Mounting seat for mechanical arm

Abstract

The utility model provides a mounting seat for a mechanical arm, which provides a stable foundation for the operation of the mechanical arm and comprises a movable base, a bearing piece and a connecting piece, the bearing piece is arranged on the movable base, the connecting piece is fixedly arranged on the mechanical arm, and the connecting piece is detachably connected with the bearing piece; a plurality of lock holes are formed in the connecting piece, a plurality of lock pins are rotationally arranged on the bearing piece, and when the connecting piece is connected with the bearing piece, the lock pins penetrate through the corresponding lock holes respectively, and then the lock pins are rotated, so that the connecting piece is connected with the bearing piece. One or more first speed reducers synchronously drive a second mandrel to rotate, then a second bevel gear is driven to rotate, the second bevel gear drives a first bevel gear to rotate through a transmission ring, then a plurality of lock pins can synchronously rotate, and automatic locking or resetting of the lock pins is achieved; the driving system composed of Mecanum wheels has a more flexible moving effect; the problems that a traditional mechanical arm and a mounting base thereof are complex to mount and dismount, and movement is not flexible enough are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to a mounting seat for a mechanical arm. Background Art

[0002] The robot arm mount plays a key role in the robot arm system. The mount is the fixed point of the robot arm, which provides a stable foundation for the robot arm. The design of the mount must be able to withstand the weight of the robot arm and the various forces and moments generated during the work process, ensuring that the robot arm remains stable during operation and preventing instability caused by vibration or external forces. At the same time, the design of the mount can ensure that the robot arm is accurately installed and positioned at the predetermined position. This helps the robot arm to accurately perform the predetermined tasks when working, improving the accuracy and efficiency of the work.

[0003] A walking robot with a robotic arm often needs to be brought to a designated work site for on-site assembly and debugging before use. The fixation of the robotic arm mounting base to the robotic arm is mostly connected by bolts or other more complicated structures, and the assembly and removal of the robotic arm are both troublesome; and the walking robotic arm mounting base with a single drive source is not flexible enough to move. Utility Model Content

[0004] The utility model aims to provide a mounting seat for a mechanical arm, which solves the problems of complicated mounting and dismounting of a traditional mechanical arm and its mounting seat, as well as insufficient flexibility in movement.

[0005] The embodiment of the utility model is realized by the following technical scheme: a mounting base for a robot arm, which is used to connect with the robot arm and provide a stable foundation for the operation of the robot arm, comprising a mobile base, a receiving member and a connecting member, wherein the receiving member is arranged on the mobile base, the connecting member is fixed on the robot arm, and the connecting member is detachably connected to the receiving member;

[0006] The connecting member is provided with a plurality of locking holes, and the receiving member is rotatably provided with a plurality of locking pins. When the connecting member is connected with the receiving member, the plurality of locking pins respectively pass through the corresponding locking holes, and then the locking pins are rotated to connect the connecting member with the receiving member.

[0007] Furthermore, it also includes a first bevel gear, a second bevel gear, a first spindle, a second spindle and a transmission ring, the receiving member includes a bottom plate and a cover plate, the bottom of the cover plate is provided with an annular groove, and the cover plate is provided on the top of the bottom plate;

[0008] A plurality of first spindles are arranged in an annular array on the bottom plate, and the first spindles are keyed to the first bevel gears; an upper end of the first spindle passes through the cover plate and is connected to a lock pin;

[0009] The bottom plate is also provided with a plurality of second mandrels in an annular array, and the second mandrels are key-connected with the second bevel gears;

[0010] The inner side and the outer side of the transmission ring are respectively provided with a first helical gear ring and a second helical gear ring, the first helical gear ring is meshed with a plurality of the first bevel gears at the same time, and the second helical gear ring is meshed with a plurality of the second bevel gears at the same time;

[0011] The first bevel gear, the second bevel gear and the transmission ring are all placed in the annular groove.

[0012] Furthermore, it also includes a first reducer, which is arranged on the movable base, and the output end of the first reducer is drivingly connected to the second core shaft.

[0013] Furthermore, a driving bevel gear is disposed at the output end of the first reducer, and a lower end of the second core shaft extends out of the bottom plate and is provided with a driven bevel gear, and the driven bevel gear is meshed with the driving bevel gear.

