CN111113481A - Multiplication mechanical arm and robot - Google Patents
Multiplication mechanical arm and robot Download PDFInfo
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- CN111113481A CN111113481A CN202010030388.5A CN202010030388A CN111113481A CN 111113481 A CN111113481 A CN 111113481A CN 202010030388 A CN202010030388 A CN 202010030388A CN 111113481 A CN111113481 A CN 111113481A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 98
- 230000033001 locomotion Effects 0.000 claims abstract description 35
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000009471 action Effects 0.000 abstract description 13
- 238000006073 displacement reaction Methods 0.000 abstract description 11
- 230000007246 mechanism Effects 0.000 description 13
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
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Abstract
The invention provides a multiplication mechanical arm and a robot, wherein the multiplication mechanical arm comprises a first arm, a second arm and a third arm which are sequentially overlapped, a first transmission assembly is arranged between the first arm and the second arm, a second transmission assembly is arranged between the second arm and the third arm, and a motion output end of the first transmission assembly is connected with a motion input end of the second transmission assembly. According to the multiplication mechanical arm and the robot provided by the invention, under the action of the same driving piece, the second arm moves relative to the first arm, the third arm moves relative to the second arm, and the third arm generates multiplied displacement relative to the first arm, so that larger displacement can be realized in a smaller structural space.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a multiplication mechanical arm and a robot.
Background
With the continuous development of the robot technology, the functions of the robot are improved continuously, and the requirements of users on the robot are higher and higher. The application scenes of the robot are various, and when the end effector of the robot needs to perform remote movement, the length and the space occupied by belt transmission, chain transmission or gear and rack transmission are large, so that the robot is not beneficial to miniaturization.
Disclosure of Invention
The invention aims to provide a multiplication mechanical arm to solve the technical problem that the robot occupies a large space due to an overlong movement distance in the prior art.
In order to achieve the purpose, the invention adopts the technical scheme that: the utility model provides a multiplication arm, including first arm, second arm and the third arm that superposes in proper order and set up, first arm with be equipped with first transmission assembly between the second arm, the second arm with be equipped with second transmission assembly between the third arm, first transmission assembly's motion output with second transmission assembly's motion input end is connected.
In one embodiment, the first transmission assembly includes a first rack and a first gear engaged with the first rack, the first arm is connected to the first rack, and the second arm is connected to the first gear; the second transmission assembly comprises a belt pulley and a belt wound on the belt pulley, the first gear is fixedly connected with the belt pulley, and the third arm is connected to the belt; or, the second transmission assembly comprises a chain wheel and a chain wound on the chain wheel, the first gear is fixedly connected with the chain wheel, and the third arm is connected to the chain.
In one embodiment, a rotating shaft is arranged in the second arm in a penetrating manner and is rotatably connected with the second arm, the axial direction of the rotating shaft is perpendicular to the moving direction of the second arm, and one of the belt pulley and the first gear are connected with the rotating shaft.
In one embodiment, the first transmission assembly includes a first rack and a first gear engaged with the first rack, the first arm is connected to the first rack, and the second arm is connected to the first gear; the second transmission assembly comprises a third gear and a fourth gear which are vertical to each other in axis and meshed with each other, a first screw rod fixedly connected with the fourth gear, and a first nut connected with the first screw rod, the first gear is fixedly connected with the third gear, and the third arm is connected to the first nut.
In one embodiment, the second transmission assembly further comprises a fifth gear and a first elastic member, the fifth gear is coaxially arranged with the third gear and meshed with the fourth gear, and two ends of the first elastic member are respectively connected to the third gear and the fifth gear; or,
the second transmission assembly further comprises a sixth gear and a second elastic piece, the sixth gear and the fourth gear are coaxially arranged and meshed with the third gear, and two ends of the second elastic piece are respectively connected to the sixth gear and the fourth gear.
