High-stability mechanical arm provided with a secondary support structure

Abstract

The utility model relates to a high stable type mechanical arm with secondary support structure, and relates to the technical field of mechanical arm structure, the middle part of frame is embedded with mounting plate through bearing rotation, the side wall of mounting plate is vertically fixed with no. The end of no. Mechanical arm is rotatably connected with no. Two mechanical arms through rotating shaft, and the rotating shaft is fixedly arranged in the end of no. Two mechanical arms and drives the limiting mechanism, the limiting mechanism is arranged on the upper and lower sides of no. Mechanical arm, the secondary support mechanism is arranged on the side of no. Mechanical arm and connected with no. Two mechanical arms, the stable driving mechanism is arranged on the rear side of mounting plate and connected with mounting plate, the stability of no. Two mechanical arms during adjustment and working is ensured, the shaking of no. Two mechanical arms due to the falling force is avoided, the rotating no. Mechanical arm and no. Two mechanical arms are fixed and limited through the locking characteristics of the driving limiting mechanism and the stable driving mechanism, and the stability of the whole device is further ensured.

Description

Technical Field

[0001] This invention relates to the field of robotic arm structure technology, and more specifically to a highly stable robotic arm with a secondary support structure. Background Technology

[0002] Robotic arms are widely used in the current market and are involved in various industries, improving work efficiency and reducing manufacturing costs for enterprises. While large robotic arm technology is relatively mature, emerging small robotic arms differ significantly in structure due to their smaller size and different applications. Many small articulated robotic arms are prone to wobbling during rotation or bending, resulting in insufficient stability. Therefore, there is an urgent need for a highly stable robotic arm with a secondary support structure. Summary of the Invention

[0003] The purpose of this invention is to address the shortcomings and deficiencies of the prior art by providing a highly stable robotic arm with a simple structure, reasonable design, and convenient use, which can solve the technical problems in the prior art.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows: it includes a frame and a mounting plate. The mounting plate is rotatably embedded in the middle of the frame via a bearing. A first robotic arm is vertically fixed on the side wall of the mounting plate. A second robotic arm is rotatably connected to the end of the first robotic arm via a rotating shaft, and the rotating shaft is fixedly inserted through the end of the second robotic arm.

[0005] It also includes:

[0006] A drive limiting mechanism is provided on the upper and lower sides of the first robotic arm and is connected to the rotating shaft.

[0007] A secondary support mechanism is provided on one side of the first robotic arm and connected to the second robotic arm.

[0008] A stabilizing drive mechanism is disposed on the rear side of the mounting plate and connected to the mounting plate.

[0009] As a further improvement of the present invention, the secondary support mechanism includes:

[0010] An adjustment block is slidably disposed in an adjustment groove opened on the side wall of the second robotic arm, and a support rod is connected to the adjustment block by a hinge seat;

[0011] The support sleeve is movably fitted onto the end of the support rod, and the other end of the support sleeve is rotatably mounted on the side wall of the mounting plate via a hinge seat.

[0012] Through the above technical solution design, the second robotic arm is supported during the operation by the movable support rod and support sleeve, and the position of the support sleeve and support rod can be adjusted according to the angle between the first and second robotic arms; for example, when the first and second robotic arms are both in the horizontal direction, the support rod and support sleeve share the vertical force on the second robotic arm.

[0013] As a further improvement of the present invention, a spring is fixedly provided on the inner end face of the support rod, and the other end of the spring is fixedly connected to the inner side wall of the support sleeve; the spring prevents frequent shaking between the support rod and the support sleeve.

[0014] As a further improvement of the present invention, the driving limiting mechanism includes:

[0015] The first motor is fixedly installed in a groove on the upper side of the first robotic arm by a motor bracket. The first gear is fixedly connected to the output shaft of the first motor, and the first gear meshes with the second gear fixedly installed at the upper end of the rotating shaft. The first motor is connected to an external power source.

[0016] The mounting sleeve is rotatably mounted on the lower side of the first robotic arm via a rotating shaft; elastic rods are fixedly connected to both sides of the mounting sleeve, and the ends of the elastic rods are rotatably connected to a moving block via a hinge seat; the inner sidewall of the elastic rod abuts against the outer sidewall of the lower end of the rotating shaft.

