Inward folding storage type mechanical arm

Abstract

The utility model relates to the field of mechanical arms, in particular to an inward folding storage type mechanical arm which comprises a base, a supporting stand column is arranged on the base, a rotating seat is connected to the supporting stand column, a rotatable first swing arm is hinged to the rotating seat, a first steering engine is arranged on the rotating seat, one end of the first swing arm is hinged to a rotatable second swing arm, and the other end of the first swing arm is hinged to a second steering engine. A first containing groove is formed in the first swing arm through bending, a second steering engine which is used for driving the second swing arm to rotate and can be folded inwards to be contained in the first containing groove is connected to the end of the first swing arm, a rotatable third swing arm is hinged to the end of the second swing arm, and a second containing groove is formed in the second swing arm through bending. The end of the second swing arm is connected with a third steering engine which is used for driving the third swing arm to rotate and can be folded inwards to be contained in the second containing groove, and the second swing arm and the third swing arm are folded inwards to be contained in the first containing groove and the second containing groove respectively, so that the occupied space and the size of the mechanical arm in the non-working state are reduced.

Description

Technical Field

[0001] This utility model relates to the field of robotic arms, specifically to an inwardly folding and retractable robotic arm. Background Technology

[0002] Six-axis robotic arms, as core components of modern industrial automation and robotics technology, have a wide range of applications due to their flexible movement in six independent directions and high adaptability. These applications include, but are not limited to, manufacturing, healthcare, and food service. In manufacturing, six-axis robotic arms can automate tasks such as material handling, assembly, painting, and cutting. In the medical field, doctors can perform precise surgeries by manipulating six-axis robotic arms. Furthermore, with technological advancements, existing six-axis robotic arms are also being used in the coffee and beverage industry, further expanding their application scenarios.

[0003] Most existing robotic arms adopt a multi-joint serial structure design, while the existing six-axis robotic arm includes a rotary axis, lower arm, upper arm, wrist rotation, wrist swing and wrist rotation, and has the characteristics of high flexibility, high precision and high load capacity.

[0004] However, despite the significant advantages that six-axis robotic arms have shown in many fields, existing robotic arms still have some shortcomings that urgently need to be addressed: In non-working states, traditional robotic arms, due to their large size and fixed structure, often require a large amount of storage space, making them difficult to fold and store, thus affecting practical use. Existing robotic arms can solve the space occupation problem through simple joint folding, but the folding method of existing robotic arms is limited, and the volume occupied after folding is still relatively large, which is not conducive to storage and use. Utility Model Content

[0005] The purpose of this invention is to address the above-mentioned shortcomings by providing an inwardly folding and retractable robotic arm. This addresses the technical problem in the background art where the robotic arm occupies a large storage space when not in operation, making it difficult to fold and store, and thus reducing its volume and space requirements.

[0006] The objective of this utility model is achieved through the following means:

[0007] A retractable robotic arm includes a base with a support column on the base. A rotatable rotating seat is connected to the support column via a bearing plate. The rotating seat is driven to rotate by a servo motor on the support column. A rotatable first swing arm is hinged to the rotating seat, and a first servo motor for driving the first swing arm to rotate is provided on the rotating seat. A rotatable second swing arm is hinged to the end of the first swing arm away from the rotating seat. A first receiving groove for receiving the second swing arm is formed by bending on the first swing arm. A groove for driving the second swing arm to rotate and retracting into the first servo motor is connected to the end of the first swing arm near the second swing arm. The second servo motor is housed in a receiving slot. A rotatable third servo arm is hinged to the end of the second swing arm away from the first swing arm. A second receiving slot for housing the third swing arm is formed by bending on the second swing arm. A third servo motor for driving the third swing arm to rotate and can be folded inward and housed in the second receiving slot is connected to the end of the second swing arm near the third swing arm. A fourth swing arm is hinged to the end of the third swing arm away from the second swing arm. A fourth servo motor for driving the fourth swing arm to rotate is connected to the third swing arm. A gripper is connected to the end of the fourth swing arm away from the third swing arm through a rotating servo motor. A gripping servo motor for driving the gripper to open and close is connected to the gripper.