In one embodiment, the first transmission assembly further comprises a second gear and a third elastic member, the second gear is coaxially arranged with the first gear and meshed with the rack, and two ends of the third elastic member are respectively connected to the first gear and the second gear; or,
the first transmission assembly further comprises a second rack and a fourth elastic piece, the second rack and the first rack are meshed with the first gear together, and two ends of the second elastic piece are connected to the first rack and the second rack in a distributed mode so as to eliminate backlash between the first gear and the first rack.
The third gear, the fourth gear, the fifth gear and the sixth gear are helical gears, worm gears or bevel gears.
In one embodiment, the multiplying mechanical arm further comprises a multiplying drive, the motion output of the multiplying drive being connected to the second arm.
In one embodiment, the multiplication driver includes a motor, a lead screw connected to the motor, and a nut connected to the lead screw, the nut being secured to the second arm.
In one embodiment, the first arm has a first slide guide portion, the second arm has a second slide guide portion, and the first slide guide portion and the second slide guide portion are fitted to each other; the second arm has a third slide guide portion, the third arm has a fourth slide guide portion, and the third slide guide portion and the fourth slide guide portion are fitted to each other.
The invention also provides a robot which comprises the multiplication mechanical arm.
The multiplication mechanical arm and the robot provided by the invention have the beneficial effects that: compared with the prior art, the multiplication mechanical arm comprises a first arm, a second arm and a third arm which are sequentially overlapped, a first transmission assembly is arranged between the first arm and the second arm, and a second transmission assembly is arranged between the second arm and the third arm. The motion output end of the first transmission component is connected with the motion input end of the second transmission component, when the second arm is driven by an external driving piece to move relative to the first arm, the second arm moves to drive the first transmission component to work, the first transmission component works to drive the second transmission component, and the third arm moves relative to the second arm due to the second transmission component. Therefore, under the action of the same driving piece, the second arm moves relative to the first arm, the third arm moves relative to the second arm, the third arm generates multiplied displacement relative to the first arm, and larger displacement can be realized in smaller structural space.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a perspective structural view of a first multiplication mechanical arm provided in an embodiment of the present invention;
FIG. 2 is a partial perspective view of a first multiplier arm according to an embodiment of the present invention;
FIG. 3 is a perspective view of a second multiplier arm according to an embodiment of the present invention;
FIG. 4 is an enlarged view of a portion of FIG. 3;
FIG. 5 is a perspective view of a third multiplier arm according to an embodiment of the present invention;
FIG. 6 is a partial enlarged view of B in FIG. 5;
fig. 7 is a perspective view of a robot according to an embodiment of the present invention.
Wherein, in the figures, the respective reference numerals:
100-multiplication of mechanical arms; 1-a first arm; 11-a first sliding guide; 2-a second arm; 21-a second sliding guide; 22-a third sliding guide; 3-a third arm; 31-a fourth sliding guide; 4-a first transmission assembly; 41-a first rack; 42-a first gear; 43-a rotating shaft; 44-a second gear; 5a, 5 b-a second transmission assembly; 51-a belt pulley; 52-a belt; 53-third gear; 54-a fourth gear; 55-sixth gear; 56-first lead screw; 57-a first slider; 6-multiplication driving piece; 61-a motor; 62-a second lead screw; 63-a second nut; 200-a primary drive member; 300-a gear mechanism; 400-lifting mechanism.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and is therefore not to be construed as limiting the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
The multiplying robot arm 100 provided by the embodiment of the present invention will now be described.
