Mechanical arm and robot

Abstract

The utility model discloses a mechanical arm and a robot. The mechanical arm comprises a first steering engine, a second steering engine, a third steering engine, a first arm part, a second arm part and a working part. One end of the first arm part is rotatably connected to the first steering engine, the first steering engine is used for driving the first arm part to rotate, and the rotating axis is in the first direction. The other end of the first arm part is rotatably connected to the second steering engine, and the rotating axis is parallel to the first direction. One end of the second arm part is connected with the second steering engine, the second steering engine is used for driving the second arm part to rotate, and the rotating axis is parallel to the first direction. And a third steering engine is arranged at the other end of the second arm part. And the working part is rotatably connected to the third steering engine. The three steering engines are connected with the two mechanical arm parts and the working part, by setting the connecting mode, the connecting direction and the working part, vertical arrangement of the arm parts of the mechanical arm and the working part on the working plane is achieved, and the mechanical arm is more flexible.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a mechanical arm and a robot. BACKGROUND

[0002] With the rapid development of modern science and technology, robot technology is applied to various fields of life and production. The mechanical arm is usually applied to the robot, and the specific work is usually completed by the mechanical arm, such as taking and placing objects, carrying, etc. In the mechanical arm of the existing robot, the mechanical arm is usually complex in structure and not flexible in operation. SUMMARY

[0003] The present application aims to provide a mechanical arm and a robot to improve the working flexibility of the robot mechanical arm.

[0004] In a first aspect, the present application provides a mechanical arm, comprising a first steering wheel, a second steering wheel, a third steering wheel, a first arm part, a second arm part and a working part. One end of the first arm part is rotatably connected to the first steering wheel, and the first steering wheel is used to drive the first arm part to rotate, and the rotation axis is along a first direction. The other end of the first arm part is rotatably connected to the second steering wheel, and the rotation axis is parallel to the first direction. One end of the second arm part is connected to the second steering wheel, and the second steering wheel is used to drive the second arm part to rotate, and the rotation axis is parallel to the first direction. The other end of the second arm part is provided with the third steering wheel.

[0005] The working part is rotatably connected to the third steering wheel, and the third steering wheel is used to drive the working part to rotate, and the rotation axis is parallel to a second direction, and the second direction is perpendicular to the first direction.

[0006] In the above scheme, the first steering wheel drives the first arm part to rotate, the second steering wheel drives the first arm part to rotate, and the rotation axis is the first direction. At this time, the second steering wheel drives the second arm part to rotate relative to the first arm part, and the rotation axis is the first direction, so as to realize the adjustment of the working height and angle of the mechanical arm in the direction perpendicular to the first direction. The third steering wheel drives the working part to rotate, and the rotation axis is the second direction, and the second direction is perpendicular to the first direction, so as to adjust the working angle of the working part in the direction perpendicular to the second direction. In this scheme, three steering wheels are connected to two mechanical arm parts and the working part, and the structure is simple. Through the connection of three steering wheels for driving two arm parts, at least three degrees of freedom can be realized, the structure is simple, and the flexibility of the mechanical arm is improved.

[0007] In some embodiments, the working part comprises a motor, a screw rod, a working hand, a guide shaft and a transmission assembly. The transmission assembly is sleeved on the screw rod, and the transmission assembly is in sliding connection with the guide shaft. One end of the screw rod is connected with the motor, and the motor is used to drive the screw rod to rotate, thereby driving the working hand to move along the guide shaft. The transmission assembly comprises a sliding block and a flange nut, and the flange nut is in superposed and fixed connection with the sliding block along the extension direction of the screw rod. The sliding block is provided with a mounting hole, the threaded hole of the flange nut is coaxial with the mounting hole, and the screw rod is arranged in the mounting hole and the threaded hole. The arrangement of the flange nut can not only simplify the installation process and improve the dismounting efficiency, but also enhance the connection between the transmission assembly and the screw rod, and ensure the stability of the screw rod during transmission.

