Lightweight robotic arm

Abstract

The utility model discloses a kind of lightweight mechanical arms, it is related to mechanical arm technical field, including mechanical arm and clamping assembly, the mechanical arm includes first joint box, first arm is rotatably connected on the first joint box, the other end of the first arm is fixedly connected with second joint box, second arm is rotatably connected on the second joint box, under the action of first joint box, first arm, second joint box, second arm, third joint box and third arm being set, the clamping assembly of the one end of mechanical arm is driven to move in wide range, to accurately grab and place material, by starting drive cylinder to promote cylinder gripper to descend, by cylinder gripper to material clamping fixed, by drive assembly two protective covers are driven to overturn closure, to form protection in the material clamping process, avoid material impact in transfer process, and prevent clamping assembly loosening, cause material to suddenly drop damage.

Description

Technical Field

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

[0002] Automation refers to the process by which machines, equipment, systems, or processes (production and management processes) achieve expected goals through automatic detection, information processing, analysis, judgment, and control, without the direct participation of people or with few people, in accordance with human requirements. In automated production operations, robotic arms are often used to move workpieces.

[0003] Chinese Patent Publication No. CN219788382U discloses a clamping device for a multi-axis robotic arm, including a multi-axis robotic arm and a clamping frame. The clamping frame is connected to the left end of the multi-axis robotic arm, and a clamping mechanism is connected between the outer end of the multi-axis robotic arm and the inside of the clamping frame. In this clamping device, after the multi-axis robotic arm is started and the upper clamping plate moves to the outer end of the workpiece, the motor is then started, and its output shaft rotates, causing the connected threaded rods to rotate together. This causes the clamping plates on the outer sides of the two threaded rods to move relative to each other. After the two clamping plates move to contact the outer side of the workpiece, the motor is turned off.

[0004] However, the inventor of the above-mentioned device believes that it has certain defects. The device clamps and fixes the workpiece by bringing two clamps close to each other. It is not convenient to protect the workpiece during the transfer process. Collisions with the outside world or the workpiece falling due to insufficient clamping force during the transfer process will damage the workpiece. Therefore, this utility model provides a lightweight robotic arm. Utility Model Content

[0005] The purpose of this invention is to provide a lightweight robotic arm to solve the problems raised in the prior art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a lightweight robotic arm, comprising a robotic arm and a gripping assembly. The robotic arm includes a first joint box, on which a first arm is rotatably connected. A second joint box is fixedly connected to the other end of the first arm. A second arm is rotatably connected to the second joint box. A third joint box is fixedly connected to the other end of the second arm. A third arm is rotatably connected to the third joint box. The gripping assembly includes a mounting bracket fixed to one end of the third arm. A drive cylinder is fixedly connected to the top of the mounting bracket. A cylinder gripper is installed at the telescopic end of the drive cylinder. A protective assembly is provided on the mounting bracket. The protective assembly includes movable plates that rotate on both sides of the mounting bracket. Protective covers are installed on the movable plates. A drive assembly for opening and closing the two protective covers is provided inside the mounting bracket.

[0007] Preferably, the mounting frame has two rotating rods internally connected to each other. Each end of the rotating rod is fixedly connected to a connecting block. Two movable plates are respectively fixedly connected to one end of the two sets of connecting blocks. By driving the rotating rods to rotate, the connecting blocks control the two protective covers to flip open or close.

[0008] Preferably, the drive assembly includes a connecting rod fixed to the telescopic end of the drive cylinder, a toothed block fixedly connected to the outer surface of the connecting rod, a connecting gear fixedly connected to the outer surface of the rotating rod, the toothed block meshing with the connecting gear, and a cylinder gripper fixedly connected to the bottom of the connecting rod. By activating the drive cylinder, the connecting rod is pushed down, and the meshing action of the toothed block and the connecting gear drives the two rotating rods to rotate together, causing the two protective covers to flip open.

[0009] Preferably, the drive assembly further includes a tension spring, which is fixedly connected between the movable plate and the mounting bracket. Under the action of the tension spring, the two movable plates flip outward and open when no force is applied.

