A robot arm

Abstract

The utility model discloses a kind of mechanical arm, it is related to robot technical field, including fixed plate, the upper surface of the fixed plate is fixedly connected with rotating assembly, the rotating end of the rotating assembly is fixedly connected with arm body component, the top rotating end of the arm body component is rotatably connected with gripper assembly.The beneficial effects of the utility model are that: by U type connecting frame, rudder machine is inlaid and is wrapped, rotating assembly adopts compact vertical layout, greatly reduces the space volume of whole mechanical arm, make its structure more compact, neat, by the collaborative work of rotating assembly, two double-shaft rudders in arm body component, wrist rotating rudder and gripper rudder, at least five degrees of freedom of movement are realized, action is flexible, workspace is big, the fixed frame structure of rotating assembly provides stable rotating basis, gripper assembly uses intermeshing sector gear to ensure that double gripper is always synchronous opening and closing, gripping action is accurate, stable, avoids object deflection or drop.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a robotic arm. Background Technology

[0002] Robotic arms are automated devices that mimic the functions of human arms, enabling them to perform actions such as grasping, handling, and manipulation. They are widely used in industrial manufacturing, warehousing and logistics, scientific research and education, and other fields. Currently, robotic arms on the market are mainly divided into two categories: one is industrial-grade robotic arms composed of precision components such as high-precision servo motors and harmonic reducers. These have high load capacity and high precision, but their complex structure and high cost make them unsuitable for lightweight applications. The other is entry-level robotic arms that use servo motors as drive elements. Although the cost is lower, they often suffer from problems such as loose structural design, limited freedom of movement, inflexible motion, weak load-bearing capacity, and unreliable grasping mechanisms.

[0003] In particular, the integrated design of its rotating base, multi-joint arm and end gripper is often not optimized enough, which leads to limitations in the overall rigidity, range of motion and motion accuracy of the robotic arm, making it difficult to achieve stable and flexible multi-degree-of-freedom motion within a limited cost and volume. Utility Model Content

[0004] In view of the above-mentioned problems in the prior art, this utility model is proposed.

[0005] The purpose of this invention is to provide a robotic arm that addresses the problems of loose structure, inflexible movement, low integration, and unreliable grasping action in existing robotic arms.

[0006] To solve the above technical problems, the present invention provides the following technical solution: a robotic arm, including a fixed plate, a rotating assembly fixedly connected to the upper surface of the fixed plate, an arm body assembly fixedly connected to the rotating end of the rotating assembly, and a gripper assembly rotatably connected to the top rotating end of the arm body assembly.

[0007] The rotating assembly includes a column, a mounting plate, a first single-axis servo, and a mounting frame. The column is fixedly mounted on the upper surface of the mounting plate, and the mounting plate is fixedly connected to the top outer wall of the column. The first single-axis servo is fixedly mounted on the bottom of the mounting plate, and its output rotation direction is vertical. The mounting frame is fixed to the top of the column by bolts. A rotating body consisting of a top plate and a bottom plate fixedly connected by bolts is provided inside the mounting frame. The rotating body is rotatably disposed in the inner cavity of the mounting frame. The output end of the first single-axis servo is fixedly connected to the bottom plate.

[0008] The arm assembly includes a first connecting frame, a second connecting frame, a third connecting frame, and a fourth connecting frame. A first dual-axis servo is fixedly connected to the inner cavity of the first connecting frame. The output end of the first dual-axis servo is fixedly connected to the bottom end of the second connecting frame. A second dual-axis servo is fixedly connected to the top and bottom of the third connecting frame, respectively. The output end of the second dual-axis servo located at the bottom is rotatably connected to the top end of the second connecting frame. The output end of the second dual-axis servo located at the top is fixedly connected to the fourth connecting frame. A second single-axis servo is fixedly connected to the top of the fourth connecting frame. The output end of the second single-axis servo is fixedly connected to the gripper assembly. The rotation direction of the output ends of the first and second dual-axis servos is horizontal.

[0009] The gripper assembly includes a gripper plate, a third single-axis servo, and two rotating plates. The gripper plate is fixedly connected to the output end of the second single-axis servo. The third single-axis servo is fixedly installed on one outer wall of the gripper plate. The two rotating plates are rotatably connected to the other side of the gripper plate via a rotating shaft. Each of the two rotating plates has intermeshing teeth. One of the rotating plates is fixedly connected to the output end of the third single-axis servo. A single gripper is rotatably connected to the top of each rotating plate, and a connecting plate is rotatably connected to the middle of each single gripper. The other end of the connecting plate is rotatably connected to the gripper plate.

