Mechanical arm mechanism

Abstract

The utility model discloses a mechanical arm mechanism, which comprises a fixed seat, the first movable seat is movably arranged on the fixed seat in the first direction; the second moving seat is movably arranged on the first moving seat in the second direction; the mounting part is used for mounting the mechanical arm, and the mounting part is movably arranged on the second moving seat in the third direction; the first driving assembly is used for driving the first moving seat to move or be locked in the first direction; the second driving assembly is used for driving the second moving seat to move or be locked in the second direction; and the third driving assembly is used for driving the mounting part to move or be locked in the third direction. The mechanical arm has the beneficial effects that the positions of the mounting part in the first direction, the second direction and the third direction can be respectively adjusted through the first driving assembly, the second driving assembly and the third driving assembly, so that the operation flexibility and the space coverage range of the mechanical arm mounted on the mounting part are improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical equipment field, especially a mechanical arm mechanism. BACKGROUND

[0002] Mechanical arm refers to high-precision, multiple input and output, highly nonlinear, strong coupling complex system. Because of its unique operation flexibility, it has been widely used in industrial assembly, medical treatment, safety explosion prevention and other fields.

[0003] Usually, in order to improve the activity area of mechanical arm, increase the work area that mechanical arm can cover, guide rail is used to realize the reciprocating motion of mechanical arm in different directions, but the movement degree of freedom of guide rail type mechanical arm is limited by the direction of guide rail paving, so that the activity range of mechanical arm is relatively limited. UTILITY MODEL CONTENTS

[0004] The utility model aims at providing a kind of mechanical arm mechanism, can improve the operation flexibility and space coverage range of mechanical arm.

[0005] The utility model is realized by the following technical solutions.

[0006] A kind of mechanical arm mechanism, comprising:

[0007] Fixed seat;

[0008] First mobile seat, along first direction, is movably arranged on the fixed seat;

[0009] Second mobile seat, along second direction, is movably arranged on the first mobile seat;

[0010] Mounting portion, for installing mechanical arm, along third direction, is movably arranged on the second mobile seat;

[0011] First drive assembly, for driving the first mobile seat moves along first direction or locks;

[0012] Second drive assembly, for driving the second mobile seat moves along second direction or locks;

[0013] Third drive assembly, for driving the mounting portion moves along third direction or locks.

[0014] As further improvement of the utility model, the first direction is perpendicular to the second direction, the second direction is perpendicular to the third direction, and the first direction is perpendicular to the third direction.

[0015] As a further improvement of the utility model, the first drive assembly comprises a first driver, a transmission member driven to rotate by the first driver, a rolling member in transmission connection with the transmission member, and a connecting member arranged on the first driver, the fixed seat is provided with a rolling track extending along the moving direction of the first moving seat, the rolling member is in rolling cooperation with the rolling track, and the first moving seat is positioned on the connecting member.

[0016] As a further improvement of the utility model, the second drive assembly comprises a first ball screw for driving the second moving seat to move and a second driver for driving the first ball screw to rotate, and the first ball screw is arranged to extend along the second direction.

[0017] As a further improvement of the utility model, the first ball screw is provided with a limiting member, and the limiting member is used for abutting against the second moving seat to limit the moving stroke of the second moving seat.

[0018] As a further improvement of the utility model, the limiting member is arranged on the end portion of the first ball screw away from the second driver.

[0019] As a further improvement of the utility model, the first moving seat is provided with at least one sliding rail extending along the moving direction of the second moving seat, and the second moving seat is provided with at least one sliding member corresponding to each sliding rail, and the sliding member is in sliding connection with the sliding rail.

[0020] As a further improvement of the utility model, the sliding member is provided with a sliding groove extending along the moving direction of the second moving seat, and the sliding rail is slidingly embedded in the sliding groove.

[0021] As a further improvement of the utility model, the first moving seat is provided with at least one guide member, the second moving seat is movably sleeved on the guide member and can move along the guide member, and the guide member extends along the moving direction of the second moving seat.

[0022] As a further improvement of the utility model, the third drive assembly is arranged on the second moving seat, the third drive assembly comprises a second ball screw for driving the mounting portion to move and a third driver for driving the second ball screw to rotate, and the second ball screw is arranged to extend along the third direction.

[0023] The utility model has the advantages of:

[0024] 1. The first drive assembly, the second drive assembly and the third drive assembly can be used to respectively adjust the position of the mounting portion in the first direction, the second direction and the third direction, thereby improving the operation flexibility and space coverage range of the mechanical arm mounted on the mounting portion.

[0025] 2. The first ball screw is provided with a limiting piece, the limiting piece is used for abutting with the second moving base, the limiting piece limits the moving stroke of the second moving base, and the moving stability of the second moving base is improved.