[0017] The No. 1 threaded rod is rotatably mounted on the lower side of the No. 1 robotic arm via a bearing seat, and the threads on the No. 1 threaded rod are arranged in opposite directions from the middle to both sides; the moving block is rotatably mounted on the No. 1 threaded rod via the thread.

[0018] The second motor is fixedly mounted on the lower side of the first robotic arm via a motor bracket, and the output shaft of the second motor is fixedly connected to the first threaded rod; the second motor is connected to an external power source.

[0019] Through the above technical solution design, the first motor drives the first gear to rotate. Since the first gear meshes with the second gear, the second gear drives the rotating shaft to rotate. The rotating shaft drives the second robotic arm to rotate at the end of the first robotic arm, thereby adjusting the angle of the first robotic arm. After the adjustment is completed, the second motor is turned on, and the second motor drives the first threaded rod to rotate. Since the threads on the first threaded rod are set in opposite directions, the two moving blocks move on the first threaded rod. This causes the elastic rod to abut and be fastened against the side wall of the rotating shaft, thereby controlling the rotation angle of the rotating shaft and preventing the first robotic arm from shaking during operation.

[0020] As a further improvement of the present invention, a friction sleeve is fixedly sleeved on the lower outer wall of the rotating shaft, and the friction sleeve is engaged with the elastic rod in abutment; the setting of the friction sleeve increases the friction force between the elastic rod and the side wall of the rotating shaft and the limiting and fastening performance.

[0021] As a further improvement of the present invention, the stabilizing drive mechanism includes:

[0022] The No. 2 threaded rod is rotatably mounted on the side wall of the frame via a bearing seat, and the threads on the No. 2 threaded rod are arranged in opposite directions from the middle to both sides.

[0023] The transmission block consists of two blocks, both of which are screwed onto the No. 2 threaded rod via a threaded rotation.

[0024] The transmission rod consists of two rods, which are rotatably mounted on the side walls of two transmission blocks via a rotating shaft and a bearing, respectively. The other end of the transmission rod is symmetrically mounted on the side wall of the mounting plate via a rotating shaft and a bearing.

[0025] The No. 3 motor is fixedly mounted on the side wall of the frame via a motor bracket, and its output shaft is fixedly connected to the end of the No. 2 threaded rod; the No. 3 motor is connected to an external power source.

[0026] With the above technical solution design, when the No. 3 motor is turned on, the output shaft of the No. 3 motor drives the No. 2 threaded rod to rotate. Since the threads on the No. 2 threaded rod are set in opposite directions, they drive the two transmission blocks to move in opposite directions. The transmission blocks drive the transmission rod to move, and then drive the mounting plate to rotate through the transmission rod. Due to the self-locking property of the No. 2 threaded rod, the stability of the mounting plate after rotation is guaranteed.

[0027] As a further improvement of the present invention, several triangular blocks are fixedly provided at the connection between the first robotic arm and the mounting plate, and the sidewalls of the several triangular blocks are respectively fixedly connected to the first robotic arm and the mounting plate; the setting of the triangular blocks increases the tightness of the connection between the first robotic arm and the mounting plate.

[0028] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0029] 1. The second robotic arm is supported by a secondary support mechanism, which ensures its stability during adjustment and operation and prevents it from swaying due to downward force.

[0030] 2. The locking characteristics of the drive limit mechanism and the stabilizing drive mechanism can limit and fix the rotating No. 1 and No. 2 robotic arms, further ensuring the overall stability of the device. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is a schematic diagram of the structure of the present invention.

[0033] Figure 2 This is the southwest isometric view of the present invention.

[0034] Figure 3 This is a schematic diagram of the bottom structure of the present invention.

[0035] Figure 4 yes Figure 3 Enlarged view of part A in the image.

[0036] Figure 5 This is an exploded view of the drive limiting mechanism of the present invention.

[0037] Figure 6 yes Figure 5 Enlarged view of part B in the image.