Referring to fig. 1 and fig. 2, in one embodiment, the multiplying mechanical arm 100 includes a first arm 1, a second arm 2 and a third arm 3, which are stacked, the second arm 2 is movable relative to the first arm 1, the third arm 3 is movable relative to the second arm 2, and the moving direction of the second arm 2 relative to the first arm 1 and the moving direction of the third arm 3 relative to the second arm 2 are the same, so that the movement displacement of the third arm 3 is longer. A first transmission assembly 4 is arranged between the first arm 1 and the second arm 2, and a second transmission assembly 5 is arranged between the second arm 2 and the third arm 3. The motion output end of the first transmission assembly 4 is connected with the motion input end of the second transmission assembly 5. Thus, when the second arm 2 is driven by an external force, the second arm 2 moves relative to the first arm 1, and at the same time, the movement of the second arm 2 causes the first transmission assembly 4 to operate, and since the first transmission assembly 4 is connected with the second transmission assembly 5a, the operation of the first transmission assembly 4 causes the second transmission assembly 5a to start operating correspondingly, so that the third arm 3 moves relative to the second arm 2. The third arm 3 is then displaced in multiplication when extended relative to the first arm 1 and correspondingly the third arm 3 is also displaced in multiplication when retracted relative to the first arm 1, so that a larger displacement distance can be achieved with less space.
The multiplication mechanical arm 100 in the above embodiment includes a first arm 1, a second arm 2, and a third arm 3 that are sequentially stacked, a first transmission assembly 4 is disposed between the first arm 1 and the second arm 2, and a second transmission assembly 5a is disposed between the second arm 2 and the third arm 3. The motion output end of the first transmission component 4 is connected with the motion input end of the second transmission component 5, when the second arm 2 is driven by an external driving piece to move relative to the first arm 1, the first transmission component 4 is driven by the second arm 2 to work, the second transmission component 5a is driven by the first transmission component 4 to work, and the third arm 3 moves relative to the second arm 2 by the second transmission component 5 a. Thus, under the action of the same driving part, the second arm 2 moves relative to the first arm 1, the third arm 3 moves relative to the second arm 2, and the third arm 3 generates multiplied displacement relative to the first arm 1, so that larger displacement can be realized in smaller structural space.
Referring to fig. 1 and 2, in one embodiment of the multiplier mechanical arm 100, the first transmission assembly 4 includes a first rack 41 and a first gear 42, the first gear 42 is engaged with the first rack 41, the first arm 1 is connected to the first rack 41, and the first gear 42 is connected to the second arm 2. The second transmission assembly 5a comprises two pulleys 51 and a belt 52 wound around the pulleys 51, the first gear 42 being connected to one of the pulleys 51, and the third arm 3 being connected to the belt 52. When the second arm 2 is driven by the driving member, the second arm 2 moves relative to the first arm 1, and at this time, the movement of the second arm 2 causes the first gear 42 to move relative to the first rack 41, so that the first gear 42 and the first rack 41 are engaged with each other, and thus the movement of the second arm 2 causes the first gear 42 to rotate. Since the first gear 42 is connected to one of the pulleys 51, for example, the first gear 42 is fixedly connected to the pulley 51, the rotation of the first gear 42 will rotate the pulley 51 together, the rotation of the pulley 51 will translate the belt 52, and the translation of the belt 52 will translate the third arm 3, thereby realizing the multiplication of the mechanical arm. Wherein the first gear 42 is a motion output end of the first transmission assembly 4, and the belt pulley 51 connected with the first gear 42 is a motion input end of the second transmission assembly 5 a. The first transmission assembly 4 and the second transmission assembly 5a are simple in structure and stable in transmission. The second transmission assembly may also comprise a chain wheel and a chain wound around the chain wheel, the first gear 42 being fixedly connected to the chain wheel, and the third arm 3 being connected to the chain.
Referring to fig. 2, in one embodiment of the multiplication mechanical arm 100, the first transmission assembly 4 includes a first rack 41 and a first gear 42, the first rack 41 is the first arm 1, and the first arm 1 has teeth continuously distributed along its length direction, so that the first arm 1 and the first rack 41 are integrated into one. Of course, the first arm 1 and the first rack 41 may be provided separately, and the first rack 41 may be fixed to the first arm 1. The length direction of the first rack 41 is the same as the moving direction of the second arm 2, so that the movement of the second arm 2 can drive the first gear 42 to be meshed with the first rack 41.
