the second connecting member 62 are respectively connected with the second driving member 52 and the second movable arm 3, and the opposite ends of the third connecting member 63 are respectively connected with the third driving member 53 and the gripper mechanism 4. Please refer to Figure 1, one end of each connecting piece is connected to the driving piece through gear meshing, and the other end is connected to the side wall of the connecting plate through screws or bolts and other fasteners to ensure the stability of the connection between the connecting piece and the connecting plate. The opposite ends of these connecting pieces are respectively connected to each driving piece and the corresponding movable arm or clamping jaw mechanism 4. This ensures that the driving force can be effectively transmitted from the driving piece to each moving part of the mechanical arm 1000. The design of the connecting assembly 6 is crucial to ensuring the stability and reliability of the mechanical arm 1000, as they need to withstand the forces and torques generated by the mechanical arm 1000 during operation. By using specialized connecting pieces, the efficiency of force transmission and energy loss can be ensured, and at the same time, it helps to reduce failures and damage caused by improper connection. In addition, the specialized connecting pieces can also improve the assembly and maintenance efficiency of the mechanical arm 1000, they can be designed in a form that is easy to disassemble and replace, thus simplifying maintenance work.

[0041] In an optional embodiment, in order to facilitate the driving connection of the clamping jaw 41, please refer to Figures 1 to 4 , the clamping jaw mechanism 4 further includes a third connecting plate 42, a mounting seat 43, and a fourth driving piece 44. The third connecting plate 42 is rotationally connected to the second movable arm 3, the mounting seat 43 is connected to the third connecting plate 42, the clamping jaw 41 is movably connected to the mounting seat 43, and the output end of the fourth driving piece 44 is connected to the clamping jaw 41 and can drive the clamping jaw 41 to open and close. This design allows the clamping jaw mechanism 4 to perform opening and closing movements independently of other parts of the mechanical arm 1000, thereby achieving precise grasping and releasing of objects. By directly connecting the driving piece to the clamping jaw 41, the movement of the clamping jaw 41 can be ensured to be precise and powerful, which is particularly important for applications that require precise control of clamping force. In addition, the opening and closing design of the clamping jaw 41 also allows the clamping jaw 41 to be adjusted in multiple directions to adapt to objects of different shapes and sizes. By independently controlling the opening and closing of the clamping jaw 41, the operational flexibility of the mechanical arm 1000 can be improved, enabling it to perform more complex grasping tasks.

[0042] Further, please refer to Figure 4The clamping jaw 41 includes a first clamping arm 411, a second clamping arm 412, a connecting rod 413, and a transmission assembly 414. The ends of the first clamping arm 411 and the second clamping arm 412 are respectively provided with a first clamping portion 411a and a second clamping portion 412a. The transmission assembly 414 includes a first gear 4141, a second gear 4142, and a third gear 4143, and the third gear 4143 is connected to the output end of the fourth driving member 44. The two ends of the connecting rod 413 in the extension direction are respectively movably connected to the middle part of the first clamping arm 411 / second clamping arm 412 and the mounting seat 43. The first gear 4141 is connected to the end of the first clamping arm 411 away from the first clamping portion 411a, the second gear 4142 is connected to the end of the second clamping arm 412 away from the second clamping portion 412a, the first gear 4141 is engaged with the second gear 4142, and the third gear 4143 is engaged with the first gear 4141. The driving force is transmitted from the fourth driving member 44 to the two clamping arms of the clamping jaw 41 through the gear transmission system, realizing the synchronous opening and closing of the clamping jaw 41. The design of the gear transmission system improves the efficiency and accuracy of the movement of the clamping jaw 41, because the gear can provide stable transmission ratio and large torque, so that the clamping jaw 41 can stably clamp heavy objects. In addition, by precisely controlling the engagement of the gears, the opening and closing position of the clamping jaw 41 can be accurately controlled, which is particularly important for applications that require fine operation. The design of the connecting rod 413 enables the two clamping arms of the clamping jaw 41 to move synchronously, ensuring the uniformity and stability of clamping.

