CN112775954A

CN112775954A - Novel light mechanical arm

Info

Publication number: CN112775954A
Application number: CN202011575527.9A
Authority: CN
Inventors: 刘嘉宇; 侯钰轩; 李居一
Original assignee: Casicc Intelligent Robot Co ltd
Current assignee: Casicc Intelligent Robot Co ltd
Priority date: 2020-12-28
Filing date: 2020-12-28
Publication date: 2021-05-11

Abstract

The utility model relates to a novel light mechanical arm, belonging to the technical field of mechanical arms, comprising a base component, a shoulder component, a big arm component, a small arm component, a wrist component and an execution component; the big arm assembly comprises a big arm, the small arm assembly comprises a small arm, and the wrist assembly comprises a fourth shaft motor and a fifth shaft motor; the shoulder component is rotatably connected to the base component; one end of the large arm is rotatably connected to the shoulder component, the other end of the large arm is rotatably connected with the synchronizing wheel, and the shoulder component drives the synchronizing wheel to rotate through the synchronizing belt; one end of the small arm is fixedly connected with the synchronizing wheel and synchronously rotates, and the other end of the small arm is fixedly connected with the fourth shaft motor; an output shaft of the fourth shaft motor is in driving connection with the fifth shaft motor; and an output shaft of the fifth shaft motor is in driving connection with the execution assembly. The beneficial effects of this disclosure are: the mechanical arm has six degrees of freedom, the weight of the device is obviously reduced, and the product performance and the safety are improved.

Description

Novel light mechanical arm

Technical Field

The present disclosure relates to the field of mechanical arm technology, and more particularly, to a novel light mechanical arm.

Background

With the rapid development of the robot technology, the robot shows more and more obvious importance and superiority in the aspects of production, daily life and the like. The light mechanical arm is different from the traditional industrial mechanical arm, and is characterized by small volume, light weight, low power consumption, higher load/self-weight ratio, easy installation and maintenance, important application value and wide development prospect in the fields of space detection, accident rescue, family service and the like, and great market potential in the fields of industrial production, medical treatment and the like. However, the existing light mechanical arm generally has the defects of large mass, large volume, poor flexibility and the like, and the requirement of diversified operation is seriously hindered.

In order to solve the above-mentioned problem, this disclosure provides a novel light-duty arm.

Disclosure of Invention

In order to solve at least one of the above technical problems, the present disclosure provides a novel light robot arm, including a base assembly, a shoulder assembly, a large arm assembly, a small arm assembly, a wrist assembly and an execution assembly; the big arm assembly comprises a big arm, the small arm assembly comprises a small arm, and the wrist assembly comprises a fourth shaft motor and a fifth shaft motor; the shoulder component is rotatably connected to the base component; one end of the large arm is rotatably connected to the shoulder component, the other end of the large arm is rotatably connected with the synchronizing wheel, and the shoulder component drives the synchronizing wheel to rotate through the synchronizing belt; one end of the small arm is fixedly connected with the synchronizing wheel and synchronously rotates, and the other end of the small arm is fixedly connected with the fourth shaft motor; an output shaft of the fourth shaft motor is in driving connection with the fifth shaft motor; and an output shaft of the fifth shaft motor is in driving connection with the execution assembly.

Preferably, the base component comprises a first shaft motor, and an output shaft of the first shaft motor is in driving connection with the shoulder component to drive the shoulder component to rotate.

Preferably, the shoulder assembly includes a second shaft motor, a third shaft motor, a first drive shaft; the output shaft axis collineation setting of second shaft motor and the output shaft axis collineation of third shaft motor, the output shaft and the big arm of second shaft motor, third shaft motor drive are connected, the output shaft and the coaxial drive of first drive shaft of third shaft motor are connected, are connected with the hold-in range in the first drive shaft, the hold-in range with the synchronizing wheel is connected.

Preferably, the shoulder assembly further comprises a second flange, the second flange is U-shaped, the second flange is fixed to the output shaft of the first shaft motor, and the second shaft motor and the third shaft motor are fixed to two sides of the second flange.

Preferably, the large arm assembly further comprises a tension pulley connected with the timing belt.

Preferably, the synchronizing wheel is connected with the small arm through a connecting piece, one end of the connecting piece is connected with the synchronizing wheel in a synchronous rotating mode, and the other end of the connecting piece is fixedly connected with the end portion of the small arm.

Preferably, the synchronizing wheel drives the small arm to swing, and the swing angle of the small arm ranges from 0 degree to 270 degrees.

