A robotic arm

Abstract

This utility model provides a robotic arm, belonging to the field of robot technology. Specifically, it includes a horizontal telescopic section and a vertical lifting section. The horizontal telescopic section connects to the robotic arm and enables its movement. The vertical lifting section connects to the horizontal telescopic section and enables its vertical movement. The horizontal telescopic section includes a mounting base, a primary telescopic arm, and a secondary telescopic arm. The mounting base is connected to the vertical lifting section, and the secondary telescopic arm is connected to the robotic arm. The primary telescopic arm is movably connected to both the mounting base and the secondary telescopic arm. The primary and secondary telescopic arms can move simultaneously, and during this simultaneous movement, the secondary telescopic arm moves relative to the primary telescopic arm. Compared with existing technologies, this utility model allows the primary and secondary telescopic arms to move simultaneously towards the work area when controlling the robotic arm's movement. Compared to the sequential movement in existing technologies, this effectively improves the robotic arm's movement efficiency.

Description

Technical Field

[0001] This utility model belongs to the field of robotics technology, specifically relating to a robotic arm. Background Technology

[0002] The robotic arm is an important component of the unhooking robot, mainly used to control the robotic hand to move towards the docking point of the carriage. Sometimes, the robotic arm can also provide the unhooking power for the robotic hand. The existing robotic arm consists of several arms, and there are different connection forms between adjacent arms. For example, two arms can be connected by a rotary joint, in which case the robotic hand can be moved by the movement of the arms around the joint. Two arms can also be connected by a sliding joint, in which case the arms slide linearly. In this case, the robotic arm is a telescopic robotic arm, and the position of the robotic hand can be adjusted by changing the distance between the ends of the two arms.

[0003] In the aforementioned telescopic robotic arm, the first arm section needs to be linearly slid first, which then drives the second arm section to move. Only when the first arm section can no longer move does the second arm section slide linearly, ultimately bringing the robotic arm to the working position. During this process, the arms need to be moved sequentially, which affects the control efficiency of the robotic arm. Utility Model Content

[0004] The purpose of this invention is to provide a robotic arm that enables the robotic hand to move quickly to the work area.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is a robotic arm, comprising a horizontal telescopic part and a vertical lifting part. The horizontal telescopic part is used to connect to the robotic arm and enable the robotic arm to move; the vertical lifting part is connected to the horizontal telescopic part and is used to enable the horizontal telescopic part to move vertically. The horizontal telescopic part includes a mounting base, a primary telescopic arm, and a secondary telescopic arm. The mounting base is connected to the vertical lifting part, and the secondary telescopic arm is connected to the robotic arm. The primary telescopic arm is movably connected to both the mounting base and the secondary telescopic arm. The primary and secondary telescopic arms can move simultaneously, and during their simultaneous movement, the secondary telescopic arm moves relative to the primary telescopic arm.

[0006] Furthermore, it also includes a drive chain and a lateral drive assembly. The drive chain is connected to both the mounting base and the secondary telescopic arm. The lateral drive assembly is mounted on the primary telescopic arm and connected to the drive chain, and is used to move the drive chain.

[0007] Furthermore, it also includes guide rails and sliders. The guide rails are set on the first-stage telescopic arm, and the sliders are connected to the guide rails and can slide on the guide rails. There are two sliders, which are fixed to the mounting base and the second-stage telescopic arm respectively.

[0008] Furthermore, the secondary telescopic boom is located below the primary telescopic boom, and the two are set parallel to each other.

[0009] Furthermore, the guide rail extends along the length of the first-stage telescopic arm, allowing the slider to slide along the length of the first-stage telescopic arm.

[0010] Furthermore, the vertical lifting unit includes a mold frame and a longitudinal drive assembly. The mold frame is vertically arranged and encloses an interval area; the lead screw is located within the interval area and connected to the mounting base; the longitudinal drive assembly is arranged on the mold frame and connected to the lead screw for rotating the lead screw.

[0011] Furthermore, the mold frame includes guide rails, two of which extend vertically and are connected to the mounting base, allowing the mounting base to slide along the length of the guide rails.

[0012] Furthermore, the mounting base is provided with a central hole, and a ball nut is installed in the central hole. The lead screw is connected to the ball nut so that when the lead screw rotates, the mounting base can move vertically.

[0013] Furthermore, the first-stage telescopic boom and the second-stage telescopic boom move in the same direction.