[0038] Explanation of reference numerals in the attached figures:

[0039] Frame 1, Mounting plate 2, First robotic arm 3, Second robotic arm 4, Rotating shaft 5, Secondary support mechanism 6, Adjusting block 6-1, Support rod 6-2, Support sleeve 6-3, Adjusting groove 6-4, Spring 7, Drive limit mechanism 8, First motor 8-1, First gear 8-2, Second gear 8-3, Mounting sleeve 8-4, Elastic rod 8-5, Moving block 8-6, First threaded rod 8-7, Second motor 8-8, Friction sleeve 9, Stabilizing drive mechanism 10, Second threaded rod 10-1, Transmission block 10-2, Transmission rod 10-3, Third motor 10-4, Triangular block 11. Detailed Implementation

[0040] The invention will now be further described with reference to the accompanying drawings.

[0041] Example 1:

[0042] See as Figure 1-6As shown, this embodiment includes a frame 1 and a mounting plate 2. The mounting plate 2 is rotatably embedded in the middle of the frame 1 via a bearing. A first robotic arm 3 is vertically fixed to the side wall of the mounting plate 2 by bolts. The end of the first robotic arm 3 is rotatably connected to a second robotic arm 4 via a rotating shaft 5, and the rotating shaft 5 is fixedly inserted through the end of the second robotic arm 4. Several triangular blocks 11 are fixedly installed at the connection between the first robotic arm 3 and the mounting plate 2. The side walls of the several triangular blocks 11 are respectively fixedly connected to the first robotic arm 3 and the mounting plate 2 by bolts. The triangular blocks 11 increase the tightness of the connection between the first robotic arm 3 and the mounting plate 2.

[0043] It also includes:

[0044] The drive limiting mechanism 8 is located on the upper and lower sides of the first robotic arm 3 and is connected to the rotating shaft 5.

[0045] Secondary support mechanism 6 is located on one side of the first robotic arm 3 and is connected to the second robotic arm 4.

[0046] A stabilizing drive mechanism 10 is disposed on the rear side of the mounting plate 2 and connected to the mounting plate 2.

[0047] Example 2:

[0048] See as Figure 1-6 As shown, based on Embodiment 1, the secondary support mechanism 6 includes:

[0049] Adjustment block 6-1 is slidably disposed in adjustment groove 6-4 opened on the side wall of the second robotic arm 4. Support rod 6-2 is connected to adjustment block 6-1 through hinge seat.

[0050] The support sleeve 6-3 is movably sleeved on the end of the support rod 6-2, and the other end of the support sleeve 6-3 is rotatably mounted on the side wall of the mounting plate 2 through a hinge seat; a spring 7 is fixedly installed on the inner end face of the support rod 6-2, and the other end of the spring 7 is fixedly connected to the inner side wall of the support sleeve 6-3; the spring 7 prevents frequent shaking between the support rod 6-2 and the support sleeve 6-3.

[0051] Through the above technical solution design, the second robotic arm 4 is supported during the operation by the movable support rod 6-2 and support sleeve 6-3, and the position of the support sleeve 6-3 and support rod 6-2 can be adjusted according to the angle between the first robotic arm 3 and the second robotic arm 4; for example, when the first robotic arm 3 and the second robotic arm 4 are both in the horizontal direction, the support rod 6-2 and support sleeve 6-3 share the vertical force on the second robotic arm 4.

[0052] Example 3:

[0053] See as Figure 1-6 As shown, based on Embodiment 1, the drive limiting mechanism 8 includes:

[0054] Motor 8-1 is fixedly mounted in a groove on the upper side of robotic arm 3 via a motor bracket. Gear 8-2 is fixedly connected to the output shaft of motor 8-1, and gear 8-2 meshes with gear 8-3 fixedly mounted on the upper end of rotating shaft 5. Motor 8-1 is connected to an external power source.

[0055] Mounting sleeve 8-4 is rotatably mounted on the lower side of robotic arm 3 via a rotating shaft. Elastic rods 8-5 are bolted to both sides of mounting sleeve 8-4, and movable blocks 8-6 are rotatably connected to the ends of elastic rods 8-5 via hinge seats. The inner wall of the elastic rod 8-5 abuts against the lower outer wall of the rotating shaft 5. A friction sleeve 9, made of rubber, is fixedly fitted onto the lower outer wall of the rotating shaft 5, and abuts against the elastic rod 8-5. The friction sleeve 9 increases the friction between the elastic rod 8-5 and the side wall of the rotating shaft 5, as well as the limiting and fastening properties.

