CN207593838U - One kind three saves folding mechanism arm - Google Patents

Abstract

The utility model provides a three-section folding mechanical arm, which includes a lifting mechanism and a folding mechanism. Two sliding rails arranged in parallel are vertically installed on the mounting seat, the sliding block is installed on the sliding rail, and the main joint is fixed on the sliding block. The upper and lower driving belts are fixedly connected to the end of the main condyle through the belt clamp, and the output shaft of the first motor is connected to the upper and lower driving belt; the second motor is installed in the mounting seat, and the secondary condyle is installed on the front end of the main condyle through the main joint. The output shaft of the second motor is connected with the main joint through the belt, the last condyle is fixed on the front end of the sub-condyle through the sub-joint, the third motor is installed on the sub-condyle, and the output shaft of the third motor is connected with the sub-joint through the belt. The three-section folding robot arm has a simple structure and flexible control. The horizontal position positioning is realized by the folding mechanism, and the vertical height position positioning is realized by the lifting mechanism. The vertical movement and the horizontal movement are independently controlled, which simplifies the complexity of the control.

Description

A three-section folding robotic arm

technical field

The utility model relates to a mechanical arm, in particular to a three-section folding mechanical arm.

Background technique

With the continuous development and application of robot technology, the advantages of robots are becoming more and more prominent. Especially in the field of mobile handling robots, it has become an irresistible trend to introduce robots into industrial production to replace manual labor. The sorting tasks and warehousing and storage tasks in the logistics industry are gradually transitioning from manual to robot, so that the storage, handling, transfer and other activities of items become unitized operations, thereby greatly improving the efficiency of logistics transportation. Thus, the problems of manual completion, heavy workload, low efficiency and high cost are also solved. In the mobile handling robot, the mechanical arm that realizes the position positioning and grabbing task of the object is the key component to realize the robot function.

The main problem of the folding robot arm in the existing technical solutions is that the structural design is more complicated, the degree of freedom of the joints is not strong, generally only simple folding can be performed, and the height position of the robot arm is difficult to adjust, especially when it is applied to a small mobile handling robot , portability is not very good.

Utility model content

Aiming at the deficiencies of the prior art, the utility model proposes a three-section folding robot arm. The three-section folding robot arm has simple structure and flexible control, and can accurately control the plane position and vertical height of the robot arm in the horizontal plane.

In order to realize the above technical solution, the utility model provides a three-section folding mechanical arm, including a lifting mechanism and a folding mechanism. The motor and the mounting base, two slide rails arranged in parallel are vertically installed on the mounting base, the slider is installed on the slide rail, the main joint is fixed on the slide block, and the upper and lower drive belts are fixedly connected to the main joint through the belt clamping parts. At the end, the output shaft of the first motor is connected with the upper and lower driving belts; the folding mechanism includes a main joint, a sub-joint, a third motor, a sub-joint, a last joint and a second motor, and the second motor is installed in the mounting seat, The sub-condyle is installed on the front end of the main condyle through the main joint, the output shaft of the second motor is connected with the main joint through a belt, the last condyle is fixed on the front end of the sub-condyle through the sub-joint, and the third motor is installed on the sub-condyle. The output shaft of the third motor is connected with the secondary joint through a belt.

In the above technical solution, the three joints, the main joint, the secondary joint and the final joint are respectively connected by the main joint and the secondary joint to form a three-section folding mechanism. The second motor drives the main joint to rotate through the belt, thereby controlling the rotation of the secondary joint; the third The motor drives the secondary joint to rotate through the belt, thereby controlling the rotation of the distal condyle. By controlling the rotation angle of the subcondyle and the distal condyle, the end actuator can be controlled to reach any position in a certain horizontal plane. In terms of vertical height control, the vertical movement of the three-section folding mechanism is realized by connecting the two symmetrical slide rails with the slider fixed on the main joint, and the upper and lower drive belts are fixed on the main joint through belt clamps. On the joint, the first motor realizes the positioning control of controlling the vertical position of the three-section folding structure by driving the upper and lower drive belts. In this way, the horizontal position positioning is realized by the folding mechanism, and the vertical height position positioning is realized by the lifting mechanism, which simplifies the complexity of the control, and the use of belt transmission avoids the use of other transmission methods that are more complicated. The output of the motor in the belt transmission The transmission ratio between the wheel and the joint drive wheel can reduce the inertia impact on the motor when the motor starts and stops, and improves the stability of the motor control.

Preferably, a first tensioning pulley is provided on the side end of the belt where the output shaft of the second motor is connected to the main joint, and the first tensioning pulley can effectively prevent the phenomenon of transmission slipping caused by the belt being too loose, and improve the performance of the second tensioning wheel. The transmission efficiency between the second motor and the main joint.

Preferably, a second tensioning pulley is provided on the side end of the belt where the output shaft of the third motor is connected to the secondary joint, and the second tensioning pulley can effectively prevent the phenomenon of transmission slippage caused by the belt being too loose, and improve the performance of the second tensioning wheel. The transmission efficiency between the three motors and the secondary joint.

Preferably, the first motor, the second motor and the third motor are all servo motors, so as to improve the accuracy of folding and moving up and down of the mechanical arm.

The beneficial effect of the three-section folding mechanical arm provided by the utility model lies in that the three-section folding mechanical arm has simple structure and flexible control. Independent motion control simplifies the complexity of control, and the use of belt drive avoids the use of other more complex structures. The transmission ratio between the output wheel of the motor and the drive wheel of the joint in the belt drive can reduce the impact on the motor when the motor starts and stops. The inertia shock improves the stability of the motor control.

Description of drawings

Fig. 1 is the three-dimensional structure schematic diagram I of the present utility model.