[0014] Compared with the prior art, the beneficial effects of this utility model are: when the robotic arm controls the robotic hand to move, the first-level telescopic arm and the second-level telescopic arm can move to the work area at the same time. Compared with the sequential movement in the prior art, this can effectively improve the movement efficiency of the robotic hand. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the vertical lifting part of this utility model; Figure 3 This is a schematic diagram of the horizontal telescopic part of this utility model; Figure 4 This is a schematic diagram of the first-stage telescopic arm structure of this utility model; Figure 5 This is a schematic diagram of the structure of the present invention in its elongated state; Among them, 1-vertical lifting part, 101-guide rail, 102-screw, 103-longitudinal drive assembly, 2-horizontal telescopic part, 201-mounting base, 2021-first-stage telescopic arm, 2022-second-stage telescopic arm, 2023-upper guide rail, 2024-lower guide rail, 2025-upper slider, 2026-lower slider, 2027-bracket, 2028-drive sprocket, 2029-driven sprocket, 2030-transmission chain, 203-lateral drive assembly. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0017] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0018] See Figure 1 As shown, a robotic arm includes a vertical lifting section 1 and a horizontal telescopic section 2. The vertical lifting section 1 extends vertically, and the horizontal telescopic section 2 is connected to the vertical lifting section 1. By moving the vertical lifting section 1, the position of the horizontal telescopic section 2 can be changed. Then, by operating the vertical lifting section 1, the horizontal telescopic section 2 can be moved vertically. The robotic arm can be installed at the end of the horizontal telescopic section 2. In this way, the vertical lifting section 1 can control the vertical movement of the robotic arm and adjust its height. Overall, the vertical lifting section 1 can adjust the robotic arm so that it can reach the working area.

[0019] See Figure 1 and Figure 2 As shown, the vertical lifting unit 1 includes two vertically arranged guide rails 101, which together form a mold frame. A housing can be mounted on the outside of the mold frame. The two guide rails 101 are parallel to each other and have a gap between them. A lead screw 102 is arranged in the gap. A longitudinal drive assembly 103 is arranged at the upper end of the mold frame. The output shaft of the longitudinal drive assembly 103 is connected to the end of the lead screw 102 through a coupling. The longitudinal drive assembly 103 controls the lead screw 102 to rotate. The lead screw 102 is connected to the horizontal telescopic unit 2. When the lead screw 102 rotates, it can control the horizontal telescopic unit 2 to move vertically, thereby adjusting the horizontal height of the robot.

[0020] After the robot arm is adjusted to the required height, it can be moved horizontally by translating and extending the horizontal telescopic part 2, so that the robot arm can move closer to the work area. For details, please refer to Figures 3 to 5As shown, the horizontal telescopic part 2 includes a telescopic arm and a mounting base 201. The mounting base 201 is connected to the lead screw 102 on the vertical lifting part 1. When the lead screw 102 rotates, it can cause the mounting base 201 to move vertically. The telescopic arm is connected to the mounting base 201, and at this time, it can drive the telescopic arm to move vertically. The telescopic arm is capable of relative movement with the mounting base 201. The telescopic arm includes a primary telescopic arm 2021 and a secondary telescopic arm 2022. The primary telescopic arm 2021 is slidably connected to the mounting base 201, and the secondary telescopic arm 2022 is slidably connected to the primary telescopic arm 2021. The secondary telescopic arm 2022 and the primary telescopic arm 2021 are parallel to each other. When adjusting the position of the robot, the primary telescopic arm 2021 moves relative to the mounting base 201, and the secondary telescopic arm 2022 moves relative to the primary telescopic arm 2021. The primary telescopic arm 2021 can be in a horizontal state. An upper guide rail 2023 and a lower guide rail 2024 are provided on the primary telescopic arm 2021. The mounting base 201 is provided with an upper slider 2025. The mounting base 201 is connected to the upper guide rail 2023 through the upper slider 2025. The upper slider 2025 can slide along the length direction of the first-stage telescopic arm 2021. Since the mounting base 201 is connected to the lead screw 102 on the vertical lifting part 1, the mounting base 201 will remain in the original position when the position of the vertical lifting part 1 does not change. At this time, after the first-stage telescopic arm 2021 and the mounting base 201 move relative to each other, the first-stage telescopic arm 2021 will move horizontally, so that the horizontal distance between the end of the mounting base 201 and the end of the first-stage telescopic arm 2021 changes. At this time, the second-stage telescopic arm 2022 and the robot arm move horizontally accordingly. The above-mentioned movement mode of the secondary telescopic boom 2022 includes two types, the first of which is: when the primary telescopic boom 2021 moves horizontally, it drives the secondary telescopic boom 2022 to move horizontally; The second movement method is as follows: the secondary telescopic arm 2022 moves relative to the primary telescopic arm 2021. In this movement method, a lower slider 2026 needs to be set on the secondary telescopic arm 2022. The lower slider 2026 cooperates with the lower guide rail 2024 so that the lower slider 2026 can slide along the length direction of the primary telescopic arm 2021. Since the lower slider 2026 is fixed on the secondary telescopic arm 2022, when the lower slider 2026 moves on the lower guide rail 2024, the secondary telescopic arm 2022 moves relative to the primary telescopic arm 2021, thereby changing the horizontal distance between the robot and the mounting base 201, thus realizing two-stage telescopic movement and increasing the movable stroke of the robot. In this way, the robotic arm can be used to move the robotic hand up and down and forward and backward in the horizontal direction, so as to further adjust the position of the robotic hand; When controlling the primary telescopic boom 2021 and the secondary telescopic boom 2022 to translate horizontally, the lateral drive assembly 203 is used for control. The lateral drive assembly 203 is mounted on the primary telescopic boom 2021. Specifically, a bracket 2027 is provided at one end of the primary telescopic boom 2021, and the lateral drive assembly 203 is mounted on the bracket 2027. A drive sprocket 2028 is fixed on the output shaft of the lateral drive assembly 203. When the lateral drive assembly 203 is working, it can cause the drive sprocket 2028 to rotate. At the same time, a driven sprocket 2029 is provided at the other end of the primary telescopic boom 2021. The drive sprocket 2028 and the driven sprocket 2029 are connected by a transmission chain 2030, and the transmission chain 2030 is taut at this time. In this state, both the driving sprocket 2028 and the driven sprocket 2029 can rotate. When the driving sprocket 2028 rotates, it can move the transmission chain 2030. The transmission chain 2030 is connected to the upper slider 2025 and the lower slider 2026. Thus, when the transmission chain 2030 moves, it can cause the first-stage telescopic arm 2021 to move relative to the mounting base 201, causing the first-stage telescopic arm 2021 to move horizontally. At the same time, the first-stage telescopic arm 2021 can also move relative to the second-stage telescopic arm 2022. That is, when the transverse drive assembly 203 works, it can cause the first-stage telescopic arm 2021 and the second-stage telescopic arm 2022 to move horizontally at the same time. This can improve the telescopic efficiency of the horizontal telescopic part 2 and complete the control of the robot in a short time.

