A robot arm

Abstract

The utility model belongs to the technical field of mechanical arm especially a kind of mechanical arm. Including pedestal;Speed reducer unit is set in the inside of pedestal;By the control of speed reducer unit through connecting rod driving mechanism big arm group, small arm group;Big arm group includes big arm main shaft and is arranged in the both ends of big arm main shaft big main force arm, and one end of big main force arm extends to the inside of pedestal and is rotationally connected with it;Small arm group includes small arm main shaft and is arranged in the both ends of small arm main shaft small main force arm. The utility model is through the design of unilateral integration of connecting rod driving mechanism, reduces manufacturing difficulty and manufacturing cost, also reduces space occupancy simultaneously, and connecting rod big arm group, small arm group are independently driven by two speed reducers respectively, realize the synchronous adjustment of angle between big arm group, small arm group, can quickly obtain the required mechanical arm posture, realize accurate stable motion control, satisfy the demand of high-precision operation of industrial automation.

Description

Technical Field

[0001] This utility model relates to the technical field of A, specifically to a robotic arm. Background Technology

[0002] An industrial robotic arm is a mechatronic device that mimics the functions of a human arm, wrist, and hand. It can move any object or tool according to time-varying spatial posture (position and orientation) requirements, thereby fulfilling the operational requirements of a specific industrial production process. Examples include clamping welding clamps or welding torches for spot welding or arc welding of automobile or motorcycle bodies; handling die-cast or stamped parts or components; performing laser cutting; spray painting; assembling mechanical parts, and so on.

[0003] Existing robotic arms generally use multi-motor collaborative drive to achieve multi-degree-of-freedom motion, resulting in high redundancy in the transmission system. Especially for simple repetitive work scenarios, the integrated design of its precision reducer and complex linkage mechanism significantly increases manufacturing costs. Furthermore, multi-axis synchronous control algorithms further raise the technical threshold, which is not conducive to the widespread application of small and medium-scale automation transformation and results in unsatisfactory performance.

[0004] Therefore, we propose a robotic arm to solve the above problems. Utility Model Content

[0005] (a) Technical problems to be solved

[0006] To address the shortcomings of existing technologies, this utility model provides a robotic arm that solves the problems mentioned in the background section regarding the complex structure, high manufacturing and operating costs of existing robotic arms.

[0007] (II) Technical Solution

[0008] To achieve the above objectives, this utility model specifically adopts the following technical solution:

[0009] A robotic arm includes: a base; and a speed reducer unit disposed inside the base;

[0010] The boom assembly, arm assembly, and cam disc are controlled by the speed reducer unit through a linkage drive mechanism.

[0011] Furthermore, the boom assembly includes a boom spindle and large main arms disposed at both ends of the boom spindle, with one end of the large main arms extending into the base and rotatably connected thereto.

[0012] Furthermore, the forearm assembly includes a forearm spindle and small main arms disposed at both ends of the forearm spindle. One end of the small main arm is rotatably connected to the end of the large main arm away from the base via a rotating shaft.

[0013] Furthermore, the cam disk is U-shaped, and its two ends are respectively hinged to one end of each of the two small main arms.

[0014] Furthermore, the linkage drive mechanism includes a swing arm assembly, a main pull arm, a first balance bar, a first link swing arm, a second balance bar, and a second link swing arm.

[0015] Furthermore, one end of the main pull arm is movably sleeved with the main shaft of the forearm, the first connecting rod swing arm is L-shaped, the first connecting rod swing arm is sleeved on one end of the rotating shaft, and the two ends of the first connecting rod swing arm are respectively movably hinged to the first balance bar and the second balance bar.

[0016] Furthermore, one end of the second connecting rod arm is fixed to one side of the cam disk, and the other end is movably hinged to the end of the second balance bar away from the first connecting rod arm.

[0017] Furthermore, the speed reducer assembly includes two speed reducers, and the swing arm assembly includes swing arm one, swing arm two, and swing arm three. Swing arm one connects the output shaft of the first speed reducer to the main support arm, and swing arm two connects the output shaft of the second speed reducer to the main pull arm.

[0018] Furthermore, a cover plate for shielding the pivot is provided on one side of the connecting rod arm.

[0019] Furthermore, a label holder is provided on one side of the base, and a protective cover is provided on the top of the base.

[0020] (III) Beneficial Effects

[0021] Compared with the prior art, the present invention provides a robotic arm with the following advantages:

[0022] This invention reduces manufacturing difficulty and cost by integrating the linkage drive mechanism on one side, while also reducing space occupation. The boom and forearm assemblies are driven independently by two reducers, enabling synchronous adjustment of the angle between the boom and forearm assemblies. This allows for quick acquisition of the required robotic arm posture, achieving precise and stable motion control and meeting the high-precision operation requirements of industrial automation. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the base structure of this utility model;

[0024] Figure 2 This is a schematic diagram of the main shaft structure of the boom of this utility model.