[0008] In some embodiments, the working part further comprises a support, which is rotatably connected to the third steering engine. The third steering engine is used to drive the support to rotate, so that the working part rotates. The support comprises a support plate, a first baffle and a second baffle. The first baffle and the second baffle are oppositely arranged along the extension direction of the screw rod, the support plate is fixedly arranged on the first baffle, and the motor is arranged on the support plate. The second baffle is provided with a first through hole and a second through hole, the guide shaft is connected between the first baffle and the second baffle, the screw rod is arranged in the first through hole, and the working hand is arranged in the second through hole. The arrangement of the support connected to the third steering engine improves the installation efficiency of the working part and enhances the stability of the working part. The support plate provides a mounting point for the motor, and the first baffle and the second baffle make the guide shaft more stable.

[0009] In some embodiments, the working part further comprises a first wear-resistant sleeve and a second wear-resistant sleeve. The first wear-resistant sleeve and the second wear-resistant sleeve are arranged on the second baffle. The first wear-resistant sleeve is provided with a first sleeve hole, and the second wear-resistant sleeve is provided with a second sleeve hole. The first sleeve hole is coaxial with the first through hole, and the second sleeve hole is coaxial with the second through hole. The screw rod is arranged in the first sleeve hole, and the working hand is arranged in the second sleeve hole. The arrangement of the wear-resistant sleeves can reduce the wear of the working hand and the screw rod during work.

[0010] In some embodiments, the first wear-resistant sleeve and the second wear-resistant sleeve are integrally arranged. The integral arrangement of the two wear-resistant sleeves can reduce the installation steps and improve the installation efficiency.

[0011] In some embodiments, the working part further comprises a protective sleeve. The protective sleeve is arranged on the end of the working hand away from the motor. The arrangement of the protective sleeve can reduce the wear of the end of the working hand.

[0012] In some embodiments, the mechanical arm further comprises a mounting portion, the mounting portion comprising a base and a mounting frame. The base comprises a bottom plate and a mounting side plate, the bottom plate being connected with the mounting side plate, the mounting side plate being used for connecting with an external device. The mounting frame comprises a first side plate and a second side plate, the first side plate and the second side plate being oppositely arranged along the first direction, the mounting frame being fixedly connected with the bottom plate, and the first steering engine being fixedly connected with the mounting frame. The mounting portion is added to facilitate the mounting and dismounting of the mechanical arm, thereby improving the mounting efficiency. The mounting side plate of the mounting portion is connected with the external device, and can be applied to different external devices. The first steering engine is connected with the mounting frame, thereby improving the stability of the first steering engine.

[0013] In some embodiments, the number of the first steering engines is at least two, at least two of the first steering engines being arranged side by side along the first direction, and at least two of the first steering engines being arranged between the first side plate and the second side plate, at least one of the first steering engines being fixed with the first side plate, and at least one of the first steering engines being fixed with the second side plate. The plurality of steering engines arranged side by side can not only enhance the power and torque output, but also provide the precision and flexibility of controlling the mechanical arm.

[0014] In some embodiments, the second arm portion comprises a first sub-arm and a second sub-arm connected with each other. The first sub-arm comprises a first mounting surface, and the first steering engine is arranged on the first mounting surface. The second sub-arm comprises a second mounting surface, and the second steering engine is arranged on the second mounting surface. The first mounting surface and the second mounting surface are perpendicular to each other. The first mounting surface and the second mounting surface arranged on the second arm portion and perpendicular to each other facilitate the mounting of the second steering engine and the third steering engine, and facilitate the perpendicular arrangement of the working portion, the first arm portion and the second arm portion in the movement plane, thereby improving the flexibility of the movement of the mechanical arm.

[0015] In a second aspect, the present application further provides a robot comprising the mechanical arm according to any one of the embodiments of the first aspect.

[0016] Additional aspects and advantages of the embodiments of the present application will be described in part in the subsequent description, shown in part in the subsequent description, or be understood from the embodiments of the present application BRIEF DESCRIPTION OF DRAWINGS

[0017] One or more embodiments are illustrated by way of example in the accompanying drawings, which are not configured to limit the embodiments, and elements with the same reference numerals in the drawings represent similar elements.

