Five-axis collaborative robot for grasping objects in narrow areas
By using the telescopic joints and vertically mounted motor rotary joints of the five-axis collaborative robotic arm, the problem of movement limitations of traditional robotic arms in narrow areas and complex environments has been solved, achieving higher obstacle avoidance performance and a simpler deployment method.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- 李诗凡
- Filing Date
- 2025-05-15
- Publication Date
- 2026-07-24
AI Technical Summary
Traditional robotic arms are difficult to navigate and deploy in narrow areas and complex environments. They have limited movement patterns, are prone to interference with the environment or human body, and have complex wiring.
The design employs a five-axis collaborative robotic arm, combining telescopic joints and vertically mounted rotary joints with motors. It introduces bevel gears to improve the reduction ratio, optimizes cable layout, and achieves rotary joints with smaller outer diameter and greater torque, simplifying deployment.
It improves the obstacle avoidance performance of the robotic arm in narrow spaces, simplifies the deployment process, and enhances the ease of operation and safety in complex environments.
Smart Images
Figure CN224544606U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of automated machinery technology, specifically a five-axis collaborative robotic arm for grasping objects in narrow areas. Background Technology
[0002] Traditional robotic arm designs typically employ fully rotary joints or non-extensible linear joints. While simple, this design's limited range of motion restricts its application in certain scenarios.
[0003] Passing through narrow areas: Because traditional robotic arms are designed with rotary joints or non-extendable linear joints, it is difficult for them to extend from a short distance to a long distance. This makes it impossible to pass through some narrow areas, thus limiting the application scenarios of robotic arms.
[0004] Deployment limitations in complex environments: Because traditional robotic arms use rotary joints to approach objects, the range of motion of the robotic arm body is large during its movement. In complex and dynamic environments, it is easy to interfere with or even collide with objects or people in the environment, so a larger space is required for deployment. Utility Model Content
[0005] To address the shortcomings of existing technologies, this invention provides a five-axis collaborative robotic arm for grasping objects in narrow areas. It features telescopic joints to improve obstacle avoidance and deployment capabilities. Because the telescopic joints result in a long lever arm, a novel, linked rotary joint is needed to increase the output torque, ensuring the robotic arm maintains high load capacity even with the long lever arm of the telescopic joints. Furthermore, the novel rotary joint, thanks to the introduction of bevel gears, does not have a larger outer diameter. The telescopic joints are suitable for operation in narrower spaces, and the combination of a vertically mounted motor and a rotary joint makes the overall structure, movement, and deployment of the robotic arm simpler. Additionally, a special internal cabling system optimizes the robotic arm layout, allowing for more interfaces without increasing external wiring or tubing.
[0006] To achieve the above objectives, this utility model provides the following technical solution: a five-axis collaborative robotic arm for grasping objects in narrow areas, comprising a telescopic joint, a rotary joint with a vertically mounted motor, a base structure, and a wire hole structure located inside the telescopic joint and the rotary joint with the vertically mounted motor. The output end of the telescopic joint is provided with a joint connecting rib, and the middle of the joint connecting rib is provided with a shaft connecting hole. The telescopic joint also includes a telescopic joint connecting cylinder, a telescopic joint motor housing, a first telescopic cylinder, a second telescopic cylinder, a third telescopic cylinder, a fourth telescopic cylinder, an end interface circuit board, and an end bottom cover. The joint connecting rib is located at the connection between the telescopic joint connecting cylinder and the rotary joint with the vertically mounted motor. The telescopic joint motor housing is fastened to the bottom of the telescopic joint connecting cylinder. The first telescopic cylinder is fixed to the bottom of the telescopic joint motor housing by bolts. The second, third, and fourth telescopic cylinders are nested in the first telescopic cylinder in stages. The end bottom cover is sealed at the end of the fourth telescopic cylinder. The end interface circuit board is located inside the end bottom cover. The telescopic joint also has a telescopic joint drive structure inside for driving the first, second, third, and fourth telescopic cylinders to extend.
[0007] The rotary joint of the vertically mounted motor includes a rotary joint motor housing, a rotary joint connecting cylinder, a right-side bracket, a left-side bracket, a limiting bracket, a crossbeam, and a side encoder. The rotary joint motor housing is fastened to the top of the rotary joint connecting cylinder. The right-side bracket and the left-side bracket are both fixedly mounted on the top left and right sides of the rotary joint motor housing by bolts. The limiting bracket is also located on the top of the rotary joint motor housing and between the right-side bracket and the left-side bracket. The crossbeam is fixedly mounted in the middle between the right-side bracket and the left-side bracket by bolts. The side encoder is fixedly mounted on the outside of the left-side bracket. The rotary joint of the vertically mounted motor also has a rotary joint drive structure inside for driving the bending between the rotary joint and the telescopic joint of the vertically mounted motor.
[0008] Furthermore, the telescopic joint drive structure includes a telescopic joint motor drive circuit board, a telescopic joint motor brake, a telescopic joint drive motor, a spiral electrical cable and air pipe bracket, a primary screw, a secondary screw, and a tertiary screw. The telescopic joint motor drive circuit board is fixedly disposed inside the telescopic joint connecting cylinder. The telescopic joint motor brake is installed inside the telescopic joint motor housing. The telescopic joint drive motor is disposed inside the telescopic joint motor housing. The primary, secondary, and tertiary screws are threadedly connected to the previous primary screw, and the top end of the primary screw... Connected to the output end of the telescopic joint drive motor, one end of the spiral wire tube bracket is fixed inside the telescopic joint connecting cylinder, and the other end extends through the telescopic joint motor brake, the telescopic joint drive motor, the first-stage screw, the second-stage screw, and the third-stage screw to the interior of the third-stage screw. Nuts and telescopic cylinder caps are provided between the outer surfaces of the first-stage screw, the second-stage screw, and the third-stage screw and the inner walls of the first, second, third, and fourth telescopic cylinders, respectively, to connect the first-stage screw, the second-stage screw, and the third-stage screw to the second, third, and fourth telescopic cylinders, respectively.
