Mechanical arm structure

Abstract

The utility model discloses a mechanical arm structure, which comprises a guide seat, the first moving seat is movably connected with the guide seat and is movably arranged on the guide seat along a first direction; the mounting part is used for mounting a mechanical arm, and the mounting part is movably arranged on the second moving seat in the second direction; the first driving assembly is used for driving the first moving seat to move in the first direction and / or rotate along the axis of the first moving seat; and the second driving assembly is used for driving the mounting part to move or be locked in the second direction. The mechanical arm has the beneficial effects that the operation flexibility and the space utilization rate of the mechanical arm can be improved.

Description

Technical Field

[0001] This utility model relates to the field of mechanical equipment, and in particular to a robotic arm structure. Background Technology

[0002] A robotic arm is a complex system characterized by high precision, multiple inputs and multiple outputs, high nonlinearity, and strong coupling. Due to its unique operational flexibility, it has been widely used in fields such as industrial assembly, medical treatment, and safety and explosion protection.

[0003] Typically, in order to increase the working area that a robotic arm can cover, guide rails are used to enable the robotic arm to reciprocate in different directions. However, the degree of freedom of movement of a guide rail robotic arm is limited by the direction in which the guide rails are laid, which makes the range of motion of the robotic arm relatively limited. Utility Model Content

[0004] The purpose of this invention is to provide a robotic arm structure that can improve the operational flexibility and space utilization of the robotic arm.

[0005] This utility model is achieved through the following technical solution.

[0006] A robotic arm structure, comprising:

[0007] Guide seat;

[0008] A first movable seat is movably connected to the guide seat and is movably disposed on the guide seat along a first direction;

[0009] A mounting part is used to mount a robotic arm, and the mounting part is movably disposed on the first movable seat along a second direction;

[0010] A first drive assembly is used to drive the first movable seat to move along a first direction and / or rotate along its axis;

[0011] The second drive component is used to drive the mounting part to move or lock in a second direction.

[0012] As a further improvement of this utility model, the first drive assembly includes a dual-head motor, a first rotating shaft and a second rotating shaft driven to rotate by the first dual-head motor, a rolling element that is connected to the first rotating shaft, and a first connecting element that is connected to the second rotating shaft. The guide seat is provided with a rolling track extending along the moving direction of the first moving seat. The rolling element and the rolling track are in rolling cooperation. The first moving seat is positioned on the first connecting element.

[0013] As a further improvement of this utility model, the dual-head motor is provided with a counterweight.

[0014] As a further improvement of this utility model, a second connecting member is provided at one end of the first movable seat near the first connecting member, and the first connecting member and the second connecting member are detachably connected.

[0015] As a further improvement of this utility model, the second drive assembly includes a ball screw that moves the mounting portion and a driver that drives the ball screw to rotate, wherein the ball screw extends along a second direction.

[0016] As a further improvement of this utility model, the ball screw is provided with a limiting member, which is used to abut against the mounting part to limit the movement stroke of the mounting part.

[0017] As a further improvement of this utility model, a second movable seat is provided between the mounting part and the first movable seat, and a third driving component is provided on the second movable seat for driving the mounting part to move in a third direction.

[0018] As a further improvement of this utility model, the second direction is perpendicular to the third direction.

[0019] As a further improvement of this utility model, a guide structure is provided between the first movable seat and the second movable seat. The guide structure includes a first guide member disposed on the first movable seat and a second guide member movably connected to the first guide member and movable along the first guide member. The first guide member extends along a second direction, and the second movable seat is connected to the second guide member.

[0020] As a further improvement of this utility model, the first guide member and the second guide member are slidably coupled.

[0021] The beneficial effects of this utility model are:

[0022] 1. The operator can not only adjust the position of the robotic arm in the first and second directions through the first and second drive components, but also drive the robotic arm to rotate around the axis of the first moving seat through the first drive component, which significantly improves the operational flexibility and space utilization of the robotic arm.