[0010] In a preferred embodiment of the robotic arm of this utility model, the fixing frame is a U-shaped structure.

[0011] In a preferred embodiment of the robotic arm of this utility model, the first connecting frame, the second connecting frame, the third connecting frame and the fourth connecting frame are all U-shaped structures.

[0012] In a preferred embodiment of the robotic arm of this utility model, the output ends of the first and second single-axis servos rotate in the vertical direction.

[0013] In a preferred embodiment of the robotic arm of this utility model, the teeth on the rotating plate are sector gears.

[0014] The beneficial effects of this utility model of robotic arm are as follows: the servo motor is embedded and wrapped by the U-shaped connecting frame, and the rotating component adopts a compact vertical layout, which greatly reduces the space volume of the entire robotic arm, making its structure more compact and neat. Through the coordinated work of the rotating component, the two dual-axis servo motors in the arm body component, the wrist rotation servo motor and the gripper servo motor, at least five degrees of freedom of motion are achieved, making the movements flexible and the working space large. The fixed frame structure of the rotating component provides a stable rotation foundation, and the gripper component adopts intermeshing sector gears to ensure that the two grippers always open and close synchronously, making the gripping action precise and stable, and avoiding the object from tilting or falling off. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the structure of this utility model.

[0017] Figure 2 This is an exploded view of the rotating component in this utility model.

[0018] Figure 3 This is a structural schematic diagram of the arm body component in this utility model.

[0019] Figure 4 This is a schematic diagram of the gripper assembly in this utility model.

[0020] In the diagram: 1. Fixed plate; 2. Rotating assembly; 201. Column; 202. Mounting plate; 203. First single-axis servo; 204. Fixed frame; 205. Top plate; 206. Bottom plate; 3. Arm assembly; 301. First connecting frame; 302. Second connecting frame; 303. Third connecting frame; 304. Fourth connecting frame; 305. First dual-axis servo; 306. Second dual-axis servo; 307. Second single-axis servo; 4. Gripper assembly; 401. Gripper plate; 402. Third single-axis servo; 403. Rotating plate; 404. Single gripper; 405. Connecting plate. Detailed Implementation

[0021] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0022] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0023] Secondly, the term "an embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single embodiment or an embodiment selectively excluded from other embodiments.

[0024] Example 1

[0025] Reference Figures 1 to 4 This is the first embodiment of the present invention. This embodiment provides a robotic arm, including a fixed plate 1, a rotating component 2 fixedly connected to the upper surface of the fixed plate 1, an arm body component 3 fixedly connected to the rotating end of the rotating component 2, and a gripper component 4 rotatably connected to the top rotating end of the arm body component 3.

[0026] It should be noted that the fixed plate 1 serves as a base, and a rotating component 2 is installed on the upper surface of the fixed plate 1. The rotating component 2 is used to drive the entire arm assembly 3 to rotate.

[0027] The rotating assembly 2 includes a column 201, a mounting plate 202, a first single-axis servo motor 203, and a mounting bracket 204. The column 201 is fixedly mounted on the upper surface of the mounting plate 1, and the mounting plate 202 is fixedly connected to the top outer wall of the column 201. The first single-axis servo motor 203 is fixedly mounted on the bottom of the mounting plate 202, and the rotation direction of its output end is vertical. The mounting bracket 204 is fixed to the top of the column 201 by bolts. A rotating body composed of a top plate 205 and a bottom plate 206 fixedly connected by bolts is provided inside the mounting bracket 204. The rotating body is rotatably disposed in the inner cavity of the mounting bracket 204. The output end of the first single-axis servo motor 203 is fixedly connected to the bottom plate 206.

[0028] The mounting bracket 204 has a U-shaped structure.

[0029] It should be noted that the rotating assembly 2 mainly includes a column 201, a mounting plate 202, a first single-axis servo motor 203, and a U-shaped fixing frame 204. The column 201 is fixed on the fixing plate 1, the mounting plate 202 is fixed on the top of the column 201, the first single-axis servo motor 203 is installed below the mounting plate 202 with its output end pointing vertically upward, and the fixing frame 204 is fixed to the top of the column 201 by bolts. It contains a rotating body composed of a top plate 205 and a bottom plate 206 connected by bolts. This rotating body is rotatably set inside the fixing frame 204. The output end of the first single-axis servo motor 203 is fixedly connected to the bottom plate 206 of the rotating body. Therefore, when the first single-axis servo motor 203 rotates, it will drive the entire rotating body and all its components to rotate together.