[0009] Furthermore, the nut includes a primary screw nut, a secondary screw nut, and a tertiary screw nut. The primary screw nut, the secondary screw nut, and the tertiary screw nut are respectively sleeved on the outer surfaces of the primary screw, the secondary screw, and the tertiary screw. The telescopic cylinder cover includes a first telescopic cylinder cover, a second telescopic cylinder cover, a third telescopic cylinder cover, and a fourth telescopic cylinder cover. The primary screw nut, the secondary screw nut, and the tertiary screw nut are respectively embedded in the inner walls of the second, third, and fourth telescopic cylinder covers. The first telescopic cylinder cover is sleeved on the top of the primary screw nut. The outer walls of the first, second, third, and fourth telescopic cylinder covers are respectively fixed to the inner walls of the first, second, third, and fourth telescopic cylinders by bolts.
[0010] Furthermore, the outer surfaces of the first, second, third, and fourth telescopic cylinders are provided with limiting structures. The limiting structures include telescopic cylinder limiting protrusions and telescopic cylinder limiting grooves. The telescopic cylinder limiting protrusions are disposed on the inner walls of the first, second, and third telescopic cylinders, and the telescopic cylinder limiting grooves are formed on the outer walls of the second, third, and fourth telescopic cylinders. The telescopic cylinder limiting protrusions on the inner walls of the first, second, and third telescopic cylinders respectively engage with the telescopic cylinder limiting grooves on the outer walls of the second, third, and fourth telescopic cylinders with clearance fit.
[0011] Furthermore, the rotary joint drive structure includes a rotary joint motor drive circuit board, a rotary joint motor brake, a rotary joint drive motor, a rotary joint motor harmonic reducer, a driving bevel gear, a driven bevel gear, and a rotary joint rotating shaft. The rotary joint motor drive circuit board, the rotary joint motor brake, the rotary joint drive motor, and the rotary joint motor harmonic reducer are arranged from bottom to top inside the rotary joint motor housing. The driving bevel gear is fixedly mounted on the output shaft of the rotary joint motor harmonic reducer. The rotary joint rotating shaft is movably disposed between the right side bracket and the left side bracket via a bearing. The driven bevel gear is fitted onto the outer surface of the rotary joint rotating shaft, and the driven bevel gear meshes with the driving bevel gear.
[0012] Furthermore, the rotary joint motor drive circuit board is an integrated motor drive control module, equipped with CAN bus communication, and has overcurrent and overheat protection functions. It has a magnetic encoder chip to detect the rotation of the magnet fixed to the motor shaft. The rotary joint motor brake is an electromagnetic power-off brake that automatically locks the motor shaft when power is off. The rotary joint motor harmonic reducer is a precision harmonic reducer used to amplify the output torque and reduce the speed. The side encoder is a magnetic encoder that can be easily connected to the rotary joint motor drive circuit board to extract the rotation angle information of the rotary joint shaft. The joint connecting rib is fitted on the outer surface of the rotary joint shaft and fixed to the rotary joint shaft through the shaft connecting hole. The shaft connecting hole has a keyway, and the outer surface of the rotary joint shaft is provided with a key that is fixed inside the keyway of the shaft connecting hole.
[0013] Furthermore, the wire hole structure includes a side wiring groove for the rotary joint, a shaft wiring hole, a base wiring hole, and a through hole. The base wiring hole is located at the bottom of the base, the shaft wiring hole is located in the center of the rotary joint's rotating shaft, the through hole is located inside the joint connecting rib, and the side wiring groove for the rotary joint is located on the inner wall of the rotary joint motor housing, the right side bracket of the rotary joint connecting cylinder, and the left side bracket.
[0014] Furthermore, the internal structure of the wire hole is also provided with a wiring structure, which includes a first electrical cable for the rotating joint, a first air tube cable for the rotating joint, a second electrical cable for the telescopic joint, and a second air tube cable for the telescopic joint. The first electrical cable for the rotating joint and the first air tube cable for the rotating joint pass through the ends of multiple side wiring grooves of the rotating joint of the rotating joint motor housing, the rotating joint connecting cylinder, and the right side bracket, and extend into the interior of the telescopic joint. One end of the second electrical cable for the telescopic joint and the second air tube cable for the telescopic joint are respectively connected to the ends of the first electrical cable for the rotating joint and the first air tube cable for the rotating joint. The second electrical cable for the telescopic joint and the second air tube cable for the telescopic joint are coiled between the spiral electrical cable and air tube bracket and the first-stage screw, the second-stage screw, and the third-stage screw.
[0015] Furthermore, the electrical cable 1 of the rotary joint and the air cable 1 of the rotary joint are routed through multiple side wiring grooves, multiple shaft wiring holes, and multiple through holes to complete the internal wiring of the robotic arm. The coiled arrangement of the electrical cable 2 of the telescopic joint and the air cable 2 of the telescopic joint allows the electrical and air cables to extend and retract with the telescopic joint, thereby transmitting electrical signals and vacuum negative pressure in the telescopic joint.
[0016] Furthermore, the base structure includes a base, a base motor, and a base motor drive circuit board. The base is disposed at the bottom of the rotary joint connecting cylinder, the base motor is installed between the rotary joint connecting cylinder and the base, and the base motor drive circuit board is disposed inside the base and electrically connected to the base motor.
[0017] Compared with the prior art, the technical solution of this application has the following beneficial effects:
[0018] 1. This five-axis collaborative robotic arm, used for grasping objects in narrow areas, improves obstacle avoidance performance in narrow spaces by extending the robotic arm linearly from short to long in an algorithm-controlled manner through the linear extension function of its telescopic joints.
[0019] 2. This five-axis collaborative robotic arm for grasping objects in narrow areas uses a rotary joint with a vertically mounted motor. By introducing bevel gears to increase the reduction ratio of the joint, and adjusting the motor's mounting direction to be perpendicular to the joint's rotation axis, a rotary joint with a smaller outer diameter cylinder can achieve greater torque. This reduces the space occupied and improves the ease of deployment. At the same time, the greater torque better supports the long lever arm conditions brought about by the telescopic joint.
