A robot

Abstract

The utility model relates to a kind of manipulator in the field of manipulator, including base and the support column being set on base, rotatable rotating platform is connected on the support column, rotating platform is equipped with multiple sections swing arm, the end of multiple sections swing arm away from rotating platform is connected with gripper by fifth steering wheel, multiple sections swing arm include first swing arm, second swing arm, third swing arm and fourth swing arm connected head to tail in turn, one end of rotating platform is connected with first swing arm by first steering wheel, the other end of first swing arm is formed with reversing end, first swing arm is connected with the other end of second swing arm by reversing end, the utility model changes the joint connection mode of first swing arm and second swing arm, so that when there is other equipment or obstacle in vertical direction, second swing arm is bypassed from side, it is convenient to adjust movement path and obstacle to produce avoidance, so different application sites can be adapted, improve the flexibility and practicality of manipulator joint movement.

Description

Technical Field

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

[0002] As a core component of modern industrial automation and robotics, robotic arms have a wide range of applications due to their flexible movement in multiple independent directions and high adaptability, including but not limited to manufacturing, healthcare, and food service. In manufacturing, robotic arms can automate tasks such as material handling, assembly, painting, and cutting; in the medical field, doctors can perform precise surgeries by controlling six-axis robotic arms; and with technological advancements, existing robotic arms are also being used in the coffee and beverage industry, further expanding their application scenarios.

[0003] Most existing robotic arms adopt a multi-joint serial structure design, and the existing robotic arms are mainly composed of a rotating axis, lower arm, upper arm, wrist rotation, wrist swing and wrist rotation, which have the characteristics of high flexibility, high precision and high load capacity.

[0004] However, despite the significant advantages that robotic arms have demonstrated in various fields, existing robotic arms still have some obvious shortcomings in practical use. Regarding the joint movement of robotic arms, most joints move by folding up and down within the same vertical plane, meaning that some robotic arms are perpendicular to the base. This type of movement makes it difficult for robotic arms to effectively avoid obstacles in the vertical plane, which presents challenges for movement requirements. For example, in the confined space of an industrial production line, when a robotic arm needs to move materials between multiple workstations, if there are other equipment or obstacles in the vertical direction, the robotic arm may collide with them due to its inability to flexibly adjust its movement path. This can disrupt normal operation and even damage equipment, hindering its adaptability to different application scenarios and reducing its practicality. Utility Model Content

[0005] The purpose of this utility model is to solve the above-mentioned defects and provide a robotic hand that addresses the technical problem that the connection and movement of the joints of existing robotic hands in the background art are generally folding up and down on the same vertical plane. When there are obstacles in the vertical plane, it is not easy to flexibly avoid them, making it difficult to apply to different application scenarios and affecting normal function and practicality.

[0006] The objective of this utility model is achieved through the following means:

[0007] A robotic arm includes a base and a support column mounted on the base. A rotatable rotating platform is connected to the support column via a rotary drive. The rotating platform has multiple swing arms. A first servo motor connects the rotating platform to one end of each swing arm. A gripper is connected to the end of each swing arm furthest from the rotating platform via a fifth servo motor. The multiple swing arms include a first swing arm, a second swing arm, a third swing arm, and a fourth swing arm connected sequentially end-to-end. The rotating platform is connected to one end of the first swing arm via the first servo motor, and the other end of the first swing arm forms a... It has a reversing end. The first swing arm is connected to one end of the second swing arm through the reversing end, and a second servo is set between the first swing arm and the second swing arm. When the first servo drives the first swing arm to rotate, the reversing end forms a vertical plane, an inclined plane or a parallel plane relative to the upper surface of the base. The other end of the second swing arm is connected to the third swing arm through the third servo. The third swing arm is connected to the fourth swing arm through the fourth servo. A fifth servo is installed at the end of the fourth swing arm away from the third swing arm. The gripper is provided with a gripping drive for driving the gripper to perform opening and closing actions.

[0008] Furthermore, as described above, the first swing arm has a mounting end near the rotating platform, a support base is formed on the rotating platform, the mounting end is vertically connected to the support base, and the output end of the first servo motor is connected to the mounting end, so that the first servo motor can drive the first swing arm to rotate.

[0009] By vertically connecting the mounting end of the first swing arm to the support base of the rotating platform, the first swing arm swings around an axis perpendicular to the plane of the base during rotation.