[0021] The mounting base 201 in this technical solution includes a flat base with a vertically extending rail groove. The guide rail 101 on the vertical lifting part 1 cooperates with the rail groove on the base, enabling the base to move vertically. At the same time, a central hole is provided on the base, and a ball nut is installed in the central hole. The lead screw 102 is connected to the ball nut, so that when the lead screw 102 rotates, the base can move vertically. The upper slider 2025 is fixed to the bottom surface of the base. The upper slider 2025 and the lower slider 2026 have the same structure. Both are provided with a sliding groove. The cross-section of the sliding groove is convex. The upper guide rail 2023 and the lower guide rail 2024 have the same structure. Both are made of I-beams. After the upper guide rail 2023 and the upper slider 2025 form a mating connection, the upper slider 2025 can slide on the upper guide rail 2023, but the upper slider 2025 cannot be separated from the upper guide rail 2023. There are several upper sliders 2025 and several lower sliders 2026. Several upper sliders 2025 are connected to the upper guide rail 2023, and several lower sliders 2026 are connected to the lower guide rail 2024. This can increase the connection stability between the mounting base 201 and the first-stage telescopic arm 2021, and also increase the connection stability between the first-stage telescopic arm 2021 and the second-stage telescopic arm 2022. Locking fasteners are provided on the bottom surface of the base and the top surface of the secondary telescopic arm 2022. Each locking fastener has a channel for the transmission chain 2030 to pass through. A pin is installed on the locking fastener. When the pin engages with the locking fastener, it locks the transmission chain 2030 passing through the channel. The locking fasteners are located at the end of the secondary telescopic arm 2022. For example, if the end of the primary telescopic arm 2021 furthest from the drive assembly is the inner end, and the end engaging with the drive assembly is the outer end, then the inner end of the secondary telescopic arm 2022 and the inner end of the primary telescopic arm 2021 are on the same side. The locking fasteners are installed on the secondary telescopic arm 2022 near the inner end, and the robotic arm is installed on the outer end of the secondary telescopic arm 2022. Initially, the mounting base 201 is close to the outer end of the primary telescopic arm 2021. The locking mechanism on the first-stage telescopic arm 2022 is close to the inner end of the first-stage telescopic arm 2021. When the lateral drive assembly 203 is working, it can move the transmission chain 2030, thereby causing the first-stage telescopic arm 2021 to translate. This gradually reduces the horizontal distance between the inner end of the first-stage telescopic arm 2021 and the mounting base 201. At this time, the horizontal distance between the outer end of the first-stage telescopic arm 2021 and the mounting base 201 gradually increases. During this process, the second-stage telescopic arm 2022 also moves, gradually increasing the horizontal distance between the inner end of the second-stage telescopic arm 2022 and the inner end of the first-stage telescopic arm 2021. At this time, the robotic arm located at the outer end of the second-stage telescopic arm 2022 is driven, gradually increasing the distance between the robotic arm and the outer end of the first-stage telescopic arm 2021, thereby causing the robotic arm to gradually move towards the target area.