[0043] Optionally, to improve the reliability of the clamping jaw 41 in grabbing the workpiece, the first clamping portion 411a and the second clamping portion 412a are each provided with an anti-slip portion on the side close to each other. By designing the anti-slip portion to increase the friction between the clamping portion and the clamped object, the stability of the clamping jaw 41 in grabbing the object is improved. The presence of the anti-slip portion can prevent the object from slipping during clamping, which is particularly important when handling smooth or wet objects. This design can also reduce damage to the clamped object, as the anti-slip portion can distribute the clamping force and reduce local pressure on the object surface. In addition, the design of the anti-slip portion can also improve the adaptability of the mechanical arm 1000 in different working environments, whether in dry or humid conditions, it can reliably grab objects. By adding an anti-slip design to the clamping portion, the application range of the mechanical arm 1000 can be expanded, enabling it to handle a wider variety of objects.

[0044] In an optional embodiment, to facilitate the control of the clamping force of the clamping jaw 41, the mechanical arm 1000 further comprises a pressure sensor arranged at the joint position of the first clamping part 411a and the second clamping part 412a for detecting the clamping force of the clamping jaw 41. The design of the pressure sensor enables the operator to monitor the clamping force of the clamping jaw 41 in real time, thereby avoiding excessive or insufficient force on the object. It can provide immediate feedback, so that the operator can adjust the clamping force in time, improving the safety and accuracy of the operation. This is particularly important for handling some fragile workpieces, so as to maintain the precise clamping force of the clamping jaw 41 to avoid damage. In addition, the pressure sensor can also be used to monitor the working state of the clamping jaw 41, by analyzing the change of the clamping force, whether the clamping jaw 41 has faults or wear can be detected, so as to maintain in time. This design improves the intelligent level of the mechanical arm 1000, so that it can better adapt to different operation requirements.

[0045] In an optional embodiment, to realize the horizontal rotation of the mechanical arm 1000, please refer to Figures 1 to 3 , the rotating base 1 comprises a base 11, a rotating disc 12 and a rotating motor, the rotating disc 12 is arranged above the base 11, and the rotating motor is arranged on the base 11, the output end of the rotating motor is connected with the rotating disc 12 and drives the rotating disc 12 to rotate along the base 11. This design enables the mechanical arm 1000 to rotate 360 degrees in the horizontal plane, greatly expanding the working range of the mechanical arm 1000. The design of the rotating base 1 allows the mechanical arm 1000 to quickly change the working direction without moving the entire mechanical structure, improving the working efficiency. The setting of the rotating motor provides precise rotation control, so that the mechanical arm 1000 can accurately position to the working area. In addition, the design of the rotating base 1 can also reduce the inertial force of the mechanical arm 1000 during movement, so that the mechanical arm 1000 is more stable when rotating at high speed. By integrating the rotating motor in the base 11, the structure of the mechanical arm 1000 can be simplified, and additional support structure can be reduced, so that the entire mechanical arm 1000 is more compact and light.

[0046] Further, the base 11 is provided with a plurality of support portions 111, each support portion 111 is arranged at the periphery of the base 11, and the support portion 111 supports the rotating disc 12. By arranging a plurality of support portions 111 at the periphery of the base 11, the stability and load-bearing capacity of the rotating base 1 are improved. The presence of the support portion 111 can ensure that the rotating disc 12 remains stable during high-speed rotation, reducing vibration and oscillation, which is crucial for improving the operation precision and reliability of the mechanical arm 1000. The arrangement of a plurality of support portions 111 can also disperse the load and reduce the pressure on a single support point, thereby improving the durability of the entire base. In addition, the design of the support portion 111 can also improve the anti-tilting ability of the rotating base 1, so that the rotating disc 12 can remain horizontal even on uneven ground, ensuring the normal operation of the mechanical arm 1000. In addition, a roller structure can be arranged on the top of the support portion 111 to contact the rotating disc 12, so that the rotation of the rotating disc 12 relative to the support portion 111 is smoother. By optimizing the design of the support portion 111, the stability and adaptability of the entire mechanical arm 1000 can be improved, so that it can operate stably in various working environments.