[0008] Furthermore, as described above, a first connecting block is connected to the inner side of the first swing arm near the rotating seat, and the output end of the first servo motor is connected to the first connecting block, so that the first servo motor can drive the first swing arm to rotate.

[0009] The first servo motor output is connected to the first swing arm via a first connecting block, simplifying the transmission structure. The first servo motor drives the first swing arm, making its rotation more precise and reliable, while also facilitating its installation and maintenance.

[0010] Furthermore, as described above, the first swing arm has first stop edges formed by bending on both sides, and a first limiting plate is provided on the first swing arm. The inner distance between the two first stop edges is greater than the width of the second swing arm.

[0011] The first guard edge is formed on both sides of the first swing arm through a bending process. The design of the inner distance of the first guard edge being greater than the width of the second swing arm avoids interference between the inner wall of the second swing arm and the inner wall of the first swing arm during storage, ensuring that the second swing arm is folded inward and stored between the first guard edges, improving the storage effect and reducing the space occupied.

[0012] Furthermore, as described above, a second connecting block is connected to the inner side of the second swing arm near the first swing arm, and the output end of the second servo motor is connected to the second connecting block, so that the second servo motor can drive the second swing arm to rotate.

[0013] Placing the second servo motor within the first receiving slot reduces the external volume of the robotic arm. This protects the second servo motor from external impacts and allows the first and second swing arms to form a compact, integrated structure when folded, solving the problem of traditional robotic arms still being too bulky after storage due to exposed servos.

[0014] Furthermore, as described above, the second swing arm has second stops formed by bending on both sides, and a second limiting plate is provided on the second swing arm. The inner distance between the two second stops is greater than the width of the third swing arm.

[0015] The design that the inner spacing of the second guard is greater than the width of the third swing arm avoids interference between the inner walls of the third swing arm and the second swing arm during storage, ensuring that the third swing arm is folded inward and stored between the first guard, improving the collaborative storage effect of the multi-segment swing arms and reducing the space occupied.

[0016] Furthermore, as described above, a third connecting block is connected to the inner side of the third swing arm near the second swing arm, and the output end of the third servo motor is connected to the third connecting block, so that the third servo motor can drive the third swing arm to rotate.

[0017] The third servo is placed in the second receiving slot, so that the second and third swing arms form a flat structure without protruding parts after folding, reducing the storage volume of the robotic arm, and the hidden layout enhances the protection of the servo, avoiding accidental damage in complex environments.

[0018] Furthermore, as described above, the fourth swing arm is connected to a fourth connecting block near the inner side of the third swing arm, and the output end of the fourth servo motor is connected to the fourth connecting block, so that the fourth servo motor can drive the fourth swing arm to rotate.

[0019] Optionally, the first, second, third, and fourth connecting blocks rigidly connect each swing arm to the corresponding servo motor output end, forming a stable torque transmission path. This direct connection method reduces the number of transmission components, improves drive efficiency, and the modular design facilitates independent replacement and maintenance of the servo motor, reducing maintenance costs.

[0020] Furthermore, as described above, the second servo is disposed in the first receiving slot, the third servo is disposed in the second receiving slot, and the third swing arm is formed by bending to form a third receiving slot for mounting the fourth servo.

[0021] The third receiving slot provides space for the fourth servo motor, allowing it to be housed within the third receiving slot, thus improving the integration of the robotic arm while maintaining the overall simplicity of its appearance.

