A four-axis robotic arm

Abstract

This utility model discloses a four-axis robotic arm, belonging to the field of auxiliary clamps. It includes a robotic arm base, with a robotic arm body slidably connected to the front of the base. A connecting plate is provided at the end of the robotic arm body, and a fixing member is fixedly connected to the bottom of the connecting plate. A moving member is slidably connected inside the fixing member. By setting up a first gear, a second gear, and a gear plate, the first gear engages with one side of each tooth pattern on the gear plate, and the second gear engages with the other side of each tooth pattern on the gear plate. By utilizing the two gears meshing with both sides of the gear plate, when either the first or second gear rotates, it can directly drive the gear plate to move. Unlike the traditional forward and reverse motor-driven rack method, which requires a period of idle rotation due to the gap between the gear and rack before reversing, this effectively eliminates the gap between the gear and rack and also reduces costs.

Description

Technical Field

[0001] This utility model belongs to the field of auxiliary clamping technology, specifically relating to a four-axis robotic arm. Background Technology

[0002] A robotic arm is a programmable mechanical system that mimics the movements of a human arm. It is driven by motors, hydraulics, or pneumatics to perform complex operations. When moving objects (such as centipedes), a robotic arm is needed to grip them.

[0003] Existing robotic arms use forward and reverse motors to drive racks and pinions to clamp objects. However, when using forward and reverse motors to drive racks and pinions to move back and forth to clamp objects (such as centipedes), high-precision gears and racks are required due to the tight meshing between them, which increases costs. While using ordinary gears and racks is cheaper, there are gaps between them. For example, when the gear rotates forward, although the gear and rack are in close contact, driving the gear to move forward, when the gear rotates in the reverse direction, the gap between the gear and rack requires the gear to idle for a while before it can move in the reverse direction. Therefore, this invention provides a four-axis robotic arm. Utility Model Content

[0004] The purpose of this invention is to provide a four-axis robotic arm to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a four-axis robotic arm, including a robotic arm base, a robotic arm body slidably connected to the front of the robotic arm base, a connecting plate provided at the end of the robotic arm body, a fixing member fixedly connected to the bottom of the connecting plate, a moving member slidably connected inside the fixing member, a side plate fixedly connected to the bottom of the fixing member, two drive motors provided on the side of the side plate, and a first gear and a second gear fixedly connected to the output shafts of the two drive motors respectively.

[0006] In a preferred embodiment, the front of the fixing member is provided with a first clamping plate, and the front of the moving member is provided with a second clamping plate. Friction textures are provided on the opposing surfaces of the first clamping plate and the second clamping plate.

[0007] In a preferred embodiment, the fixing member has a groove inside, the moving member has a sliding block slidably connected to the groove on the outside, and the top of the sliding block is fixedly connected to a toothed plate that meshes with the first gear and the second gear.

[0008] In a preferred embodiment, two symmetrically arranged limiting plates are fixedly connected to the other side of the fastener, and limiting grooves adapted to the limiting plates are opened on both sides of the toothed plate.

[0009] In a preferred embodiment, the first gear is engaged with one side of each tooth pattern of the gear plate, and the second gear is engaged with the other side of each tooth pattern of the gear plate. The length of the gear plate is twice the distance between the first gear and the second gear.

[0010] In a preferred embodiment, the drive motor is provided with a snap-fit ​​component on the side facing the side plate, the snap-fit ​​component has snap-fit ​​grooves on both sides, and the snap-fit ​​component has guide slopes on both sides facing the side plate.

[0011] In a preferred embodiment, the side plate facing the drive motor is provided with two sets of connectors. Each set of connectors includes two symmetrically arranged snap-fit ​​plates. The opposite surfaces of the two snap-fit ​​plates are provided with snap-fit ​​protrusions that are adapted to snap-fit ​​grooves. Each snap-fit ​​plate is provided with a weakening groove on its outer surface.

[0012] Compared with the prior art, the beneficial effects of this utility model are:

[0013] This four-axis robotic arm, through the setting of a first gear, a second gear, and a gear plate, etc., the first gear is engaged with one side of each tooth of the gear plate, and the second gear is engaged with the other side of each tooth of the gear plate. By using the two gears to mesh with the two sides of the gear plate respectively, when the first gear or the second gear rotates, it can directly drive the gear plate to move. Unlike the traditional forward and reverse motor driving rack and pinion, there is no need to idle for a while before moving in the opposite direction due to the gap between the gear and the rack. It can effectively eliminate the gap between the gear and the rack and also reduce costs.