[0023] 2. A counterweight is provided on the end of the dual-head motor or the first moving seat near the dual-head motor to prevent the first moving seat from being subjected to excessive force when the mounting part moves away from the guide seat, thus affecting the stability of the structure. Attached Figure Description

[0024] The preferred embodiments of this utility model will be described in detail below with reference to the accompanying drawings to help understand the purpose and advantages of this utility model, wherein:

[0025] Figure 1This is a schematic diagram of the structure of a robotic arm according to the present invention;

[0026] Figure 2 This is a schematic diagram of the structure of the first drive component, the second drive component, and the first movable base;

[0027] Figure 3 for Figure 2 Enlarged structural diagram of section A;

[0028] Figure 4 This is a schematic diagram of the second movable seat. Detailed Implementation

[0029] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0030] The directional terms such as up, down, left, right, front, back, front, back, top, and bottom mentioned or possibly used in this specification are defined relative to the construction shown in the accompanying drawings. The terms "inner" and "outer" refer to directions toward or away from the geometric center of a specific component, respectively. These are relative concepts and may therefore vary depending on their location and usage. Therefore, these or other directional terms should not be interpreted as restrictive.

[0031] This embodiment provides a robotic arm structure, referring to... Figures 1-4 The system includes a guide seat 1, a first movable seat 2, a mounting part 3, a first drive assembly 4, and a second drive assembly 5. The first movable seat 2 is movably disposed on the guide seat 1 along a first direction. The mounting part 3 is used to mount the robotic arm and is movably disposed on the first movable seat 2 along a second direction. The first drive assembly 4 is used to drive the first movable seat 2 to move along the first direction and / or rotate along its axis. The second drive assembly 5 is used to drive the mounting part 3 to move along the second direction or lock it.

[0032] In this embodiment, the operator can adjust the position of the robotic arm in the first direction and the second direction through the first drive component 4 and the second drive component 5. At the same time, the operator can also drive the robotic arm to rotate around the first moving seat 2 through the first drive component 4, which significantly improves the operational flexibility and space utilization of the robotic arm.

[0033] In this embodiment, it should be noted that the first direction is perpendicular to the second direction. Here, the first direction is the front-back direction of the structure, and the second direction is the up-down direction of the structure. Therefore, the positions of the robotic arm in the front-back direction and the up-down direction can be controlled by the first drive component 4, the second drive component 5, and the third drive component 9, respectively.

[0034] In this embodiment, the first drive assembly 4 includes a dual-head motor 41, a first rotating shaft 42 and a second rotating shaft 43 driven by the first dual-head motor 41, a rolling element 44 connected to the first rotating shaft 42, and a first connecting element 45 connected to the second rotating shaft 43. The guide seat 1 is provided with a rolling track 11 extending along the moving direction of the first movable seat 2. The rolling element 44 rolls with the rolling track 11. The first movable seat 2 is positioned on the first connecting element 45. The rolling track 11 is used to limit and guide the moving path of the rolling element 44. The rolling element 44 is a roller. Therefore, when the dual-head motor 41 drives the first rotating shaft 42 to rotate, the rolling element 44 connected to the first rotating shaft 42 rotates accordingly. The rolling element 44 contacts one side of the inner wall of the rolling track 11. When the rolling track 11 is fixed, the rolling element 44 moves along the extending direction of the rolling track 11, thereby driving the first movable seat 2 connected to the first connecting element to move accordingly, realizing the movement of the first movable seat 2 on the guide seat 1. When the dual-head motor 41 drives the second rotating shaft 43 to rotate, it drives the first connecting piece 45, which is connected to the second rotating shaft 43, to rotate, thereby driving the first movable seat 2 to rotate.

[0035] In this embodiment, in order to improve the balance and stability of the structure, a counterweight 6 is provided on the end of the dual-head motor 41 or the first moving seat 2 near the dual-head motor 41, which can prevent the first moving seat 2 from being subjected to excessive force when the mounting part 3 moves away from the guide seat 1, thus affecting the stability of the structure.

[0036] In this embodiment, the first movable base 2 is provided with a second connector 21 at one end near the first connector 45. The first connector 45 and the second connector 21 are detachably connected and can be connected by bolts, which facilitates the installation and maintenance of the first movable base 2.

[0037] In this embodiment, the second drive assembly 5 includes a ball screw 52 that moves the mounting part 3 and a driver 51 that drives the ball screw 52 to rotate. The ball screw 52 extends along the second direction and is connected to the mounting part 3 by a nut sleeve. The driver 51 can be a motor. When the driver 51 is working, it drives the ball screw 52 to rotate. When the ball screw 52 rotates, it drives the mounting part 3 to move linearly along the extension direction of the ball screw 52, ​​thereby realizing accurate movement of the mounting part 3 in the second direction. When the driver 51 stops working, the ball screw 52 stops rotating, thereby locking the position of the mounting part 3.