Preferably, the wrist assembly further comprises a fifth flange and a sixth flange, the fourth shaft motor is fixed on the fifth flange, and the fifth flange is fixedly connected with the forearm; and the fifth shaft motor is fixed on a sixth flange, and the sixth flange is connected with an output shaft of the fourth shaft motor.

Preferably, the actuator assembly comprises an actuator which is fixed on an output shaft of the fifth shaft motor through flange connection.

Preferably, the actuator is a jaw.

The beneficial effects of this disclosure are:

the mechanical arm is characterized in that a second shaft motor and a third shaft motor are arranged at the coaxial positions of shoulders and are simultaneously transmitted to the rotating position of a synchronous wheel through a synchronous belt for connecting a large arm and a small arm, so that the whole weight and the rotational inertia of the rotating part of the large arm are reduced, the requirement on the torque of the second shaft motor and the weight of the motor are also reduced, the transmission precision of the motor is ensured, the structure is compact, and the arm extension is prolonged; the mechanical arm has six degrees of freedom, the weight of the device is obviously reduced, and the product performance and the safety are improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.

FIG. 1 is a schematic structural view of a preferred embodiment;

FIG. 2 is a schematic view of the base assembly construction;

FIG. 3 is a schematic view of a shoulder assembly;

FIG. 4 is a cross-sectional view of the shoulder assembly;

FIG. 5 is a schematic view of a large arm assembly;

FIG. 6 is a schematic view showing a connection structure of the upper arm and the lower arm;

FIG. 7 is a schematic view of a wrist assembly;

FIG. 8 is a schematic diagram of an execution block;

in the figure: 101-base assembly, 102-shoulder assembly, 103-big arm assembly, 104-small arm assembly, 105-wrist assembly, 106-actuator assembly,

201-a first shaft motor, 202-a first flange,

301-second axis motor, 302-third axis motor, 303-second flange, 304-adapter tee, 305-third flange, 306-fourth flange, 307-first drive axis,

401-big arm, 402-tension pulley, 403-second drive shaft, 404-synchronous belt, 405-synchronous wheel,

501-small arm, 502-connecting piece, 503-arm connecting flange,

601-a fourth shaft motor, 602-a fifth shaft motor, 603-a fifth flange, 604-a sixth flange,

701-actuator, 702-seventh flange, 703-eighth flange.

Detailed Description

The present disclosure will be described in further detail with reference to the drawings and embodiments. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limitations of the present disclosure. It should be further noted that, for the convenience of description, only the portions relevant to the present disclosure are shown in the drawings.

It should be noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

As shown in fig. 1 to 8, a novel light robot arm includes a base assembly 101, a shoulder assembly 102, a large arm assembly 103, a small arm assembly 104, a wrist assembly 105 and an actuating assembly 106; the large arm assembly 103 comprises a large arm 401, the small arm assembly 104 comprises a small arm 501, and the wrist assembly 105 comprises a fourth shaft motor 601 and a fifth shaft motor 602; the shoulder assembly 102 is rotatably connected to the base assembly 101; one end of the large arm 401 is rotatably connected to the shoulder assembly 102, the other end of the large arm is rotatably connected to a synchronizing wheel 405, and the shoulder assembly 102 drives the synchronizing wheel 405 to rotate through a synchronizing belt 404; one end of the small arm 501 is fixedly connected with the synchronizing wheel 405 and synchronously rotates, and the other end of the small arm is fixedly connected with the fourth shaft motor 601; an output shaft of the fourth shaft motor 601 is in driving connection with a fifth shaft motor 602; an output shaft of the fifth shaft motor 602 is in driving connection with the executing assembly 106.

According to the mechanical arm, the second shaft motor 301 and the third shaft motor 302 are arranged at the coaxial positions of the shoulders, and are simultaneously transmitted to the rotating position of the synchronizing wheel 405 through the synchronizing belt 404 to be used for connecting the large arm 401 and the small arm 501, so that the overall weight and the rotational inertia of the rotating part of the large arm 401 are reduced, the requirement on the moment of the second shaft motor 301 and the weight of the motor are also reduced, the transmission precision of the motor is ensured, the structure is compact, and the arm extension is prolonged; the mechanical arm has six degrees of freedom, meanwhile, the weight of the device is obviously reduced, the performance and the safety of the product are also improved, in the embodiment, the arm spread of the mechanical arm can reach 800mm, the mass is within 5.5kg, the mechanical arm can grip 1.5kg of objects at most, the structure is more compact, and the mass is lighter.

The base assembly 101 comprises a first shaft motor 201, and an output shaft of the first shaft motor 201 is in driving connection with the shoulder assembly 102 to drive the shoulder assembly 102 to rotate; the base assembly 101 further includes a first flange 202, the first shaft motor 201 is connected to the first flange 202 by screws, and the first flange 202 is fixedly connected to the work table by screws.