[0010] Furthermore, as described above, the reversing end is formed on the first swing arm, and a clearance portion is provided on the reversing end. The second swing arm is paired with and installed on the reversing end. The first swing arm is used to install the second servo motor through the first mounting bracket. The output end of the second servo motor is connected to the reversing end and the second swing arm, so that the second servo motor can drive the second swing arm to rotate and swing.

[0011] The clearance section on the reversing end effectively eliminates structural interference that may occur between the first and second swing arms when folded and stored, allowing the second swing arm to rotate and swing easily. The second servo motor is integrated into the first swing arm body via the first mounting bracket, reducing its volume and space occupation, thereby ensuring operational flexibility and achieving compact storage of the swing arms.

[0012] Furthermore, as described above, the connection between the mounting end and the support base forms a first rotation plane, and the connection between the reversing end and the second swing arm forms a second rotation plane. The second servo can drive the second swing arm to swing back and forth along the reversing end.

[0013] Specifically, after the first swing arm swings in the left and right direction, it forms a vertical plane perpendicular to the base through the swing area of ​​the first rotation plane. When there is an obstacle on the vertical plane, the first swing arm is connected to the second swing arm through the reversing end, so that the joint connection between the first swing arm and the second swing arm forms a second rotation plane. The second rotation plane is parallel or inclined relative to the base. That is, under the rotation of the second servo, the second swing arm can swing back and forth along the reversing end, thereby avoiding obstacles appearing on the vertical plane.

[0014] Meanwhile, the first swing arm can rotate along the vertical plane to be parallel to the base, and the second swing arm can fold along the horizontal plane of the second rotation plane to be close to the support column, which significantly reduces the overall height and volume after folding and solves the technical problem that the robotic arm still occupies a large space after folding outward.

[0015] The end of the third swing arm away from the second swing arm has a connecting end one, and the third swing arm is connected to the second swing arm through a connecting end two. The second swing arm is used to mount the third servo motor through a second mounting bracket. The connecting end one and the connecting end two are in a "T" shape. The fourth swing arm is connected to the end face of the connecting end one. The fourth swing arm is connected to the fourth servo motor through a third mounting bracket. The output end of the fourth servo motor is connected to the fourth swing arm and the connecting end one.

[0016] The third swing arm can rotate and swing via a third servo motor, while the fourth swing arm can rotate via a fourth servo motor. The rotation of the fourth servo motor adjusts the tilt of the gripper via a fifth servo motor, ensuring multi-degree-of-freedom control during operation. In non-operational mode, the fourth swing arm can rotate to a position perpendicular to the upper surface of the base, while the third swing arm rotates to move closer to the outer side of the support column. The connection between the third and fourth swing arms forms an "L" shape, creating a compact, stacked structure. This effectively solves the stacking difficulties caused by the excessive width of traditional swing arms, significantly improving the space utilization of the robotic arm.

[0017] Further as described above, the gripper includes a connecting plate, a first clamping block, and a second clamping block. One end of the connecting plate is connected to the output end of the fifth servo motor. The first clamping block and the second clamping block are connected to the connecting plate through a first connector and a second connector, respectively. The clamping drive is mounted on the connecting plate and can drive the first connector and the second connector to perform opening and closing clamping actions on the first clamping block and the second clamping block.

[0018] The rotation of the clamping drive can drive the first and second connectors to open or close the first and second clamping blocks, thereby clamping the materials at the corresponding workstations for subsequent processing.

[0019] The beneficial effects of this utility model are as follows: The first swing arm, connected to the rotating platform and driven by the first servo motor, can rotate left and right or forward and backward. The connection between the reversing end and the second swing arm allows the second servo motor to drive the second swing arm to rotate forward and backward or left and right. Thus, by changing the joint connection between the first and second swing arms during the extension of the swing arm, it can adapt to different application scenarios. Compared to existing robotic arms where the rotating joints are located on the same vertical plane, this utility model, through the reversing installation connection of the reversing end, forms a rotating plane between the first swing arm and the rotating platform, while the reversing setting of the reversing end forms another rotating plane. Therefore, when the robotic arm needs to transport materials between multiple workstations, if there are other equipment or obstacles in the vertical direction, the second swing arm can bypass them from the side, adjusting its movement path to avoid the obstacles. This allows it to be applied to different application scenarios, improving the flexibility and practicality of the robotic arm's joint movements. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure in the first direction of this embodiment when unfolded.