Referring to fig. 2, in one embodiment of the multiplication mechanical arm 100, the second arm 2 is provided with a rotating shaft 43 in a penetrating manner, the rotating shaft 43 rotates relative to the second arm 2, and one of the belt pulley 51 and the first gear 42 is connected to the rotating shaft 43. More specifically, the pulley 51 and the first gear 42 are coaxially disposed, and are both fixed to the rotating shaft 43. Along with the movement of the second arm 2, while the first gear 42 moves linearly along with the second arm 2, due to the engagement between the first gear 42 and the first rack 41, the first gear 42 also rotates relative to the second arm 2, the transmission of the first gear 42 rotates one of the pulleys 51, and the rotation of the pulley 51 drives the belt 52 to move, thereby driving the third arm 3 to translate. In other embodiments, pulley 51 may be disposed coaxially with first gear 42, so long as rotation of first gear 42 drives rotation of pulley 51.
Referring to fig. 5 and 6, in one embodiment of the multiplier mechanical arm 100, the first transmission assembly 4 includes a first rack 41 and a first gear 42, the first gear 42 is engaged with the first rack 41, the first arm 1 is connected to the first rack 41, and the first gear 42 is connected to the second arm 2. The second transmission assembly 5b comprises a third gear, a fourth gear, a first lead screw and a first sliding block, the rotation axes of the third gear and the fourth gear are perpendicular to each other and are in meshed transmission, the third gear is fixedly connected with the first gear and rotates along with the rotation of the first gear, the first gear and the third gear can be coaxially arranged, the rotation of the third gear drives the fourth gear to rotate, the first lead screw is fixed on the fourth gear, the first lead screw rotates along with the fourth gear, the first nut is in threaded connection with the first lead screw, the third arm moves linearly under the rotation of the first lead screw and is connected to the first nut, and therefore the third arm moves linearly along with the first nut. Thus, the first gear drives the third arm to do linear motion through the transmission of the second transmission component 5 b.
Optionally, the third gear and the fourth gear are both helical gears or spiral gears; or one of the third gear and the fourth gear is a worm wheel, and the other is a worm.
Furthermore, the second transmission assembly 5b further comprises a fifth gear and a first elastic member, the fifth gear and the third gear are coaxially arranged and are both meshed with the fourth gear, two ends of the first elastic member are respectively connected to the third gear and the fifth gear, and the elastic action of the first elastic member always enables the third gear and the fifth gear to have a mutual rotation trend, so that teeth of the third gear and corresponding teeth of the fifth gear are respectively abutted to two sides of the same tooth space of the fourth gear. Therefore, the third gear and the fifth gear are always abutted against the fourth gear under the action of the first elastic piece, and no transmission gap exists.
Or, the second transmission assembly 5b further includes a sixth gear and a second elastic member, the sixth gear and the fourth gear are coaxially disposed and are both engaged with the third gear, two ends of the second elastic member are respectively connected to the fourth gear and the sixth gear, and the elastic action of the second elastic member always enables the fourth gear and the sixth gear to have a mutual rotation trend, so that teeth of the fourth gear and corresponding teeth of the sixth gear respectively abut against two sides of the same tooth space of the third gear. Therefore, the fourth gear and the sixth gear are always abutted against the third gear under the action of the second elastic piece, and no transmission gap exists.
The specific structure of the second transmission assembly is not limited to the above-described embodiment, and the rotation of the first gear may be converted into a linear motion perpendicular to the rotation axis of the first gear.
