Mechanical arm and multi-axis mechanical arm

Abstract

The utility model provides a mechanical arm which comprises a mechanical arm body and an output joint, the mechanical arm body comprises a body part, a first protruding part and a second protruding part, the first protruding part and the second protruding part extend in the same direction relative to the body part, and the first protruding part and the second protruding part are arranged in a spaced mode. A joint installation position is formed among the main body part, the first protruding part and the second protruding part, the output joint is installed in the joint installation position, an overturning motor is installed in the mechanical arm main body, a transmission space is arranged on one side of the mechanical arm main body, a transmission mechanism is installed in the transmission space, and the transmission mechanism is connected with the overturning motor and the output joint. The output joint is used for driving the output joint to rotate around the first rotating shaft relative to the mechanical arm body and provided with an output part rotating around a second rotating shaft. According to the mechanical arm and the multi-axis robotic arm, the small mechanical arm body can rotate through the rotating shafts in multiple directions, and movement is more flexible.

Description

Technical Field

[0001] This utility model relates to the field of industrial robot technology, specifically to a robotic arm and a multi-axis robotic arm. Background Technology

[0002] Robots are now widely used in industrial fields, such as in handling, assembly, and inspection processes. SCARA robots are a commonly used type of robot. In recent years, with the development of robot technology, the requirements for robots in medical services, aerospace, and industry have become increasingly demanding.

[0003] Current robotic arms are generally large in size, lack compactness, require significant space, and have poor environmental adaptability. Furthermore, the large size of the robotic arm increases material costs, and its dynamic response to changes is poor, making it difficult to adapt to increasingly demanding requirements. Utility Model Content

[0004] In view of this, the purpose of this utility model is to provide a compact robotic arm and a multi-axis robotic arm.

[0005] The technical solution used in this utility model is as follows: A robotic arm is provided, including a robotic arm body and an output joint. The robotic arm body includes a main body portion, a first protrusion portion and a second protrusion portion. The first protrusion portion and the second protrusion portion extend in the same direction relative to the main body portion. The first protrusion portion and the second protrusion portion are spaced apart, so that a joint mounting position is formed between the main body portion, the first protrusion portion and the second protrusion portion. The output joint is mounted in the joint mounting position. A flip motor is installed in the robotic arm body. A transmission space is provided on one side of the robotic arm body. A transmission mechanism is installed in the transmission space. The transmission mechanism is connected to the flip motor and the output joint respectively, and is used to drive the output joint to rotate relative to the robotic arm body around a first rotating axis. An output portion that rotates around a second rotating axis is provided on the output joint.

[0006] Preferably, the main body of the robotic arm is provided with a receiving cavity and a wiring space. The wiring space is located on the other side of the main body of the robotic arm. The receiving cavity and the joint mounting position are arranged between the wiring space and the transmission space. The receiving cavity is provided with a driver and the flipping motor. The cable enters the wiring space from the receiving cavity and then connects to the output joint.

[0007] Preferably, the robotic arm body has a main cover that can close the opening of the receiving cavity, the openings of the wiring space and the transmission space are both outwardly arranged, the opening directions of the receiving cavity, the wiring space and the transmission space are different, and the robotic arm body has a first side cover that closes the opening of the wiring space and a second side cover that closes the opening of the transmission space.

[0008] The output joint is connected to the first protrusion and the second protrusion on both sides, the wiring space extends from the main body to the first protrusion, and the transmission space extends from the main body to the second protrusion.

[0009] Preferably, the output unit is equipped with a carrier, and the output unit can drive the carrier to rotate; the first rotating shaft and the second rotating shaft are not parallel;

[0010] Preferably, the transmission mechanism is a synchronous pulley transmission mechanism or a gear transmission mechanism;

[0011] When the transmission mechanism is a synchronous pulley transmission mechanism, the synchronous pulley transmission mechanism includes a synchronous belt, a first synchronous pulley, and a second synchronous pulley. The first synchronous pulley and the second synchronous pulley are connected by the synchronous belt transmission. The flipping motor drives the first synchronous pulley to rotate, and the second synchronous pulley is connected to the output joint to drive the output joint to rotate relative to the main body of the robotic arm.

[0012] When the transmission mechanism is a gear transmission mechanism, the gear transmission mechanism includes a driving gear and a driven gear. The driving gear and the driven gear are directly connected or indirectly connected by transmission. The flip motor drives the driving gear to rotate, which in turn drives the driven gear to rotate. The driven gear is connected to the output joint and is used to drive the output joint to rotate relative to the main body of the robotic arm.

[0013] Preferably, the transmission mechanism and the output joint are connected by the reducer, the reducer is located on the first protrusion or the second protrusion, and the reducer and the transmission mechanism are located on the same side of the main body of the robotic arm.

[0014] This utility model also provides a multi-axis robotic arm, including a lifting arm, a first swing arm, a second swing arm, and the aforementioned mechanical arm. The lifting arm moves up and down along a first direction, and the first swing arm, the second swing arm, and the mechanical arm are stacked along the first direction. The lifting arm is connected to the first swing arm, the second swing arm swings relative to the first swing arm, and the mechanical arm swings relative to the second swing arm. The rotation axes of the first swing arm, the second swing arm, and the mechanical arm extend axially along the first direction. The first swing arm, the second swing arm, and the mechanical arm are sequentially distributed from the head end to the tail end of the robotic arm, and the output joint is located at the tail end of the robotic arm.