[0056] The first threaded rod 8-7 is rotatably mounted on the lower side of the first robotic arm 3 via a bearing seat, and the threads on the first threaded rod 8-7 are arranged in opposite directions from the middle to both sides; the moving block 8-6 is rotatably mounted on the first threaded rod 8-7 via a thread.

[0057] The second motor 8-8 is fixedly mounted on the lower side of the first robotic arm 3 via a motor bracket, and the output shaft of the second motor 8-8 is fixedly connected to the first threaded rod 8-7; the second motor 8-8 is connected to an external power source.

[0058] Example 4:

[0059] See as Figure 1-6 As shown, based on Embodiment 3, the stabilizing drive mechanism 10 includes:

[0060] The second threaded rod 10-1 is rotatably mounted on the side wall of the frame 1 via a bearing seat, and the threads on the second threaded rod 10-1 are arranged in opposite directions from the middle to both sides.

[0061] Transmission block 10-2, there are two transmission blocks 10-2, and both are screwed onto the second threaded rod 10-1 by rotation;

[0062] The transmission rod 10-3 consists of two rods, which are rotatably mounted on the side walls of the two transmission blocks 10-2 via a rotating shaft and a bearing, respectively. The other end of the transmission rod 10-3 is symmetrically mounted on the side wall of the mounting plate 2 via a rotating shaft and a bearing.

[0063] Motor No. 3 10-4 is fixedly mounted on the side wall of frame 1 by a motor bracket. The output shaft of motor No. 3 10-4 is fixedly connected to the end of threaded rod No. 2 10-1. Motor No. 3 10-4 is connected to an external power source.

[0064] The specific models of motors 8-1 (No. 1), 8-8 (No. 2), and 10-4 (No. 3) were purchased, installed, and used directly from the market according to usage requirements.

[0065] When using this invention, the end of the second robotic arm 4 is connected to a machining fixture. When adjusting the angle between the first robotic arm 3 and the second robotic arm 4, the first motor 8-1 drives the first gear 8-2 to rotate. Since the first gear 8-2 meshes with the second gear 8-3, the second gear 8-3 drives the rotating shaft 5 to rotate. The rotating shaft 5 then drives the second robotic arm 4 to rotate at the end of the first robotic arm 3, thereby adjusting the angle of the first robotic arm 3. After adjustment, the second robotic arm 4 is opened. Motor 8-8, the second motor 8-8 drives the first threaded rod 8-7 to rotate. Since the threads on the first threaded rod 8-7 are set in opposite directions, the two moving blocks 8-6 move on the first threaded rod 8-7; causing the elastic rod 8-5 to abut and be fastened to the side wall of the rotating shaft 5, thereby controlling the rotation angle of the rotating shaft 5 and preventing the first robotic arm 3 from shaking during operation; the second robotic arm 4 is supported during the operation by the movable support rod 6-2 and support sleeve 6-3.

[0066] When the first robotic arm 3 and the second robotic arm 4 are rotated, the third motor 10-4 is turned on. The output shaft of the third motor 10-4 drives the second threaded rod 10-1 to rotate. Since the threads on the second threaded rod 10-1 are set in opposite directions, the two transmission blocks 10-2 are driven to move in opposite directions. The transmission blocks 10-2 drive the transmission rod 10-3 to move, and then drive the mounting plate 2 to rotate through the transmission rod 10-3. Due to the self-locking property of the second threaded rod 10-1, the stability of the mounting plate 2 after rotation is ensured.

[0067] The beneficial effects of this specific embodiment after adopting the above structure are as follows:

[0068] 1. The second robotic arm 4 is supported by the secondary support mechanism 6, which ensures the stability of the second robotic arm 4 during adjustment and operation, and prevents it from swaying due to the downward force.

[0069] 2. The locking characteristics of the drive limit mechanism 8 and the stabilizing drive mechanism 10 can limit and fix the rotating first robotic arm 3 and second robotic arm 4, further ensuring the overall stability of the device.

[0070] The above description is only used to illustrate the technical solution of the present invention and is not intended to limit it. Any other modifications or equivalent substitutions made by those skilled in the art to the technical solution of the present invention, as long as they do not depart from the spirit and scope of the technical solution of the present invention, should be covered within the scope of the claims of the present invention.

