Outward folding storage type mechanical arm

Abstract

The utility model relates to the field of mechanical arms, in particular to an outward folding storage type mechanical arm which comprises a base and a supporting stand column arranged on the base, the supporting stand column is connected with a rotatable rotating platform, a plurality of sections of swing arms are arranged on the rotating platform, and the swing arms are arranged on the rotating platform. The rotating platform is connected with one tail end of a multi-section swing arm through a first steering engine, the multi-section swing arm is formed by sequentially connecting a first swing arm, a second swing arm, a third swing arm and a fourth swing arm end to end in series and located on the same vertical plane, and a second steering engine is arranged at the joint of the first swing arm and the second swing arm. A first steering engine is arranged at the joint of the first swing arm and the second swing arm, a third steering engine is arranged at the joint of the second swing arm and the third swing arm, a fourth steering engine is arranged at the joint of the third swing arm and the fourth swing arm, and the first steering engine, the second steering engine and the third steering engine can respectively drive the first swing arm, the second swing arm and the third swing arm to be sequentially stacked and stored. Compact storage under outward folding is achieved, and the storage space of the mechanical arm is further reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of mechanical arm, concretely relates to a mechanical arm of outer folding storage. BACKGROUND

[0002] Six-axis mechanical arm is the core component of modern industrial automation and robot technology, and has wide application owing to its flexible movement and high adaptability in six independent directions, including but not limited to manufacturing, medical treatment, catering and other fields. In the manufacturing industry, six-axis mechanical arm can complete material handling, assembly, spraying, cutting and other automation tasks; in the medical field, doctors can perform precise surgery by controlling six-axis mechanical arm; and with the development of technology, the existing six-axis mechanical arm is also applied to coffee beverages in the catering industry, further expanding its application scenarios.

[0003] The existing mechanical arm adopts a multi-joint series structure design, and the existing six-axis mechanical arm includes a rotating shaft, a lower arm, an upper arm, a wrist rotation, a wrist swing and a wrist rotation, and has the characteristics of high flexibility, high precision and high load capacity.

[0004] However, although the six-axis mechanical arm has shown significant advantages in many fields, the existing mechanical arm still has some defects to be solved: due to its large volume and fixed structure, the traditional mechanical arm often needs to occupy a large storage space, so it is not easy to fold and store, which affects the actual use. The existing mechanical arm can solve the space occupation problem by simple joint folding, but its existing mechanical arm has a large volume structure, and still occupies a large space after simple folding, which affects the storage of the mechanical arm. And due to the large width of the swing arm on the mechanical arm and the simple structure, it is not easy to stack and store, which affects the use. UTILITY MODEL CONTENTS

[0005] The utility model aims at solving the above defects, and provides a mechanical arm of outer folding storage to solve the technical problem that the existing mechanical arm has a simple folding mode, and still occupies a large space after folding, which affects the storage and use.

[0006] The utility model aims at solving the above defects, and provides a mechanical arm of outer folding storage to solve the technical problem that the existing mechanical arm has a simple folding mode, and still occupies a large space after folding, which affects the storage and use.

[0007] The utility model provides an outer folding storage type mechanical arm, including base and support column set up on the base, the support column is connected with rotatable rotating platform, is equipped with multijoint swing arm on rotating platform, and rotating platform is connected with the last end of multijoint swing arm through first steering wheel, and the last end of multijoint swing arm away from rotating platform is connected with clamping jaw through fifth steering wheel, and multijoint swing arm is by first swing arm, second swing arm, third swing arm and fourth swing arm in turn first and last series and is located in same vertical plane, and the connecting place of first swing arm and second swing arm is equipped with second steering wheel, and first swing arm and second swing arm are respectively through mounting end one and connecting end two and are mutually matched hinged, and the connecting place of second swing arm and third swing arm is equipped with third steering wheel, and second swing arm and third swing arm are respectively through mounting end two and connecting end three and are mutually matched hinged, and the connecting place of third swing arm and fourth swing arm is equipped with fourth steering wheel, and third swing arm is through mounting end three and one end of fourth swing arm and is hinged, and first steering wheel, second steering wheel and third steering wheel can drive first swing arm, second swing arm and third swing arm in turn and stack up and store.