[0015] Preferably, the lifting arm is connected to the head end of the first swing arm, the first swing arm is connected to the lifting arm via a first swing arm joint, the head end of the second swing arm is connected to the tail end of the first swing arm via a second swing arm joint, and the head end of the robotic arm is connected to the tail end of the second swing arm via a robotic arm joint. The pivots of the first swing arm, the second swing arm, and the robotic arm are respectively located in the first swing arm joint, the second swing arm joint, and the robotic arm joint. The pivots of the first swing arm, the second swing arm, and the robotic arm are hollow structures, and the cable passes sequentially through the lifting arm, the pivot of the first swing arm, the pivot of the first swing arm, the pivot of the second swing arm, the second swing arm, and the pivot of the robotic arm, extending into the robotic arm.

[0016] Preferably, at least one of the output joint, the first swing arm joint, the second swing arm joint, and the robotic arm joint adopts the following joint assembly:

[0017] The joint assembly includes a main output shaft, a connecting shaft, a drive mechanism, and a reduction mechanism. The main output shaft is an axially through hollow structure. The connecting shaft is sleeved on the outside of the main output shaft. The reduction mechanism is sleeved on the outside of the main output shaft. The connecting shaft is connected to the input end of the reduction mechanism. The output end of the reduction mechanism is connected to the main output shaft. The drive mechanism is sleeved on the outside of the connecting shaft and is used to drive the connecting shaft to rotate. After being reduced in speed by the reduction mechanism, the drive mechanism drives the main output shaft to rotate.

[0018] The joint assembly also includes a braking mechanism, which cooperates with the connecting shaft to stop the connecting shaft from rotating during braking, thereby stopping the main output shaft from rotating; the braking mechanism, the driving mechanism, and the deceleration mechanism are arranged sequentially along the axial direction of the main output shaft toward the output end of the main output shaft;

[0019] The braking mechanism includes a brake stator and a brake pad. The brake stator is sleeved on the outside of the connecting shaft and does not rotate with the connecting shaft. The brake pad is sleeved on the outside of the connecting shaft and can rotate with the connecting shaft. When the brake pad is separated from the brake stator, the driving mechanism drives the connecting shaft to rotate. When the brake pad contacts the brake stator, it stops the connecting shaft from rotating.

[0020] One of the brake stator and the brake pad is equipped with an electromagnet, and the other is equipped with a magnet. The electromagnet has the same magnetic properties as the magnet when it is energized. When the electromagnet is energized, the brake pad separates from the brake stator, and the drive mechanism drives the connecting shaft to rotate. When the electromagnet is de-energized, the brake pad contacts the brake stator to stop the connecting shaft from rotating.

[0021] Alternatively, one of the brake stator and the brake pad may be equipped with an electromagnet, and the other with a magnet; when the electromagnet is energized, in the first current direction, the magnetism of the electromagnet is the same as that of the magnet, the brake pad separates from the brake stator, and the drive mechanism drives the connecting shaft to rotate; in the second current direction, the magnetism of the electromagnet is opposite to that of the magnet, the brake pad contacts the brake stator to stop the rotation of the connecting shaft.

[0022] Alternatively, the brake stator and brake pads are arranged sequentially along the axial direction of the main output shaft toward the output end of the main output shaft.

[0023] Preferably, at least one of the output joint, the first swing arm joint, the second swing arm joint, and the robotic arm joint adopts the following joint assembly:

[0024] The joint assembly includes a main output shaft, a connecting shaft, a drive mechanism, and a reduction mechanism. The main output shaft is an axially through hollow structure. The connecting shaft is sleeved on the outside of the main output shaft. The reduction mechanism is sleeved on the outside of the main output shaft. The connecting shaft is connected to the input end of the reduction mechanism. The output end of the reduction mechanism is connected to the main output shaft. The drive mechanism is sleeved on the outside of the connecting shaft and is used to drive the connecting shaft to rotate. After being reduced in speed by the reduction mechanism, the drive mechanism drives the main output shaft to rotate.

[0025] The joint assembly also includes an encoder assembly, which includes an encoder PCB board and at least one encoder disk. The encoder PCB board is sleeved around the connecting shaft and does not rotate with the connecting shaft. The encoder disk is sleeved on the connecting shaft and / or the main output shaft and rotates with it. The encoder disk is electrically connected to the encoder PCB board.

[0026] The encoder assembly, drive mechanism, and reduction mechanism are arranged sequentially along the axial direction of the main output shaft toward the output end of the main output shaft;

[0027] There are two encoder disks, both of which are electrically connected to the encoder PCB board. One encoder disk is fitted onto the connecting shaft and rotates with the connecting shaft, and is used to test the rotational speed of the connecting shaft. The other encoder disk is fitted onto the main output shaft and rotates with the main output shaft, and is used to test the rotational speed of the main output shaft. The two encoder disks are located on opposite sides of the encoder PCB board.

[0028] The robotic arm and multi-axis robotic arm provided by this utility model enable the compact robotic arm body to rotate in multiple directions, making the movement more flexible. Attached Figure Description

[0029] The above and other objects, features, and advantages of this invention will become clearer through a more detailed description of the preferred embodiments shown in the accompanying drawings. The same reference numerals indicate the same parts throughout the drawings, and the drawings are not intentionally drawn to scale with actual dimensions; the focus is on illustrating the gist of this invention.

[0030] Figure 1-3 This is a schematic diagram of the structure of a robotic arm according to one embodiment of the present invention.

[0031] Figure 4 This is a schematic diagram of the structure of a robotic arm according to one embodiment of the present invention.

[0032] Figure 5 This is a schematic diagram of the structure of a robotic arm according to one embodiment of the present invention.