[0018] Figure 1 The overall structure of the mechanical arm of some embodiments of the present application is shown in the accompanying drawings.

[0019] Figure 2 Front view of the mechanical arm for some embodiments of the present application;

[0020] Figure 3 Side view of the mechanical arm for some embodiments of the present application;

[0021] Figure 4 Exploded view of the working part for some embodiments of the present application;

[0022] Figure 5 Exploded view of the mounting part for some embodiments of the present application;

[0023] Figure 6 Structural schematic view of the second arm part for some embodiments of the present application.

[0024] Explanation of reference signs:

[0025] 1. First steering engine;

[0026] 2. First arm part;

[0027] 3. Second steering engine;

[0028] 4. Second arm part; 41. First sub-arm; 411. First mounting surface; 42. Second sub-arm; 421. Second mounting surface;

[0029] 5. Third steering engine;

[0030] 6. Working part; 61. Motor; 62. Screw rod; 63. Guide shaft; 64. Transmission assembly; 641. Slide block; 642. Flange nut; 65. Working hand; 66. Bracket; 661. First baffle; 662. Second baffle; 6621. First through hole; 6622. Second through hole; 663. Support plate; 67. First wear-resistant sleeve; 671. First sleeve hole; 68. Second wear-resistant sleeve; 681. Second sleeve hole; 69. Protective sleeve;

[0031] 7. Mounting part; 71. Base; 711. Bottom plate; 712. Mounting side plate; 72. Mounting frame; 721. First side plate; 722. Second side plate. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical scheme and advantages of the embodiments of the present application more clear, the technical scheme of the embodiments of the present application will be described clearly below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, but not all the embodiments of the present application.

[0033] The term "embodiment" mentioned in the present application means that the specific features, structures or characteristics described in combination with the embodiment can be contained in at least one embodiment of the present application. The appearance of this phrase at various places in the specification does not necessarily mean the same embodiment, nor is it an independent or alternative embodiment that is not mutually exclusive with other embodiments.

[0034] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise explicitly and specifically limited.

[0035] The technical features involved in different embodiments of the present application described below can be combined with each other as long as there is no conflict between them.

[0036] In a first aspect, the present application provides a mechanical arm, please refer to Figure 1 , comprising a first steering wheel 1, a second steering wheel 3, a third steering wheel 5, a first arm 2, a second arm 4 and a working part 6.

[0037] Specifically, one end of the first arm 2 is rotatably connected to the first steering wheel 1, and the first steering wheel 1 is used to drive the first arm 2 to rotate, and the rotation axis is along the first direction. The other end of the first arm 2 is rotatably connected to the second steering wheel 3, and the rotation axis is parallel to the first direction. One end of the second arm 4 is connected to the second steering wheel 3, and the second steering wheel 3 is used to drive the second arm 4 to rotate, and the rotation axis is parallel to the first direction. The other end of the second arm 4 is provided with the third steering wheel 5. It can be understood that in the above setting, the rotation of the second arm 4 is realized by the rotation of the second steering wheel 3 relative to the first arm 2, thereby driving the second arm 4 to rotate, and the rotation of the second arm 4 is synchronized with the second steering wheel 3. In addition, the rotation of the second arm 4 can also be realized by other setting methods, such as rotatably connecting the second arm 4 to the second steering wheel 3, which can realize the rotation of the second arm 4 independent of the second steering wheel 3.

[0038] The working part 6 is rotatably connected to the third steering wheel 5, and the third steering wheel 5 is used to drive the working part 6 to rotate, and the rotation axis is parallel to the second direction, and the second direction is perpendicular to the first direction. Specifically, please refer to Figure 4 , the working part 6 includes a motor 61, a lead screw 62, a working hand 65, a guide shaft 63 and a transmission assembly 64. The transmission assembly 64 is sleeved on the lead screw 62, and the transmission assembly 64 is slidably connected with the guide shaft 63. One end of the lead screw 62 is connected with the motor 61, and the motor 61 is used to drive the lead screw 62 to rotate, thereby driving the working hand 65 to move along the guide shaft 63. It can be understood that the above working hand 65 can be in different states, such as a claw-shaped working hand 65, which can be used for grabbing work. For example, a rod-shaped working hand 65 can be used for pressing work.