[0010] Preferably, the two protective covers are slidably connected to the outer surfaces of the two movable plates, and the protective covers are provided with limiting components to restrict the sliding of the protective covers. By driving the protective covers to slide on the outer surfaces of the movable plates, the distance between the inner bottom wall of the protective cover and the cylinder gripper is adjusted.

[0011] Preferably, the limiting component includes a fixing bolt inserted into the protective cover, and the movable plate has a fixing screw hole corresponding to the fixing bolt. One end of the fixing bolt is threaded into the inside of the fixing screw hole, and the position of the protective cover on the outer surface of the movable plate is fixed by the fixing bolt and the fixing screw hole.

[0012] Preferably, a mounting base is fixedly connected to the first joint box, and the mounting base has a fixing hole, so that one end of the robotic arm can be installed and fixed through the mounting base.

[0013] Compared with the prior art, the beneficial effects of this utility model are:

[0014] 1. This application constructs a robotic arm composed of a first joint box, a first arm, a second joint box, a second arm, a third joint box, and a third arm. This robotic arm drives a gripping component at one end to move over a wide range, enabling precise gripping and placement of materials. By activating a drive cylinder, the cylinder gripper is lowered to hold and fix the material. The drive component drives two protective covers to flip and close, providing protection during material gripping, preventing material from impacting during transfer, and preventing the gripping component from loosening and causing the material to suddenly fall and be damaged.

[0015] 2. This application uses a drive cylinder to push the connecting rod down, causing the cylinder gripper to grab the material. After the cylinder gripper holds the material, it drives the connecting rod up by activating the drive cylinder. When the connecting rod rises to the point where the toothed block meshes with the connecting gear, it drives the rotating rod to rotate, causing the two protective covers to close automatically. Under the action of the tension spring, the two protective covers open automatically during the descent of the connecting rod, thus achieving the effect of automatic opening and closing of the protective components. Attached Figure Description

[0016] Figure 1 This is a perspective view of a lightweight robotic arm according to the present invention;

[0017] Figure 2 This is a perspective view of the gripping component of a lightweight robotic arm according to the present invention.

[0018] Figure 3 This is a cross-sectional view of the mounting frame for a lightweight robotic arm according to this utility model;

[0019] Figure 4 This utility model relates to a lightweight robotic arm. Figure 3 Enlarged view of point A.

[0020] Numbered in the diagram: 1. Mounting base; 2. First joint box; 21. First arm; 22. Second joint box; 23. Second arm; 24. Third joint box; 25. Third arm; 3. Mounting bracket; 31. Rotating rod; 32. Connecting gear; 4. Drive cylinder; 41. Connecting rod; 42. Toothed block; 5. Cylinder gripper; 6. Movable plate; 61. Connecting block; 62. Fixing screw hole; 7. Protective cover; 71. Fixing bolt; 8. Tension spring. Detailed Implementation

[0021] 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.

[0022] Please see Figure 1 , Figure 2 , Figure 3 and Figure 4A lightweight robotic arm includes a robotic arm and a gripping assembly. The robotic arm includes a first joint box 2, on which a mounting base 1 is fixedly connected. The mounting base 1 has fixing holes, and one end of the robotic arm is fixedly mounted to the mounting base 1 using fasteners. A first arm 21 is rotatably connected to the first joint box 2. Inside the first joint box 2 is a first motor assembly that drives the first arm 21 to rotate. The motor assembly consists of a motor and a reducer. The original output of the motor (high speed, low torque) usually cannot directly meet the joint requirements (such as low speed, high torque, precise angle), and needs to be reduced, changed speed, increased force, or converted into linear / rotary motion through a transmission mechanism. By adopting a direct connection of "motor-reducer-joint" instead of multi-stage gear transmission, the number and weight of intermediate transmission components are reduced. For example, if a 6-DOF lightweight robotic arm uses a 3-stage gear transmission, the total weight may be less than that of a direct-drive robotic arm. The weight of the robotic arm is reduced by more than 20%. A frameless torque motor (eliminating the outer shell and end cap) and a thin-walled harmonic reducer are directly integrated into the joint module to achieve an integrated "motor-reducer" design to drive the arm to rotate. The other end of the first arm 21 is fixedly connected to the second joint box 22. The second arm 23 is rotatably connected to the second joint box 22. The second joint box 22 contains a second motor assembly that drives the second arm 23 to rotate around the second joint box 22. The other end of the second arm 23 is fixedly connected to the third joint box 24. The third arm 25 is rotatably connected to the third joint box 24. The third joint box 24 contains a third motor assembly that drives the third arm 25 to rotate around the third joint box 24. Furthermore, the key components of the robotic arm are made of aluminum alloy, which minimizes the overall weight of the device and achieves lightweight design.