[0033] Figure 6-8 This is a schematic diagram of the structure of a robotic arm according to one embodiment of the present invention.

[0034] Figure 9 This is a schematic diagram of the multi-axis robotic arm structure provided by this utility model.

[0035] Figure 10 This is a schematic diagram of the wiring of the multi-axis robotic arm provided by this utility model.

[0036] Figure 11 This is a schematic diagram of one embodiment of the joint component in this utility model.

[0037] Figure 12 for Figure 11 A cross-sectional view of the joint components.

[0038] Figure 13 for Figure 11 A schematic diagram of the heat dissipation mechanism of the joint assembly.

[0039] Figure 14 and Figure 15 This is a schematic diagram of another embodiment of the joint assembly in this utility model (wherein, Figure 14 There is only one coded disk in it. Figure 15 It has two coded disks.

[0040] Figure 16 for Figure 15 Exploded view.

[0041] Figure 17 This is a schematic diagram of another embodiment of the joint component in this utility model.

[0042] Figure 18 A schematic diagram of a joint assembly with perforations. Detailed Implementation

[0043] The technical solution of this utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand this utility model and implement it. However, the embodiments are not intended to limit this utility model. In this embodiment, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this utility model.

[0044] It should be noted that when one element is considered to be "connected" to another element, it can be directly connected to and integrated with the other element, or there may be an intervening element present. The terms "mounted," "one end," "the other end," and similar expressions used in this invention are for illustrative purposes only.

[0045] Please refer to Figures 1 to 18 This utility model provides a robotic arm, including a robotic arm body 41 and an output joint 42. The output joint 42 has an output part 421 at its output end. The robotic arm body 41 includes a main body 1, a first protrusion 2, and a second protrusion 3. The first protrusion 2 and the second protrusion 3 extend in the same direction relative to the main body 1. The first protrusion 2 and the second protrusion 3 are spaced apart, forming a joint mounting position 4 between the main body 1, the first protrusion 2, and the second protrusion 3. The output joint 42 is connected to the first protrusion 2 and the second protrusion 3 on both sides, and is installed in the joint mounting position 4. A flip motor 404 is installed in the robotic arm body 41. A transmission space 402 is provided on one side of the robotic arm body 41. A transmission mechanism is installed in the transmission space 402. The transmission mechanism is connected to the output joint 42 and the flip motor 404, respectively, and is used to drive the output joint to rotate relative to the robotic arm body around a first rotating axis a. The output joint 42 has an output part 421 that rotates around a second rotating axis b.

[0046] The transmission mechanism of the robotic arm provided by this utility model can drive the output joint 42 to rotate around the first rotating shaft a. When a carrier can be mounted at the end of the output part 421, the rotation of the output joint 42 around the first rotating shaft a relative to the main body of the robotic arm can drive the mounted carrier to rotate around the first rotating shaft a relative to the main body of the robotic arm. At the same time, the mounted carrier can rotate around the second rotating shaft b under the action of the output part, so that the compact robotic arm body can have multiple directions of rotation, making the movement more flexible.

[0047] This invention, through the arrangement of the main body 1, the first protrusion 2, and the second protrusion 3, forms a recessed joint mounting position 4 for mounting the output joint, making the structure more compact. Simultaneously, the transmission mechanism is located on one side of the robotic arm body 41, allowing the transmission space to provide rotational power to the output joint mounted within the joint mounting position 4, further enhancing the compactness of the structure. The robotic arm of this invention possesses the advantages of a compact structure and multi-axis rotation, resulting in better dynamic response and more sensitive reaction when the robotic arm changes direction.

[0048] In a preferred embodiment, a transmission space 402 is provided on one side of the robotic arm body 41, and a wiring space 401 is provided on the other side. Cables are installed within the wiring space 401. The robotic arm body 41 also has a receiving cavity 403 located between the wiring space 401 and the transmission space 402. A driver 405 and a tilting motor 404 are installed within the receiving cavity 403. The driver includes a first driver and a second driver. The first driver is connected to the tilting motor 404, and the second driver is connected to the transmission motor. The receiving cavity 403 communicates with the transmission space 402. The input end of the transmission mechanism located in the transmission space 402 is connected to the tilting motor 404 located in the receiving cavity 403, and the output end is connected to the output joint 42. The receiving cavity 403 communicates with the wiring space 401. A portion of the cable powers the tilting motor 404 within the receiving cavity 403, and a portion enters the wiring space 401 from the receiving cavity 403, then exits the wiring space 401 and connects to the output portion 421 of the output joint 42. By setting up transmission spaces 402 and wiring spaces 401 on both sides and setting up a receiving cavity 403 in the middle, the motor, transmission mechanism and wiring can be reasonably arranged, enabling multi-axis rotation in a compact structure and improving the flexibility of the robotic arm.

[0049] refer to Figure 2 In a preferred embodiment, the robotic arm body 41 has a main cover 4031 that can close the opening of the receiving cavity 403. Opening the cover facilitates the installation, maintenance, and replacement of the driver and the tilting motor 404, while also allowing for better cable routing. After installation, closing the opening of the receiving cavity 403 with the main cover 4031 provides better waterproofing and dustproofing.

[0050] refer to Figure 2-3 In a preferred embodiment, the openings of both the wiring space 401 and the transmission space 402 are arranged facing outwards. In this embodiment, "outwards" refers to... Figure 2-3 As shown, the opening directions of the accommodating cavity 403, the wiring space 401, and the transmission space 402 are all different, which can save space and facilitate the maintenance of wiring and transmission mechanisms.