[0030] The arm assembly 3 includes a first connecting frame 301, a second connecting frame 302, a third connecting frame 303, and a fourth connecting frame 304. A first dual-axis servo motor 305 is fixedly connected to the inner cavity of the first connecting frame 301. The output end of the first dual-axis servo motor 305 is fixedly connected to the bottom end of the second connecting frame 302. A second dual-axis servo motor 306 is fixedly connected to the top and bottom of the third connecting frame 303, respectively. The output end of the second dual-axis servo motor 306 located at the bottom is rotatably connected to the top end of the second connecting frame 302. The output end of the second dual-axis servo motor 306 located at the top is fixedly connected to the fourth connecting frame 304. A second single-axis servo motor 307 is fixedly connected to the top of the fourth connecting frame 304. The output end of the second single-axis servo motor 307 is fixedly connected to the gripper assembly 4. The output ends of the first dual-axis servo motor 305 and the second dual-axis servo motor 306 rotate in a horizontal direction.

[0031] The first connecting frame 301, the second connecting frame 302, the third connecting frame 303 and the fourth connecting frame 304 are all U-shaped structures;

[0032] The outputs of the first single-axis servo motor 203 and the second single-axis servo motor 307 rotate in the vertical direction.

[0033] It should be noted that the arm assembly 3 is fixed on the top plate 205 of the rotating assembly 2. The arm assembly 3 is composed of a first connecting frame 301, a second connecting frame 302, a third connecting frame 303 and a fourth connecting frame 304. All of them preferably adopt a U-shaped structure to accommodate the servo motor. A first dual-axis servo motor 305 is fixed in the inner cavity of the top of the first connecting frame 301. Its two output ends rotate in the horizontal direction. Both output ends of the first dual-axis servo motor 305 are fixedly connected to the bottom end of the second connecting frame 302, thereby driving the second connecting frame 302 to swing in the vertical plane relative to the first connecting frame 301.

[0034] A second dual-axis servo motor 306 is fixed at both the upper and lower ends of the third connecting frame 303. Its output end also rotates in the horizontal direction. The output end of the lower second dual-axis servo motor 306 is fixedly connected to the top of the second connecting frame 302, and is used to drive the third connecting frame 303 and above to swing relative to the second connecting frame 302. The output end of the upper second dual-axis servo motor 306 is fixedly connected to the fourth connecting frame 304. A second single-axis servo motor 307 is installed on the top of the fourth connecting frame 304. Its output end rotates in the vertical direction, and is used to drive the end gripper assembly 4 to rotate as a whole.

[0035] The gripper assembly 4 includes a gripper plate 401, a third single-axis servo motor 402, and two rotating plates 403. The gripper plate 401 is fixedly connected to the output end of the second single-axis servo motor 307, and the third single-axis servo motor 402 is fixedly installed on one side of the outer wall of the gripper plate 401. The two rotating plates 403 are rotatably connected to the other side of the gripper plate 401 via a rotating shaft. Each of the two rotating plates 403 has intermeshing teeth. One of the rotating plates 403 is fixedly connected to the output end of the third single-axis servo motor 402. A single gripper 404 is rotatably connected to the top of each rotating plate 403, and a connecting plate 405 is rotatably connected to the middle of each single gripper 404. The other end of the connecting plate 405 is rotatably connected to the gripper plate 401.

[0036] The teeth on the rotating plate 403 are sector gears.

[0037] It should be noted that the gripper assembly 4 includes a gripper plate 401, a third single-axis servo motor 402, and two rotating plates 403. The gripper plate 401 is fixed on the output end of the second single-axis servo motor 307, the third single-axis servo motor 402 is fixed on one side of the gripper plate 401, and the two rotating plates 403 are symmetrically installed on the other side of the gripper plate 401 through a rotating shaft. Each rotating plate 403 is machined with teeth of a sector gear structure, and the two mesh with each other. One of the rotating plates 403 is fixedly connected to the output end of the third single-axis servo motor 402.

[0038] Each rotating plate 403 has a single gripper 404 hinged to its top. The middle of each single gripper 404 is hinged to the gripper plate 401 via a connecting plate 405. When the third single-axis servo motor 402 is working, it drives the rotating plate 403 connected to it to rotate. Through gear meshing, it drives another rotating plate 403 to rotate synchronously in the opposite direction. The rotation of the rotating plate 403 is converted into the opening and closing of the single gripper 404 through the connecting plate 405, ensuring that the two grippers are always open or closed at the same time, thus achieving a stable and reliable gripping function.