[0008] In the folded state, the first steering wheel drives the first swing arm to extend horizontally above the upper surface of the base, the second steering wheel drives the second swing arm to be stored below the first swing arm, the second swing arm extends horizontally above the upper surface of the base, the third steering wheel drives the third swing arm to be stored below the second swing arm, the third swing arm extends horizontally above the upper surface of the base, and the fourth steering wheel drives the fourth swing arm to be perpendicular to the upper surface of the base, so that the clamping end of the clamping jaw extends towards the support column.

[0009] Further in the above description, the first steering wheel is mounted on the rotating platform, the end of the first swing arm close to the rotating platform is provided with a connecting end one, the rotating platform is provided with a support part for connecting with the connecting end one, and the side surface of the connecting end one is connected with the output end of the first steering wheel through a first disc spline.

[0010] Further in the above description, the second steering wheel is mounted on the side surface of the first swing arm through a first bracket, the connecting end two is connected with the mounting end one, and the connecting end two is connected with the output end of the second steering wheel through a second disc spline.

[0011] The second steering wheel drives the second swing arm through the second disc spline, so that the second swing arm can be located below the first swing arm to form a stacked structure when being stored, and meanwhile, the pairing installation of the connecting end two of the second swing arm and the mounting end one of the first swing arm effectively reduces the space waste caused by the wide swing arm of the traditional outer folding mechanical arm, realizes compact storage, and further reduces the width of the mechanical arm.

[0012] Further in the above description, the third steering wheel is mounted on the side surface of the second swing arm through a second bracket, the connecting end three is connected with the mounting end two, and the connecting end three is connected with the output end of the third steering wheel through a third disc spline.

[0013] The third steering engine drives the third swing arm through the third disc spline, so that the third swing arm can be located below the second swing arm to form a stacked structure when being stored, and the third swing arm is effectively installed through the matched installation of the connecting end three and the mounting end two, so that the space waste caused by the wide swing arm of the traditional outer folding mechanical arm is reduced, the compact storage is realized, and the width of the mechanical arm is further reduced.

[0014] Further in the above description, the fourth steering engine is mounted on the side surface of the third swing arm through the third support, and the output end of the fourth steering engine is connected with one end adjacent to the fourth swing arm and the third swing arm.

[0015] The output end of the fourth steering engine can drive the fourth swing arm to rotate, and the clamping end of the clamping jaw can extend to the direction of the supporting column, so that the clamping jaw is located below the third swing arm to form a stacked structure when being stored, and the effect of subsequent stacked storage is enhanced.

[0016] Further in the above description, the length of the third swing arm is less than the length of the second swing arm, the length of the second swing arm is less than the length of the first swing arm, and the first steering engine, the second steering engine, the third steering engine and the fourth steering engine are respectively mounted on the same side surface of the first swing arm, the second swing arm and the third swing arm.

[0017] The swing arm length is designed in a step-by-step decreasing manner, and the steering engines on the adjacent side surfaces are arranged, so that the stacked storage is formed in the subsequent folding, and the space occupation of the mechanical arm is reduced.

[0018] Further in the above description, the clamping jaw comprises a connecting plate, a first clamping block, a second clamping block and a clamping driver, one end of the connecting plate is connected with the output end of the fifth steering engine, the first clamping block and the second clamping block are connected with the connecting plate through connecting pieces, the clamping driver is mounted on the connecting plate and can drive the connecting pieces to drive the first clamping block and the second clamping block to perform the opening and closing clamping action.

[0019] The first swing arm is hinged to the rotating platform through the first steering engine, in the folding driving state, the first swing arm can be horizontally extended and parallel to the upper surface of the base, so that the first swing arm forms a basic storage layer, the second swing arm is stored below the first swing arm in a rotating manner through the second steering engine, and is kept horizontally extended on the upper surface of the base, meanwhile, the third swing arm is stored below the second swing arm in a rotating manner through the third steering engine, so that the first swing arm, the second swing arm and the third swing arm form a three-layer horizontal stacking structure, so that the multi-section swing arm is converted into a planar stacking mode through the layer-by-layer stacking storage mode, compared with the traditional single-joint folding, the volume occupation is reduced, and the fourth swing arm is driven into a vertical posture through the fourth steering engine, the clamping jaw faces the supporting column, the clamping jaw is located below the third swing arm, the joints are stored near the central axis of the mechanical arm, the compact storage is realized under the outer folding, and the storage space of the mechanical arm is further reduced. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a schematic view of the overall structure of the embodiment;