[0051] refer to Figure 1 and Figure 7The main body 41 of the robotic arm has a first side cover 4011 and a second side cover 4021 that can close the opening of the wiring space 401 and the opening of the transmission space 402, which can facilitate installation and provide waterproof and dustproof protection.

[0052] refer to Figure 1-8 In a preferred embodiment, the joint mounting position 4 is located between the transmission space 402 and the wiring space 401. The wiring space 401 extends from the main body 1 to the first protrusion 2, and the transmission space 402 extends from the main body 1 to the second protrusion 3. The receiving cavity 403 is disposed on the main body 1. In this embodiment, the robotic arm body 41 has a recessed position for mounting the output joint 42. At the same time, the wiring space 401 and the transmission space 402 are formed by the first protrusion 2 and the second protrusion 3 on both sides of the joint mounting position 4. The transmission and wiring in the main body 1 are transmitted to the output joint 42 through the first protrusion 2 and the second protrusion 3. The structure is very compact and the space utilization rate is high. This makes the dynamic response of the robotic arm better and the reaction more sensitive when it changes.

[0053] In a preferred embodiment, the output joint is connected to the first protrusion 2 and the second protrusion 2 on both sides, respectively. The wiring space 401 extends from the main body to the first protrusion 2, meaning that part of the wiring space 401 is located on the main body 1 and the other part is located on the first protrusion 2. The cable enters the wiring space 401 through the receiving cavity 403 of the main body and then extends out from the first protrusion 2 to connect with the output joint 42. The transmission space 402 extends from the main body 1 to the second protrusion, meaning that part of the transmission space 402 is located on the main body 1 and the other part is located on the second protrusion 3. A flipping motor disposed in the receiving cavity 403 is connected to the first end of the transmission mechanism in the transmission space 402, and the other end of the transmission mechanism extends out from the second protrusion and connects with the output joint 42.

[0054] In a preferred embodiment, the output unit is equipped with a carrier (not shown), and the output unit 421 can drive the carrier to rotate around the second pivot b (e.g., Figure 1 As shown), the output joint rotates relative to the main body of the robotic arm around the first axis a, which also drives the carrier to rotate.

[0055] In a preferred embodiment, the first rotating shaft a and the second rotating shaft b are not parallel; in a more preferred embodiment, the first rotating shaft a and the second rotating shaft b are perpendicular.

[0056] refer to Figure 3 In a preferred embodiment, the transmission mechanism is a synchronous wheel transmission mechanism or a gear transmission mechanism.

[0057] refer to Figure 3-4In a preferred embodiment, the transmission mechanism is a synchronous pulley transmission mechanism 41a, which includes a synchronous belt 412, a first synchronous pulley 413 and a second synchronous pulley 411. The first synchronous pulley 413 and the second synchronous pulley 411 are connected by the synchronous belt 412. The flip motor 404 drives the first synchronous pulley 413 to rotate. The second synchronous pulley 411 is connected to the output joint 42 and is used to drive the output joint 42 to swing relative to the main body of the robotic arm 41.

[0058] refer to Figure 5-6 In another preferred embodiment, the transmission mechanism is a gear transmission mechanism 41b, which includes a driving gear 414 and a driven gear 415. The driving gear 414 and the driven gear 415 are directly connected or indirectly connected, for example, the driving gear and the driven gear are connected through an intermediate bevel gear component 417 (e.g., Figure 5 ), or it can be connected via intermediate gear 416 (e.g. Figure 6 The flip motor 404 drives the drive gear 414 to rotate, which in turn drives the driven gear 415 to rotate. The driven gear 415 is connected to the output joint 42 and is used to drive the output joint 42 to swing relative to the main body of the robotic arm 41.

[0059] In a preferred embodiment, the transmission mechanism and the output joint are connected by the speed reducer, which is located on the first or second protrusion. The speed reducer and the transmission mechanism are located on the same side of the robotic arm body. By incorporating a speed reducer, transmission errors can be reduced, vibration and noise can be decreased, thus improving system accuracy. Simultaneously, by placing the speed reducer on the first or second protrusion, a compact structure and high flexibility can still be achieved. This allows the robotic arm to achieve small size, high precision, and high flexibility.

[0060] refer to Figure 9-10 This utility model also provides a multi-axis robotic arm, including a lifting arm 10, a first swing arm 20, a second swing arm 30, and a robotic arm 40 as described in any embodiment. The lifting arm 10 moves up and down along a first direction. The first swing arm 20, the second swing arm 30, and the robotic arm 40 are stacked along the first direction. The lifting arm 10 is connected to the first swing arm 20. The second swing arm 30 swings relative to the first swing arm 20, and the robotic arm 40 swings relative to the second swing arm 30. The rotation axes of the first swing arm 20, the second swing arm 30, and the robotic arm 40 extend axially along the first direction. The first swing arm 20, the second swing arm 30, and the robotic arm 40 are distributed sequentially from the head end to the tail end of the robotic arm. The output joint 42 is located at the tail end of the robotic arm. This allows the multi-axis robotic arm to swing at multiple angles, resulting in a more compact structure and more flexible use.

[0061] refer to Figure 9-10In a preferred embodiment, the lifting arm 10 is connected to the head end of the first swing arm 20. The first swing arm 20 is connected to the lifting arm 10 via the first swing arm 20 joint. The head end of the second swing arm 30 is connected to the tail end of the first swing arm 20 via the second swing arm 30 joint. The head end of the robotic arm 40 is connected to the tail end of the second swing arm 30 via the robotic arm joint. The pivots of the first swing arm 20, the second swing arm 30, and the robotic arm 40 are located in the first swing arm 20 joint, the second swing arm 30 joint, and the robotic arm joint, respectively. The pivots of the first swing arm 20, the second swing arm 30, and the robotic arm 40 are hollow structures. Cables pass sequentially through the lifting arm 10, the pivot of the first swing arm 20, the pivot of the first swing arm 20, the pivot of the second swing arm 30, the second swing arm 30, and the pivot of the robotic arm, extending into the robotic arm.

