CN-224209983-U - Mechanical arm and multi-axis mechanical arm

CN224209983UCN 224209983 UCN224209983 UCN 224209983UCN-224209983-U

Abstract

The utility model provides a mechanical arm which comprises a mechanical arm body and an output joint, wherein the mechanical arm body comprises a main body part, a first protruding part and a second protruding part, the first protruding part and the second protruding part extend towards the same direction relative to the main body part, the first protruding part and the second protruding part are arranged at intervals, a joint installation position is formed among the main body part, the first protruding part and the second protruding part, the output joint is installed in the joint installation position, a turnover motor is installed in the mechanical arm body, a transmission space is arranged on one side of the mechanical arm body, a transmission mechanism is installed in the transmission space and is respectively connected with the turnover motor and the output joint, the transmission mechanism is used for driving the output joint to rotate relative to the mechanical arm body around a first rotating shaft, and the output joint is provided with the output part which rotates around a second rotating shaft. The mechanical arm and the multi-axis mechanical arm provided by the utility model realize that the small mechanical arm main body can also rotate by the rotating shafts in multiple directions, and the movement is more flexible.

Inventors

WU KAI
ZHU JUNYONG
TANG GUOSEN

Assignees

广州丰盈机电科技有限公司

Dates

Publication Date: 20260508
Application Date: 20250117

Claims (10)