Referring to fig. 3 and 4, in any embodiment of the double mechanical arm 100, the first transmission assembly 4 includes a first gear 42, a second gear 44, a first rack 41 and a third elastic member, wherein the first gear 42 and the second gear 44 are both engaged with the first rack 41, and two ends of the third elastic member are respectively connected to the first gear 42 and the second gear 44. The first gear 42 is rotatably connected to the rotating shaft 43, the second gear 44 is sleeved on the rotating shaft 43 and can rotate relative to the rotating shaft 43, one tooth of the first gear 42 abuts against one sidewall of one tooth slot of the first rack 41, a corresponding tooth of the second gear 44 abuts against the other sidewall of the tooth slot under the action of the third elastic member, and the elastic force of the third elastic member always enables the first gear 42 and the second gear 44 to have a mutual rotation trend, so that the teeth of the first gear 42 and the corresponding teeth of the second gear 44 abut against two sides of the same tooth slot of the first rack 41 respectively. Thus, the first gear 42 and the second gear 44 are always abutted against the first rack 41 under the action of the elastic member, and no transmission gap exists, so that when the second arm 2 stops moving, the second arm 2, the first gear 42 and the second gear 44 stop moving at the same time, the first gear 42 does not move relative to the rotating shaft 43, and the precision of transmission can be ensured.
Or, the first transmission assembly includes a first gear 42, a first rack 41, a second rack and a fourth elastic member, the first rack 41 and the second rack are both engaged with the first gear 42, and two ends of the fourth elastic member are respectively connected to the first rack 41 and the second rack. One tooth of the first rack 41 abuts against one side wall of one tooth slot of the first gear 42, the corresponding tooth of the second rack abuts against the other side wall of the tooth slot under the action of the fourth elastic member, and the elastic force action of the fourth elastic member always enables the first rack 41 and the second rack to have a trend of mutual movement, so that the teeth of the first rack 41 and the corresponding teeth of the second rack abut against two sides of the same tooth slot of the first gear 42 respectively. Thus, the first rack 41 and the second rack are always abutted against the first gear 42 under the action of the fourth elastic member, no transmission gap exists, and when the second arm 2 stops moving, the second arm 2, the first rack 41 and the second rack stop moving at the same time, so that the transmission precision can be ensured.
Referring to fig. 1 and fig. 2, in one embodiment of the multiplication robot arm 100, the multiplication robot arm 100 further includes a multiplication driving member 6, and a motion output end of the multiplication driving member 6 is connected to the second arm 2 for driving the second arm 2 to perform a linear motion. The linear motion of the second arm 2 causes the first gear 42 to perform a linear motion, so that the first gear 42 is engaged with the first rack 41, and the first gear 42 rotates while performing the linear motion. Accordingly, the pulley 51 rotates with the first gear 42, and the third arm 3 moves linearly with the belt 52.
Further, in one of the embodiments of the multiplication driver 6, the multiplication driver 6 comprises a motor 61, a second lead screw 62 and a second nut 63, the second nut 63 being fixed to the second arm 2. The type of the motor 61 is not limited herein. The second lead screw 62 is connected to the output end of the motor 61, the second nut 63 is in threaded connection with the second lead screw 62, when the motor 61 works, the second lead screw 62 rotates along with the motor 61, the second nut 63 moves back and forth under the rotation of the second lead screw 62, and the second arm 2 fixed to the second nut 63 moves back and forth along with the second nut 63. In other embodiments, the multiplication driver 6 may be a mechanism capable of outputting linear motion, such as an air cylinder.
Referring to fig. 1 and 2, in one embodiment of the multiplier mechanical arm 100, the first arm 1 has a first sliding guide portion 11, the second arm 2 has a second sliding guide portion 21, and the first sliding guide portion 11 and the second sliding guide portion 21 cooperate with each other to enable the second arm 2 to stably move relative to the first arm 1. The first slide guiding portion 11 and the second slide guiding portion 21 may be both in the shape of a bar, the first slide guiding portion 11 is a protruding portion, and the second slide guiding portion 21 is a groove portion, or the first slide guiding portion 11 is a groove portion and the second slide guiding portion 21 is a protruding portion. The second arm 2 has a third slide guide portion 22, the third arm 3 has a fourth slide guide portion 31, and the third slide guide portion 22 and the fourth slide guide portion 31 cooperate with each other to stably move the third arm 3 with respect to the second arm 2. The second slide guide portion 21 and the third slide guide portion 22 are provided on opposite sides of the second arm 2, respectively. The third slide guiding portion 22 and the fourth slide guiding portion 31 may be both in the shape of a bar, the third slide guiding portion 22 is a protruding portion, and the fourth slide guiding portion 31 is a groove portion, or the third slide guiding portion 22 is a groove portion and the fourth slide guiding portion 31 is a protruding portion.