[0021] Figure 2 This is a schematic diagram of the overall structure in the second direction of this embodiment when unfolded.

[0022] Figure 3 This is a schematic diagram of the folded structure in the first direction of this embodiment;

[0023] Figure 4 This is a schematic diagram of the folded structure in the second direction of this embodiment;

[0024] Figure 5 This is a side view of the folded state in this embodiment;

[0025] The reference numerals in the figure are as follows: 1-base, 2-support column, 3-rotating platform, 4-rotating drive component, 5-first swing arm, 6-second swing arm, 7-third swing arm, 8-fourth swing arm, 9-first servo motor, 10-second servo motor, 11-third servo motor, 12-fourth servo motor, 13-fifth servo motor, 14-gripper, 141-connecting plate, 142-first clamping block, 143-second clamping block, 144-first connector, 145-second connector, 15-reversing end, 16-clamping drive component, 17-mounting end, 18-support base, 19-avoidance part, 20-first mounting bracket, 21-connecting end one, 22-connecting end two, 23-second mounting bracket, 24-third mounting bracket. Detailed Implementation

[0026] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0027] To make the technical problem to be solved, the technical solution and the beneficial effects of this utility model clearer, the following describes the solution in further detail with reference to the accompanying drawings and embodiments.

[0028] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this scheme and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0029] In this embodiment, refer to Figures 1-5 The robotic arm, specifically implemented therein, includes a base 1 and a support column 2 mounted on the base 1. A rotatable rotating platform 3 is connected to the support column 2 via a rotary drive 4. The rotating platform 3 has multiple swing arms. A first servo motor 9 connects the rotating platform 3 to one end of each swing arm. A gripper 14 is connected to the end of each swing arm furthest from the rotating platform 3 via a fifth servo motor 13. The multiple swing arms include a first swing arm 5, a second swing arm 6, a third swing arm 7, and a fourth swing arm 8 connected sequentially end-to-end. The rotating platform 3 is connected to one end of the first swing arm 5 via the first servo motor 9. The other end of the first swing arm 5 forms a... The first swing arm 5 is connected to one end of the second swing arm 6 via the reversing end 15, and a second servo motor 10 is provided between the first swing arm 5 and the second swing arm 6. When the first servo motor 9 drives the first swing arm 5 to rotate, the reversing end 15 forms a vertical plane, an inclined plane, or a parallel plane relative to the upper surface of the base 1. The other end of the second swing arm 6 is connected to the third swing arm 7 via the third servo motor 11. The third swing arm 7 is connected to the fourth swing arm 8 via the fourth servo motor 12. The fifth servo motor 13 is installed at the end of the fourth swing arm 8 away from the third swing arm 7. The gripper 14 is provided with a gripping drive member 16 for driving the gripper 14 to perform opening and closing actions.

[0030] The first swing arm 5 has a mounting end 17 near the end of the rotating platform 3. A support base 18 is formed on the rotating platform 3. The mounting end 17 is vertically connected to the support base 18. The output end of the first servo motor 9 is connected to the mounting end 17, so that the first servo motor 9 can drive the first swing arm 5 to rotate.

[0031] By vertically connecting the mounting end 17 of the first swing arm 5 to the support base 18 of the rotating platform 3, the first swing arm 5 can swing around an axis perpendicular to the plane of the base 1 when rotating.

[0032] The reversing end 15 is formed on the first swing arm 5. The reversing end 15 is provided with a clearance part 19. The second swing arm 6 is paired with the reversing end 15 and installed. The first swing arm 5 is used to install the second servo motor 10 through the first mounting bracket 20. The output end of the second servo motor 10 is connected to the reversing end 15 and the second swing arm 6, so that the second servo motor 10 can drive the second swing arm 6 to rotate and swing.

[0033] The clearance part 19 provided on the reversing end 15 effectively eliminates structural interference that may occur between the first swing arm 5 and the second swing arm 6 when folded and stored, through the clearance design, making it easier for the second swing arm 6 to rotate and swing. The second servo motor 10 is integrated into the body of the first swing arm 5 through the first mounting bracket 20, reducing its volume space occupation, thereby ensuring operational flexibility and achieving compact storage of the swing arm.