[0039] In the above scheme, the first steering engine 1 drives the first arm part 2 to rotate, the second steering engine 3 drives the first arm part 2 to rotate, and the rotation axis is the first direction. At this time, the second steering engine 3 drives the second arm part 4 to rotate relative to the first arm part 2, and the rotation axis is the first direction, so as to realize the working height and angle adjustment of the mechanical arm in the direction perpendicular to the first direction. The third steering engine 5 drives the working part 6 to rotate, and the rotation axis is the second direction, which is perpendicular to the first direction, so as to adjust the working angle of the working part 6 in the direction perpendicular to the second direction. The motor 61 drives the screw rod 62 to rotate, and the screw rod 62 drives the working hand 65 to move along the guide shaft 63 through the transmission assembly 64, so as to realize the extension and retraction movement of the working hand 65. The three steering engines connect the two mechanical arm parts and the working part, and the structure is simple. The two arm parts are connected through the three steering engines for driving, which can realize at least three degrees of freedom movement, and the structure is simple. The working part adopts the screw rod transmission structure, realizes the extension and retraction movement of the working part, and further realizes the multi-directional movement of the mechanical arm, and improves the flexibility of the mechanical arm.

[0040] In some embodiments, please refer to Figure 4 The transmission assembly 64 includes a sliding block 641 and a flange nut 642, and the flange nut 642 is stacked and fixedly connected with the sliding block 641 along the extension direction of the screw rod. The sliding block 641 is provided with a mounting hole (not shown in the figure), and the threaded hole of the flange nut 642 is coaxial with the mounting hole, and the screw rod 62 is arranged in the mounting hole and the threaded hole. The flange nut 642 can not only simplify the installation process and improve the dismounting efficiency, but also can enhance the connection between the transmission assembly 64 and the screw rod 62, and ensure the stability of the screw rod 62 during transmission.

[0041] In some embodiments, please refer to Figure 4 The working part 6 further includes a support 66, and the support 66 is rotatably connected to the third steering engine 5; the third steering engine 5 is used for driving the support 66 to rotate, so that the working part 6 rotates. Please refer to Figure 4The support 66 includes a support plate 663, a first baffle plate 661, and a second baffle plate 662. The first baffle plate 661 and the second baffle plate 662 are oppositely arranged along the extension direction of the lead screw 62, the support plate 663 is fixedly arranged on the first baffle plate 661, and the motor 61 is arranged on the support plate 663. The second baffle plate 662 is provided with a first through hole 6621 and a second through hole 6622, the guide shaft 63 is connected between the first baffle plate 661 and the second baffle plate 662, the lead screw 62 is arranged in the first through hole 6621, and the work hand 65 is arranged in the second through hole 6622. The support 66 is additionally arranged on the third steering engine 5, the mounting efficiency of the work part 6 is improved, and the stability of the work part 6 is improved. The support plate 663 provides a mounting point for the motor 61, and the first baffle plate 661 and the second baffle plate 662 make the guide shaft 63 more stable. It can be understood that the support 66 can also be additionally provided with a side plate, the side plate is connected with the first baffle plate 661 and the second baffle plate 662, and the stability can be further improved.

[0042] In some embodiments, referring to Figure 4 The work part 6 further includes a first wear-resistant sleeve 67 and a second wear-resistant sleeve 68. The first wear-resistant sleeve 67 and the second wear-resistant sleeve 68 are arranged on the second baffle plate 662. The first wear-resistant sleeve 67 is provided with a first sleeve hole 671, and the second wear-resistant sleeve 68 is provided with a second sleeve hole 681. The first sleeve hole 671 is coaxial with the first through hole 6621, and the second sleeve hole 681 is coaxial with the second through hole 6622. The lead screw 62 is arranged in the first sleeve hole 671. The work hand 65 is arranged in the second sleeve hole 681. The wear-resistant sleeve can reduce the wear of the work hand 65 and the lead screw 62 during work, and the wear-resistant sleeve is made of a material with wear resistance, such as rubber.