The shoulder assembly 102 comprises a second shaft motor 301, a third shaft motor 302, a first drive shaft 307; the output shaft axis of second shaft motor 301 sets up with the output shaft axis collineation of third shaft motor 302, the output shaft and big arm 401 of second shaft motor 301, third shaft motor 302 drive are connected, big arm 401 and third shaft motor 302 synchronous rotation, the output shaft and the coaxial drive of first drive shaft 307 of third shaft motor 302 are connected with hold-in range 404, and hold-in range 404 is connected with synchronizing wheel 405 on the first drive shaft 307.

The second shaft motor 301 drives the large arm 401 to swing, the third shaft motor 302 drives the synchronous belt 404, and the synchronous belt 404 drives the synchronous wheel 405 to rotate.

The shoulder assembly 102 further includes a second flange 303, the second flange 303 is U-shaped, the second flange 303 is fixed to the output shaft of the first shaft motor 201, and the second shaft motor 301 and the third shaft motor 302 are fixed to two sides of the second flange 303.

The second flange 303 is connected with the base assembly 101 through screws, an output shaft of the second shaft motor 301 is connected with the third flange 305 through screws, the third flange 305 is fixedly connected with one outlet of the adapter tee 304 through screws, the other two outlets of the adapter tee 304 are respectively fixedly connected with the large arm 401 and the fourth flange 306 through screws, and the second shaft motor 301 drives the third shaft motor 302 and the large arm 401 to rotate simultaneously.

The first driving shaft 307 is provided with a bearing and is installed in the second flange 303, and the second flange 303 is connected with a bearing cover through a screw.

The large arm assembly 103 further comprises a tension pulley 402 and a second driving shaft 403, the tension pulley 402 is connected with a synchronous belt 404, and the tension pulley 402 is adjustably arranged on the large arm 401 and plays a role of tensioning the synchronous belt 404; the timing belt 404 is wound around the second driving shaft 403, the second driving shaft 403 is rotatably arranged on the large arm 401 through a bearing, and the timing wheel 405 is fixedly connected with the second driving shaft 403 through a screw.

The synchronizing wheel 405 is connected with the small arm 501 through the connecting piece 502, one end of the connecting piece 502 is connected with the synchronizing wheel 405 in a synchronous rotating mode, the other end of the connecting piece 502 is fixedly connected with the end portion of the small arm 501, the connecting piece 502 is fixed on the second driving shaft 403 to achieve synchronous rotation with the synchronizing wheel 405, the connecting piece 502 enables an included angle between the large arm 401 and the small arm 501 to be 0 degree, the size of the mechanical arm when the mechanical arm is folded is reduced, and meanwhile the swing angle of the small arm 501 is increased.

In this embodiment, an arm connecting member 503 is disposed between the connecting member 502 and the small arm 501, and the arm connecting member 503 is fixed on the small arm 501 and is also fixedly connected to the connecting member 502.

The synchronizing wheel 405 drives the small arm 501 to swing, the swing angle of the small arm 501 ranges from 0 to 270 degrees, and 0 to 180 degrees is preferred.

The wrist assembly 105 further comprises a fifth flange 603 and a sixth flange 604, the fourth shaft motor 601 is fixed on the fifth flange 603, and the fifth flange 603 is fixedly connected with the forearm 501; the fifth shaft motor 602 is fixed on a sixth flange 604, and the sixth flange 604 is connected with an output shaft of the fourth shaft motor 601; the fixed connection is a screw connection;

the actuator assembly 106 includes an actuator 701, and the actuator 701 is fixed to an output shaft of the fifth shaft motor 602 through a flange connection. The actuator 701 is a clamping jaw, and the clamping jaw is a common actuator 701 for the existing manipulator, which belongs to the prior art and is not described herein again.

Meanwhile, the actuator assembly 106 further comprises a seventh flange 702 and an eighth flange 703, the actuator 701 is connected with the seventh flange 702 through screws, the seventh flange 702 is connected with the eighth flange 703 through screws, the eighth flange 703 is fixedly connected with an output shaft of the fifth shaft motor 602 through screws, and the fifth shaft motor 602 drives the actuator 701 to rotate.