[0025] In the diagram: 1. Base; 2. Reducer unit; 3. Boom assembly; 31. Boom spindle; 32. Main boom; 4. Arm assembly; 41. Arm spindle; 42. Main boom; 43. Rotary shaft; 5. Cam plate; 6. Linkage drive mechanism; 61. Swing arm assembly; 611. Swing arm one; 612. Swing arm two; 613. Swing arm three; 62. Main tie arm; 63. Balance bar one; 64. Linkage swing arm one; 65. Balance bar two; 66. Linkage swing arm two; 7. Cover plate; 8. Marker seat; 9. Protective cover. Detailed Implementation

[0026] 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.

[0027] Example

[0028] like Figure 1-2 As shown, an embodiment of the present invention provides a robotic arm comprising: a base 1; a reducer 2 disposed inside the base 1; and a large arm assembly 3, a small arm assembly 4, and a cam disc 5 controlled by the reducer 2 via a linkage drive mechanism 6.

[0029] like Figure 1-2 As shown, in some embodiments, the boom assembly 3 includes a boom spindle 31 and a large main boom 32 disposed at both ends of the boom spindle 31. One end of the large main boom 32 extends into the base 1 and is rotatably connected thereto.

[0030] The two main booms 32 can swing synchronously via the boom spindle 31. Driven by the reducer, the angle between the boom assembly 3 and the base 1 can be adjusted.

[0031] like Figure 1-2 As shown, in some embodiments, the forearm assembly 4 includes a forearm spindle 41 and small main arms 42 disposed at both ends of the forearm spindle 41. One end of the small main arms 42 is rotatably connected to the end of the large main arms 32 away from the base 1 via a rotating shaft 43.

[0032] The two small main arms 42 can swing synchronously through the small arm main shaft 41. The small main arms 42 are rotatably connected to the large main arms 32 through the rotating shaft 43, so that the relative angle between the small main arms 42 and the large main arms 32 can be adjusted. Driven by the reducer, the angle between the small arm group 4 and the large arm group 3 can be adjusted.

[0033] like Figure 1-2As shown, in some embodiments, the cam disk 5 is U-shaped, and the two ends of the cam disk 5 are respectively hinged to one end of the two small main arms 42.

[0034] The U-shaped design of the cam disc 5 ensures its integrity and simultaneously connects one end of the two small main arms 42 synchronously, further ensuring the stability between the two small main arms 42.

[0035] like Figure 1-2 As shown, in some embodiments, the linkage drive mechanism 6 includes a swing arm assembly 61, a main pull arm 62, a first balance bar 63, a first link swing arm 64, a second balance bar 65, and a second link swing arm 66.

[0036] The main components of the linkage drive mechanism 6 are integrated on one side of the boom assembly 3, the forearm assembly 4, and the cam disc 5. This single-side integration design reduces manufacturing difficulty and cost, while also reducing space occupation.

[0037] like Figure 1-2 As shown, in some embodiments, one end of the main pull arm 62 is movably sleeved with the forearm main shaft 41, the connecting rod swing arm 64 is L-shaped, the connecting rod swing arm 64 is sleeved on one end of the rotating shaft 43, and the two ends of the connecting rod swing arm 64 are movably hinged to the balance bar 63 and the balance bar 65 respectively.

[0038] The L-shaped connecting arm 64, when one end is pulled or pushed by the balance bar 63, drives the balance bar 65 to be pulled or pushed synchronously at the other end. The structure is simple and ingenious.

[0039] like Figure 1-2 As shown, in some embodiments, one end of the second connecting rod arm 66 is fixed to one side of the cam disk 5, and the other end is movably hinged to the end of the second balance bar 65 away from the first connecting rod arm 64.

[0040] One end of the connecting rod swing arm 2 66 is coaxial with the rotation center of the cam disk 5. The balance bar 2 65 pushes or pulls the eccentric end of the connecting rod swing arm 2 66, causing the connecting rod swing arm 2 66 to drive the cam disk 5 to swing and adjust the angle between it and the forearm group 4.

[0041] like Figure 1-2 As shown, in some embodiments, the reducer assembly 2 includes two reducers, and the swing arm assembly 61 includes a first swing arm 611, a second swing arm 612, and a third swing arm 613. The first swing arm 611 connects the output shaft of the first reducer to the main support arm 32, and the second swing arm 612 connects the output shaft of the second reducer to the main pull arm 62.