[0014] This four-axis robotic arm features a structure including snap-fit ​​components, snap-fit ​​slots, snap-fit ​​plates, and snap-fit ​​protrusions. The drive motor is detachably connected to the snap-fit ​​plate on the side plate via the snap-fit ​​slots on the snap-fit ​​components. The snap-fit ​​components are equipped with guide slopes, and the snap-fit ​​plates are equipped with weakening grooves, which facilitates the installation and removal of the drive motor and makes it easier to maintain and replace the drive motor. Attached Figure Description

[0015] Figure 1 This is a front view of the structure of this utility model;

[0016] Figure 2 This is a partial sectional view of the fastener;

[0017] Figure 3 This is a schematic diagram showing the operation of the drive motor;

[0018] Figure 4 for Figure 3 Enlarged diagram of point A.

[0019] In the diagram: 1. Robotic arm base; 101. Robotic arm body; 2. Connecting plate; 3. Fixing component; 301. First clamping plate; 302. Slide groove; 303. Limiting plate; 4. Moving component; 401. Second clamping plate; 402. Sliding block; 403. Toothed plate; 404. Limiting groove; 5. Side plate; 6. Drive motor; 601. Snap-fit ​​component; 602. Snap-fit ​​groove; 603. Guide slope; 7. First gear; 8. Second gear; 9. Connecting component; 901. Weakening groove; 902. Snap-fit ​​protrusion. Detailed Implementation

[0020] The present invention will be further described below with reference to the embodiments.

[0021] The following embodiments are used to illustrate the present invention, but should not be used to limit the scope of protection of the present invention. The conditions in the embodiments can be further adjusted according to specific conditions, and simple improvements to the method of the present invention under the premise of the concept of the present invention are all within the scope of protection claimed by the present invention.

[0022] Please see Figure 1-4 This utility model provides a four-axis robotic arm, including a robotic arm base 1. A robotic arm body 101 is slidably connected to the front of the robotic arm base 1. A connecting plate 2 is provided at the end of the robotic arm body 101. A fixing member 3 is fixedly connected to the bottom of the connecting plate 2. A moving member 4 is slidably connected inside the fixing member 3. A side plate 5 is fixedly connected to the bottom of the fixing member 3. Two drive motors 6 are provided on the side of the side plate 5. A first gear 7 and a second gear 8 are respectively fixedly connected to the output shafts of the two drive motors 6. A first clamping plate 301 is provided on the front of the fixing member 3, and a second clamping plate 401 is provided on the front of the moving member 4. The first clamping plate 301 and the second clamping plate 401 are positioned relative to each other. The surfaces are all provided with friction textures. The inside of the fixing part 3 is provided with a sliding groove 302. The outside of the moving part 4 is provided with a sliding block 402 that is slidably connected to the sliding groove 302. The top of the sliding block 402 is fixedly connected with a toothed plate 403 that meshes with the first gear 7 and the second gear 8. Two symmetrically arranged limiting plates 303 are fixedly connected to the other side of the fixing part 3. The two sides of the toothed plate 403 are provided with limiting grooves 404 that are adapted to the limiting plates 303. The first gear 7 is in contact with one side of each tooth of the toothed plate 403, and the second gear 8 is in contact with the other side of each tooth of the toothed plate 403. The length of the toothed plate 403 is twice the distance between the first gear 7 and the second gear 8.

[0023] The robotic arm base 1 is in a stable support state. The robotic arm body 101 can slide and adjust its position on the front of the robotic arm base 1 according to actual needs. The connecting plate 2 is fixed to the end of the robotic arm body 101. The fixing member 3 is connected to the lower part of the robotic arm body 101 through the connecting plate 2. The moving member 4 is slidably connected inside the fixing member 3. The first clamping plate 301 is fixed to the front of the fixing member 3, and the second clamping plate 401 is fixed to the front of the moving member 4. At this time, the first clamping plate 301 and the second clamping plate 401 are in an open state. The two drive motors 6 are installed on the side of the side plate 5. The first gear 7 and the second gear 8 are respectively fixed on the output shaft of the two drive motors 6. The first gear 7 is in contact with one side of each tooth of the toothed plate 403, and the second gear 8 is in contact with the other side of each tooth of the toothed plate 403. The limiting grooves 404 on both sides of the toothed plate 403 are adapted to the limiting plate 303 on the other side of the fixing member 3, which plays a limiting role in the movement of the toothed plate 403.