1. The utility model provides a mechanical arm, its characterized in that, includes mechanical arm main part and output joint, the mechanical arm main part includes main part, first bellying and second bellying for main part orientation is the same, first bellying and second bellying interval set up, make form joint installation position between main part, first bellying and the second bellying, output joint install in the joint installation position, install the upset motor in the mechanical arm main part, mechanical arm main part one side is provided with the transmission space, install drive mechanism in the transmission space, drive mechanism respectively with upset motor and output joint are connected, be used for driving output joint is relative the mechanical arm main part rotates around first pivot, be provided with the output around the rotation of second pivot on the output joint.
2. The mechanical arm according to claim 1, wherein the mechanical arm main body is provided with a containing cavity and a wiring space, the wiring space is located at the other side of the mechanical arm main body, the containing cavity and the joint installation position are located between the wiring space and a transmission space, a driver and the turnover motor are arranged in the containing cavity, and a cable is arranged in the wiring space, enters the wiring space from the containing cavity and then is connected with the output joint.
3. The mechanical arm according to claim 2, wherein the mechanical arm main body is provided with a main cover body capable of closing the opening of the accommodating cavity, the openings of the wiring space and the transmission space are arranged outwards, the opening directions of the accommodating cavity, the wiring space and the transmission space are different, and the mechanical arm main body is provided with a first side cover body for closing the opening of the wiring space and a second side cover body for closing the opening of the transmission space; the output joint both sides respectively with first bellying and second bellying are connected, walk the line space by main part extends to first bellying, the transmission space by main part extends to the second bellying.
4. The mechanical arm of claim 1, wherein the output part is provided with a carrier, the output part can drive the carrier to rotate, and the first rotating shaft and the second rotating shaft are not parallel.
5. The mechanical arm of claim 1, wherein the transmission mechanism is a synchromesh wheel transmission mechanism or a gear transmission mechanism; When the transmission mechanism is a synchronous wheel transmission mechanism, the synchronous wheel transmission mechanism comprises a synchronous belt, a first synchronous belt pulley and a second synchronous belt pulley, the first synchronous belt pulley and the second synchronous belt pulley are in transmission connection through the synchronous belt, the turnover motor drives the first synchronous belt pulley to rotate, and the second synchronous belt pulley is connected with the output joint and is used for driving the output joint to rotate relative to the mechanical arm main body; When the transmission mechanism is a gear transmission mechanism, the gear transmission mechanism comprises a driving gear and a driven gear, the driving gear is directly connected with the driven gear or indirectly connected with the driven gear in a transmission way, the turnover motor drives the driving gear to rotate so as to drive the driven gear to rotate, and the driven gear is connected with the output joint and is used for driving the output joint to rotate relative to the mechanical arm main body.
6. The mechanical arm according to claim 1, further comprising a speed reducer, wherein the transmission mechanism and the output joint are connected through the speed reducer, the speed reducer is located on the first protruding portion or the second protruding portion, and the speed reducer and the transmission mechanism are located on the same side of the mechanical arm main body.
7. The multi-axis mechanical arm is characterized by comprising a lifting arm, a first swing arm, a second swing arm and the mechanical arm according to any one of claims 1-6, wherein the lifting arm is lifted along a first direction, the first swing arm, the second swing arm and the mechanical arm are arranged in a stacked mode along the first direction, the lifting arm is connected with the first swing arm, the second swing arm swings relative to the first swing arm, the mechanical arm swings relative to the second swing arm, the rotating shafts of the first swing arm, the second swing arm and the mechanical arm axially extend along the first direction, the first swing arm, the second swing arm and the mechanical arm are sequentially distributed along the head end to the tail end of the mechanical arm, and the output joint is located at the tail end of the mechanical arm.
8. The multi-axis robot arm according to claim 7, wherein the lifting arm is connected to the head end of the first swing arm, the first swing arm is connected to the lifting arm through a first swing arm joint, the head end of the second swing arm is connected to the tail end of the first swing arm through a second swing arm joint, the head end of the robot arm is connected to the tail end of the second swing arm through a robot arm joint, the rotating shafts of the first swing arm, the second swing arm and the robot arm are respectively located in the first swing arm joint, the second swing arm joint and the robot arm joint, the rotating shafts of the first swing arm, the second swing arm and the robot arm are hollow structures, and the cable sequentially penetrates through the lifting arm, the rotating shaft of the first swing arm, the rotating shaft of the second swing arm and the rotating shaft of the robot arm to extend into the robot arm.
9. The multi-axis robotic arm of claim 7, wherein at least one of the output joint, the first swing arm joint, the second swing arm joint, and the robotic arm joint employs a joint assembly of: The joint assembly comprises a main output shaft, a connecting shaft, a driving mechanism and a speed reducing mechanism, wherein the main output shaft is of an axially-through hollow structure, the connecting shaft is sleeved outside the main output shaft, the speed reducing mechanism is sleeved outside the main output shaft, the connecting shaft is connected with the input end of the speed reducing mechanism, the output end of the speed reducing mechanism is connected with the main output shaft, the driving mechanism is sleeved outside the connecting shaft and is used for driving the connecting shaft to rotate, and then the speed reducing mechanism is used for reducing the speed to drive the main output shaft to rotate; The joint assembly further comprises a brake mechanism, wherein the brake mechanism is matched with the connecting shaft and used for stopping the connecting shaft from rotating when braking so as to stop the main output shaft from rotating; The brake mechanism comprises a brake stator and a brake pad, wherein the brake stator is sleeved on the outer side of the connecting shaft and does not rotate along with the connecting shaft, and the brake pad is sleeved on the outer side of the connecting shaft and can rotate along with the connecting shaft; When the electromagnet is electrified, the brake pad is separated from the brake stator, and the driving mechanism drives the connecting shaft to rotate, and when the electromagnet is powered off, the brake pad is contacted with the brake stator to stop the connecting shaft from rotating; the brake block is arranged on the brake shaft, the brake stator is connected with the brake block through a connecting shaft, the brake block is connected with the brake shaft through a connecting shaft, and the brake block is connected with the brake shaft through a connecting shaft; or the brake stator and the brake pad are sequentially arranged along the axial direction of the main output shaft to the output end of the main output shaft.
10. The multi-axis robotic arm of claim 7, wherein at least one of the output joint, the first swing arm joint, the second swing arm joint, and the robotic arm joint employs a joint assembly of: The joint assembly comprises a main output shaft, a connecting shaft, a driving mechanism and a speed reducing mechanism, wherein the main output shaft is of an axially-through hollow structure, the connecting shaft is sleeved outside the main output shaft, the speed reducing mechanism is sleeved outside the main output shaft, the connecting shaft is connected with the input end of the speed reducing mechanism, the output end of the speed reducing mechanism is connected with the main output shaft, the driving mechanism is sleeved outside the connecting shaft and is used for driving the connecting shaft to rotate, and then the speed reducing mechanism is used for reducing the speed to drive the main output shaft to rotate; The joint assembly further comprises an encoder assembly, the encoder assembly comprises an encoder PCB and at least one encoding disc, the encoder PCB is sleeved on the periphery of the connecting shaft and does not rotate along with the connecting shaft, the encoding disc is sleeved on the connecting shaft and/or the main output shaft and rotates along with the connecting shaft, and the encoding disc is connected with the encoder PCB in an electric signal manner; The encoder assembly, the driving mechanism and the speed reducing mechanism are sequentially arranged along the axial direction of the main output shaft to the output end of the main output shaft; The two encoding disks are connected with the PCB of the encoder through electrical signals, one encoding disk is sleeved on the connecting shaft and rotates along with the connecting shaft and is used for testing the rotating speed of the connecting shaft, the other encoding disk is sleeved on the main output shaft and rotates along with the main output shaft and is used for testing the rotating speed of the main output shaft, and the two encoding disks are respectively arranged on two sides of the PCB of the encoder.