[0021] Figure 2 is a schematic view of the connecting structure of the embodiment;

[0022] Figure 3 is a schematic view of the structure from the top angle of the embodiment;

[0023] Figure 4 is a perspective view of the folded state in the embodiment;

[0024] Figure 5 is a side view of the folded state in the embodiment;

[0025] In the drawing, the reference numerals are respectively: 1 - base, 2 - support column, 3 - rotating platform, 4 - first steering engine, 5 - first swing arm, 51 - connecting end one, 52 - mounting end one, 6 - second swing arm, 61 - connecting end two, 62 - mounting end two, 7 - third swing arm, 71 - connecting end three, 72 - mounting end three, 8 - fourth swing arm, 9 - clamping jaw, 91 - connecting plate, 92 - first clamping block, 93 - second clamping block, 94 - clamping driver, 95 - connecting piece, 10 - fifth steering engine, 11 - support part, 12 - first disc spline, 13 - first support, 14 - second disc spline, 15 - second support, 16 - third disc spline, 17 - third support, 18 - second steering engine, 19 - third steering engine, 20 - fourth steering engine. DETAILED DESCRIPTION

[0026] The utility model will be described in further detail below in combination with the drawing and specific implementation.

[0027] In the embodiment, reference is made to Figures 1-5A specific implementation of a mechanical arm of the outer folding storage type includes a base 1 and a support column 2 arranged on the base 1, the support column 2 is connected with a rotatable rotating platform 3, the rotating platform 3 is provided with a plurality of swing arms, the rotating platform 3 is connected with one end of the plurality of swing arms through a first steering wheel 4, the end of the plurality of swing arms away from the rotating platform 3 is connected with a gripper 9 through a fifth steering wheel 10, the plurality of swing arms are sequentially connected in series from head to tail and located in the same vertical plane by a first swing arm 5, a second swing arm 6, a third swing arm 7 and a fourth swing arm 8, a second steering wheel 19 is arranged at the connection between the first swing arm 5 and the second swing arm 6, and the first swing arm 5 and the second swing arm 6 are respectively hingedly connected to each other through a mounting end one 52 and a connecting end two 61, a third steering wheel 20 is arranged at the connection between the second swing arm 6 and the third swing arm 7, and the second swing arm 6 and the third swing arm 7 are respectively hingedly connected to each other through a mounting end two 62 and a connecting end three 71, a fourth steering wheel 18 is arranged at the connection between the third swing arm 7 and the fourth swing arm 8, and the third swing arm 7 is hingedly connected to one end of the fourth swing arm 8 through a mounting end three 72, the first steering wheel 4, the second steering wheel 19 and the third steering wheel 20 can respectively drive the first swing arm 5, the second swing arm 6 and the third swing arm 7 to be sequentially stacked and stored.

[0028] Referring to Figure 4 and Figure 5 , in the folded state, the first steering wheel 4 drives the first swing arm 5 to extend horizontally relative to the upper surface of the base 1, the second steering wheel 19 drives the second swing arm 6 to be stored in the lower part of the first swing arm 5, the second swing arm 6 extends horizontally relative to the upper surface of the base 1, the third steering wheel 20 drives the third swing arm 7 to be stored in the lower part of the second swing arm 6, the third swing arm 7 extends horizontally relative to the upper surface of the base 1, and the fourth steering wheel 18 drives the fourth swing arm 8 to rotate and be arranged vertically relative to the upper surface of the base 1, so that the clamping end of the gripper 9 extends towards the support column 2.

[0029] Referring to Figure 2 , the first steering wheel 4 is mounted on the rotating platform 3, the end of the first swing arm 5 close to the rotating platform 3 is provided with a connecting end one 51, the rotating platform 3 is provided with a support part 11 for connecting with the connecting end one 51, and the side surface of the connecting end one 51 is connected with the output end of the first steering wheel 4 through a first disc spline 12.