[0034] Reference Figures 2-3 The connection between the mounting end 17 and the support base 18 forms a first rotation plane, and the connection between the reversing end 15 and the second swing arm 6 forms a second rotation plane. The second servo motor 10 can drive the second swing arm 6 to swing back and forth along the reversing end 15.

[0035] Specifically, after the first swing arm 5 swings in the left and right direction, the first swing arm 5 forms a vertical plane perpendicular to the base 1 through the swing area of ​​the first rotation plane. When there is an obstacle on the vertical plane, since the first swing arm 5 is connected to the second swing arm 6 through the reversing end 15, the joint connection between the first swing arm 5 and the second swing arm 6 forms a second rotation plane. The second rotation plane is parallel or inclined relative to the base 1. That is, under the rotation of the second servo motor 10, the second swing arm 6 can swing back and forth along the reversing end 15, thereby avoiding obstacles appearing on the vertical plane.

[0036] Meanwhile, the first swing arm 5 can rotate along the vertical plane to be parallel to the base 1, and the second swing arm 6 can fold along the horizontal plane of the second rotation plane to be close to the support column 2, which significantly reduces the overall height and volume after folding and solves the technical problem that the robotic arm still occupies a large space after folding outward.

[0037] Reference Figure 4 The third swing arm 7 has a connecting end 21 at its end away from the second swing arm 6, and the third swing arm 7 is connected to the second swing arm 6 through a connecting end 22. The second swing arm 6 is mounted on a third servo motor 11 through a second mounting bracket 23. The connecting end 21 and the connecting end 22 are in a "T" shape. The fourth swing arm 8 is connected to the end face of the connecting end 21. The fourth swing arm 8 is connected to the fourth servo motor 12 through a third mounting bracket 24. The output end of the fourth servo motor 12 is connected to the fourth swing arm 8 and the connecting end 21.

[0038] The third swing arm 7 can rotate and swing via the third servo motor 11, while the fourth swing arm 8 can rotate via the fourth servo motor 12. The rotation of the fourth servo motor 12 can adjust the fifth servo motor 13 to drive the gripper 14 for tilt adjustment, ensuring multi-degree-of-freedom control during operation. In the non-operating state, the fourth swing arm 8 can rotate to a position perpendicular to the upper surface of the base 1, and the third swing arm 7 rotates closer to the outer side of the support column 2. The connection between the third swing arm 7 and the fourth swing arm 8 forms an "L" shape, creating a compact stacked structure. This effectively solves the problem of stacking difficulties caused by the excessive width of traditional swing arms, significantly improving the space utilization of the robotic arm.

[0039] Reference Figure 2 The gripper 14 includes a connecting plate 141, a first gripping block 142, and a second gripping block 143. One end of the connecting plate 141 is connected to the output end of the fifth servo motor 13. The first gripping block 142 and the second gripping block 143 are connected to the connecting plate 141 through a first connector 144 and a second connector 145, respectively. The gripping drive 16 is mounted on the connecting plate 141 and can drive the first connector 144 and the second connector 145 to drive the first gripping block 142 and the second gripping block 143 to perform opening and closing gripping actions.

[0040] The rotation of the clamping drive 16 can drive the first connector 144 and the second connector 145 to open or close the first clamping block 142 and the second clamping block 143, so that they can be used to clamp the materials on the corresponding workstation for subsequent processing.

[0041] The specific operation process of this utility model is as follows:

[0042] The first swing arm 5 is connected to the support base 18 on the rotating platform 3 via the mounting end 17. Driven by the first servo motor 9, it can rotate and swing left and right or forward and backward along the first rotation plane. The connection between the reversing end 15 and the second swing arm 6 allows the second servo motor 10 to drive the second swing arm 6 to rotate and swing forward and backward or left and right along the second rotation plane. Thus, by changing the joint connection method between the first swing arm 5 and the second swing arm 6 during the extension of the swing arm, it can adapt to different application scenarios, such as coffee and beverage. Compared with the existing technology where the rotation joints of the robotic arm are located on the same vertical plane (first rotation plane), this utility model, through the reversing mounting connection of the reversing end 15, makes the connection between the first swing arm 5 and the rotating platform 3 form the first rotation plane, and the reversing setting of the reversing end 15 forms the second rotation plane. Thus, when the robotic arm needs to transport materials between multiple workstations, if there are other equipment or obstacles in the vertical direction, the second swing arm 6 can rotate along the second rotation plane to bypass them from the side, adjusting the movement path to avoid obstacles. This makes it suitable for different application scenarios and improves the flexibility and practicality of the robotic arm's joint movement.