[0062] In a preferred embodiment, at least one of the output joint 42, the first swing arm joint, the second swing arm joint, and the robotic arm joint adopts the following joint assembly: The joint assembly in this invention can be square in shape, see [reference needed]. Figure 17 It can also be cylindrical ( Figure 11-16 However, regardless of the shape, it does not affect the internal structure of the joint components.

[0063] See Figure 11-18The joint assembly includes a main output shaft 701, a connecting shaft 702, a drive mechanism 704, and a reduction mechanism 703. The main output shaft 701 is an axially through hollow structure, through which wires and air pipes 900 can pass. A flange is provided at the output end of the main output shaft 701 for connection to the corresponding boom section body. The connecting shaft 702 is sleeved on the outside of the main output shaft 701, and the reduction mechanism 703 is sleeved on the outside of the main output shaft 701. The connecting shaft 702 is connected to the input end of the reduction mechanism 703, and the output end of the reduction mechanism 703 is connected to the main output shaft 701. The drive mechanism 704 is sleeved on the outside of the connecting shaft 702 and is used to drive the connecting shaft 702 to rotate, which then drives the main output shaft 701 to rotate after being reduced in speed by the reduction mechanism 703. Specifically, the drive mechanism 704 includes a motor rotor 7041 and a motor stator 7042. The motor rotor 7041 is sleeved on the connecting shaft 702, which can be understood as the motor rotor 7041 being sleeved on the outside of the connecting shaft 702. The motor stator 7042 is sleeved on the motor rotor 7041, which can be understood as the motor stator 7042 being sleeved on the outside of the motor rotor 7041, and is used to drive the motor rotor 7041 to rotate. When the joint assembly 70 connects two adjacent arm segments, the housings of the reduction mechanism 703 and the drive mechanism 704 can be fixed on the preceding arm segment, while the output end of the main output shaft 701 is fixedly connected to the following arm segment. Since the drive mechanism 704 generally rotates at a higher speed while the swing arm rotates at a lower speed, the power output of the drive mechanism 704 is sent to the connecting shaft 702. This power is then transmitted through the connecting shaft 702 to the input end of the reduction mechanism 703. After being reduced in speed by the reduction mechanism 703, the power is output through the output end of the reduction mechanism 703 to the main output shaft 701, and then transmitted to the main arm body through the main output shaft 701. The main output shaft 701 is designed as an axially through-hole hollow structure, allowing cables, air pipes, and other wiring to pass through its inner cavity for electrical connections, thus avoiding external placement of cables and air pipes on the robotic arm. This results in a compact internal structure and a neat and aesthetically pleasing appearance for the robotic arm. The joint assembly 70, through the sleeved connection between the main output shaft 701 and the connecting shaft 702, allows for a more compact structure.

[0064] In the preferred embodiment, see Figure 11-18 Guide bearings 7043 are also provided at both ends of the motor rotor 7041; by setting guide bearings 7043, the rotation position of the motor rotor 7041 can be restricted to ensure precise transmission.

[0065] In the preferred embodiment, see Figure 11-18The joint assembly 70 also includes a braking mechanism 705, which cooperates with the connecting shaft 702 to stop the rotation of the connecting shaft 702 during braking, thereby stopping the rotation of the main output shaft 701. Specifically, the braking mechanism 705 includes a brake stator 7051 and a brake pad 7052. The brake stator 7051 is sleeved on the outside of the connecting shaft 702 and does not rotate with the connecting shaft 702. The brake stator 7051 is fixedly connected to the housing 7044 and therefore does not rotate with the connecting shaft 702. The brake pad 7052 is sleeved on the outside of the connecting shaft 702 and can rotate with the connecting shaft 702. When the brake pad 7052 separates from the brake stator 7051, the drive mechanism 704 drives the connecting shaft 702 to rotate. When the brake pad 7052 contacts the brake stator 7051, it stops the rotation of the connecting shaft 702. The braking mechanism 705, the drive mechanism 704, and the reduction mechanism 703 are sequentially arranged along the axial direction of the main output shaft 701 toward the output end of the main output shaft 701, so as to... Figure 2 From a perspective of the joint assembly, the joints are arranged sequentially from bottom to top. This arrangement makes the internal structure of the joint assembly 70 very compact, resulting in a smaller overall size of the joint assembly 70, which is more conducive to its application in small and precise robotic arms.