[0024] When clamping is required, one of the drive motors 6 is started according to actual needs. The drive motor 6 connected to the first gear 7 is started, and the drive motor 6 drives the first gear 7 to rotate. Since the first gear 7 meshes with the toothed plate 403, and the length of the toothed plate 403 is twice the distance between the first gear 7 and the second gear 8, the rotation of the first gear 7 will drive the toothed plate 403 to move in one direction. The movement of the toothed plate 403 will drive the sliding block 402 to slide in the groove 302 of the fixing part 3, so that the moving part 4 slides inside the fixing part 3, thereby driving the second clamping plate 401 to move towards the first clamping plate 301, realizing the clamping action. Similarly, the drive motor 6 connected to the second gear 8 is started, and the rotation of the second gear 8 will drive the toothed plate 403 to move in the opposite direction, so that the second clamping plate 401 moves away from the first clamping plate 301, realizing the opening action. According to actual work needs, the above clamping and opening operations can be repeated to complete the clamping work of centipedes and other objects.

[0025] The first gear 7 is engaged with one side of each tooth of the toothed plate 403, and the second gear 8 is engaged with the other side of each tooth of the toothed plate 403. This dual-gear drive method allows the toothed plate 403 to be directly driven by the gears during movement, whether it moves in the forward or reverse direction. This avoids the problem of idle rotation caused by the gap between the gear and the rack in the traditional forward and reverse motor drive rack method. It improves the accuracy and stability of the robotic arm's clamping action while reducing costs.

[0026] Friction textures are provided on the opposing surfaces of the first clamping plate 301 and the second clamping plate 401, increasing the friction between the clamping plates and objects such as centipedes, further improving the stability of the clamping and preventing the object from slipping during clamping. A sliding groove 302 is provided inside the fixing member 3, and a sliding block 402 is slidably connected to the sliding groove 302 on the outside of the moving member 4. This design makes the sliding of the moving member 4 inside the fixing member 3 smoother and more stable, reducing shaking and deviation during movement and ensuring the accuracy of the robotic arm's clamping actions. Two symmetrically arranged limiting plates are fixedly connected to the other side of the fixing member 3. 303. Limiting grooves 404 adapted to the limiting plate 303 are provided on both sides of the toothed plate 403. The cooperation between the limiting plate 303 and the limiting grooves 404 plays a limiting role in the movement of the toothed plate 403, preventing the toothed plate 403 from deviating during the movement, and further ensuring the stability of the sliding of the moving part 4. The length of the toothed plate 403 is twice the distance between the first gear 7 and the second gear 8. This design makes the toothed plate 403 have enough length to mesh with the two gears, ensuring the effectiveness and stability of the dual gear drive, and also providing sufficient stroke for the work of the robotic arm.

[0027] In this embodiment, a snap-fit ​​component 601 is provided on the side of the drive motor 6 facing the side plate 5. Snap-fit ​​grooves 602 are provided on both sides of the snap-fit ​​component 601, and guide slopes 603 are provided on both sides of the side of the snap-fit ​​component 601 facing the side plate 5. Two sets of connectors 9 are provided on the side of the side plate 5 facing the drive motor 6. Each set of connectors 9 includes two symmetrically arranged snap-fit ​​plates. Snap-fit ​​protrusions 902 that match the snap-fit ​​grooves 602 are provided on the opposite surfaces of the two snap-fit ​​plates. A weakening groove 901 is provided on the outer surface of each snap-fit ​​plate. When the drive motor 6 needs to be installed on the side plate 5, the operator holds the drive motor 6 so that it faces the side plate 5. The snap-fit ​​601 is aligned with the connector 9 on the side plate 5. During the alignment process, the guide slopes 603 on both sides of the snap-fit ​​601 facing the side plate 5 will first contact the snap-fit ​​plates in the connector 9. Due to the presence of the guide slopes 603, the snap-fit ​​601 will gradually open the two symmetrically arranged snap-fit ​​plates along the guiding direction of the guide slopes 603. During this process, the weakening grooves 901 on the outer side of the snap-fit ​​plates will undergo a certain degree of elastic deformation, providing space for the snap-fit ​​plates to open. As the snap-fit ​​601 continues to advance, the snap-fit ​​grooves 602 on both sides of the snap-fit ​​601 will gradually align with the snap-fit ​​protrusions 902 on the opposite surface of the snap-fit ​​plates.