[0014] Furthermore, the connecting member is provided with a first wedge surface and a second wedge surface, the first wedge surface and the second wedge surface are respectively located on both sides of the lock hole, and the first wedge surface and the second wedge surface are located on the rotation path of the lock pin.

[0015] Furthermore, a special-shaped protrusion is provided at the bottom of the connecting piece, and a special-shaped cavity is provided at the top of the cover plate, and the special-shaped protrusion is embedded in the special-shaped cavity.

[0016] Furthermore, the mobile base includes a chassis, a plurality of second reducers and a plurality of Mecanum wheels, the base plate is arranged on the chassis, a plurality of the Mecanum wheels are rotatably arranged on the chassis, and one of the second reducers is drivingly connected to one of the Mecanum wheels.

[0017] The technical solution of the embodiment of the utility model has at least the following advantages and beneficial effects:

[0018] 1. When the connecting piece and the receiving piece are connected, each locking pin passes through a locking hole, and then the locking pin is rotated so that the locking pin is stuck on both sides of the locking hole, so that the connecting piece cannot be separated from the receiving piece, and the connection between the two is completed. At the same time, when the locking pin is rotated, the two ends of the locking pin are in sliding contact with the first wedge surface and the second wedge surface respectively. The first wedge surface and the second wedge surface have a tendency to drive the locking pin to move axially, and then they are in close contact with the first wedge surface and the second wedge surface, so that the connecting piece and the receiving piece are tightly fixed to avoid loosening, providing a stable connection foundation for the robot arm and ensuring the normal operation of the robot arm.

[0019] 2. The second core shaft is synchronously driven to rotate through one or more first reducers, thereby driving the second bevel gear to rotate. The second bevel gear drives the first bevel gear to rotate through the transmission ring, and then a number of locking pins can rotate synchronously to achieve automatic locking or resetting of a number of locking pins. The first reducer has precise control, which improves the efficiency of disassembly and connection of the connector and the receiving part.

[0020] 3. A second reducer independently drives a Mecanum wheel. The four Mecanum wheels can realize the forward and backward movement, lateral movement or steering of the mobile base. Compared with the traditional steering and moving mechanism, the drive system composed of Mecanum wheels has a more flexible movement effect, which greatly facilitates the movement control of the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 A schematic diagram of the top view of a mounting base for a mechanical arm provided by the utility model;

[0023] Figure 2 for Figure 1 Structural schematic diagram of the cross section at AA;

[0024] Figure 3 A schematic diagram of a top view of the structure of a first bevel gear, a second bevel gear and a transmission ring of a mounting base for a mechanical arm provided by the utility model;

[0025] Icons: 1. Mobile base, 11. Chassis, 12. Second reducer, 13. Mecanum wheel, 2. Socket, 21. Lock pin, 22. Bottom plate, 23. Cover plate, 231. Annular groove, 24. Special-shaped concave cavity, 3. Connector, 31. Lock hole, 32. First wedge surface, 33. Second wedge surface, 34. Special-shaped protrusion, 4. First bevel gear, 41. First spindle, 5. Second bevel gear, 51. Second spindle, 6. Transmission ring, 61. First helical gear ring, 62. Second helical gear ring, 7. First reducer, 71. Driving bevel gear, 72. Driven bevel gear. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Generally, the components of the embodiments of the utility model described and shown in the drawings here can be arranged and designed in various different configurations.

[0027] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the present invention to be protected, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] Embodiment 1:

[0029] Reference Figures 1 to 3 As shown, this embodiment provides a mounting base for a robot arm, which is used to connect with the robot arm to provide a stable foundation for the operation of the robot arm, including a mobile base 1, a receiving member 2 and a connecting member 3. The receiving member 2 is arranged on the mobile base 1, and the connecting member 3 is fixed to the robot arm by bolts or flange connecting members. When installing and removing the robot arm, it is integrated with the robot arm and cannot be separated from the robot arm. The connecting member 3 is detachably connected to the receiving member 2, which is convenient for replacing and storing the robot arm.