[0066] In the preferred embodiment, the braking mechanism 705 can achieve braking and releasing in multiple ways. This utility model specifically provides two implementation methods. The first implementation method: One of the brake stator 7051 and brake pad 7052 is equipped with an electromagnet. An electromagnet is one that is magnetized and generates magnetism only when energized. The other is equipped with a magnet, which is an ordinary magnet and inherently possesses magnetism. The magnetism of the electromagnet when energized is the same as that of the magnet. When the electromagnet is energized, the brake pad 7052 separates from the brake stator 7051, and the drive mechanism 704 drives the connecting shaft 702 to rotate. When the electromagnet is de-energized, the brake pad 7052 contacts the brake stator 7051 to stop the rotation of the connecting shaft 702. The second implementation involves equipping one of the brake stator 7051 and brake pad 7052 with an electromagnet and the other with a magnet. When the electromagnet is energized, in the first current direction, the electromagnet's magnetism is the same as the magnet's, causing the brake pad 7052 to separate from the brake stator 7051, and the drive mechanism 704 to drive the connecting shaft 702 to rotate. In the second current direction, the electromagnet's magnetism is opposite to the magnet's, causing the brake pad 7052 to contact the brake stator 7051, thus stopping the connecting shaft 702 from rotating. The first and second current directions are opposite; that is, the current direction can be changed using alternating current to form both directions. By changing the current direction, the electromagnet's magnetism changes accordingly, making it the same as or opposite to the magnetism of a conventional magnet, thus achieving repulsion or attraction, thereby releasing or braking the connecting shaft 702. Furthermore, the brake stator 7051 and brake pad 7052 are sequentially arranged along the axial direction of the main output shaft 701 towards its output end. Figure 2 From a perspective of the joint assembly, the arrangement from bottom to top makes the internal structure of the joint assembly 70 very compact, resulting in a smaller overall size and making it more suitable for use on small and precise robotic arms.

[0067] In the preferred embodiment, see Figure 11-18 The brake assembly 705 also includes a brake pad retaining ring 7053, which is sleeved on the outside of the connecting shaft 702 and can rotate with the connecting shaft 702. The brake pad 7052 is connected to the side of the brake pad retaining ring 7053 facing the brake stator 7051, and the brake pad 7052 is indirectly connected to the connecting shaft 702 through the brake pad retaining ring 7053.

[0068] In some embodiments, the joint assembly 70 may include a heat dissipation mechanism 706, see [link to previous document]. Figure 2-3The heat dissipation mechanism 706 is sleeved on the outside of the connecting shaft 702 and can rotate with the connecting shaft 702. The heat dissipation mechanism 706, the drive mechanism 704, and the reduction mechanism 703 are arranged sequentially along the axial direction of the main output shaft 701 toward the output end of the main output shaft 701. Figure 2 From a perspective of the joint assembly, the arrangement from bottom to top makes the internal structure of the joint assembly 70 very compact, resulting in a smaller overall size and making it more suitable for use on small and precise robotic arms.

[0069] In the preferred embodiment, see Figure 11-18 The heat dissipation mechanism 706 includes a heat dissipation mounting base 7061 and a plurality of fan blades 7062. The heat dissipation mounting base 7061 is sleeved on the outside of the connecting shaft 702 and can rotate with the connecting shaft 702. An annular connecting plate 7064 is provided on the heat dissipation mounting base 7061, and the plurality of fan blades 7062 are spaced apart circumferentially along the annular connecting plate 7064. In addition, the fan blades 7062 are vertically connected to the annular connecting plate 7064, or the fan blades 7062 are connected to the annular connecting plate 7064 at an angle to the radial direction of the annular connecting plate 7064. A portion of the fan blades 7062 extends beyond the annular connecting plate 7064, and the fan blades 7062 have an L-shaped sidewall that is simultaneously connected to the sidewall and one end face of the annular connecting plate 7064. By setting up a heat dissipation mechanism 706, the fan blades 7062 rotate to generate airflow, which quickly dissipates the heat generated inside the joint assembly 70. Multiple heat dissipation holes can be set on the end cover 707, and the hot airflow driven by the fan blades 7062 will flow out quickly from the heat dissipation holes to the outside of the joint assembly 70, thereby ensuring the normal operation of the joint assembly 70.

[0070] In the preferred embodiment, see Figure 11-18The joint assembly 70 also includes an encoder assembly, which includes an encoder PCB board 7071 and at least one encoder disk 7072. The encoder PCB board 7071 is sleeved around the connecting shaft 702 and does not rotate with the connecting shaft 702. The encoder disk 7072 is sleeved on the connecting shaft 702 and / or the main output shaft 701 and rotates with it. The encoder disk 7072 is electrically connected to the encoder PCB board 7071. Specifically, the encoder PCB board 7071 is connected to the encoder housing 7073, and the encoder housing 7073 is connected to the outer shell 7044. When the encoder disk... When there is only one encoder 7072, it can be fitted onto the connecting shaft 702 to detect the rotational speed of the connecting shaft 702, i.e., the input shaft rotational speed. Alternatively, it can be fitted onto the main output shaft 701 to detect the rotational speed of the main output shaft 701, i.e., the output shaft rotational speed. When there are two encoders 7072, one encoder 7072 is fitted onto the connecting shaft 702, and the other encoder 7072 is fitted onto the main output shaft 701, respectively, to accurately detect the rotational speeds of the input and output shafts, thereby achieving precise control of the output rotational speed of the joint assembly. Figure 2 From the perspective of the encoder assembly, drive mechanism 704 and reduction mechanism 703 are arranged sequentially along the axial direction of the main output shaft 701 toward the output end of the main output shaft 701, which further makes the internal structure of the joint assembly 70 very compact, making the overall volume of the joint assembly 70 smaller, which is more conducive to its application on small and precise robotic arms.

[0071] Furthermore, when the joint assembly 70 has a heat dissipation mechanism 706, the encoder assembly, heat dissipation mechanism, brake mechanism, drive mechanism, and reduction mechanism are sequentially arranged along the axial direction of the main output shaft 701 towards its output end. Combined with the sleeved connection between the main output shaft 701 and the connecting shaft 702, this results in a very compact internal structure for the joint assembly 70, making its overall size smaller and more suitable for application in small and precise robotic arms. Figure 5 From the perspective of the joint assembly 70, when the joint assembly 70 does not have a heat dissipation mechanism 706, the encoder assembly, brake mechanism, drive mechanism and deceleration mechanism are arranged sequentially along the axial direction of the main output shaft 701 toward the output end of the main output shaft 701. Combined with the sleeve connection relationship between the main output shaft 701 and the connecting shaft 702, the internal structure of the joint assembly 70 is very compact, making the overall volume of the joint assembly 70 smaller, which is more conducive to its application in small and precise robotic arms.