[0042] The reducer is a PV reducer, and the upper arm assembly 3, the lower arm assembly 4 and the cam disk 5 are driven independently by two reducers, so as to realize the synchronous adjustment of the angles between the upper arm assembly 3, the lower arm assembly 4 and the cam disk 5, and can quickly obtain the required robotic arm posture.

[0043] like Figure 1-2 As shown, in some embodiments, a cover plate 7 for shielding the pivot shaft 43 is provided on one side of the connecting rod arm 64, and in some embodiments, an identification seat 8 is provided on one side of the base 1, and a protective cover 9 is provided on the top of the base 1.

[0044] The label holder 8 is used to engrave the brand logo or equipment parameters, and the cover 9 covers the top of the base 1 to improve the overall integrity and appearance of the product.

[0045] In use, start the reducer corresponding to the boom assembly 3. The reducer drives the boom spindle 31 through the first swing arm 611 to adjust the angle of the boom assembly 3 relative to the base 1. Start the reducer corresponding to the forearm assembly 4. The reducer drives the forearm spindle 41 through the second swing arm 612 to adjust the angle of the forearm assembly 4 relative to the boom assembly 3. Start the reducer corresponding to the connecting rod drive mechanism 6. The reducer drives the balance bar 63 through the third swing arm 613. When one end of the L-shaped connecting rod swing arm 64 is pulled or pushed by the balance bar 63, the other end drives the balance bar 65 to be pulled or pushed synchronously. The balance bar 65 pushes or pulls the eccentric end of the connecting rod swing arm 66, so that the connecting rod swing arm 66 drives the cam disc 5 to swing, adjusting the angle between it and the forearm assembly 4.

[0046] In summary, the single-sided integrated design of the linkage drive mechanism 6 reduces manufacturing difficulty and cost, while also reducing space occupation. The linkage boom assembly 3, the forearm assembly 4, and the cam disk 5 are driven independently by two reducers, realizing synchronous adjustment of the angles between the boom assembly 3, the forearm assembly 4, and the cam disk 5. This allows for the rapid acquisition of the required robotic arm posture, achieving precise and stable motion control and meeting the high-precision operation requirements of industrial automation.

[0047] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A robotic arm, characterized in that, include: Base (1); The speed reducer unit (2) is installed inside the base (1); The boom assembly (3), the forearm assembly (4), and the cam disc (5) are controlled by the reducer assembly (2) through the linkage drive mechanism (6).

2. The robotic arm according to claim 1, characterized in that: The boom assembly (3) includes a boom spindle (31) and large main arms (32) located at both ends of the boom spindle (31). One end of the large main arms (32) extends into the base (1) and is rotatably connected to it.

3. The robotic arm according to claim 1, characterized in that: The forearm assembly (4) includes a forearm spindle (41) and small main arms (42) located at both ends of the forearm spindle (41). One end of the small main arm (42) is rotatably connected to the end of the large main arm (32) away from the base (1) via a rotating shaft (43).

4. The robotic arm according to claim 1, characterized in that: The cam disk (5) is U-shaped, and the two ends of the cam disk (5) are respectively hinged to one end of the two small main arms (42).

5. A robotic arm according to claim 1, characterized in that: The linkage drive mechanism (6) includes a swing arm assembly (61), a main pull arm (62), a balance bar one (63), a linkage swing arm one (64), a balance bar two (65), and a linkage swing arm two (66).

6. A robotic arm according to claim 5, characterized in that: One end of the main arm (62) is movably connected to the main shaft (41) of the forearm. The first connecting rod swing arm (64) is L-shaped and is sleeved on one end of the rotating shaft (43). The two ends of the first connecting rod swing arm (64) are movably hinged to the first balance bar (63) and the second balance bar (65) respectively.

7. A robotic arm according to claim 5, characterized in that: One end of the second connecting rod arm (66) is fixed to one side of the cam disk (5), and the other end is movably hinged to the end of the second balance bar (65) away from the first connecting rod arm (64).

8. A robotic arm according to claim 5, characterized in that: The speed reducer assembly (2) includes two speed reducers, and the swing arm assembly (61) includes swing arm one (611), swing arm two (612) and swing arm three (613). Swing arm one (611) connects the output shaft of the first speed reducer to the main arm (32), and swing arm two (612) connects the output shaft of the second speed reducer to the main arm (62).

9. A robotic arm according to claim 5, characterized in that: A cover plate (7) for shielding the pivot (43) is provided on one side of the connecting rod arm (64).

10. A robotic arm according to claim 1, characterized in that: A label seat (8) is provided on one side of the base (1), and a protective cover (9) is provided on the top of the base (1).

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