[0030] The second steering wheel 19 is mounted on the side surface of the first swing arm 5 through a first support 13, the connecting end two 61 is connected with the mounting end one 52, and the connecting end two 61 is connected with the output end of the second steering wheel 19 through a second disc spline 14.

[0031] The second steering wheel 19 drives the second swing arm 6 through the second disc spline 14, so that the second swing arm 6 can be located below the first swing arm 5 to form a stacked structure when being stored, and the paired installation of the connecting end two 61 of the second swing arm 6 and the mounting end one 52 of the first swing arm 5 effectively reduces the space waste caused by the wide swing arm of the traditional outer folding mechanical arm, realizes compact storage, and further reduces the width of the mechanical arm.

[0032] The third steering wheel 20 is installed on the side surface of the second swing arm 6 through the second support 15, the connecting end three 71 is connected with the mounting end two 62, and the connecting end three 71 is connected with the output end of the third steering wheel 20 through the third disc spline 16.

[0033] The third steering wheel 20 drives the third swing arm 7 through the third disc spline 16, so that the third swing arm 7 can be located below the second swing arm 6 to form a stacked structure when being stored, and the paired installation of the connecting end three 71 of the third swing arm 7 and the mounting end two 62 of the second swing arm 6 effectively reduces the space waste caused by the wide swing arm of the traditional outer folding mechanical arm, realizes compact storage, and further reduces the width of the mechanical arm.

[0034] Specifically, referring to Figure 2 and Figure 3 , the first swing arm 5 and the second swing arm 6 are formed with mutually paired avoidance positions at the joint, so that the connection width of the first swing arm 5 and the second swing arm 6 is more compact, and the second swing arm 6 and the third swing arm 7 are formed with mutually paired avoidance positions at the joint, so that the connection width of the second swing arm 6 and the third swing arm 7 is more compact.

[0035] The fourth steering wheel 18 is installed on the side surface of the third swing arm 7 through the third support 17, and the output end of the fourth steering wheel 18 is connected with one end adjacent to the third swing arm 7 and the fourth swing arm 8.

[0036] The output end of the fourth steering wheel 18 can drive the fourth swing arm 8 to rotate, and the clamping end of the clamping jaw 9 can extend towards the support column 2, so that the clamping jaw 9 is located below the third swing arm 7 to form a stacked structure when being stored, thereby enhancing the effect of subsequent stacked storage.

[0037] The length of the third swing arm 7 is less than the length of the second swing arm 6, the length of the second swing arm 6 is less than the length of the first swing arm 5, and the first steering wheel 4, the second steering wheel 19, the third steering wheel 20 and the fourth steering wheel 18 are respectively installed on the same side surface of the first swing arm 5, the second swing arm 6 and the third swing arm 7.

[0038] The length of the swing arm is designed to be gradually reduced, and the steering wheel layout on the adjacent side surface is matched, so that the subsequent stacked storage is formed when folding up and down, and the space occupation of the mechanical arm is reduced.

[0039] The mechanical arm in the embodiment is a six-axis mechanical arm, and the rotation of the rudder motors controls the unfolding and stacking of the swing arms in sequence, thereby significantly improving the stacking efficiency and space utilization.

[0040] With reference to Figure 2 The clamping jaw 9 comprises a connecting plate 91, first clamping blocks 92, second clamping blocks 93 and a clamping driver 94. One end of the connecting plate 91 is connected with the output end of the fifth rudder motor 10. The first clamping blocks 92 and the second clamping blocks 93 are connected with the connecting plate 91 through connecting members 95. The clamping driver 94 is installed on the connecting plate 91 and can drive the connecting members 95 to drive the first clamping blocks 92 and the second clamping blocks 93 to perform the opening and closing clamping action.