[0030] like Figure 1 and 2 As shown, the connecting member 3 is provided with a plurality of locking holes 31, and the receiving member 2 is rotatably provided with a plurality of locking pins 21. When the connecting member 3 is connected with the receiving member 2, the plurality of locking pins 21 respectively pass through the corresponding locking holes 31, and then the locking pins 21 are rotated to connect the connecting member 3 with the receiving member 2. In specific implementation, when the connecting member 3 is docked with the receiving member 2, each locking pin 21 passes through a locking hole 31, and then the locking pins 21 are rotated to make the locking pins 21 stuck on both sides of the locking hole 31, so that the connecting member 3 cannot be separated from the receiving member 2, that is, the connection between the two is completed.

[0031] More specifically, the connecting member 3 is provided with a first wedge surface 32 and a second wedge surface 33, which are respectively located on both sides of the lock hole 31, and are located on the rotation path of the lock pin 21. When the lock pin 21 is rotated, the two ends of the lock pin 21 are respectively in sliding contact with the first wedge surface 32 and the second wedge surface 33, and the first wedge surface 32 and the second wedge surface 33 have a tendency to drive the lock pin 21 to move axially, and then closely contact with the first wedge surface 32 and the second wedge surface 33, so that the connecting member 3 and the receiving member 2 are tightly fixed to avoid loosening, thereby providing a stable connection foundation for the robot arm and ensuring the normal operation of the robot arm.

[0032] Embodiment 2:

[0033] Based on the above embodiments, Figure 1-3 As shown, it also includes a first bevel gear 4, a second bevel gear 5, a first spindle 41, a second spindle 51 and a transmission ring 6. The receiving member 2 includes a bottom plate 22 and a cover plate 23. The bottom of the cover plate 23 is provided with an annular groove 231, and the cover plate 23 is arranged on the top of the bottom plate 22;

[0034] A plurality of first mandrels 41 are arranged in an annular array on the bottom plate 22, and the first mandrels 41 are keyed to the first bevel gears 4; the upper end of a first mandrel 41 passes through the cover plate 23 and is connected to a lock pin 21;

[0035] A plurality of second mandrels 51 are also arranged in an annular array on the bottom plate 22, and a second bevel gear 5 is key-connected to the second mandrel 51;

[0036] A first helical gear ring 61 and a second helical gear ring 62 are respectively arranged on the inner side and the outer side of the transmission ring 6. The first helical gear ring 61 is meshed with a plurality of first bevel gears 4 at the same time, and the second helical gear ring 62 is meshed with a plurality of second bevel gears 5 at the same time.

[0037] The first bevel gear 4 , the second bevel gear 5 and the transmission ring 6 are all placed in the annular groove 231 .

[0038] During specific implementation, the first bevel gear 4, the second bevel gear 5 and the annular groove 231 provide support and spatial limitation for the transmission ring 6. If necessary, a thrust bearing or a sliding ring can be arranged between the top of the transmission ring 6 and the annular groove 231 to ensure that the transmission ring 6 is meshed with the first bevel gear 4 and the second bevel gear 5, so that several first bevel gears 4 can rotate synchronously, and then several locking pins 21 can rotate synchronously. When only one locking pin 21 needs to be driven to rotate and lock, the other locking pins 21 can also be locked synchronously, which greatly saves the time for connection and fixation, and the connection effect is very good.

[0039] Embodiment three:

[0040] Based on the above embodiment, a first reducer 7 is further included. The first reducer 7 is arranged on the mobile base 1 , and an output end of the first reducer 7 is drivingly connected to a second core shaft 51 .

[0041] The output end of the first reducer 7 is provided with a driving bevel gear 71 , and the lower end of a second core shaft 51 extends out of the bottom plate 22 and is provided with a driven bevel gear 72 , which meshes with the driving bevel gear 71 .

[0042] The second core shaft 51 is synchronously driven to rotate by one or more first reducers 7, thereby driving the second bevel gear 5 to rotate. The second bevel gear 5 drives the first bevel gear 4 to rotate through the transmission ring 6, thereby realizing automatic locking or resetting of a plurality of locking pins 21. The first reducer 7 has precise control, which further improves the efficiency during disassembly and connection.

[0043] More specifically, the bottom of the connector 3 is provided with a special-shaped protrusion 34, and the top of the cover plate 23 is provided with a special-shaped cavity 24, and the special-shaped protrusion 34 is engaged with the special-shaped cavity 24. This facilitates the docking of the connector 3 and the receiving member 2, so that the locking pins 21 can be quickly aligned with the corresponding locking holes 31, further improving the efficiency of docking.