The action process of the present disclosure is as follows:

the first shaft motor 201 drives the second shaft motor 301 and the third shaft motor 302 to rotate, the second shaft motor 301 drives the third shaft motor 302 and the large arm 401 to synchronously rotate, the third shaft motor 302 drives the synchronizing wheel 405 to rotate through the synchronizing belt 404, so that the small arm 501 is driven to swing, the small arm 501 drives the fourth shaft motor 601, the fourth shaft motor 601 drives the fifth shaft motor 602 to rotate, the fifth shaft motor 602 drives the actuator 701 to rotate, and the actuator 701 completes clamping action.

In the description herein, reference to the description of the terms "one embodiment/mode," "some embodiments/modes," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/mode or example is included in at least one embodiment/mode or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to be the same embodiment/mode or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/aspects or examples and features of the various embodiments/aspects or examples described in this specification can be combined and combined by one skilled in the art without conflicting therewith.

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 at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

It will be understood by those skilled in the art that the foregoing embodiments are merely for clarity of illustration of the disclosure and are not intended to limit the scope of the disclosure. Other variations or modifications may occur to those skilled in the art, based on the foregoing disclosure, and are still within the scope of the present disclosure.

Claims

1. The utility model provides a novel light-duty arm which characterized in that: comprises a base assembly (101), a shoulder assembly (102), a big arm assembly (103), a small arm assembly (104), a wrist assembly (105) and an execution assembly (106); the big arm assembly (103) comprises a big arm (401), the small arm assembly (104) comprises a small arm (501), and the wrist assembly (105) comprises a fourth shaft motor (601) and a fifth shaft motor (602);

the shoulder component (102) is rotatably connected to the base component (101);

one end of the large arm (401) is rotatably connected to the shoulder component (102), the other end of the large arm is rotatably connected with a synchronizing wheel (405), and the shoulder component (102) drives the synchronizing wheel (405) to rotate through a synchronizing belt (404);

one end of the small arm (501) is fixedly connected with the synchronous wheel (405) and synchronously rotates, and the other end of the small arm is fixedly connected with the fourth shaft motor (601);

an output shaft of the fourth shaft motor (601) is in driving connection with a fifth shaft motor (602);

an output shaft of the fifth shaft motor (602) is in driving connection with the executing assembly (106).

2. The novel lightweight robotic arm of claim 1, further comprising: the base component (101) comprises a first shaft motor (201), and an output shaft of the first shaft motor (201) is in driving connection with the shoulder component (102) to drive the shoulder component (102) to rotate.

3. A novel lightweight robotic arm as claimed in claim 2 wherein: the shoulder assembly (102) comprises a second shaft motor (301), a third shaft motor (302), a first drive shaft (307); the output shaft axis of second shaft motor (301) and the output shaft axis collineation setting of third shaft motor (302), the output shaft and big arm (401), third shaft motor (302) drive of second shaft motor (301) are connected, the output shaft and the coaxial drive of first drive shaft (307) of third shaft motor (302) are connected with hold-in range (404) on first drive shaft (307), hold-in range (404) with synchronizing wheel (405) are connected.

4. A novel lightweight robotic arm as claimed in claim 3 wherein: the shoulder assembly (102) further comprises a second flange (303), the second flange (303) is U-shaped, the second flange (303) is fixed on an output shaft of the first shaft motor (201), and the second shaft motor (301) and the third shaft motor (302) are fixed on two sides of the second flange (303).

5. A novel lightweight robotic arm as claimed in claim 3 or 4, wherein: the big arm assembly (103) further comprises a tension wheel (402), and the tension wheel (402) is connected with the synchronous belt (404).

6. The novel lightweight robotic arm of claim 5, further comprising: the synchronizing wheel (405) is connected with the small arm (501) through a connecting piece (502), one end of the connecting piece (502) is synchronously connected with the synchronizing wheel (405) in a rotating mode, and the other end of the connecting piece is fixedly connected with the end portion of the small arm (501).

7. The novel lightweight robotic arm of claim 6, further comprising: synchronizing wheel (405) drives forearm (501) swing, and the swing angle of forearm (501) is 0 ~ 270.

8. The novel lightweight robotic arm of claim 7, further comprising: the wrist assembly (105) further comprises a fifth flange (603) and a sixth flange (604), the fourth shaft motor (601) is fixed on the fifth flange (603), and the fifth flange (603) is fixedly connected with the small arm (501); the fifth shaft motor (602) is fixed on a sixth flange (604), and the sixth flange (604) is connected with an output shaft of the fourth shaft motor (601).

9. A novel light mechanical arm as claimed in any one of claims 6 to 8, characterized in that: the actuator assembly (106) comprises an actuator (701), and the actuator (701) is fixed on an output shaft of a fifth shaft motor (602) through flange connection.

10. The novel lightweight robotic arm of claim 9, further comprising: the actuator (701) is a clamping jaw.