[0043] In some embodiments, the first wear-resistant sleeve 67 and the second wear-resistant sleeve 68 are integrally arranged. The two wear-resistant sleeves are integrally arranged, which can reduce the installation steps and improve the installation efficiency.

[0044] In some embodiments, referring to Figure 4 The work part 6 further includes a protective sleeve 69. The protective sleeve 69 is arranged on the end of the work hand 65 away from the motor 61. The protective sleeve 69 can reduce the wear of the working end of the work hand 65, and the protective sleeve 69 can be made of rubber material.

[0045] In some embodiments, referring to Figure 5The mechanical arm further comprises a mounting portion 7, which comprises a base 71 and a mounting frame 72. The base 71 comprises a bottom plate 711 and a mounting side plate 712, the bottom plate 711 is connected with the mounting side plate 712, and the mounting side plate 712 is used for connecting with external equipment. The mounting frame 72 comprises a first side plate 721 and a second side plate, which are oppositely arranged along a first direction, and the mounting frame 72 is fixedly connected to the bottom plate 711, and the first steering wheel 1 is fixedly connected to the mounting frame 72. The additional mounting portion 7 facilitates the mounting and dismounting of the mechanical arm, and improves the mounting efficiency. The mounting side plate 712 of the mounting portion 7 is connected with external equipment, which can be suitable for different external equipment, such as robot equipment. The first steering wheel 1 connected to the mounting frame 72 can improve the stability of the first steering wheel 1.

[0046] In some embodiments, the number of first steering wheels 1 is at least two, at least two first steering wheels 1 are arranged side by side along the first direction, and at least two first steering wheels 1 are arranged between the first side plate 721 and the second side plate, at least one first steering wheel 1 is fixed with the first side plate 721, and at least one first steering wheel 1 is fixed with the second side plate. Arranging multiple steering wheels side by side not only can enhance the power and torque output, but also can provide the precision and flexibility of controlling the mechanical arm.

[0047] In some embodiments, please refer to Figure 6 The second arm portion 4 comprises a first sub-arm 41 and a second sub-arm 42 connected with each other. The first sub-arm 41 comprises a first mounting surface 411, and the first steering wheel 1 is arranged on the first mounting surface 411. The second sub-arm 42 comprises a second mounting surface 421, and the second steering wheel 3 is arranged on the second mounting surface 421. The first mounting surface 411 and the second mounting surface 421 are perpendicular to each other. Arranging the first mounting surface 411 and the second mounting surface 421 perpendicular to each other on the second arm portion 4 is more convenient for mounting the second steering wheel 3 and the third steering wheel 5, and also more conveniently realizes the perpendicular arrangement of the working portion 6 with the movement planes of the first arm portion 2 and the second arm portion 4.

[0048] Taking the robot implementation of pressing switch operation as an example, the mechanical arm is arranged on the side of the robot. After the robot reaches the specified position, the first steering wheel drives the first arm portion to rotate, so as to adjust the first arm portion to the specified height and position. Then, the second steering wheel drives the first arm portion to rotate, so as to compensate the position of the first arm portion. At this time, the second steering wheel drives the second arm portion to rotate relative to the first arm portion, so that the working portion reaches the switch position. At this time, the motor drives the lead screw transmission, and the lead screw drives the working hand to make extension and retraction movement along the guide shaft through the transmission assembly, so as to complete the pressing operation of the working hand on the switch button or the elevator button. When the plane where the switch button is located is not parallel to the planes where the first arm portion and the second arm portion are located, the third steering wheel can drive the working portion to rotate, so as to compensate the angle of the working hand, so that the working hand accurately implements the pressing operation.

[0049] In a second aspect, the application provides a robot comprising the robotic arm of any of the first aspect.

[0050] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit the same; under the idea of the present application, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes of different aspects of the present application as described above, which are not provided in detail for simplicity; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features therein can be replaced by equivalents; 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 embodiments of the present application.