[0020] 3. This five-axis collaborative robotic arm for grasping objects in narrow areas optimizes the cable deployment by threading cables inside the rotary joint structure of the vertically mounted motor, the telescopic joint structure, and the base, thereby improving the simplicity of the robotic arm's deployment and enabling it to be deployed better in complex environments. Attached Figure Description
[0021] Figure 1 This is a schematic diagram of the structure of the five-axis collaborative robotic arm of this utility model for grasping objects in narrow areas;
[0022] Figure 2 This is a structural schematic diagram of the five-axis collaborative robotic arm of this utility model for grasping objects in narrow areas from another perspective.
[0023] Figure 3 This is a schematic diagram of the rotary joint and telescopic joint of the vertically mounted motor in the five-axis collaborative robotic arm for grasping objects in narrow areas according to this utility model.
[0024] Figure 4 This is a schematic diagram of the telescopic joint of the five-axis collaborative robotic arm used for grasping objects in narrow areas according to this utility model.
[0025] Figure 5 This is a schematic diagram of the internal structure of the telescopic joint of the five-axis collaborative robotic arm used for grasping objects in narrow areas according to this utility model.
[0026] Figure 6 This invention relates to a five-axis collaborative robotic arm for grasping objects in narrow areas. Figure 4 A magnified structural diagram of A in the middle;
[0027] Figure 7 This invention relates to a five-axis collaborative robotic arm for grasping objects in narrow areas. Figure 5 A magnified structural diagram of B in the diagram;
[0028] Figure 8 This is a schematic diagram of the rotating joint of the vertically mounted motor in the five-axis collaborative robotic arm of this utility model for grasping objects in narrow areas.
[0029] Figure 9 This is a schematic diagram of the internal structure of the rotary joint of the vertically mounted motor in the five-axis collaborative robotic arm of this utility model for grasping objects in narrow areas.
[0030] Figure 10 This is a schematic diagram of the side encoder of the five-axis collaborative robotic arm used for grasping objects in narrow areas according to this utility model;
[0031] Figure 11 This is a schematic diagram of the cable routing structure of the five-axis collaborative robotic arm for grasping objects in a narrow area according to this utility model.
[0032] Figure 12 This is a cross-sectional view of the telescopic joint of the five-axis collaborative robotic arm used for grasping objects in narrow areas according to this invention.
[0033] In the diagram: 1. Telescopic joint; 11. Telescopic joint connecting cylinder; 12. Telescopic joint motor housing; 13. Telescopic cylinder one; 14. Telescopic cylinder two; 141. Telescopic cylinder limiting protrusion; 142. Telescopic cylinder limiting groove; 15. Telescopic cylinder three; 16. Telescopic cylinder four; 17. End interface circuit board; 18. End bottom cover; 2. Rotary joint for vertically mounted motor; 21. Rotary joint motor housing; 22. Rotary joint connecting cylinder; 23. Right side bracket; 24. Left side bracket; 25. Limiting bracket; 26. Crossbeam; 27. Side encoder; 3. Joint connecting rib; 4. Shaft connecting hole; 51. Telescopic joint motor drive circuit board; 52. Telescopic joint motor brake; 53. Telescopic joint drive motor; 54. Spiral wire and air pipe bracket; 55. Primary screw; 551. Screw limiting groove; 56. Secondary screw; 57. Tertiary screw; 58. Nut; 58 1. Primary screw nut; 582. Secondary screw nut; 583. Tertiary screw nut; 59. Telescopic cylinder cover; 591. Telescopic cylinder cover one; 592. Telescopic cylinder cover two; 593. Telescopic cylinder cover three; 594. Telescopic cylinder cover four; 61. Rotary joint motor drive circuit board; 62. Rotary joint motor brake; 63. Rotary joint drive motor; 64. Rotary joint motor harmonic reducer; 65. Driving bevel gear; 66. Driven bevel gear; 67. Rotary joint rotating shaft; 71. Wire and cable one for the rotary joint; 72. Air hose cable one for the rotary joint; 73. Wire and cable two for the telescopic joint; 74. Air hose cable two for the telescopic joint; 81. Side wiring groove for the rotary joint; 82. Shaft wiring hole; 83. Base wiring hole; 84. Wire hole; 91. Base; 92. Base motor; 93. Base motor drive circuit board. Detailed Implementation
[0034] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0035] Please see Figures 1-12This embodiment describes a five-axis collaborative robotic arm for grasping objects in narrow areas, comprising a telescopic joint 1 and a rotary joint 2 with a vertically mounted motor. The output end of the telescopic joint 1 is provided with a joint connecting rib 3, which is the main connecting component connecting the telescopic joint 1 and the rotary joint 2 with the vertically mounted motor. The joint connecting rib 3 has a shaft connecting hole 4 in the middle and a limiting hole at the connection point between the telescopic joint 1 and the rotary joint 2 with the vertically mounted motor. The telescopic joint 1 also includes a telescopic joint connecting cylinder 11, a telescopic joint motor housing 12, a first telescopic cylinder 13, a second telescopic cylinder 14, a third telescopic cylinder 15, a fourth telescopic cylinder 16, an end interface circuit board 17, and an end bottom cover 18. The joint connecting rib 3 is located at the connection point between the telescopic joint connecting cylinder 11 and the rotary joint 2 with the vertically mounted motor. The telescopic joint motor housing 12 is fastened... The housing of the internal drive motor of the telescopic joint structure is installed at the bottom of the telescopic joint connecting cylinder 11 and serves to fix the drive motor. Telescopic cylinder one 13 is fixed to the bottom of the telescopic joint motor housing 12 by bolts. Telescopic cylinder two 14, telescopic cylinder three 15, and telescopic cylinder four 16 are nested inside telescopic cylinder one 13 in stages. The multi-stage telescopic cylinders extend and retract in stages to achieve the extension action. The end cover 18 is sealed at the end of telescopic cylinder four 16. The end cover 18 is used to encapsulate the bottom of the telescopic joint 1. The end interface circuit board 17 is set inside the end cover 18. The end interface circuit board 17 controls the robotic arm gripping mechanism docked on the end cover 18. The telescopic joint 1 also has a telescopic joint drive structure that drives the extension of telescopic cylinder one 13, telescopic cylinder two 14, telescopic cylinder three 15, and telescopic cylinder four 16.