[0047] The above description is only an exemplary embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structural transformation or direct / indirect application in other related technical fields within the technical concept of the present application, as described in the present application and the drawings, is included in the patent protection scope of the present application.

Claims

1. A robot arm, characterized in that, The utility model relates to a mechanical arm, including: a rotating base; a first movable arm connected to the rotating base and capable of pitching swing relative to the rotating base; a second movable arm connected to one end of the first movable arm away from the rotating base and capable of pitching swing relative to the first movable arm; and a clamping jaw mechanism connected to one end of the second movable arm away from the first movable arm, the clamping jaw mechanism including movable open-close clamping jaws, the first movable arm, the second movable arm and the main body of the clamping jaw mechanism are all made of aluminum alloy structure. The first movable arm and the second movable arm both include a first connecting plate and a second connecting plate connected, the first connecting plate and the second connecting plate are both arranged in U shape with the opening facing opposite directions, the second connecting plate on the first movable arm is rotationally connected with the first connecting plate on the second movable arm.

2. The robot arm of claim 1, wherein, The mechanical arm further includes a driving assembly, the driving assembly includes a first driving member, a second driving member and a third driving member; 3. The robotic arm of claim 1, wherein, The first driving member is arranged on the rotating base, and the output end of the first driving member is connected with the first movable arm; The second driving member is arranged on the first movable arm, and the output end of the second driving member is connected with the second movable arm; The third driving member is arranged on the second movable arm, and the output end of the third driving member is connected with the clamping jaw mechanism. The mechanical arm further includes a connecting assembly, the connecting assembly includes a first connecting member, a second connecting member and a third connecting member, the opposite ends of the first connecting member are respectively connected with the first driving member and the first movable arm, the opposite ends of the second connecting member are respectively connected with the second driving member and the second movable arm, and the opposite ends of the third connecting member are respectively connected with the third driving member and the clamping jaw mechanism.

4. The robot arm of claim 3, wherein, The clamping jaw mechanism further includes a third connecting plate, a mounting seat and a fourth driving member, the third connecting plate is rotationally connected with the second movable arm, the mounting seat is connected with the third connecting plate, the clamping jaw is movably connected with the mounting seat, and the output end of the fourth driving member is connected with the clamping jaw and can drive the clamping jaw to open and close.

5. The robot arm of any one of claims 1 to 4, wherein, The clamping jaw includes a first clamping arm, a second clamping arm, a connecting rod and a transmission assembly; 6. The robot arm of claim 5, wherein, The ends of the first clamping arm and the second clamping arm are respectively provided with a first clamping part and a second clamping part; the transmission assembly includes a first gear, a second gear and a third gear, and the third gear is connected with the output end of the fourth driving member; The two ends of one connecting rod in the extending direction are movably connected with the mounting seat and the middle part of the first clamping arm / second clamping arm respectively, the first gear is connected with one end of the first clamping arm away from the first clamping part, the second gear is connected with one end of the second clamping arm away from the second clamping part, the first gear is engaged with the second gear, and the third gear is engaged with the first gear. The side of the first clamping part and the second clamping part close to each other is provided with an anti-skid part.

7. The robot arm of claim 6, wherein, ​ 8. The robotic arm of claim 6, wherein, The mechanical arm further comprises a pressure sensor arranged at a matching position of the first clamping part and the second clamping part, for detecting the clamping force of the clamping jaw.

9. The robotic arm of claim 5, wherein, The rotating base comprises a base, a rotating disc and a rotating motor, the rotating disc is arranged above the base, the rotating motor is arranged on the base, the output end of the rotating motor is connected with the rotating disc, and the rotating motor drives the rotating disc to rotate along the base.

10. The robot arm of claim 9, wherein, The base is provided with a plurality of supporting parts, each supporting part is arranged at the periphery of the base, and the supporting part supports the rotating disc.

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