Optionally, the multiplier mechanical arm 100 further includes a fourth arm, a fifth arm, and the like superposed on the third arm 3, and the number of mechanical arms is not limited herein.
Optionally, the multiplying mechanical arm 100 further comprises at least one multiplying assembly, the multiplying assemblies are arranged in a superposed manner, and one of the multiplying assemblies at the end is connected with the third arm 3, and the multiplying assembly may comprise a first transmission assembly 4 and a second transmission assembly 5. In this way, the multiplication robot arm 100 can generate a larger displacement space when in operation.
Referring to fig. 7, an embodiment of the present invention further provides a robot, which includes the multiplication mechanical arm 100 in any of the embodiments.
The robot of the above embodiment adopts the above-mentioned multiplication mechanical arm 100, and the multiplication mechanical arm 100 includes the first arm 1, the second arm 2 and the third arm 3 that superpose in proper order, is equipped with first transmission assembly 4 between first arm 1 and the second arm 2, is equipped with the second transmission assembly 5 between the second arm 2 and the third arm 3. The motion output end of the first transmission component 4 is connected with the motion input end of the second transmission component 5, when the second arm 2 is driven by an external driving piece to move relative to the first arm 1, the first transmission component 4 is driven by the second arm 2 to work, the second transmission component 5 is driven by the first transmission component 4 to work, and the third arm 3 moves relative to the second arm 2 by the second transmission component 5. Thus, under the action of the same driving part, the second arm 2 moves relative to the first arm 1, the third arm 3 moves relative to the second arm 2, and the third arm 3 generates multiplied displacement relative to the first arm 1, so that larger displacement can be realized in smaller structural space.
Referring to fig. 7, in one embodiment of the robot, the robot further includes a main driving member 200, a gear mechanism 300, a lifting mechanism 400, and the like. The main driving member 200, the gear mechanism 300, the lifting mechanism 400, and the multiplication robot arm 100 are connected in sequence. The main driving member 200 may be selected from a motor, a cylinder, etc. The gear mechanism 300 includes two gears in meshing transmission, and the lifting mechanism 400 may be a screw mechanism. The main driving member 200 drives one of the gears to move, so that the gear mechanism 300 is engaged in a transmission manner, and the rotation of the other gear drives the screw rod in the screw rod mechanism to rotate, so that the multiplication mechanical arm 100 moves up and down. Wherein, the lead screw slider of the lead screw mechanism is connected to the first arm 1. Of course, the specific structure of the robot is not limited herein.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. Multiplication arm, its characterized in that: including first arm, second arm and the third arm that superposes in proper order and set up, first arm with be equipped with first transmission assembly between the second arm, the second arm with be equipped with second transmission assembly between the third arm, first transmission assembly's motion output with second transmission assembly's motion input end is connected.
2. The multiplying mechanical arm of claim 1 wherein: the first transmission assembly comprises a first rack and a first gear matched with the first rack, the first arm is connected to the first rack, and the second arm is connected to the first gear; the second transmission assembly comprises a belt pulley and a belt wound on the belt pulley, the first gear is fixedly connected with the belt pulley, and the third arm is connected to the belt; or, the second transmission assembly comprises a chain wheel and a chain wound on the chain wheel, the first gear is fixedly connected with the chain wheel, and the third arm is connected to the chain.