[0036] The rotary joint 2 of the vertically mounted motor includes a rotary joint motor housing 21, a rotary joint connecting cylinder 22, a right side bracket 23, a left side bracket 24, a limiting bracket 25, a crossbeam 26, and a side encoder 27. The rotary joint motor housing 21 is fastened to the top of the rotary joint connecting cylinder 22. The rotary joint motor housing 21 and the rotary joint connecting cylinder 22 are connected to form the robotic arm cylinder of the rotary joint 2. The right side bracket 23 and the left side bracket 24 are both fixedly installed on the top left and right sides of the rotary joint motor housing 21 by bolts, serving as the main support brackets at the connection of the rotary joint. The limiting bracket 25 is also set on the top of the rotary joint motor housing 21 and is located between the right side bracket 23 and the left side bracket 24. The crossbeam 26 is fixedly installed in the middle between the right side bracket 23 and the left side bracket 24 by bolts. The crossbeam 26 is used to reinforce the stability between the right side bracket 23 and the left side bracket 24. The side encoder 27 is fixedly installed on the outside of the left side bracket 24 to detect the rotation angle information of the rotary joint. The rotary joint 2 of the vertically mounted motor is also provided with a rotary joint drive structure for driving the bending between the rotary joint 2 of the vertically mounted motor and the telescopic joint 1.
[0037] The bottom of the vertically mounted rotary joint 2 is also provided with a base structure, which includes a base 91, a base motor 92, and a base motor drive circuit board 93. The base 91 is located at the bottom of the rotary joint connecting cylinder 22 and serves as a support for fixing the entire robotic arm on the ground. The base motor 92 is installed between the rotary joint connecting cylinder 22 and the base 91 and drives the top position of the robotic arm to rotate. The base motor drive circuit board 93 is located inside the base 91 and is used to drive the base motor 92. The base motor drive circuit board 93 is electrically connected to the base motor 92.
[0038] The telescopic joint drive structure includes a telescopic joint motor drive circuit board 51, a telescopic joint motor brake 52, a telescopic joint drive motor 53, a spiral wire and air pipe bracket 54, a primary screw 55, a secondary screw 56, and a tertiary screw 57. The telescopic joint motor drive circuit board 51 is fixedly installed inside the telescopic joint connecting cylinder 11 and controls the telescopic joint. The telescopic joint motor brake 52 is installed inside the telescopic joint motor housing 12 and is used to brake the movement of the telescopic joint drive motor 53. The telescopic joint drive motor 53 is located inside the telescopic joint motor housing 12 and is the main power source of the telescopic joint. The primary screw 55, secondary screw 56, and tertiary screw 57 are threadedly connected to the previous primary screw, and the primary screw 55, secondary screw 56, and tertiary screw 57 drive the multi-stage telescopic cylinder. The drive rod, and the top end of the primary screw 55 is connected to the output end of the telescopic joint drive motor 53. One end of the spiral wire and air pipe bracket 54 is fixed inside the telescopic joint connecting cylinder 11, and the other end extends through the telescopic joint motor brake 52, the telescopic joint drive motor 53, the primary screw 55, the secondary screw 56, and the tertiary screw 57 to the interior of the tertiary screw 57. The spiral wire and air pipe bracket 54 is used as a support frame to support the internal electrical cables. Nuts 58 and telescopic cylinder covers 59 are provided between the outer surfaces of the primary screw 55, the secondary screw 56, and the tertiary screw 57 and the inner walls of the first telescopic cylinder 13, the second telescopic cylinder 14, the third telescopic cylinder 15, and the fourth telescopic cylinder 16 respectively to connect the primary screw 55, the secondary screw 56, and the tertiary screw 57 to the second telescopic cylinder 14, the third telescopic cylinder 15, and the fourth telescopic cylinder 16 respectively.
[0039] It should be noted that the joint connecting rib 3 is used to connect adjacent robotic arm cylinders or telescopic cylinders, transmit torque and enhance structural stability. The telescopic cylinder includes four nested telescopic cylinders: one (13), one (14), one (15), and one (16). It is equipped with a telescopic joint drive structure for linear telescopic motion. When the ratio of the number of teeth of the driven bevel gear to the number of teeth of the driving bevel gear is selected as 3.2:1, the torque is amplified to 3.2 times while the speed is reduced to 1 / 3.2. The reduction ratio of the harmonic reducer of the rotary joint motor is 100:1. Therefore, the reduction ratio of the driving bevel gear combined with the reduction ratio of the harmonic reducer of the rotary joint motor is 320:1, which means that the torque is amplified by 3.2 times while the speed is reduced to 1 / 320.
[0040] Specifically, when the telescopic joint 1 needs to rotate in conjunction with the vertically mounted rotating joint 2, the shaft connection hole 4 of the joint connecting rib 3 at the bottom of the telescopic joint connecting cylinder 11 can be fitted onto the rotating joint drive structure between the right side bracket 23 and the left side bracket 24 at the top of the vertically mounted rotating joint 2. Simultaneously, the telescopic joint motor housing 12 and the first telescopic cylinder 13 are assembled at the bottom of the telescopic joint connecting cylinder 11. After completion, the second telescopic cylinder 14, the third telescopic cylinder 15, and the fourth telescopic cylinder 16 need to be sequentially fitted into the inside of the first telescopic cylinder 13, and the end cap 18 needs to be assembled to form the entire telescopic joint 1 housing assembly. When multiple telescopic cylinders need to be pushed, they need to be propelled through the internal telescopic joints. The drive structure provides multi-stage propulsion for telescopic cylinders 14, 15, and 16. When the vertically mounted rotating joint 2 is needed to drive the telescopic joint 1 to rotate, the rotating joint drive structure inside the rotating joint motor housing 21 is also needed to drive the joint connecting rib 3 to bend, thereby driving the telescopic joint 1 to rotate. When the base needs to be fixed at the bottom of the vertically mounted rotating joint 2, the base motor 92 can be connected to the bottom of the rotating joint connecting cylinder 22. At the same time, the base 91 needs to be installed at the bottom of the base motor 92, and the base motor drive circuit board 93 is needed to control the base motor 92 to drive the mechanical arm at the top of the base 91 to rotate as a whole.