[0043] In the folded state: the first swing arm 5 rotates to be parallel to the upper surface of the base 1. At this time, the gripper 14 is parallel to the base 1 under the rotation of the fifth servo motor 13, and the fourth swing arm 8 is driven by the fourth servo motor 12 to be vertically set on the base 1. The third swing arm 7 and the second swing arm 6 rotate to approach the side of the support column 2, and the third swing arm 7 and the second swing arm 6 extend horizontally, so that the multi-section swing arm is set in a triangle when viewed from above in the folded state. This structure can reduce the overall volume by folding the multi-stage swing arms, further compress the space occupied, improve the storage convenience, and solve the problem of large space occupied and large volume due to the width or vertical space of the swing arms.

[0044] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Although the present utility model has been disclosed above with reference to a preferred embodiment, it is not intended to limit the present utility model. Any person skilled in the art can make some changes or modifications to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present utility model. Any simple modifications, equivalent changes, and modifications made to the above embodiments based on the present utility model without departing from the scope of the present utility model shall fall within the scope of the present utility model.

Claims

1. A robotic arm, comprising a base and a support column disposed on the base, characterized in that: A rotatable rotating platform is connected to the supporting column via a rotary drive. The rotating platform has multiple swing arms. The rotating platform is connected to one end of the multiple swing arms via a first servo motor. The end of the multiple swing arms away from the rotating platform is connected to a gripper via a fifth servo motor. The multiple swing arms include a first swing arm, a second swing arm, a third swing arm, and a fourth swing arm connected end to end in sequence. The rotating platform is connected to one end of the first swing arm via a first servo motor. The other end of the first swing arm forms a reversing end. The first swing arm is connected to one end of the second swing arm via the reversing end. A second servo motor is provided between the first and second swing arms. When the first servo motor drives the first swing arm to rotate, the reversing end forms a vertical plane, an inclined plane, or a parallel plane relative to the upper surface of the base. The other end of the second swing arm is connected to the third swing arm via a third servo motor. The third swing arm is connected to the fourth swing arm via a fourth servo motor. The fifth servo motor is installed at the end of the fourth swing arm away from the third swing arm. The gripper is provided with a clamping drive for driving the gripper to open and close.

2. The robotic arm according to claim 1, characterized in that: The first swing arm has a mounting end, and a support base is formed on the rotating platform. The mounting end and the support base are vertically connected. The output end of the first servo motor is connected to the mounting end, so that the first servo motor can drive the first swing arm to rotate.

3. The robotic arm according to claim 2, characterized in that: The reversing end is provided with a clearance part, the second swing arm is paired with the reversing end and installed, and the first swing arm is used to install the second servo motor through the first mounting bracket. The output end of the second servo motor is connected to the reversing end and the second swing arm, so that the second servo motor can drive the second swing arm to rotate and swing.

4. The robotic arm according to claim 3, characterized in that: The connection between the mounting end and the support base forms a first rotation plane, and the connection between the reversing end and the second swing arm forms a second rotation plane. The second servo can drive the second swing arm to swing back and forth along the reversing end.

5. The robotic arm according to claim 1, characterized in that: The third swing arm has a connecting end one at its end, and the third swing arm is connected to the second swing arm through the connecting end two. The second swing arm is used to mount the third servo motor through the second mounting bracket. The connecting end one and the connecting end two are in a "T" shape. The fourth swing arm is connected to the end face of the connecting end one. The fourth swing arm is connected to the fourth servo motor through the third mounting bracket. The output end of the fourth servo motor is connected to the fourth swing arm and the connecting end one.

6. A robotic arm according to any one of claims 1-5, characterized in that: The gripper includes a connecting plate, a first clamping block, and a second clamping block. One end of the connecting plate is connected to the output end of the fifth servo motor. The first clamping block and the second clamping block are connected to the connecting plate through a first connector and a second connector, respectively. The clamping drive is mounted on the connecting plate and can drive the first connector and the second connector to drive the first clamping block and the second clamping block to perform opening and closing clamping actions.

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