[0022] The beneficial effects of this utility model are as follows: The first swing arm is bent to form a first receiving groove for accommodating the second servo and the second swing arm. The second servo drives the second swing arm to rotate, so that the second swing arm can be folded inward and stored in the first receiving groove when not in operation. Thus, in the non-operating state, the space occupied by the outward extension of the volume of the second swing arm can be reduced. At the same time, the second receiving groove formed by the bending of the second swing arm further accommodates the third swing arm, so that the third servo drives the third swing arm to complete the inward folding and storage in the second receiving groove, thereby further improving the space utilization rate. Through multi-segment inward folding and storage, the exposed volume structure of the robotic arm is reduced after folding and storage. In addition, the gripper is controlled by the fourth servo to flip and fold towards the support column, avoiding protruding parts from increasing the storage space and improving the space utilization rate of folding and storage. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of this embodiment;

[0024] Figure 2 This is a schematic diagram of the structure of the first and second swing arms in this embodiment;

[0025] Figure 3 This is a side view of this embodiment;

[0026] Figure 4 This is a schematic diagram of the unfolded working state of this embodiment;

[0027] Figure 5 This is a perspective view illustrating the inward folding storage state of this embodiment;

[0028] Figure 6 This is a side view illustrating the inward folded storage state of this embodiment;

[0029] The reference numerals in the diagram are as follows: 1-base, 2-support column, 3-bearing pressure plate, 4-rotating seat, 5-rotating servo, 6-first swing arm, 61-first receiving groove, 62-first stop, 63-first limiting plate, 7-first servo, 8-second swing arm, 81-second receiving groove, 82-second stop, 83-second limiting plate, 9-second servo, 10-third swing arm, 11-third receiving groove, 12-third servo, 13-fourth swing arm, 14-fourth servo, 15-rotating servo, 16-gripper, 17-gripping servo, 18-first connecting block, 19-second connecting block, 20-third connecting block, 21-fourth connecting block. Detailed Implementation

[0030] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0031] In this embodiment, refer to Figures 1-6The present invention relates to an inwardly folding and retractable robotic arm, comprising a base 1, a support column 2 on the base 1, a rotatable rotating seat 4 connected to the support column 2 via a bearing plate 3, a rotating servo motor 5 driving the rotating seat 4 to rotate, a rotatable first swing arm 6 hinged to the rotating seat 4, and a first servo motor 7 for driving the first swing arm 6 to rotate on the rotating seat 4, a rotatable second swing arm 8 hinged to the end of the first swing arm 6 away from the rotating seat 4, and a first receiving groove 61 for receiving the second swing arm 8 formed by bending on the first swing arm 6, the end of the first swing arm 6 near the second swing arm 8 connected to a first receiving groove 61 for driving the second swing arm 8 to rotate and for inwardly folding and retracting into the first receiving groove 61. Two servo motors 9, a second swing arm 8 with a rotatable third swing arm 10 hinged to the end away from the first swing arm 6, and a second receiving groove 81 for receiving the third swing arm 10 formed by bending on the second swing arm 8, a third servo motor 12 for driving the third swing arm 10 to rotate and can be folded inward and stored in the second receiving groove 81 connected to the end of the second swing arm 8 near the third swing arm 10, a fourth swing arm 13 hinged to the end of the third swing arm 10, and a fourth servo motor 14 for driving the fourth swing arm 13 to rotate connected to the third swing arm 10, a gripper 16 connected to the end of the fourth swing arm 13 away from the third swing arm 10 through a rotating servo motor 15, and a clamping servo motor 17 for driving the opening and closing action of the gripper 16 connected to the gripper 16.

[0032] The first swing arm 6 is connected to the inner side of the rotating seat 4 by a first connecting block 18. The output end of the first servo motor 7 is connected to the first connecting block 18, and the first servo motor 7 can drive the first swing arm 6 to rotate.

[0033] The first connecting block 18 connects the output end of the first servo motor 7 to the first swing arm 6, simplifying the transmission structure. The drive of the first servo motor 7 makes the rotation of the first swing arm 6 more precise and reliable, and also facilitates the installation and maintenance of the first servo motor 7.

[0034] The first swing arm 6 has first guard edges 62 formed by bending on both sides, and a first limiting plate 63 is provided on the first swing arm 6. The inner distance between the two first guard edges 62 is greater than the width of the second swing arm 8.