[0038] In this embodiment, in order to limit the travel of the mounting part 3 in the second direction, a limiting member 53 is provided on the ball screw 52. The limiting member 53 is used to abut against the mounting part 3. Furthermore, the limiting member 53 is provided on the end of the ball screw 52 away from the driver 51, so that the mounting part 3 has a large travel in the second direction and cannot be disengaged from the ball screw 52, ​​thus ensuring the stability of the mounting part 3 moving in the second direction.

[0039] In this embodiment, to improve the spatial coverage of the robotic arm, a second movable seat 7 is provided between the mounting part 3 and the first movable seat 2. A third drive assembly 9 is provided on the second movable seat 7 to drive the mounting part 3 to move in a third direction. This third drive assembly 9 can be a motor lead screw structure. Furthermore, the second direction is perpendicular to the third direction, further improving the spatial coverage of the robotic arm.

[0040] In this embodiment, in order to improve the accuracy and stability of the movement of the second movable seat 7 on the first movable seat 2, a guide structure is provided between the first movable seat 2 and the second movable seat 7. The guide structure includes a first guide member 81 disposed on the first movable seat 2 and a second guide member 82 movably connected to the first guide member 81 and movable along the first guide member 81. The first guide member 81 extends along the second direction, and the second movable seat 7 is connected to the second guide member 82.

[0041] In this embodiment, the first guide member 81 and the second guide member 82 can be slidably coupled. Specifically, the first guide member 81 is a slide rail that extends along the moving direction of the second movable seat. The second guide member is a sliding member that is slidably connected to the slide rail. The slide rail is designed to extend along the second direction and protrude outwards, and it is also designed to have an inwardly recessed locking structure. A groove is formed on the sliding member that extends along the moving direction of the second movable seat 7. The slide rail is slidably embedded in the groove. The sliding engagement structure of the groove and the slide rail is used to guide the second movable seat 7 to move along the second direction, which helps to improve the accuracy of the movement of the second movable seat 7.

[0042] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent substitutions for some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A robotic arm structure, characterized in that, include: Guide seat (1); The first movable seat (2) is movably connected to the guide seat (1) and is movably disposed on the guide seat (1) along the first direction; Mounting part (3) is used to mount the robotic arm. The mounting part (3) is movably mounted on the first movable seat (2) in the second direction. A first drive assembly (4) is used to drive the first movable seat (2) to move in a first direction and / or rotate along its axis; The second drive assembly (5) is used to drive the mounting part (3) to move or lock in the second direction.

2. The robot arm structure according to claim 1, characterized in that The first drive assembly (4) includes a dual-head motor (41), a first rotating shaft (42) and a second rotating shaft (43) driven to rotate by the first dual-head motor (41), a rolling element (44) connected to the first rotating shaft (42) and a first connecting element (45) connected to the second rotating shaft (43). The guide seat (1) is provided with a rolling track (11) extending along the moving direction of the first moving seat (2). The rolling element (44) rolls with the rolling track (11). The first moving seat (2) is positioned on the first connecting element (45).

3. The robot arm structure according to claim 2, characterized in that The dual-head motor (41) is equipped with a counterweight (6).

4. The robotic arm structure of claim 2, wherein, The first movable seat (2) has a second connector (21) at one end near the first connector (45), and the first connector (45) and the second connector (21) are detachably connected.

5. The robotic arm structure of claim 1, wherein, The second drive assembly (5) includes a ball screw (52) that moves the mounting part (3) and a driver (51) that drives the ball screw (52) to rotate, the ball screw (52) extending along a second direction.

6. The robotic arm structure of claim 5, wherein, The ball screw (52) is provided with a limiting member (53), which is used to abut against the mounting part (3) to limit the travel of the mounting part (3).

7. The mechanical arm structure according to claim 1, wherein A second movable seat (7) is provided between the mounting part (3) and the first movable seat (2), and a third drive assembly (9) is provided on the second movable seat (7) for driving the mounting part (3) to move in a third direction.

8. The robotic arm structure of claim 7, wherein, The second direction is perpendicular to the third direction.

9. A robot arm structure according to claim 7 or 8, characterized in that, A guide structure is provided between the first movable seat (2) and the second movable seat (7). The guide structure includes a first guide member (81) disposed on the first movable seat (2) and a second guide member (82) movably connected to the first guide member (81) and movable along the first guide member (81). The first guide member (81) extends along a second direction, and the second movable seat (7) is connected to the second guide member (82).

10. The robotic arm structure of claim 9, wherein, The first guide (81) and the second guide (82) are in sliding engagement.

Images