Description

Mechanical arm and multi-axis mechanical arm Technical Field The utility model relates to the technical field of industrial robots, in particular to a mechanical arm and a multi-axis mechanical arm. Background Robots are now widely used in industrial fields, such as handling, assembly, inspection, etc. SCARA robots are one of the commonly used robots, and with the development of robotics, requirements of medical services, aerospace, industry and the like on robots are increasing. The whole size of the mechanical arm of the existing robot is larger, the structure is not compact enough, more space is required to be occupied, and the environmental adaptability is poor. And the material cost of the robot is increased due to the large-size mechanical arm, and the dynamic response is poor when the mechanical arm changes, so that the response is not sensitive enough, and the robot is difficult to adapt to higher and higher requirements. Disclosure of utility model In view of the above, the present utility model is directed to a compact mechanical arm and a multi-axis mechanical arm. The mechanical arm comprises a mechanical arm main body and an output joint, wherein the mechanical arm main body comprises a main body part, a first protruding part and a second protruding part, the first protruding part and the second protruding part extend towards the same direction relative to the main body part, the first protruding part and the second protruding part are arranged at intervals, so that joint installation positions are formed among the main body part, the first protruding part and the second protruding part, the output joint is installed in the joint installation positions, a turnover motor is installed in the mechanical arm main body, a transmission space is arranged on one side of the mechanical arm main body, a transmission mechanism is installed in the transmission space and is connected with the turnover motor and the output joint respectively, the transmission mechanism is used for driving the output joint to rotate around a first rotating shaft relative to the mechanical arm main body, and an output part rotating around a second rotating shaft is arranged on the output joint. Preferably, the mechanical arm main body is provided with a containing cavity and a wiring space, the wiring space is located at the other side of the mechanical arm main body, the containing cavity and the joint installation position are arranged between the wiring space and the transmission space, a driver and the turnover motor are arranged in the containing cavity, and the cable enters the wiring space from the containing cavity and then is connected with the output joint. Preferably, the mechanical arm main body is provided with a main cover body capable of sealing the opening of the accommodating cavity, the openings of the wiring space and the transmission space are arranged outwards, the opening directions of the accommodating cavity, the wiring space and the transmission space are different, and the mechanical arm main body is provided with a first side cover body for sealing the opening of the wiring space and a second side cover body for sealing the opening of the transmission space; the output joint both sides respectively with first bellying and second bellying are connected, walk the line space by main part extends to first bellying, the transmission space by main part extends to the second bellying. Preferably, the output part is provided with a carrier, and the output part can drive the carrier to rotate; preferably, the transmission mechanism is a synchronous wheel transmission mechanism or a gear transmission mechanism; When the transmission mechanism is a synchronous wheel transmission mechanism, the synchronous wheel transmission mechanism comprises a synchronous belt, a first synchronous belt pulley and a second synchronous belt pulley, the first synchronous belt pulley and the second synchronous belt pulley are in transmission connection through the synchronous belt, the turnover motor drives the first synchronous belt pulley to rotate, and the second synchronous belt pulley is connected with the output joint and is used for driving the output joint to rotate relative to the mechanical arm main body; When the transmission mechanism is a gear transmission mechanism, the gear transmission mechanism comprises a driving gear and a driven gear, the driving gear is directly connected with the driven gear or indirectly connected with the driven gear in a transmission way, the turnover motor drives the driving gear to rotate so as to drive the driven gear to rotate, and the driven gear is connected with the output joint and is used for driving the output joint to rotate relative to the mechanical arm main body. Preferably, the transmission mechanism is connected with the output joint through the speed reducer, the speed reducer is located on the first protruding portion or the second protruding portion, and the speed reduc