[0072] In the preferred embodiment, see Figure 11-18An end cap 707 is provided at one end of the main output shaft 701 away from the reduction mechanism 703 (that is, the end opposite to the output end). The end cap 707 is sleeved on the main output shaft 701, and a first bearing 708 is provided between the end cap 707 and the main output shaft 701. The first bearing 708 can enhance the load-bearing capacity of the joint assembly 70 and make it more durable.

[0073] In the preferred embodiment, see Figure 11-18 A sealed bearing 709 is provided between the connecting shaft 702 and the main output shaft 701. By providing the sealed bearing 709, lubricating oil can be prevented from entering the joint assembly 70 from between the connecting shaft 702 and the main output shaft 701 and becoming contaminated.

[0074] In the preferred embodiment, see Figure 11-18 The reduction mechanism 703 is a harmonic reducer. The reduction mechanism 703 includes a wave generator 7031, a flexible wheel 7033, and a rigid wheel 7032. The wave generator 7031 is the input end of the reduction mechanism 703. The wave generator 7031 is sleeved on the periphery of the main output shaft 701 and connected to the connecting shaft 702. The flexible wheel 7033 is the output end of the reduction mechanism 703. The flexible wheel 7033 is sleeved on the wave generator 7031, and the flexible wheel 7033 and the wave generator 7031 can rotate relative to each other. The flexible wheel 7033 is also connected to the main output shaft 701. The rigid wheel 7032 is sleeved on the flexible wheel 7033, and the flexible wheel 7033 can rotate relative to the rigid wheel 7032.

[0075] A through-hole 7074 is also provided on the encoder housing 7073, through which an operator can insert a wrench into the joint assembly 70 to operate the internal fasteners, or through which the wires of the drive mechanism 704 and the brake mechanism 705 can pass. In some embodiments, an annular mounting plate 7045 is provided on the outside of the housing 7044, through which it is connected to the surface of the corresponding arm segment body.

[0076] In this specification, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0077] In the description of this specification, the references to terms such as "preferred embodiment," "another embodiment," "other embodiment," or "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0078] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A robotic arm, characterized in that, The system includes a robotic arm body and an output joint. The robotic arm body includes a main body portion, a first protrusion portion, and a second protrusion portion. The first and second protrusion portions extend in the same direction relative to the main body portion and are spaced apart, forming a joint mounting position between the main body portion, the first and second protrusion portions. The output joint is mounted in the joint mounting position. A flip motor is installed inside the robotic arm body. A transmission space is provided on one side of the robotic arm body. A transmission mechanism is installed in the transmission space. The transmission mechanism is connected to the flip motor and the output joint respectively, and is used to drive the output joint to rotate relative to the robotic arm body around a first rotating axis. An output portion that rotates around a second rotating axis is provided on the output joint.

2. The robotic arm as described in claim 1, characterized in that, The main body of the robotic arm is provided with a receiving cavity and a wiring space. The wiring space is located on the other side of the main body of the robotic arm. The receiving cavity and the joint mounting position are arranged between the wiring space and the transmission space. The receiving cavity is provided with a driver and the flipping motor. The wiring space is provided with a cable. The cable enters the wiring space from the receiving cavity and then connects to the output joint.

3. The robotic arm as described in claim 2, characterized in that, The main body of the robotic arm has a main cover that can close the opening of the receiving cavity. The openings of the wiring space and the transmission space are both outward. The opening directions of the receiving cavity, the wiring space and the transmission space are different. The main body of the robotic arm has a first side cover that closes the opening of the wiring space and a second side cover that closes the opening of the transmission space. The output joint is connected to the first protrusion and the second protrusion on both sides, the wiring space extends from the main body to the first protrusion, and the transmission space extends from the main body to the second protrusion.

4. The robotic arm as described in claim 1, characterized in that, The output section is equipped with a carrier, and the output section can drive the carrier to rotate; the first rotating shaft and the second rotating shaft are not parallel.

5. The robotic arm as described in claim 1, characterized in that, The transmission mechanism is a synchronous pulley transmission mechanism or a gear transmission mechanism; When the transmission mechanism is a synchronous pulley transmission mechanism, the synchronous pulley transmission mechanism includes a synchronous belt, a first synchronous pulley, and a second synchronous pulley. The first synchronous pulley and the second synchronous pulley are connected by the synchronous belt transmission. The flipping motor drives the first synchronous pulley to rotate, and the second synchronous pulley is connected to the output joint to drive the output joint to rotate relative to the main body of the robotic arm. When the transmission mechanism is a gear transmission mechanism, the gear transmission mechanism includes a driving gear and a driven gear. The driving gear and the driven gear are directly connected or indirectly connected by transmission. The flip motor drives the driving gear to rotate, which in turn drives the driven gear to rotate. The driven gear is connected to the output joint and is used to drive the output joint to rotate relative to the main body of the robotic arm.

6. The robotic arm as described in claim 1, characterized in that, The robotic arm also includes a speed reducer, and the transmission mechanism and the output joint are connected through the speed reducer. The speed reducer is located on the first protrusion or the second protrusion, and the speed reducer and the transmission mechanism are located on the same side of the robotic arm body.