[0026] 3. The first moving base is provided with at least one sliding rail, the sliding rail extends along the moving direction of the second moving base, the second moving base is provided with at least one sliding piece corresponding to each sliding rail, the sliding piece is slidingly connected to the sliding rail, and the sliding groove and the sliding matching structure of the sliding rail are used for guiding the second moving base to move along the second direction, so that the moving accuracy of the second moving base is improved. BRIEF DESCRIPTION OF DRAWINGS

[0027] The preferred embodiments of the utility model will be described in detail below with reference to the drawings, so as to help understand the purpose and advantages of the utility model, wherein:

[0028] Figure 1 It is a structural schematic view of the mechanical arm mechanism of the utility model;

[0029] Figure 2 It is a structural schematic view of the first driving assembly, the second driving assembly and the first moving base;

[0030] Figure 3 It is Figure 2 It is an enlarged structural view of part A in the figure;

[0031] Figure 4 It is a structural schematic view of the second moving base. DETAILED DESCRIPTION

[0032] The utility model will be described in further detail below according to the drawings and embodiments.

[0033] In the present specification, the orientation terms such as up, down, left, right, front, back, front, back, top, bottom, etc. mentioned or possibly mentioned are defined relative to the structure shown in the drawings, and the words "inner" and "outer" respectively refer to the direction towards or away from the geometric center of a particular component. They are relative concepts, so they may change accordingly according to their different positions, different use states. Therefore, these or other orientation terms should not be interpreted as restrictive terms.

[0034] The present embodiment provides a kind of mechanical arm mechanism, referring to Figures 1-4, including a fixed seat 1, a first mobile seat 2, a second mobile seat 3, a mounting portion 4, a first drive assembly 5, a second drive assembly 6 and a third drive assembly, wherein the first mobile seat 2 is movably arranged on the fixed seat 1 along a first direction, the second mobile seat 3 is movably arranged on the first mobile seat 2 along a second direction, the mounting portion 4 is used for mounting a mechanical arm and is movably arranged on the second mobile seat 3, the first drive assembly 5 is used for driving the first mobile seat 2 to move or lock along the first direction, the second drive assembly 6 is used for driving the second mobile seat 3 to move or lock along the second direction, and the third drive assembly is used for driving the mounting portion 4 to move or lock along a third direction.

[0035] In the embodiment, the operator can adjust the positions of the mounting portion 4 in the first direction, the second direction and the third direction through the first drive assembly 5, the second drive assembly 6 and the third drive assembly, thereby improving the operation flexibility and the space coverage range of the mechanical arm mounted on the mounting portion 4.

[0036] In the embodiment, the first direction is perpendicular to the second direction, the second direction is perpendicular to the third direction, and the first direction is perpendicular to the third direction. It should be noted that the first direction is the front-rear direction of the mechanism, the second direction is the up-down direction of the mechanism, and the third direction is the left-right direction of the mechanism. Therefore, the positions of the mounting portion 4 in the front-rear direction, the up-down direction and the left-right direction can be controlled through the first drive assembly 5, the second drive assembly 6 and the third drive assembly.

[0037] In the embodiment, the first drive assembly 5 includes a first driver 51, a transmission member 52 driven to rotate by the first driver 51, a rolling member 53 connected with the transmission member 52, and a connecting member 54 arranged on the first driver 51. The fixed seat 1 is provided with a rolling track 11 extending along the moving direction of the first mobile seat 2. The rolling member 53 is in rolling cooperation with the rolling track 11. The rolling track 11 is used for limiting and guiding the moving path of the rolling member 53. The first mobile seat 2 is positioned on the connecting member 54. The first driver 51 can be a motor. The transmission member 52 is a rotating shaft connected with the motor. The rolling member 53 is a roller. Therefore, when the first driver 51 works, the transmission member 52 is driven to rotate. The rolling member 53 connected with the transmission member 52 is also driven to rotate. The rolling member 53 is in contact with the inner wall of one side of the rolling track 11. In the case that the rolling track 11 is fixed, the rotating rolling member 53 moves along the extending direction of the rolling track 11, thereby driving the first mobile seat 2 connected with the connecting member 54 to move, so as to realize the movement of the first mobile seat 2 on the fixed seat 1. In addition, when the first driver 51 stops working, the first mobile seat 2 is locked.

[0038] In the embodiment, the second driving assembly 6 comprises a first ball screw 62 driving the second moving base 3 to move and a second driver 61 driving the first ball screw 62 to rotate, the first ball screw 62 is arranged to extend along the second direction, and the first ball screw 62 is connected with the first moving base 2 through a nut sleeve. In operation, the second driver 61 drives the first ball screw 62 to rotate, and the first ball screw 62 drives the second moving base 3 to move linearly along the extension direction of the first ball screw 62 when the first ball screw 62 rotates, so as to realize the accurate movement of the second moving base 3 along the second direction. Meanwhile, when the second driver 61 stops working, the second moving base 3 is locked.

[0039] In the embodiment, in order to limit the movement stroke of the second moving base 3 along the second direction, a limiting piece 63 is arranged on the first ball screw 62, the limiting piece 63 is used to abut against the second moving base 3, and the limiting piece 63 is arranged on the end portion of the first ball screw 62 away from the second driver 61, so that the second moving base 3 has a larger movement stroke along the second direction and cannot be separated from the first ball screw 62, and the stability of the movement of the second moving base 3 along the second direction is ensured.