[0039] Working principle: By controlling the rotation of the first single-axis servo motor 203, the horizontal rotation of the robotic arm base is achieved as the first degree of freedom; by controlling the first dual-axis servo motor 305, the lifting and lowering of the upper arm is achieved as the second degree of freedom; by controlling a second dual-axis servo motor 306 at the bottom of the third connecting frame 303, the lifting and lowering of the forearm is achieved as the third degree of freedom; by controlling the second single-axis servo motor 307, the overall rotation of the end effector gripper is achieved as the fourth degree of freedom; and by controlling the third single-axis servo motor 402, the opening and closing of the gripper is achieved as the fifth degree of freedom. Through the coordinated work of multiple servos, flexible multi-degree-of-freedom motion is achieved, enabling the completion of complex grasping and placement tasks.

[0040] Importantly, the above embodiments are only used to illustrate the technical solutions of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this utility model without departing from the spirit and scope of the technical solutions of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A robotic arm, comprising a fixed plate (1), characterized in that: A rotating assembly (2) is fixedly connected to the upper surface of the fixed plate (1), and an arm assembly (3) is fixedly connected to the rotating end of the rotating assembly (2). A gripper assembly (4) is rotatably connected to the top rotating end of the arm assembly (3). The rotating assembly (2) includes a column (201), a mounting plate (202), a first single-axis servo motor (203), and a mounting bracket (204). The column (201) is fixedly installed on the upper surface of the mounting plate (1), and the mounting plate (202) is fixedly connected to the top outer wall of the column (201). The first single-axis servo motor (203) is fixedly installed on the bottom of the mounting plate (202), and the rotation direction of its output end is vertical. The mounting bracket (204) is fixed to the top of the column (201) by bolts. The mounting bracket (204) is provided with a rotating body consisting of a top plate (205) and a bottom plate (206) fixedly connected by bolts. The rotating body is rotatably disposed in the inner cavity of the mounting bracket (204). The output end of the first single-axis servo motor (203) is fixedly connected to the bottom plate (206). The arm assembly (3) includes a first connecting frame (301), a second connecting frame (302), a third connecting frame (303), and a fourth connecting frame (304). A first dual-axis servo motor (305) is fixedly connected to the inner cavity of the first connecting frame (301). The output end of the first dual-axis servo motor (305) is fixedly connected to the bottom end of the second connecting frame (302). A second dual-axis servo motor (306) is fixedly connected to the top and bottom of the third connecting frame (303). The second dual-axis servo motor (306) is located at the bottom. The output end of the first dual-axis servo (306) is rotatably connected to the top of the second connecting frame (302). The output end of the second dual-axis servo (306) located at the top is fixedly connected to the fourth connecting frame (304). The top of the fourth connecting frame (304) is fixedly connected to a second single-axis servo (307). The output end of the second single-axis servo (307) is fixedly connected to the gripper assembly (4). The output ends of the first dual-axis servo (305) and the second dual-axis servo (306) rotate in the horizontal direction. The gripper assembly (4) includes a gripper plate (401), a third single-axis servo motor (402), and two rotating plates (403). The gripper plate (401) is fixedly connected to the output end of the second single-axis servo motor (307). The third single-axis servo motor (402) is fixedly installed on one side of the outer wall of the gripper plate (401). The two rotating plates (403) are rotatably connected to the other side of the gripper plate (401) through a rotating shaft. Both rotating plates (403) are provided with intermeshing teeth. One of the rotating plates (403) is fixedly connected to the output end of the third single-axis servo motor (402). A single gripper (404) is rotatably connected to the top of each rotating plate (403). A connecting plate (405) is rotatably connected to the middle of each single gripper (404). The other end of the connecting plate (405) is rotatably connected to the gripper plate (401).

2. The robotic arm as described in claim 1, characterized in that: The fixing frame (204) has a U-shaped structure.

3. The robotic arm as described in claim 1, characterized in that: The first connecting frame (301), the second connecting frame (302), the third connecting frame (303) and the fourth connecting frame (304) are all U-shaped structures.

4. The robotic arm as described in claim 1, characterized in that: The outputs of the first single-axis servo motor (203) and the second single-axis servo motor (307) rotate in the vertical direction.

5. The robotic arm as described in claim 1, characterized in that: The teeth on the rotating plate (403) are sector gears.

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