[0041] In addition, the assembly of the rotary joint 2 of the vertically mounted motor is achieved by mounting the rotary joint motor housing 21 on the top of the rotary joint connecting cylinder 22. At the same time, the right bracket 23 and the left bracket 24 are assembled on the top of the rotary joint motor housing 21, and the crossbeam 26 is used to further reinforce the right bracket 23 and the left bracket 24. The side encoder 27 is installed on one side of the left bracket 24 to detect the rotation angle of the rotary joint 2 of the vertically mounted motor.
[0042] In this embodiment, the nut 58 includes a primary screw nut 581, a secondary screw nut 582, and a tertiary screw nut 583. The primary screw nut 581, secondary screw nut 582, and tertiary screw nut 583 are respectively sleeved on the outer surfaces of the primary screw 55, the secondary screw 56, and the tertiary screw 57. The primary screw nut 581, secondary screw nut 582, and tertiary screw nut 583 are used to connect the primary screw 55, the secondary screw 56, and the tertiary screw 57, so that the multi-stage screws can push the multi-stage telescopic cylinder on the multi-stage nut. The telescopic cylinder cover 59 includes a first telescopic cylinder cover 591, a second telescopic cylinder cover 592, a third telescopic cylinder cover 593, and a fourth telescopic cylinder cover 594. 94. The first-stage screw nut 581, the second-stage screw nut 582, and the third-stage screw nut 583 are respectively embedded on the steps of the second cover 592, the third cover 593, and the fourth cover 594 of the telescopic cylinder. The first cover 591, the second cover 592, the third cover 593, and the fourth cover 594 of the telescopic cylinder connect the multi-stage nuts and serve as a multi-stage telescopic cylinder. The first cover 591 of the telescopic cylinder is sleeved on the top of the first-stage screw nut 581. The outer walls of the first cover 591, the second cover 592, the third cover 593, and the fourth cover 594 of the telescopic cylinder are respectively fixed to the inner walls of the first 13, the second 14, the third 15, and the fourth 16 of the telescopic cylinder by bolts.
[0043] The outer surfaces of telescopic cylinders 13, 14, 15, and 16 are provided with limiting structures. The limiting structures include telescopic cylinder limiting protrusions 141 and telescopic cylinder limiting grooves 142. The telescopic cylinder limiting protrusions 141 are provided on the inner walls of the telescopic cylinders 13, 14, and 15 to restrict the extension movement of the telescopic cylinders 13, 14, and 15. The telescopic cylinder limiting grooves 142 are provided on the outer walls of the telescopic cylinders 14, 15, and 16 to cooperate with the telescopic cylinder limiting protrusions 141 to allow the multi-stage telescopic cylinders to extend linearly. The telescopic cylinder limiting protrusions 141 on the inner walls of the telescopic cylinders 13, 14, and 15 respectively have clearance fits with the telescopic cylinder limiting grooves 142 on the outer walls of the telescopic cylinders 14, 15, and 16.
[0044] The outer walls of the first-stage screw nut 581, the second-stage screw nut 582, and the third-stage screw nut 583 are provided with screw limiting grooves. When the multi-stage screw is rotated by the threaded connection on the inner wall, the lifting and lowering of the multi-stage screw is restricted by the screw limiting grooves and screw limiting strips.
[0045] Specifically, when it is necessary to connect a multi-stage telescopic cylinder to a multi-stage screw to enable the multi-stage screw to drive the multi-stage telescopic cylinder to extend, the first-stage screw nut 581, the second-stage screw nut 582, and the third-stage screw nut 583 can be respectively fitted onto the outer surfaces of the first-stage screw 55, the second-stage screw 56, and the third-stage screw 57. Then, the first telescopic cylinder cover 591, the second telescopic cylinder cover 592, the third telescopic cylinder cover 593, and the fourth telescopic cylinder cover 594 can be fitted onto the outer surfaces of the first-stage screw nut 581, the second-stage screw nut 582, and the third-stage screw nut 583 for connection. At the same time, the outer walls of the first telescopic cylinder cover 591, the second telescopic cylinder cover 592, the third telescopic cylinder cover 593, and the fourth telescopic cylinder cover 594 need to be connected to the multi-stage telescopic cylinder to enable the multi-stage screw to drive the multi-stage telescopic cylinder to extend.
[0046] In this embodiment, the rotary joint drive structure includes a rotary joint motor drive circuit board 61, a rotary joint motor brake 62, a rotary joint drive motor 63, a rotary joint motor harmonic reducer 64, a driving bevel gear 65, a driven bevel gear 66, and a rotary joint rotating shaft 67. The rotary joint motor drive circuit board 61, the rotary joint motor brake 62, the rotary joint drive motor 63, and the rotary joint motor harmonic reducer 64 are arranged from bottom to top inside the rotary joint motor housing 21. The driving bevel gear 65 is fixedly mounted on the output shaft of the rotary joint motor harmonic reducer 64. The rotary joint rotating shaft 67 is movably mounted between the right side bracket 23 and the left side bracket 24 via bearings. The driven bevel gear 66 is fitted on the outer surface of the rotary joint rotating shaft 67 and meshes with the driving bevel gear 65.