[0028] Once fully aligned, the snap-fit ​​plate, under its own elasticity and the restoring effect of the weakening groove 901, will tightly snap into the snap-fit ​​groove 602, thereby achieving a stable connection between the drive motor 6 and the side plate 5. When it is necessary to disassemble the drive motor 6, the operator applies a certain external force to overcome the snap-fit ​​force between the snap-fit ​​protrusion 902 and the snap-fit ​​groove 602. At this time, the snap-fit ​​plate will again undergo elastic deformation under the action of force, and the weakening groove 901 will further deform, causing the snap-fit ​​protrusion 902 to disengage from the snap-fit ​​groove 602. The operator continues to apply external force to pull the snap-fit ​​part 601 out of the connector 9, thus completing the disassembly of the drive motor 6.

[0029] The guide slope 603 on the snap-fit ​​601 plays a key guiding role in the installation process. It allows the snap-fit ​​601 to be smoothly inserted into the connector 9, reducing the installation difficulty and improving the installation efficiency. The operator does not need to precisely align the snap-fit ​​601 and the connector 9. After roughly aligning them, the installation can be completed by relying on the guidance of the guide slope 603. The weakening groove 901 on the snap-fit ​​plate provides space for the elastic deformation of the snap-fit ​​plate.

[0030] During installation, the snap-fit ​​plate can be easily opened, allowing the snap-fit ​​protrusion 902 to smoothly snap into the snap-fit ​​groove 602. This design makes the installation process smoother and reduces the risk of equipment damage caused by installation difficulties. The matching design of the snap-fit ​​groove 602 and the snap-fit ​​protrusion 902 makes the connection between the drive motor 6 and the side plate 5 very stable. After the snap-fit ​​protrusion 902 is snapped into the snap-fit ​​groove 602, it can withstand a certain amount of external force, ensuring the stability of the drive motor 6 during operation and avoiding equipment failure caused by loose connection. When the drive motor 6 fails or needs to be replaced, the connection method between the snap-fit ​​protrusion 902 and the snap-fit ​​groove 602 makes the disassembly process relatively simple. The operator only needs to apply appropriate external force to remove the drive motor 6 from the side plate 5, which facilitates the repair, maintenance or replacement of the drive motor 6 and reduces the maintenance cost and time of the equipment.

[0031] The working principle and usage process of this utility model are as follows: First, the robotic arm base 1 is in a stable support state. The robotic arm body 101 can slide and adjust its position on the front of the robotic arm base 1 according to actual needs. The connecting plate 2 is fixed to the end of the robotic arm body 101. The fixing member 3 is connected to the lower part of the robotic arm body 101 through the connecting plate 2. The moving member 4 is slidably connected inside the fixing member 3. The first clamping plate 301 is fixed on the front of the fixing member 3, and the second clamping plate 401 is fixed on the front of the moving member 4. At this time, the first clamping plate 301 and the second clamping plate 401 are in an open state. Two drive motors 6 are mounted on the side of the side plate 5. A first gear 7 and a second gear 8 are respectively fixed to the output shafts of the two drive motors 6. The first gear 7 is engaged with one side of each tooth pattern on the toothed plate 403, and the second gear 8 is engaged with the other side of each tooth pattern on the toothed plate 403. The limiting grooves 404 on both sides of the toothed plate 403 are adapted to the limiting plate 303 on the other side of the fixing member 3, thus limiting the movement of the toothed plate 403. When clamping operations are required, one of the drive motors 6 is started according to actual needs. This starts the drive motor 6 connected to the first gear 7, causing the first gear 7 to rotate. Since the first gear 7 meshes with the toothed plate 403, and the length of the toothed plate 403 is twice the distance between the first gear 7 and the second gear 8, when the first gear 7 rotates, it will drive the toothed plate 403 to move in one direction. The movement of the toothed plate 403 will cause the sliding block 402 to slide in the groove 302 of the fixed member 3, thereby causing the moving member 4 to slide inside the fixed member 3, which in turn will drive the second clamping plate 401 to move towards the first clamping plate 301, realizing the clamping action. Similarly, when the drive motor 6 connected to the second gear 8 is started, the rotation of the second gear 8 will drive the toothed plate 403 to move in the opposite direction, causing the second clamping plate 401 to move away from the first clamping plate 301. Plate 301 enables the opening action. Depending on actual work requirements, the clamping and opening operations can be repeated to clamp objects such as centipedes. When the drive motor 6 needs to be installed on the side plate 5, the operator holds the drive motor 6, aligning the snap-fit ​​601 facing the side plate 5 with the connector 9 on the side plate 5. During alignment, the guide slopes 603 on both sides of the snap-fit ​​601 facing the side plate 5 will first contact the snap-fit ​​plates in the connector 9. Due to the presence of the guide slopes 603, the snap-fit ​​601 will gradually open the two symmetrically arranged snap-fit ​​plates along the guiding direction of the guide slopes 603. During this process, the weakening groove 901 on the outward side of the snap-fit ​​plate will undergo a certain degree of elastic deformation, providing space for the snap-fit ​​plate to open. As the snap-fit ​​piece 601 continues to advance, the snap-fit ​​grooves 602 on both sides of the snap-fit ​​piece 601 will gradually align with the snap-fit ​​protrusions 902 on the opposite surface of the snap-fit ​​plate. When fully aligned, the snap-fit ​​plate will be tightly snapped into the snap-fit ​​grooves 602 under its own elasticity and the restoring effect of the weakening grooves 901, thereby achieving a stable connection between the drive motor 6 and the side plate 5. When it is necessary to disassemble the drive motor 6, the operator applies a certain external force to overcome the snap-fit ​​force between the snap-fit ​​protrusions 902 and the snap-fit ​​grooves 602.At this point, the snap-fit ​​plate undergoes elastic deformation again under the action of force, and the weakening groove 901 deforms further, causing the snap-fit ​​protrusion 902 to detach from the snap-fit ​​groove 602. The operator continues to apply external force to pull the snap-fit ​​piece 601 out of the connector 9, thus completing the disassembly of the drive motor 6.