[0041] The specific folding and stacking in the embodiment is as follows:

[0042] With reference to Figure 4 And Figure 5 The first swing arm 5, the second swing arm 6, the third swing arm 7 and the fourth swing arm 8 are sequentially connected in series. The first swing arm 5 is installed on the rotating platform 3. The clamping jaw 9 is installed on one end of the fourth swing arm 8 through the fifth rudder motor 10. In the non-working state, the first swing arm 5 is driven to horizontally extend and be parallel to the upper surface of the base 1 through the rotation of the first rudder motor 4. The first swing arm 5 forms a basic stacking layer. The second swing arm 6 is driven to rotate and be stacked below the first swing arm 5 through the second rudder motor 19 and is kept horizontally extended with the upper surface of the base 1. Meanwhile, the third swing arm 7 is driven to rotate and be stacked below the second swing arm 6 through the third rudder motor 20, so that the first swing arm 5, the second swing arm 6 and the third swing arm 7 form a three-layer horizontal stacking structure. Thus, the multi-joint arm is converted into a planar stacking mode through the stacking mode of layer by layer. Compared with the traditional single-joint folding, the volume is reduced. The fourth swing arm 8 is driven to be in a vertical posture through the fourth rudder motor 18, so that the clamping end of the clamping jaw 9 extends to the supporting column 2. The clamping jaw 9 is below the third swing arm 7, so that each joint is stacked near the central axis of the mechanical arm, the compact stacking under the outer folding is realized, the stacking space of the mechanical arm is further reduced, and the practicability is improved.

[0043] The above is only the preferred embodiment of the present application, and does not limit the present application in any form. Although the present application is disclosed in the preferred embodiment, it is not intended to limit the present application. Any skilled person in the art can make some changes or modifications to the above-mentioned technical content without departing from the technical solution of the present application, and any equivalent embodiment with equivalent changes is equivalent to the above-mentioned technical content. Any simple modification, equivalent change and modification of the above-mentioned embodiment within the scope of the technical solution of the present application are within the scope of the technical solution of the present application.

Claims

1. An externally folding stowable robotic arm comprising a base and a support column disposed on the base, characterized in that: The support column is connected with a rotatable rotating platform, the rotating platform is provided with a plurality of swing arms, the rotating platform is connected with one end of the plurality of swing arms through a first steering wheel, and the end of the plurality of swing arms away from the rotating platform is connected with a clamping jaw through a fifth steering wheel. In the folded state, the first steering wheel drives the first swing arm to extend horizontally on the upper surface of the base, the second steering wheel drives the second swing arm to be stored in the lower part of the first swing arm, the second swing arm extends horizontally on the upper surface of the base, the third steering wheel drives the third swing arm to be stored in the lower part of the second swing arm, the third swing arm extends horizontally on the upper surface of the base, and the fourth steering wheel drives the fourth swing arm to rotate and be arranged vertically on the upper surface of the base, so that the clamping end of the clamping jaw extends towards the support column.

2. The mechanical arm of claim 1, wherein: The first steering wheel is installed on the rotating platform, the end of the first swing arm close to the rotating platform is provided with a connecting end one, the rotating platform is provided with a supporting part for connecting with the connecting end one, and the side surface of the connecting end one is connected with the output end of the first steering wheel through a first disc spline.

3. The mechanical arm of claim 2, wherein: The second steering wheel is installed on the side surface of the first swing arm through a first support, the connecting end two is connected with the mounting end one, and the connecting end two is connected with the output end of the second steering wheel through a second disc spline.

4. The mechanical arm of claim 3, wherein: The third steering wheel is installed on the side surface of the second swing arm through a second support, the connecting end three is connected with the mounting end two, and the connecting end three is connected with the output end of the third steering wheel through a third disc spline.

5. The mechanical arm of any one of claims 1-4, wherein: The fourth steering wheel is installed on the side surface of the third swing arm through a third support, and the output end of the fourth steering wheel is connected with one end of the fourth swing arm adjacent to the third swing arm.

6. The mechanical arm of any one of claims 1-4, wherein: The length of the third swing arm is less than the length of the second swing arm, the length of the second swing arm is less than the length of the first swing arm, and the first steering wheel, the second steering wheel, the third steering wheel and the fourth steering wheel are installed on the same side surface of the first swing arm, the second swing arm and the third swing arm.

7. The mechanical arm of any one of claims 1-4, wherein: The clamping jaw comprises a connecting plate, a first clamping block, a second clamping block and a clamping driver, one end of the connecting plate is connected with the output end of the fifth steering wheel, the first clamping block and the second clamping block are connected with the connecting plate through connecting pieces, the clamping driver is installed on the connecting plate and can drive the connecting pieces to drive the first clamping block and the second clamping block to perform opening and clamping actions.

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