[0047] Among them, the rotary joint motor drive circuit board 61 is an integrated motor drive control module, equipped with CAN bus communication, and has overcurrent and overheat protection functions. It has a magnetic encoder chip to detect the rotation of the magnet fixed to the motor shaft. The rotary joint motor brake 62 is an electromagnetic power-off brake that automatically locks the motor shaft when power is off. The rotary joint motor harmonic reducer 64 is a precision harmonic reducer used to amplify the output torque and reduce the speed. The side encoder 27 is a magnetic encoder that can be easily connected to the rotary joint motor drive circuit board 61 to extract the rotation angle information of the rotary joint rotating shaft 67. The joint connecting rib 3 is fitted on the outer surface of the rotary joint rotating shaft 67 and fixed to the rotary joint rotating shaft 67 through the shaft connecting hole 4. The shaft connecting hole 4 has a keyway, and the outer surface of the rotary joint rotating shaft 67 is provided with a keyway connected to the inside of the keyway of the shaft connecting hole 4 for fixation.
[0048] Specifically, when the rotary joint 2 of the vertically mounted motor needs to drive the telescopic joint 1 to rotate, the rotary joint drive motor 63 can drive the rotary joint motor harmonic reducer 64 to rotate, so that the output shaft of the rotary joint motor harmonic reducer 64 drives the active bevel gear 65 to rotate, and the active bevel gear 65 meshes with the driven bevel gear 66, so that the active bevel gear 65 drives the driven bevel gear 66 to rotate. Since the driven bevel gear 66 is fixed on the rotary joint rotating shaft 67, the rotary joint rotating shaft 67 drives the joint connecting rib 3 fitted on its outer surface to drive the telescopic joint 1 to rotate to complete the bending of the robotic arm.
[0049] In this embodiment, both the outer and inner walls of the telescopic joint 1 and the rotary joint 2 with the vertically mounted motor are provided with wire hole structures. The wire hole structures include a side wire routing groove 81 of the rotary joint, a shaft wire routing hole 82, a base wire routing hole 83, and a through hole 84. The base wire routing hole 83 is located at the bottom of the base 91 and is the inlet hole for the robotic arm cable. The shaft wire routing hole 82 is located in the center of the rotating shaft 67 of the rotary joint and is the routing hole for the internal cable of the robotic arm. The through hole 84 is located inside the joint connecting rib 3 and is located at the connection between the joint connecting rib 3 and the rotary joint 2. The side wire routing groove 81 of the rotary joint is located on the inner wall of the rotary joint motor housing 21, the right side bracket 23 of the rotary joint connecting cylinder 22, and the left side bracket 24.
[0050] The internal wiring structure of the wire hole also includes a wiring structure, which includes a first electrical cable 71 for the rotary joint, a first air cable 72 for the rotary joint, a second electrical cable 73 for the telescopic joint, and a second air cable 74 for the telescopic joint. The first electrical cable 71 and the first air cable 72 for the rotary joint pass through the ends of multiple side wiring grooves 81 of the rotary joint motor housing 21, the rotary joint connecting cylinder 22, and the right side bracket 23, respectively, and extend into the interior of the telescopic joint 1. 2. Cables that supply power and air to all circuit boards inside the rotating joint 2 and telescopic joint 1, which connect multiple vertically mounted motors. One end of the second electrical cable 73 and the second air cable 74 of the telescopic joint are respectively connected to the ends of the first electrical cable 71 and the first air cable 72 of the rotating joint. The cables that provide power and air to the telescopic joint 1 are coiled inside the telescopic joint 1. The coiling of the second electrical cable 73 and the second air cable 74 of the telescopic joint is arranged between the spiral electrical cable and air pipe bracket 54 and the first-stage screw 55, the second-stage screw 56 and the third-stage screw 57.
[0051] The electrical cables 71 and air cables 72 of the rotary joint are routed through multiple side cable trays 81, multiple shaft cable trays 82, and multiple through holes 84 to complete the internal wiring of the robotic arm. The coiled arrangement of the electrical cables 73 and air cables 74 of the telescopic joint allows the electrical and air cables to extend and retract with the telescopic joint, enabling the transmission of electrical signals and vacuum negative pressure within the telescopic joint.
[0052] It should be noted that the electrical cables 71 of the rotary joint, the air cables 72 of the rotary joint, the electrical cables 73 of the telescopic joint, and the air cables 74 of the telescopic joint all pass through the inner wall or interior of the telescopic joint 1 and the rotary joint 2 with multiple vertically mounted motors to achieve wiring.
[0053] Wiring method: The electrical cable 71 and the air cable 72 of the rotating joint are passed through the bottom of the base wiring hole 83. At the same time, the electrical cable 71 and the air cable 72 of the rotating joint also need to pass through the wiring holes 84 opened at the bottom of the joint connecting ribs and enter the interior of the rotating joint connecting cylinder 22. Then, the electrical cable 71 and the air cable 72 of the rotating joint are connected to the interior of the telescopic joint 1 through the side wiring grooves 81 opened on the housing 21 of the rotating joint motor. After being connected to the interior of the telescopic joint 1, the electrical cable 73 and the air cable 74 of the telescopic joint need to be coiled inside the spiral electrical cable and air cable bracket 54 inside the telescopic joint 1 to complete the entire cable wiring method.
[0054] Working principle: When the rotating joint 2 with the motor installed vertically needs to achieve bending motion, the rotating joint drive motor 63 inside the rotating joint motor housing 21 drives the active bevel gear 65 to rotate, which in turn causes the driven bevel gear 66, which meshes with the active bevel gear 65, to rotate as well. During the rotation, since the driven bevel gear 66 is fixed on the rotating joint shaft 67, the rotating joint shaft 67 bends the joint connecting rib 3 on the outer wall of the rotating joint shaft 67. Since the joint connecting rib 3 is connected to the telescopic joint connecting cylinder 11 at the top of the telescopic joint 1, the entire telescopic joint 1 achieves the rotation motion to complete the joint rotation function. When the telescopic joint 1 needs to drive the telescopic cylinder 2 14, telescopic cylinder 3 15, and telescopic cylinder 4 16 to achieve extension motion, it can also... The telescopic joint drives the motor 53 to simultaneously rotate the primary screw 55, the secondary screw 56, and the tertiary screw 57. This causes the primary screw 55, the secondary screw 56, and the tertiary screw 57 to move in a relatively linear manner through the telescopic cylinder cover 591, the telescopic cylinder cover 592, the telescopic cylinder cover 593, and the telescopic cylinder cover 594, respectively. The telescopic cylinder cover 591, the telescopic cylinder cover 592, the telescopic cylinder cover 593, and the telescopic cylinder cover 594 are then fixedly connected to the telescopic cylinder 13, the telescopic cylinder 24, the telescopic cylinder 35, and the telescopic cylinder 46, respectively. This allows the telescopic cylinder 13, the telescopic cylinder 24, the telescopic cylinder 35, and the telescopic cylinder 46 to achieve the synchronous telescopic extension, retraction, and expansion or contraction of the multi-stage telescopic cylinder under the limitation of the telescopic cylinder limiting protrusion 141 and the telescopic cylinder limiting groove 142.