[0022] In this technical solution, both the primary telescopic arm 2021 and the secondary telescopic arm 2022 are straight arms. When the mounting base 201 is connected to the primary telescopic arm 2021 via the upper sliding seat, there is a longitudinal gap between the mounting base 201 and the primary telescopic arm 2021. After the secondary telescopic arm 2022 is connected to the primary telescopic arm 2021 via the lower sliding seat, there is also a longitudinal gap between the secondary telescopic arm 2022 and the primary telescopic arm 2021. The transmission chain 2030 can pass through the longitudinal gap, allowing the transmission chain 2030 to move smoothly, thereby realizing the translation of the primary telescopic arm 2021 and the secondary telescopic arm 2022, and realizing the length extension and retraction of the horizontal telescopic part 2.

[0023] In addition, both the transverse drive assembly 203 and the longitudinal drive assembly 103 in this technical solution include a drive motor and a reducer. The reducer is connected to the output end of the drive motor, and the aforementioned drive sprocket 2028 is connected to the output shaft of the reducer. The drive motor used in this technical solution is an existing technology product. Specifically, it can be a servo motor or a stepper motor from the existing technology. It can be a DC servo motor, an AC servo motor, or a two-phase / four-phase stepper motor. Since it is an existing technology product, and this technical solution only applies its basic functions, its composition structure will not be described in detail here.

[0024] In this technical solution, the locking fastener can also be replaced with a chain buckle, whose main function is to connect the transmission chain to the mounting base and the secondary telescopic arm.

[0025] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0026] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A robot arm, characterized in that, include: The horizontal telescopic part (2) is used to connect the robot arm and enable the robot arm to move; The vertical lifting part (1) is connected to the horizontal telescopic part (2) and is used to make the horizontal telescopic part (2) move vertically; The horizontal telescopic part (2) includes: Mounting base (201) is connected to vertical lifting part (1); Two-stage telescopic boom (2022), connected to the robotic arm; The primary telescopic boom (2021) is movably connected to both the mounting base (201) and the secondary telescopic boom (2022); The first-stage telescopic arm (2021) and the second-stage telescopic arm (2022) can move simultaneously, and during their simultaneous movement, the second-stage telescopic arm (2022) moves relative to the first-stage telescopic arm (2021).

2. The robot arm of claim 1, wherein, Also includes: The drive chain (2030) is connected to both the mounting base (201) and the secondary telescopic boom (2022); A lateral drive assembly (203) is mounted on the primary telescopic arm (2021) and connected to the drive chain (2030) for moving the drive chain (2030).

3. The robot arm according to claim 1 or 2, characterized in that, Also includes: The guide rail is mounted on the first-stage telescopic boom (2021); A slider that is connected to a guide rail and can slide on the guide rail; There are two sliders, which are fixed on the mounting base (201) and the secondary telescopic arm (2022) respectively.

4. The robot arm according to claim 1 or 2, characterized in that, The secondary telescopic arm (2022) is located below the primary telescopic arm (2021) and the two are arranged parallel to each other.

5. The robotic arm of claim 3, wherein, The guide rail extends along the length of the first-stage telescopic arm (2021), allowing the slider to slide along the length of the first-stage telescopic arm (2021).

6. The robotic arm according to claim 1, characterized in that, The vertical lifting unit (1) includes: The mold frame is set vertically and encloses the interval area; The lead screw (102) is located in the interval area and connected to the mounting base (201); A longitudinal drive assembly (103) is mounted on the mold frame and connected to the lead screw (102) for rotating the lead screw (102).

7. The robot arm of claim 6, wherein, The mold frame includes: The guide rail (101) extends vertically and is connected to the mounting base (201), allowing the mounting base (201) to slide along the length of the guide rail (101).

8. The robotic arm of claim 7, wherein, The mounting base (201) is provided with a central hole, and a ball nut is provided in the central hole. The lead screw is connected to the ball nut so that when the lead screw (102) rotates, the mounting base (201) can move vertically.

9. The robotic arm of claim 1, wherein, The first-stage telescopic boom (2021) and the second-stage telescopic boom (2022) move in the same direction.

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