[0023] Please refer to Figure 1 , Figure 2 and Figure 3 The clamping assembly includes a mounting frame 3 fixed to one end of the third arm 25. A drive cylinder 4 is fixedly connected to the top of the mounting frame 3. A cylinder gripper 5 is installed on the telescopic end of the drive cylinder 4. The mounting frame 3 is moved directly above the material. The drive cylinder 4 is activated to push the cylinder gripper 5 down, thereby clamping the material. The drive cylinder 4 drives the cylinder gripper 5 and the material to move up together. The pneumatic gripper cylinder gripper 5 is an actuator that uses compressed air as power to clamp or grasp workpieces. The cylinder gripper 5 is prior art, and its structure and working principle are common knowledge in the field. It will not be described in detail in this application.

[0024] Please refer to Figure 1 , Figure 2 , Figure 3 and Figure 4The mounting frame 3 is equipped with a protective component, which includes movable plates 6 that rotate on both sides of the mounting frame 3. Two rotating rods 31 are rotatably connected inside the mounting frame 3. Both ends of the rotating rods 31 are fixedly connected to connecting blocks 61. The two movable plates 6 are respectively fixedly connected to one end of the two sets of connecting blocks 61. Protective covers 7 are installed on the movable plates 6. By driving the two rotating rods 31 to rotate, the protective covers 7 on the two movable plates 6 are controlled to open and close under the connection of the two sets of connecting blocks 61. The two protective covers 7 form a protective barrier for the material clamped at the bottom of the cylinder gripper 5, preventing the material from colliding or falling and being damaged.

[0025] Please refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 The mounting bracket 3 has a drive assembly inside that drives the opening and closing of the two protective covers 7. The drive assembly includes a connecting rod 41 fixed to the telescopic end of the drive cylinder 4, a cylinder gripper 5 fixedly connected to the bottom of the connecting rod 41, toothed blocks 42 fixedly connected to the outer surface of the connecting rod 41, and a connecting gear 32 fixedly connected to the outer surface of the rotating rod 31. The toothed blocks 42 mesh with the connecting gear 32. The cylinder gripper 5 is fixedly connected to the bottom of the connecting rod 41. The connecting rod 41 is located between the two connecting gears 32, and there are two sets of toothed blocks 42. The two sets of toothed blocks 42 respectively mesh with the two connecting gears. When the drive cylinder 4 pushes the connecting rod 41 down, the meshing action of the toothed block 42 and the connecting gear 32 drives the rotating rod 31 to flip, causing the two protective covers 7 to flip open. The drive assembly also includes a tension spring 8, which is fixedly connected between the movable plate 6 and the mounting bracket 3. Under the action of the tension spring 8, the two protective covers 7 are kept open. When the connecting rod 41 slides up, the meshing action of the toothed block 42 and the connecting gear 32 drives the two protective covers 7 to flip and close. At this time, the tension spring 8 is in a stretched state.