[0055] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.
[0056] 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 and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.
Claims
1. A five-axis collaborative robotic arm for grasping objects in narrow areas, characterized in that: The system includes a telescopic joint (1), a rotating joint (2) for vertically mounted motors, a base structure, and a wire hole structure located inside the telescopic joint (1) and the rotating joint (2) for vertically mounted motors. The output end of the telescopic joint (1) is provided with a joint connecting rib (3), and the joint connecting rib (3) has a shaft connecting hole (4) in the middle. The telescopic joint (1) also includes a telescopic joint connecting cylinder (11), a telescopic joint motor housing (12), a first telescopic cylinder (13), a second telescopic cylinder (14), a third telescopic cylinder (15), a fourth telescopic cylinder (16), an end interface circuit board (17), and an end bottom cover (18). The joint connecting rib (3) is located between the telescopic joint connecting cylinder (11) and the rotating joint (2) for vertically mounted motors. At the connection of the rotating joint (2), the telescopic joint motor housing (12) is fastened to the bottom of the telescopic joint connecting cylinder (11), the first telescopic cylinder (13) is fixed to the bottom of the telescopic joint motor housing (12) by bolts, the second telescopic cylinder (14), the third telescopic cylinder (15), and the fourth telescopic cylinder (16) are nested in the first telescopic cylinder (13) in stages, the end cap (18) is sealed at the end of the fourth telescopic cylinder (16), the end interface circuit board (17) is set inside the end cap (18), and the telescopic joint (1) is also provided with a telescopic joint drive structure for driving the first telescopic cylinder (13), the second telescopic cylinder (14), the third telescopic cylinder (15), and the fourth telescopic cylinder (16) to extend. The rotary joint (2) of the vertically mounted motor includes a rotary joint motor housing (21), a rotary joint connecting cylinder (22), a right side bracket (23), a left side bracket (24), a limiting bracket (25), a crossbeam (26), and a side encoder (27). The rotary joint motor housing (21) is fastened to the top of the rotary joint connecting cylinder (22). The right side bracket (23) and the left side bracket (24) are both fixedly installed on the top left and right sides of the rotary joint motor housing (21) by bolts. The limiting bracket (25) is also set on the top of the rotary joint motor housing (21) and located between the right side bracket (23) and the left side bracket (24). The crossbeam (26) is fixedly installed in the middle between the right side bracket (23) and the left side bracket (24) by bolts. The side encoder (27) is fixedly installed on the outside of the left side bracket (24). The rotary joint (2) of the vertically mounted motor is also provided with a rotary joint drive structure for driving the bending between the rotary joint (2) of the vertically mounted motor and the telescopic joint (1).
2. A five-axis collaborative robotic arm for grasping objects in a narrow area according to claim 1, characterized in that: The telescopic joint drive structure includes a telescopic joint motor drive circuit board (51), a telescopic joint motor brake (52), a telescopic joint drive motor (53), a spiral wire and air pipe bracket (54), a primary screw (55), a secondary screw (56), and a tertiary screw (57). The telescopic joint motor drive circuit board (51) is fixedly installed inside the telescopic joint connecting cylinder (11). The telescopic joint motor brake (52) is installed inside the telescopic joint motor housing (12). The telescopic joint drive motor (53) is installed inside the telescopic joint motor housing (12). The primary screw (55), secondary screw (56), and tertiary screw (57) are threadedly connected to the previous primary screw, and the top end of the primary screw (55) is connected to the telescopic joint drive motor (53). The output end is connected, and one end of the spiral wire air pipe bracket (54) is fixed inside the telescopic joint connecting cylinder (11), and the other end extends through the telescopic joint motor brake (52), telescopic joint drive motor (53), first-stage screw (55), second-stage screw (56) and third-stage screw (57) to the interior of the third-stage screw (57). Nuts (58) and telescopic cylinder covers (59) are provided between the outer surfaces of the first-stage screw (55), second-stage screw (56) and third-stage screw (57) and the inner walls of the first telescopic cylinder (13), second telescopic cylinder (14), third telescopic cylinder (15) and fourth telescopic cylinder (16) respectively to connect the first-stage screw (55), second-stage screw (56) and third-stage screw (57) to the second telescopic cylinder (14), third telescopic cylinder (15) and fourth telescopic cylinder (16).
3. A five-axis collaborative robotic arm for grasping objects in a narrow area according to claim 2, characterized in that: The nut (58) includes a primary screw nut (581), a secondary screw nut (582), and a tertiary screw nut (583). The primary screw nut (581), the secondary screw nut (582), and the tertiary screw nut (583) are respectively sleeved on the outer surfaces of the primary screw (55), the secondary screw (56), and the tertiary screw (57). The telescopic cylinder cover (59) includes a telescopic cylinder cover (591), a telescopic cylinder cover (592), a telescopic cylinder cover (593), and a telescopic cylinder cover (594). The primary screw nut (581), the secondary screw nut... (582) and the third-stage screw nut (583) are respectively embedded on the inner walls of the second cover (592), the third cover (593) and the fourth cover (594) of the telescopic cylinder. The first cover (591) of the telescopic cylinder is sleeved on the top of the first-stage screw nut (581). The outer walls of the first cover (591), the second cover (592), the third cover (593) and the fourth cover (594) of the telescopic cylinder are respectively fixed to the inner walls of the first (13), the second (14), the third (15) and the fourth (16) of the telescopic cylinder by bolts.