3. The multiplying mechanical arm of claim 2, wherein: the second arm is provided with a rotating shaft in a penetrating mode, the rotating shaft is connected with the second arm in a rotating mode, the axial direction of the rotating shaft is perpendicular to the moving direction of the second arm, and the belt pulley and the first gear are connected to the rotating shaft.
4. The multiplying mechanical arm of claim 1 wherein: the first transmission assembly comprises a first rack and a first gear matched with the first rack, the first arm is connected to the first rack, and the second arm is connected to the first gear; the second transmission assembly comprises a third gear and a fourth gear which are vertical to each other in axis and meshed with each other, a first screw rod fixedly connected with the fourth gear, and a first nut connected with the first screw rod, the first gear is fixedly connected with the third gear, and the third arm is connected to the first nut.
5. The multiplying mechanical arm of claim 4 wherein: the second transmission assembly further comprises a fifth gear and a first elastic piece, the fifth gear and the third gear are coaxially arranged and meshed with the fourth gear, and two ends of the first elastic piece are respectively connected to the third gear and the fifth gear; or,
the second transmission assembly further comprises a sixth gear and a second elastic piece, the sixth gear and the fourth gear are coaxially arranged and meshed with the third gear, and two ends of the second elastic piece are respectively connected to the sixth gear and the fourth gear.
6. The multiplying mechanical arm of any of claims 2 to 5, wherein: the first transmission assembly further comprises a second gear and a third elastic piece, the second gear and the first gear are coaxially arranged and meshed with the rack, and two ends of the third elastic piece are respectively connected to the first gear and the second gear; or,
the first transmission assembly further comprises a second rack and a fourth elastic piece, the second rack and the first rack are meshed with the first gear together, and two ends of the second elastic piece are connected to the first rack and the second rack in a distributed mode so as to eliminate backlash between the first gear and the first rack.
The third gear, the fourth gear, the fifth gear and the sixth gear are helical gears, worm gears or bevel gears.
7. The multiplying mechanical arm of any of claims 1 to 5, wherein: the multiplication mechanical arm further comprises a multiplication driving piece, and the motion output end of the multiplication driving piece is connected to the second arm.
8. The multiplying mechanical arm of claim 7 wherein: the multiplication driving part comprises a motor, a lead screw connected with the motor and a nut connected with the lead screw, and the nut is fixed on the second arm.
9. The multiplying mechanical arm of any of claims 1 to 5, wherein: the first arm is provided with a first sliding guide part, the second arm is provided with a second sliding guide part, and the first sliding guide part and the second sliding guide part are matched with each other; the second arm has a third slide guide portion, the third arm has a fourth slide guide portion, and the third slide guide portion and the fourth slide guide portion are fitted to each other.
10. Robot, its characterized in that: comprising the multiplying mechanical arm of any of claims 1-9.
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| CN202010030388.5A CN111113481A (en) | 2020-01-13 | 2020-01-13 | Multiplication mechanical arm and robot |
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| CN202010030388.5A CN111113481A (en) | 2020-01-13 | 2020-01-13 | Multiplication mechanical arm and robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111590554A (en) * | 2020-06-03 | 2020-08-28 | 珠海格力智能装备有限公司 | Mechanical arm |
| CN111851616A (en) * | 2020-08-17 | 2020-10-30 | 三一重机有限公司 | Material grabbing arm and material grabbing machine |
| CN113370260A (en) * | 2021-06-11 | 2021-09-10 | 襄阳职业技术学院 | Climbing device of mechanical arm mechanical lock structure |
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| CN113370260A (en) * | 2021-06-11 | 2021-09-10 | 襄阳职业技术学院 | Climbing device of mechanical arm mechanical lock structure |
| CN117357260A (en) * | 2023-10-24 | 2024-01-09 | 北京跃维医疗科技有限公司 | Telescoping device and surgical robot system |
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