Fig. 2 is a schematic diagram II of the three-dimensional structure of the utility model.

In the figure: 1. main joint; 2. main joint; 3. secondary joint; 4. third motor; 5. first tensioning wheel; 6. second tensioning wheel; 7. secondary joint; 8. terminal joint; 9. Up and down driving belt; 10. Slide rail; 11. Slide block; 12. Second motor; 13. Belt clamping member; 14. First motor; 15. Mounting seat.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. example. All other embodiments obtained by ordinary persons in the art without creative efforts belong to the protection scope of the present utility model.

Embodiment: a kind of three-section folding mechanical arm.

Referring to Figures 1 to 2, a three-section folding mechanical arm includes a lifting mechanism and a folding mechanism. The lifting mechanism includes a main joint 1, an upper and lower driving belt 9, a slide rail 10, a slider 11, and a belt clamping member 13. , the first motor 14 and the mounting base 15, two slide rails 10 arranged in parallel are vertically installed on the mounting base 15, the slide block 11 is installed on the slide rail 10, the main joint 1 is fixed on the slide block 11, and the upper and lower drive belts 9 is fixedly connected to the end of the main condyle 1 through the belt clamping part 13, and the output shaft of the first motor 14 is connected with the upper and lower drive belts 9; the folding mechanism includes the main joint 2, the secondary condyle 3, the third motor 4, and the secondary joint 7. The terminal condyle 8 and the second motor 12, the second motor 12 is installed in the mounting seat 15, the secondary condyle 3 is installed on the front end of the main condyle 1 through the main joint 2, the output shaft of the second motor 12 is passed through the belt Connected with the main joint 2, the last joint 8 is fixed on the front end of the secondary joint 3 through the secondary joint 7, the third motor 4 is installed on the secondary joint 3, and the output shaft of the third motor 4 is connected with the secondary joint 7 through a belt.

In this embodiment, the main joint 1, the secondary joint 3, and the final joint 8 are respectively connected by the main joint 2 and the secondary joint 7 to form a three-section folding mechanism. The second motor 12 drives the main joint 2 to rotate through a belt, thereby controlling the secondary joint. The rotation of the condyle 3; the third motor 4 drives the secondary joint 7 to rotate through the belt, thereby controlling the rotation of the final condyle 8. By controlling the rotation angles of the secondary condyle 3 and the final condyle 8, the end actuator can be controlled to reach any position in a certain horizontal plane . In terms of vertical height control, two symmetrical slide rails 10 are connected to the slider 11 fixedly connected to the main joint 1 to realize the vertical movement of the three-section folding mechanism, and the upper and lower driving belts 9 pass through the belt clamping parts 13 is fixedly connected to the main joint 1, and the first motor 14 realizes the positioning control of controlling the vertical position of the three-section folding structure by driving the upper and lower drive belts 9. In this way, the horizontal position positioning is realized by the folding mechanism, and the vertical height position positioning is realized by the lifting mechanism, which simplifies the complexity of the control, and the use of belt transmission avoids the use of other transmission methods that are more complicated. The output of the motor in the belt transmission The transmission ratio between the wheel and the joint drive wheel can reduce the inertia impact on the motor when the motor starts and stops, and improves the stability of the motor control.

Referring to Fig. 1, the output shaft of the second motor 12 is provided with a first tensioning pulley 5 on the side end of the belt connected to the main joint 2, through which the first tensioning pulley 5 can effectively prevent the belt from being too loose The phenomenon of transmission slipping improves the transmission efficiency between the second motor 12 and the main joint 2 .

Referring to Fig. 1 to Fig. 2, the output shaft of the third motor 4 is provided with a second tension pulley 6 on the side end where the output shaft of the third motor 4 is connected to the secondary joint 7, and the second tension pulley 6 can effectively prevent the belt from being too loose As a result, the phenomenon of transmission slippage is caused, and the transmission efficiency between the third motor 4 and the secondary joint 7 is improved.

In this embodiment, the first motor 14 , the second motor 12 and the third motor 4 are all servo motors, so as to improve the accuracy of folding and moving up and down of the robotic arm.

The above description is only a preferred embodiment of the utility model, but the utility model should not be limited to the disclosed content of the embodiment and the accompanying drawings, so any equivalent or completed without departing from the disclosed spirit of the utility model Modifications all fall within the protection scope of the utility model.

Claims (4)

1. one kind three saves folding mechanism arm, it is characterised in that including：Elevating mechanism and fold mechanism,

The elevating mechanism includes main joint, drives upside down band, sliding rail, sliding block, band Fastener, the first motor and mounting base, and two A parallel arrangement of sliding rail is vertically installed in mounting base, and sliding block is mounted on sliding rail, and main joint is fixed on sliding block, is driven up and down Dynamic band the output shaft of the first motor and drives upside down band connection by being fixedly connected on the end of main joint with Fastener；

The fold mechanism includes main joint, secondary joint, third motor, secondary joint, last joint and the second motor, second electricity Machine is mounted in mounting base, and secondary joint is mounted on the front end of main joint by main joint, and the output shaft of second motor passes through Belt is connect with main joint, and last joint is by secondary arthrodesis in the front end of secondary joint, and third motor is mounted on time joint, institute The output shaft for stating third motor is connect by belt with time joint.

2. three sections folding mechanism arm as described in claim 1, it is characterised in that：The output shaft and main joint of second motor The first tensioning wheel is provided on the belt side of connection.

3. three sections folding mechanism arm as described in claim 1, it is characterised in that：The output shaft of the third motor and time joint The second tensioning wheel is provided on the belt side of connection.

4. three sections folding mechanism arm as described in claim 1, it is characterised in that：First motor, the second motor and third Motor is servo motor.