Claims

1. A robot arm, characterized in that, The mechanical arm comprises a first steering engine, a second steering engine, a third steering engine, a first arm part, a second arm part and a working part. One end of the first arm part is rotatably connected to the first steering engine, and the first steering engine is used to drive the first arm part to rotate, and the rotation axis is along a first direction. The other end of the first arm part is rotatably connected to the second steering engine, and the rotation axis is parallel to the first direction. One end of the second arm part is connected to the second steering engine, and the second steering engine is used to drive the second arm part to rotate, and the rotation axis is parallel to the first direction.

2. The robot arm of claim 1, wherein, The other end of the second arm part is provided with the third steering engine. The working part is rotatably connected to the third steering engine, and the third steering engine is used to drive the working part to rotate, and the rotation axis is parallel to a second direction, and the second direction is perpendicular to the first direction. The working part comprises a motor, a screw rod, a working hand, a guide shaft and a transmission assembly.

3. The robot arm of claim 2, wherein, The transmission assembly is sleeved on the screw rod, and the transmission assembly is slidably connected with the guide shaft. One end of the screw rod is connected with the motor, and the motor is used to drive the screw rod to rotate, thereby driving the working hand to move along the guide shaft. The transmission assembly comprises a sliding block and a flange nut. Along the extension direction of the screw rod, the flange nut and the sliding block are stacked and fixedly connected. The sliding block is provided with a mounting hole, and the threaded hole of the flange nut is coaxial with the mounting hole. The screw rod is arranged in the mounting hole and the threaded hole. The working part further comprises a support, and the support is rotatably connected to the third steering engine.

5. The robot arm of claim 4, wherein, The third steering engine is used to drive the support to rotate, so that the working part rotates.

6. The robotic arm of claim 2, wherein, The support comprises a support plate, a first baffle and a second baffle.

7. The robotic arm of claim 1, wherein, Along the extension direction of the screw rod, the first baffle and the second baffle are oppositely arranged, the support plate is fixedly arranged on the first baffle, and the motor is arranged on the support plate. The second baffle is provided with a first through hole and a second through hole. The guide shaft is connected between the first baffle and the second baffle, the screw rod is arranged in the first through hole, and the working hand is arranged in the second through hole.

4. The mechanical arm according to claim 3, wherein The working part further comprises a first wear-resistant sleeve and a second wear-resistant sleeve. The first wear-resistant sleeve is provided with a first sleeve hole, and the second wear-resistant sleeve is provided with a second sleeve hole. The first sleeve hole is coaxial with the first through hole, and the second sleeve hole is coaxial with the second through hole. The screw rod is arranged in the first sleeve hole, and the working hand is arranged in the second sleeve hole. The first wear-resistant sleeve and the second wear-resistant sleeve are integrally arranged. The working part further comprises a protective sleeve. The protective sleeve is arranged at one end of the working hand away from the motor. The installation part comprises a base and a mounting rack. The base comprises a bottom plate and a mounting side plate. The mounting side plate is used to be connected with external equipment. The mounting rack comprises a first mounting plate and a second mounting plate. The first mounting plate is connected with the second mounting plate. The mounting frame comprises a first side plate and a second side plate, the first side plate and the second side plate are oppositely arranged along the first direction, the mounting frame is fixedly connected to the bottom plate, and the first steering engine is fixedly connected to the mounting frame.

8. The mechanical arm according to claim 7, characterized in that, The number of the first steering engines is at least two, at least two first steering engines are arranged side by side along the first direction, and at least two first steering engines are arranged between the first side plate and the second side plate, at least one first steering engine is fixed to the first side plate, and at least one first steering engine is fixed to the second side plate.

9. The robotic arm of claim 1, wherein, The second arm part comprises a first sub-arm and a second sub-arm connected to each other; The first sub-arm comprises a first mounting surface, and the first steering engine is arranged on the first mounting surface; The second sub-arm comprises a second mounting surface, and the second steering engine is arranged on the second mounting surface, The first mounting surface and the second mounting surface are perpendicular to each other.

10. A robot, characterized in that The mechanical arm comprises any one of the above claims 1 to 9.

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