[0032] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A four-axis robot arm comprising a robot base (1), characterized in that: The front of the robotic arm base (1) is slidably connected to the robotic arm body (101). The end of the robotic arm body (101) is provided with a connecting plate (2). The bottom of the connecting plate (2) is fixedly connected to a fixing member (3). The inside of the fixing member (3) is slidably connected to a moving member (4). The bottom of the fixing member (3) is fixedly connected to a side plate (5). The side of the side plate (5) is provided with two drive motors (6). The output shafts of the two drive motors (6) are respectively fixedly connected to a first gear (7) and a second gear (8).

2. The four-axis robotic arm of claim 1, wherein: The front of the fixing member (3) is provided with a first clamping plate (301), and the front of the moving member (4) is provided with a second clamping plate (401). Friction patterns are provided on the opposite surfaces of the first clamping plate (301) and the second clamping plate (401).

3. The four-axis robotic arm of claim 2, wherein: The fixing member (3) has a groove (302) inside, and the moving member (4) has a sliding block (402) slidably connected to the groove (302) on the outside. The top of the sliding block (402) is fixedly connected to a toothed plate (403) that meshes with the first gear (7) and the second gear (8).

4. The four-axis robotic arm of claim 3, wherein: Two symmetrically arranged limiting plates (303) are fixedly connected to the other side of the fixing member (3), and limiting grooves (404) adapted to the limiting plates (303) are opened on both sides of the toothed plate (403).

5. The four-axis robotic arm of claim 3, wherein: The first gear (7) is in contact with one side of each tooth pattern of the tooth plate (403), and the second gear (8) is in contact with the other side of each tooth pattern of the tooth plate (403). The length of the tooth plate (403) is twice the distance between the first gear (7) and the second gear (8).

6. The four-axis robotic arm of claim 1, wherein: The drive motor (6) is provided with a snap-fit ​​component (601) on the side facing the side plate (5). The snap-fit ​​component (601) has snap-fit ​​grooves (602) on both sides and guide slopes (603) on both sides facing the side plate (5).

7. The four-axis robotic arm of claim 1, wherein: The side plate (5) facing the drive motor (6) is provided with two sets of connectors (9). Each set of connectors (9) includes two symmetrically arranged snap-fit ​​plates. On the opposite surfaces of the two snap-fit ​​plates, there are snap-fit ​​protrusions (902) that are adapted to snap-fit ​​grooves (602). Each snap-fit ​​plate has a weakening groove (901) on its outer surface.

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