[0035] The first guard edge 62 is formed on both sides of the first swing arm 6 by bending process. The design of the inner distance of the first guard edge 62 being greater than the width of the second swing arm 8 avoids interference between the inner wall of the second swing arm 8 and the first swing arm 6 during storage, ensuring that the second swing arm 8 is folded inward and stored between the first guard edges 62, improving the storage effect and reducing the space occupied.

[0036] The second swing arm 8 is connected to a second connecting block 19 near the inner side of the first swing arm 6. The output end of the second servo motor 9 is connected to the second connecting block 19, and the second servo motor 9 can drive the second swing arm 8 to rotate.

[0037] Placing the second servo motor 9 within the first receiving slot 61 reduces the external volume of the robotic arm. This protects the second servo motor 9 from external impacts and allows the first swing arm 6 and the second swing arm 8 to form a compact integrated structure after folding, solving the problem of traditional robotic arms still being too bulky after storage due to exposed servos.

[0038] The second swing arm 8 has second guard edges 82 formed by bending on both sides, and a second limiting plate 83 is provided on the second swing arm 8. The inner distance between the two second guard edges 82 is greater than the width of the third swing arm 10.

[0039] The design that the inner spacing of the second guard edge 82 is greater than the width of the third swing arm 10 avoids interference between the inner wall of the third swing arm 10 and the second swing arm 8 during storage, ensuring that the third swing arm 10 is folded inward and stored between the first guard edge 62, improving the effect of multi-segment swing arm collaborative storage and reducing the space occupied.

[0040] The third swing arm 10 is connected to a third connecting block 20 near the inner side of the second swing arm 8. The output end of the third servo motor 12 is connected to the third connecting block 20, and the third servo motor 12 can drive the third swing arm 10 to rotate.

[0041] The third servo motor 12 is placed in the second receiving slot 81, so that the second swing arm 8 and the third swing arm 10 form a flat structure without protruding parts after folding, reducing the storage volume of the robotic arm, and enhancing the protection of the servo motor through the hidden layout, avoiding accidental damage in complex environments.

[0042] The fourth swing arm 13 is connected to a fourth connecting block 21 near the inner side of the third swing arm 10. The output end of the fourth servo motor 14 is connected to the fourth connecting block 21, and the fourth servo motor 14 can drive the fourth swing arm 13 to rotate.

[0043] In this embodiment, the first, second, third, and fourth connecting blocks 21 rigidly connect each swing arm to the corresponding servo motor output end, forming a stable torque transmission path. This direct connection method reduces the number of transmission components, improves drive efficiency, and the modular design facilitates independent replacement and maintenance of the servo motor, reducing maintenance costs.

[0044] The second servo motor 9 is disposed in the first receiving slot 61, the third servo motor 12 is disposed in the second receiving slot 81, and the third swing arm 10 has a third receiving slot 11 formed by bending for mounting the fourth servo motor 14. The third receiving slot 11 provides space for the fourth servo motor 14, allowing the fourth servo motor 14 to be built into the third receiving slot 11, improving the integration of the robotic arm while maintaining the simplicity of the overall appearance of the robotic arm.

[0045] Specifically, in this embodiment, the length of the first swing arm 6 is greater than the length of the second swing arm 8, and the length of the second swing arm 8 is greater than the length of the third swing arm 10.

[0046] In this embodiment, the robotic arm is in an inward-folded storage state when not in operation.

[0047] The specific folding and storage process in this embodiment is as follows:

[0048] The servo motor 15 drives the gripper 16 to rotate a certain angle toward the support column 2. The first swing arm 6 is rotated to a horizontal position with the base 1 by the first servo motor 7, so that the opening of the first receiving groove 61 is exposed upwards. The second servo motor 9 drives the second swing arm 8 to rotate toward the opening of the first receiving groove 61, so that the second swing arm 8 can be folded inwards and stored in the first receiving groove 61 when not in operation. This reduces the space occupied by the outward extension of the second swing arm 8 when not in operation. At the same time, the third servo motor 12 drives... The third swing arm 10 is rotated toward the opening of the second receiving groove 81, so that the third swing arm 10 can be folded inward and stored in the second receiving groove 81, further improving the space utilization. Through multi-segment inward folding storage, the exposed volume structure of the robotic arm is reduced after folding storage. The folding angle of the gripper 16 is controlled by rotating the servo motor 15, so that the gripper 16 is horizontally set with the base 1. At the same time, the gripper 16 extends the gum support column 2, avoiding protruding parts that increase the storage volume and improving the space utilization of folding storage.