7. A multi-axis robotic arm, characterized in that, The device includes a lifting arm, a first swing arm, a second swing arm, and a robotic arm as described in any one of claims 1-6. The lifting arm moves up and down along a first direction. The first swing arm, the second swing arm, and the robotic arm are stacked along the first direction. The lifting arm is connected to the first swing arm. The second swing arm swings relative to the first swing arm. The robotic arm swings relative to the second swing arm. The rotation axes of the first swing arm, the second swing arm, and the robotic arm extend axially along the first direction. The first swing arm, the second swing arm, and the robotic arm are distributed sequentially from the head end to the tail end of the robotic arm. The output joint is located at the tail end of the robotic arm.

8. The multi-axis robotic arm as described in claim 7, characterized in that, The lifting arm is connected to the head end of the first swing arm. The first swing arm is connected to the lifting arm via a first swing arm joint. The head end of the second swing arm is connected to the tail end of the first swing arm via a second swing arm joint. The head end of the robotic arm is connected to the tail end of the second swing arm via a robotic arm joint. The pivots of the first swing arm, the second swing arm, and the robotic arm are located in the first swing arm joint, the second swing arm joint, and the robotic arm joint, respectively. The pivots of the first swing arm, the second swing arm, and the robotic arm are hollow structures. Cables pass sequentially through the lifting arm, the pivot of the first swing arm, the pivot of the first swing arm, the pivot of the second swing arm, the second swing arm, and the pivot of the robotic arm, extending into the robotic arm.

9. The multi-axis robotic arm as described in claim 7, characterized in that, At least one of the output joint, the first swing arm joint, the second swing arm joint, and the robotic arm joint adopts the following joint assembly: The joint assembly includes a main output shaft, a connecting shaft, a drive mechanism, and a reduction mechanism. The main output shaft is an axially through hollow structure. The connecting shaft is sleeved on the outside of the main output shaft. The reduction mechanism is sleeved on the outside of the main output shaft. The connecting shaft is connected to the input end of the reduction mechanism. The output end of the reduction mechanism is connected to the main output shaft. The drive mechanism is sleeved on the outside of the connecting shaft and is used to drive the connecting shaft to rotate. After being reduced in speed by the reduction mechanism, the drive mechanism drives the main output shaft to rotate. The joint assembly also includes a braking mechanism, which cooperates with the connecting shaft to stop the connecting shaft from rotating during braking, thereby stopping the main output shaft from rotating; the braking mechanism, the driving mechanism, and the deceleration mechanism are arranged sequentially along the axial direction of the main output shaft toward the output end of the main output shaft; The braking mechanism includes a brake stator and a brake pad. The brake stator is sleeved on the outside of the connecting shaft and does not rotate with the connecting shaft. The brake pad is sleeved on the outside of the connecting shaft and can rotate with the connecting shaft. When the brake pad is separated from the brake stator, the driving mechanism drives the connecting shaft to rotate. When the brake pad contacts the brake stator, it stops the connecting shaft from rotating. One of the brake stator and the brake pad is equipped with an electromagnet, and the other is equipped with a magnet. The electromagnet has the same magnetic properties as the magnet when it is energized. When the electromagnet is energized, the brake pad separates from the brake stator, and the drive mechanism drives the connecting shaft to rotate. When the electromagnet is de-energized, the brake pad contacts the brake stator to stop the connecting shaft from rotating. Alternatively, one of the brake stator and the brake pad is provided with an electromagnet, and the other is provided with a magnet; when the electromagnet is energized, in the first current direction, the magnetism of the electromagnet is the same as that of the magnet, the brake pad is separated from the brake stator, and the drive mechanism drives the connecting shaft to rotate. In the second current direction, the electromagnet's magnetism is opposite to that of the magnet, and the brake pad contacts the brake stator to stop the connecting shaft from rotating; Alternatively, the brake stator and brake pads are arranged sequentially along the axial direction of the main output shaft toward the output end of the main output shaft.

10. The multi-axis robotic arm as described in claim 7, characterized in that, At least one of the output joint, the first swing arm joint, the second swing arm joint, and the robotic arm joint adopts the following joint assembly: The joint assembly includes a main output shaft, a connecting shaft, a drive mechanism, and a reduction mechanism. The main output shaft is an axially through hollow structure. The connecting shaft is sleeved on the outside of the main output shaft. The reduction mechanism is sleeved on the outside of the main output shaft. The connecting shaft is connected to the input end of the reduction mechanism. The output end of the reduction mechanism is connected to the main output shaft. The drive mechanism is sleeved on the outside of the connecting shaft and is used to drive the connecting shaft to rotate. After being reduced in speed by the reduction mechanism, the drive mechanism drives the main output shaft to rotate. The joint assembly also includes an encoder assembly, which includes an encoder PCB board and at least one encoder disk. The encoder PCB board is sleeved around the connecting shaft and does not rotate with the connecting shaft. The encoder disk is sleeved on the connecting shaft and / or the main output shaft and rotates with it. The encoder disk is electrically connected to the encoder PCB board. The encoder assembly, drive mechanism, and reduction mechanism are arranged sequentially along the axial direction of the main output shaft toward the output end of the main output shaft; There are two encoder disks, both of which are electrically connected to the encoder PCB board. One encoder disk is fitted onto the connecting shaft and rotates with the connecting shaft, and is used to test the rotational speed of the connecting shaft. The other encoder disk is fitted onto the main output shaft and rotates with the main output shaft, and is used to test the rotational speed of the main output shaft. The two encoder disks are located on opposite sides of the encoder PCB board.

Images