[0040] In the embodiment, the first moving base 2 is provided with at least one sliding rail 21 extending along the movement direction of the second moving base 3, and the second moving base 3 is provided with at least one sliding piece 31 corresponding to each sliding rail 21, the sliding piece 31 is slidingly connected to the sliding rail 21, and the sliding rail 21 is arranged in a structure extending along the second direction and protruding outward, and the sliding rail 21 is arranged in a structure of a recessed bayonet, that is, a sliding groove 32 is formed on the sliding piece 31, the sliding groove 32 extends along the movement direction of the second moving base 3, the sliding rail 21 is slidingly embedded in the sliding groove 32, and the sliding groove 32 and the sliding rail 21 are slidingly matched to guide the second moving base 3 to move along the second direction, which helps to improve the accuracy of the movement of the second moving base 3.

[0041] In the embodiment, in order to improve the stability of the movement of the second moving base 3, the first moving base 2 is provided with at least one guide piece 22, and a guide hole allowing the guide piece 22 to pass through is formed on the second moving base 3 corresponding to each guide piece 22, and the second moving base 3 is slidingly sleeved on the guide piece 22 and can move along the guide piece 22, and the guide piece 22 extends along the second direction. The guide piece 22 can be cylindrical, rectangular, etc.

[0042] In the embodiment, the third driving assembly is arranged on the second moving seat 3, the third driving assembly comprises a second ball screw 71 driving the moving of the mounting part 4 and a third driver driving the rotation of the second ball screw 71, the second ball screw 71 is arranged along the third direction, the second ball screw 71 is connected with the mounting part 4 through a nut sleeve, in working, the third driver drives the rotation of the second ball screw 71, the rotation of the second ball screw 71 drives the linear motion of the mounting part 4 along the third direction, so that the accurate movement of the mounting part 4 along the third direction is realized, and meanwhile, when the third driver stops working, the second ball screw 71 stops rotating, so that the mounting part 4 is locked. The second driver 61 and the third driver in the embodiment can be step motors.

[0043] Finally, it should be noted that: the above implementation cases are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing implementation cases, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing implementation cases, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the implementation cases of the present application.

Claims

1. A robotic arm mechanism, characterized in that, include: Fixed base (1); The first movable seat (2) is movably disposed on the fixed seat (1) along the first direction; The second movable seat (3) is movably disposed on the first movable seat (2) along the second direction; Mounting part (4) for mounting the robotic arm, the mounting part (4) being movably mounted on the second movable seat (3) along a third direction; The first drive component (5) is used to drive the first movable seat (2) to move or lock in a first direction; The second drive assembly (6) is used to drive the second movable seat (3) to move or lock in the second direction; The third drive component is used to drive the mounting part (4) to move or lock in a third direction.

2. The robotic arm mechanism according to claim 1, characterized in that, The first direction is perpendicular to the second direction, the second direction is perpendicular to the third direction, and the first direction is perpendicular to the third direction.

3. The robotic arm mechanism according to claim 1, characterized in that, The first drive assembly (5) includes a first driver (51), a transmission component (52) driven to rotate by the first driver (51), a rolling component (53) connected to the transmission component (52), and a connecting component (54) disposed on the first driver (51). The fixed seat (1) is provided with a rolling track (11) extending along the moving direction of the first moving seat (2). The rolling component (53) rolls with the rolling track (11). The first moving seat (2) is positioned on the connecting component (54).

4. The robotic arm mechanism according to claim 1, characterized in that, The second drive assembly (6) includes a first ball screw (62) that moves the second movable seat (3) and a second driver (61) that drives the first ball screw (62) to rotate. The first ball screw (62) extends along a second direction.

5. A robotic arm mechanism according to claim 4, characterized in that, The first ball screw (62) is provided with a limiting member (63), which is used to abut against the second movable seat (3) to limit the travel of the second movable seat (3).

6. A robotic arm mechanism according to claim 5, characterized in that, The limiting member (63) is disposed on the end of the first ball screw (62) away from the second driver (61).

7. A robotic arm mechanism according to claim 1, characterized in that, The first movable seat (2) is provided with at least one slide rail (21), the slide rail (21) extends along the moving direction of the second movable seat (3); the second movable seat (3) is provided with at least one slider (31) corresponding to the slide rail (21), the slider (31) is slidably connected to the slide rail (21).

8. A robotic arm mechanism according to claim 7, characterized in that, The sliding member (31) is provided with a sliding groove (32), the sliding groove (32) extends along the moving direction of the second moving seat (3), and the slide rail (21) is slidably embedded in the sliding groove (32).

9. A robotic arm mechanism according to claim 1, characterized in that, The first movable seat (2) is provided with at least one guide (22), and the second movable seat (3) is movably sleeved on the guide (22) and can move along the guide (22). The guide (22) extends along the moving direction of the second movable seat (3).

10. A robotic arm mechanism according to any one of claims 1 to 9, characterized in that, The third drive assembly is disposed on the second movable seat (3). The third drive assembly includes a second ball screw (71) that drives the mounting part (4) to move and a third driver that drives the second ball screw (71) to rotate. The second ball screw (71) extends in a third direction.

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