[0049] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Although the present utility model has been disclosed above with reference to a preferred embodiment, it is not intended to limit the present utility model. Any person skilled in the art can make some changes or modifications to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present utility model. Any simple modifications, equivalent changes, and modifications made to the above embodiments based on the present utility model without departing from the scope of the present utility model shall fall within the scope of the present utility model.

Claims

1. A retractable robotic arm, comprising a base and a supporting column on the base, characterized in that: A rotatable rotating seat is connected to the support column via a bearing plate. The rotating seat can be driven to rotate by a rotary servo motor on the support column. A rotatable first swing arm is hinged to the rotating seat, and a first servo motor for driving the first swing arm to rotate is also provided on the rotating seat. A rotatable second swing arm is hinged to the end of the first swing arm away from the rotating seat. A first receiving groove for accommodating the second swing arm is formed by bending on the first swing arm. A second servo motor for driving the second swing arm to rotate and which can be folded inward and stored in the first receiving groove is connected to the end of the first swing arm near the second swing arm. A rotatable third swing arm is hinged to the end of the second swing arm away from the first swing arm, and a second receiving groove for accommodating the third swing arm is formed by bending on the second swing arm. A third servo motor for driving the third swing arm to rotate and can be folded inward and stored in the second receiving groove is connected to the end of the second swing arm near the third swing arm. A fourth swing arm is hinged to the end of the third swing arm away from the second swing arm, and a fourth servo motor for driving the fourth swing arm to rotate is connected to the third swing arm. A gripper is connected to the end of the fourth swing arm away from the third swing arm through a rotating servo motor, and a gripping servo motor for driving the gripper to open and close is connected to the gripper.

2. The inwardly folding and retractable robotic arm according to claim 1, characterized in that: The first swing arm is connected to a first connecting block near the inner side of the rotating seat. The output end of the first servo motor is connected to the first connecting block, and the first servo motor can drive the first swing arm to rotate.

3. The inwardly folding and retractable robotic arm according to claim 2, characterized in that: The first swing arm has first stops formed by bending on both sides, and a first limiting plate is provided on the first swing arm. The inner distance between the two first stops is greater than the width of the second swing arm.

4. The inwardly folding and retractable robotic arm according to claim 1, characterized in that: The second swing arm is connected to a second connecting block near the inner side of the first swing arm. The output end of the second servo motor is connected to the second connecting block, and the second servo motor can drive the second swing arm to rotate.

5. The inwardly folding and retractable robotic arm according to claim 4, characterized in that: The second swing arm has second stops formed by bending on both sides, and a second limiting plate is provided on the second swing arm. The inner distance between the two second stops is greater than the width of the third swing arm.

6. A retractable robotic arm according to any one of claims 1-5, characterized in that: The third swing arm is connected to a third connecting block near the inner side of the second swing arm. The output end of the third servo motor is connected to the third connecting block, and the third servo motor can drive the third swing arm to rotate.

7. A retractable robotic arm according to any one of claims 1-5, characterized in that: The fourth swing arm is connected to a fourth connecting block near the inner side of the third swing arm. The output end of the fourth servo motor is connected to the fourth connecting block, and the fourth servo motor can drive the fourth swing arm to rotate.

8. A retractable robotic arm according to any one of claims 1-5, characterized in that: The second servo is disposed in the first receiving slot, the third servo is disposed in the second receiving slot, and the third swing arm has a third receiving slot for mounting the fourth servo formed by bending.

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