[0044] Embodiment 4:

[0045] Based on the above embodiments, Figure 1-3 As shown, the mobile base 1 includes a chassis 11, a plurality of second reducers 12 and a plurality of Mecanum wheels 13, the bottom plate 22 is disposed on the chassis 11, a plurality of Mecanum wheels 13 are rotatably disposed on the chassis 11, and a second reducer 12 is drivingly connected to a Mecanum wheel 13.

[0046] A Mecanum wheel 13 is independently driven by a second reducer 12, and the four Mecanum wheels 13 can realize the forward and backward movement, lateral movement or steering of the mobile base 1. Compared with the traditional steering and moving mechanism, the drive system composed of the Mecanum wheels 13 has a more flexible moving effect, which greatly facilitates the movement control of the robot arm.

[0047] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A mounting base for a robot arm, used to connect with the robot arm to provide a stable foundation for the robot arm operation, characterized in that: It comprises a mobile base (1), a receiving member (2) and a connecting member (3), wherein the receiving member (2) is arranged on the mobile base (1), the connecting member (3) is fixed on the mechanical arm, and the connecting member (3) is detachably connected to the receiving member (2); The connecting member (3) is provided with a plurality of locking holes (31), and the receiving member (2) is rotatably provided with a plurality of locking pins (21). When the connecting member (3) is connected with the receiving member (2), the plurality of locking pins (21) respectively pass through the corresponding locking holes (31), and then the locking pins (21) are rotated to connect the connecting member (3) with the receiving member (2).

2. A mounting base for a robot arm according to claim 1, characterized in that: It also includes a first bevel gear (4), a second bevel gear (5), a first spindle (41), a second spindle (51) and a transmission ring (6); the receiving member (2) includes a bottom plate (22) and a cover plate (23); an annular groove (231) is provided at the bottom of the cover plate (23); and the cover plate (23) is provided on the top of the bottom plate (22); A plurality of first spindles (41) are arranged in an annular array on the bottom plate (22), and the first spindles (41) are key-connected to the first bevel gear (4); the upper end of one of the first spindles (41) passes through the cover plate (23) and is connected to a locking pin (21); A plurality of second mandrels (51) are also arranged in an annular array on the bottom plate (22), and the second mandrels (51) are key-connected with the second bevel gear (5); A first helical gear ring (61) and a second helical gear ring (62) are respectively arranged on the inner side and the outer side of the transmission ring (6); the first helical gear ring (61) is meshed with a plurality of the first bevel gears (4) at the same time, and the second helical gear ring (62) is meshed with a plurality of the second bevel gears (5) at the same time; The first bevel gear (4), the second bevel gear (5) and the transmission ring (6) are all placed in the annular groove (231).

3. A mounting base for a robot arm according to claim 2, characterized in that: It also comprises a first reducer (7), wherein the first reducer (7) is arranged on the movable base (1), and the output end of the first reducer (7) is drivingly connected to the second core shaft (51).

4. A mounting base for a robot arm according to claim 3, characterized in that: The output end of the first reducer (7) is provided with a driving bevel gear (71), and the lower end of the second core shaft (51) extends out of the bottom plate (22) and is provided with a driven bevel gear (72), and the driven bevel gear (72) is meshed with the driving bevel gear (71).

5. A mounting base for a robot arm according to claim 4, characterized in that: The connecting member (3) is provided with a first wedge surface (32) and a second wedge surface (33), the first wedge surface (32) and the second wedge surface (33) are respectively located on both sides of the locking hole (31), and the first wedge surface (32) and the second wedge surface (33) are located on the rotation path of the locking pin (21).

6. A mounting base for a robot arm according to claim 5, characterized in that: The bottom of the connecting piece (3) is provided with a special-shaped protrusion (34), the top of the cover plate (23) is provided with a special-shaped cavity (24), and the special-shaped protrusion (34) is embedded in the special-shaped cavity (24).

7. A mounting base for a robot arm according to claim 6, characterized in that: The mobile base (1) comprises a chassis (11), a plurality of second reducers (12) and a plurality of Mecanum wheels (13); the base plate (22) is arranged on the chassis (11); a plurality of Mecanum wheels (13) are rotatably arranged on the chassis (11); and one of the second reducers (12) is drivingly connected to one of the Mecanum wheels (13).

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