[0026] Please refer to Figure 1 , Figure 2 and Figure 3 Two protective covers 7 are slidably connected to the outer surfaces of two movable plates 6 respectively. The protective covers 7 are provided with limiting components to restrict the sliding of the protective covers 7. By driving the protective covers 7 to slide on the outer surface of the movable plates 6, the overall height of the protective components is adjusted according to the height of the material. The limiting components include fixing bolts 71 inserted into the protective covers 7. The movable plates 6 are provided with fixing screw holes 62 corresponding to the fixing bolts 71. One end of the fixing bolts 71 is threaded into the inside of the fixing screw holes 62. By turning one end of the fixing bolts 71 into the inside of the fixing screw holes 62, the sliding of the protective covers 7 on the movable plates 6 is restricted.

[0027] Working principle: Install the mounting base 1 in a suitable position. Drive the rotation of the first arm 21, the second arm 23, and the third arm 25 to move the clamping component at one end of the third arm 25 over a wide range, moving the clamping component directly above the material. Start the drive cylinder 4 to push the cylinder gripper 5 at the bottom of the connecting rod 41 to descend. The meshing action of the toothed block 42 and the connecting gear 32 drives the rotating rod 31 to rotate. The connecting action of the connecting block 61 drives the two protective covers 7 to flip open. Then, under the action of the tension spring 8, the two protective covers 7 are kept open. The cylinder gripper 5 clamps the material. Start the drive cylinder 4 to drive the cylinder gripper 5 to rise. When the connecting rod 41 slides up to the meshing of the toothed block 42 and the connecting gear 32, it drives the two rotating rods 31 to flip inward, causing the two protective covers 7 to close automatically, thus protecting the cylinder gripper 5 and the material.

[0028] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A lightweight robotic arm, comprising a robotic arm and a gripping assembly, characterized in that: The robotic arm includes a first joint box (2), a first arm (21) is rotatably connected to the first joint box (2), a second joint box (22) is fixedly connected to the other end of the first arm (21), a second arm (23) is rotatably connected to the second joint box (22), a third joint box (24) is fixedly connected to the other end of the second arm (23), a third arm (25) is rotatably connected to the third joint box (24), and the clamping assembly includes a mounting bracket (3) fixed to one end of the third arm (25), a drive cylinder (4) is fixedly connected to the top of the mounting bracket (3), and a cylinder gripper (5) is installed on the telescopic end of the drive cylinder (4). The mounting frame (3) is provided with a protective component, which includes a movable plate (6) that rotates on both sides of the mounting frame (3), a protective cover (7) is installed on the movable plate (6), and a drive component for driving the two protective covers (7) to open and close is provided inside the mounting frame (3).

2. The lightweight robotic arm according to claim 1, characterized in that: The mounting bracket (3) has two rotating rods (31) inside, and each end of the rotating rod (31) is fixedly connected to a connecting block (61). The two movable plates (6) are respectively fixedly connected to one end of the two sets of connecting blocks (61).

3. A lightweight robotic arm according to claim 2, characterized in that: The drive assembly includes a connecting rod (41) fixed to the telescopic end of the drive cylinder (4), a toothed block (42) fixedly connected to the outer surface of the connecting rod (41), a connecting gear (32) fixedly connected to the outer surface of the rotating rod (31), the toothed block (42) meshing with the connecting gear (32), and the cylinder gripper (5) fixedly connected to the bottom of the connecting rod (41).

4. A lightweight robotic arm according to claim 1, characterized in that: The drive assembly also includes a tension spring (8), which is fixedly connected between the movable plate (6) and the mounting bracket (3).

5. A lightweight robotic arm according to claim 1, characterized in that: The two protective covers (7) are slidably connected to the outer surfaces of the two movable plates (6), and the protective covers (7) are provided with limiting components to restrict the sliding of the protective covers (7).

6. A lightweight robotic arm according to claim 5, characterized in that: The limiting component includes a fixing bolt (71) inserted into the protective cover (7), and a fixing screw hole (62) corresponding to the fixing bolt (71) is provided on the movable plate (6), with one end of the fixing bolt (71) threaded into the inside of the fixing screw hole (62).

7. A lightweight robotic arm according to claim 1, characterized in that: The first joint box (2) is fixedly connected to a mounting base (1), and the mounting base (1) has a fixing hole.

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