Claims

1. A highly stable robotic arm with a secondary support structure, comprising a frame (1) and a mounting plate (2), wherein the mounting plate (2) is rotatably embedded in the middle of the frame (1) via a bearing, and a first robotic arm (3) is vertically fixed on the side wall of the mounting plate (2), and a second robotic arm (4) is rotatably connected to the end of the first robotic arm (3) via a rotating shaft (5), wherein the rotating shaft (5) is fixedly inserted through the end of the second robotic arm (4); Its features are: It also includes: Drive limiting mechanism (8), the drive limiting mechanism (8) is set on the upper and lower sides of the first robotic arm (3) and connected to the rotating shaft (5); Secondary support mechanism (6), wherein the secondary support mechanism (6) is located on one side of the first robotic arm (3) and is connected to the second robotic arm (4); A stabilizing drive mechanism (10) is provided on the rear side of the mounting plate (2) and connected to the mounting plate (2); The secondary support mechanism (6) includes: Adjustment block (6-1), the adjustment block (6-1) is slidably set in the adjustment groove (6-4) opened on the side wall of the second robotic arm (4), and the adjustment block (6-1) is connected to the support rod (6-2) through the hinge seat. The support sleeve (6-3) is movably sleeved on the end of the support rod (6-2), and the other end of the support sleeve (6-3) is rotatably mounted on the side wall of the mounting plate (2) through a hinge seat; A spring (7) is fixedly installed on the inner end face of the support rod (6-2), and the other end of the spring (7) is fixedly connected to the inner side wall of the support sleeve (6-3). The drive limiting mechanism (8) includes: The first motor (8-1) is fixedly installed in the groove opened on the upper side of the first robotic arm (3) by a motor bracket. The first gear (8-2) is fixedly connected to the output shaft of the first motor (8-1), and the first gear (8-2) meshes with the second gear (8-3) fixedly installed at the upper end of the rotating shaft (5). The first motor (8-1) is connected to an external power source. Mounting sleeve (8-4), which is rotatably mounted on the lower side of the first robotic arm (3) via a rotating shaft; elastic rods (8-5) are fixedly connected to both sides of the mounting sleeve (8-4), and the ends of the elastic rods (8-5) are rotatably connected to a moving block (8-6) via a hinge seat; the inner sidewall of the elastic rod (8-5) abuts against the lower outer sidewall of the rotating shaft (5); The first threaded rod (8-7) is rotatably mounted on the lower side of the first robotic arm (3) via a bearing seat, and the threads on the first threaded rod (8-7) are arranged in opposite directions from the middle to both sides; the moving block (8-6) is rotatably mounted on the first threaded rod (8-7) via a thread. The second motor (8-8) is fixedly mounted on the lower side of the first robotic arm (3) by a motor bracket, and the output shaft of the second motor (8-8) is fixedly connected to the first threaded rod (8-7); the second motor (8-8) is connected to an external power source. The stabilizing drive mechanism (10) includes: The No. 2 threaded rod (10-1) is rotatably mounted on the side wall of the frame (1) via a bearing seat, and the threads on the No. 2 threaded rod (10-1) are arranged in opposite directions from the middle to both sides. Transmission block (10-2), there are two transmission blocks (10-2), and both are screwed onto the second threaded rod (10-1) by rotation. The transmission rod (10-3) consists of two rods, which are rotatably mounted on the side walls of the two transmission blocks (10-2) via a rotating shaft and bearing, respectively. The other end of the transmission rod (10-3) is symmetrically mounted on the side wall of the mounting plate (2) via a rotating shaft and bearing. The No. 3 motor (10-4) is fixedly mounted on the side wall of the frame (1) by a motor bracket. The output shaft of the No. 3 motor (10-4) is fixedly connected to the end of the No. 2 threaded rod (10-1). The No. 3 motor (10-4) is connected to an external power source.

2. The highly stable robotic arm with a secondary support structure according to claim 1, characterized in that: A friction sleeve (9) is fixedly sleeved on the lower outer wall of the rotating shaft (5), and the friction sleeve (9) is engaged with the elastic rod (8-5) in abutment.

3. A highly stable robotic arm with a secondary support structure according to claim 1, characterized in that: Several triangular blocks (11) are fixedly installed at the connection between the first robotic arm (3) and the mounting plate (2), and the side walls of the several triangular blocks (11) are fixedly connected to the first robotic arm (3) and the mounting plate (2) respectively.

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