4. A five-axis collaborative robotic arm for grasping objects in a narrow area according to claim 3, characterized in that: The outer surfaces of the first telescopic cylinder (13), the second telescopic cylinder (14), the third telescopic cylinder (15), and the fourth telescopic cylinder (16) are provided with limiting structures. The limiting structures include telescopic cylinder limiting protrusions (141) and telescopic cylinder limiting grooves (142). The telescopic cylinder limiting protrusions (141) are provided on the inner walls of the first telescopic cylinder (13), the second telescopic cylinder (14), and the third telescopic cylinder (15). The telescopic cylinder limiting grooves (142) are opened on the outer walls of the second telescopic cylinder (14), the third telescopic cylinder (15), and the fourth telescopic cylinder (16). The telescopic cylinder limiting protrusions (141) on the inner walls of the first telescopic cylinder (13), the second telescopic cylinder (14), and the third telescopic cylinder (15) respectively have clearance fits with the telescopic cylinder limiting grooves (142) on the outer walls of the second telescopic cylinder (14), the third telescopic cylinder (15), and the fourth telescopic cylinder (16).
5. A five-axis collaborative robotic arm for grasping objects in a narrow area according to claim 1, characterized in that: The rotary joint drive structure includes a rotary joint motor drive circuit board (61), a rotary joint motor brake (62), a rotary joint drive motor (63), a rotary joint motor harmonic reducer (64), a driving bevel gear (65), a driven bevel gear (66), and a rotary joint rotating shaft (67). The rotary joint motor drive circuit board (61), the rotary joint motor brake (62), the rotary joint drive motor (63), and the rotary joint motor harmonic reducer (64) are arranged from bottom to top inside the rotary joint motor housing (21). The driving bevel gear (65) is fixedly installed on the output shaft of the rotary joint motor harmonic reducer (64). The rotary joint rotating shaft (67) is movably arranged between the right side bracket (23) and the left side bracket (24) through a bearing. The driven bevel gear (66) is fitted on the outer surface of the rotary joint rotating shaft (67), and the driven bevel gear (66) meshes with the driving bevel gear (65).
6. A five-axis collaborative robotic arm for grasping objects in a narrow area according to claim 5, characterized in that: The rotary joint motor drive circuit board (61) is an integrated motor drive control module, equipped with CAN bus communication, and has overcurrent and overheat protection functions. It has a magnetic encoder chip to detect the rotation of the magnet fixed to the motor shaft. The rotary joint motor brake (62) is an electromagnetic power-off brake that automatically locks the motor shaft when the power is off. The rotary joint motor harmonic reducer (64) is a precision harmonic reducer used to amplify the output torque and reduce the speed. The side encoder (27) is a magnetic encoder that can be easily connected to the rotary joint motor drive circuit board (61) to extract the rotation angle information of the rotary joint rotating shaft (67). The joint connecting rib (3) is fitted on the outer surface of the rotary joint rotating shaft (67) and fixed to the rotary joint rotating shaft (67) through the shaft connecting hole (4). The shaft connecting hole (4) has a keyway. The outer surface of the rotary joint rotating shaft (67) is provided with a keyway connected to the keyway of the shaft connecting hole (4) for fixation.
7. A five-axis collaborative robotic arm for grasping objects in a narrow area according to claim 2, characterized in that: The wire hole structure includes a side wiring groove (81) of the rotating joint, a shaft wiring hole (82), a base wiring hole (83) and a through hole (84). The base wiring hole (83) is located at the bottom of the base (91). The shaft wiring hole (82) is located in the middle of the axis of the rotating joint shaft (67). The through hole (84) is located inside the joint connecting rib (3). The side wiring groove (81) of the rotating joint is located on the inner wall of the rotating joint motor housing (21), the rotating joint connecting cylinder (22), the right side bracket (23), and the left side bracket (24).
8. A five-axis collaborative robotic arm for grasping objects in a narrow area according to claim 7, characterized in that: The internal structure of the wire hole is also provided with a wiring structure, which includes a first electrical cable (71) for the rotating joint, a first air cable (72) for the rotating joint, a second electrical cable (73) for the telescopic joint, and a second air cable (74) for the telescopic joint. The first electrical cable (71) and the first air cable (72) for the rotating joint pass through multiple side wiring grooves (81) of the rotating joint motor housing (21), the rotating joint connecting cylinder (22), and the right side bracket (23), respectively. The ends extend into the interior of the telescopic joint (1). One end of the second wire cable (73) of the telescopic joint and the second air cable (74) of the telescopic joint are respectively connected to the ends of the first wire cable (71) of the rotating joint and the first air cable (72) of the rotating joint. The second wire cable (73) of the telescopic joint and the second air cable (74) of the telescopic joint are coiled between the spiral wire air cable bracket (54) and the first-stage screw (55), the second-stage screw (56) and the third-stage screw (57).
9. A five-axis collaborative robotic arm for grasping objects in a narrow area according to claim 8, characterized in that: The electrical cable 1 (71) of the rotating joint and the air cable 1 (72) of the rotating joint are routed through multiple side wiring grooves (81), multiple shaft wiring holes (82) and multiple through holes (84) to complete the internal wiring of the robotic arm. The coiled arrangement of the electrical cable 2 (73) of the telescopic joint and the air cable 2 (74) of the telescopic joint allows the electrical cable and air cable to extend and retract with the telescopic joint, thereby transmitting electrical signals and vacuum negative pressure in the telescopic joint.
10. A five-axis collaborative robotic arm for grasping objects in a narrow area according to claim 1, characterized in that: The base structure includes a base (91), a base motor (92), and a base motor drive circuit board (93). The base (91) is disposed at the bottom of the rotary joint connecting cylinder (22). The base motor (92) is installed between the rotary joint connecting cylinder (22) and the base (91). The base motor drive circuit board (93) is disposed inside the base (91) and is electrically connected to the base motor (92).