Tightly-connected robot big arm

Abstract

The utility model provides a firmly connected robot big arm which comprises a main big arm, an auxiliary big arm is arranged at the top of the main big arm, a base rotating disc is arranged at the bottom of the main big arm, inserting openings are formed in the periphery of the base rotating disc, a connecting mechanism is arranged on the inner surface of the main big arm, the connecting mechanism comprises a cavity, and the cavity is internally provided with an opening. The cavity is formed in the inner surface of the main large arm, a first motor is fixedly installed at the top of the main large arm, the output end of the first motor is fixedly connected with a driving gear, and compared with connection through a welding process, the main large arm and the auxiliary large arm are convenient to disassemble and maintain in the later period through the arrangement of the connecting mechanism; the problems that due to the fact that the dismounting or mounting mode is tedious, the dismounting cost of the main large arm is high, and much time and labor cost are consumed are solved, and meanwhile, the main large arm and the base rotating disc are still fastened when connected with each other by fixing the main large arm in the front, back, left and right directions.

Description

Technical Field

[0001] The utility model relates to a fastened robot arm and belongs to the technical field of mechanical arms. Background Art

[0002] A robotic arm refers to a complex system with high precision, multiple inputs and outputs, high nonlinearity, and strong coupling. Due to its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion protection and other fields. The robotic arm is a complex system with uncertainties such as parameter perturbations, external interference, and unmodeled dynamics. Therefore, the modeling model of the robotic arm also has uncertainties. For different tasks, it is necessary to plan the motion trajectory of the robotic arm joint space, so as to cascade and form the end posture.

[0003] A Chinese patent publication (publication number: CN 212706847 U) discloses a robot arm and a robot, wherein the robot arm comprises a main arm body and a mounting portion, wherein the main arm body is hollow; the mounting portion is connected to one end of the main arm body in the length direction; wherein the inner wall surface of the main arm body is provided with reinforcing ribs near the mounting portion. The technical solution of the utility model improves the rigidity of the robot arm.

[0004] However, the robotic arm is usually connected to the base so that the direction of the robotic arm can be adjusted by rotating the base, and the connection method usually uses a welding process so that the robotic arm can be tightly connected to the base. However, since the circuits in the robotic arm are often more complicated and there are more internal components, the robotic arm is more prone to failure. When the robotic arm fails, it will take a long time to disassemble it because it is in a welding state, and it cannot be easily disassembled and repaired, which makes the disassembly cost high and inconvenient to use.

[0005] To this end, a robot arm with a fastened connection is proposed. Utility Model Content

[0006] In view of this, the utility model provides a robot arm with a fastened connection to solve or alleviate the technical problems existing in the prior art and at least provide a beneficial choice.

[0007] The technical solution of the utility model is implemented as follows: a robot arm that is connected and fastened comprises a main arm, a secondary arm is arranged on the top of the main arm, a base turntable is arranged on the bottom of the main arm, and plug interfaces are provided around the base turntable;

[0008] A connecting mechanism is provided on the inner surface of the main arm, and the connecting mechanism includes a cavity, which is opened on the inner surface of the main arm, a first motor is fixedly installed on the top of the main arm, a driving gear is fixedly connected to the output end of the first motor, a driven gear is movably connected to the middle end of the top of the inner cavity of the cavity, the rear side of the driven gear is meshed with the front side of the driving gear, and the bottom of the driven gear is fixedly connected to a rotating disk through a rotating shaft, movable grooves are opened around the bottom of the rotating disk, connecting rods are slidably connected in the inner cavities of the four movable grooves, mounting plates are fixedly installed on the inner sides of the four connecting rods, and fixing bolts are threadedly connected to the outer sides of the four mounting plates, and a circular plate is fixedly installed in the inner cavity of the cavity and located at the bottom of the rotating disk.

[0009] Further preferably, movable grooves are provided around the bottom of the circular plate, and the four connecting rods pass through the inner cavities of the four movable grooves and extend to the bottom of the circular plate.

[0010] Further preferably, a sliding groove is provided at the middle end of the inner cavity of the cavity, and the outer side of the rotating disk is slidably connected to the inner cavity of the sliding groove.

[0011] Further preferably, slots are provided around the inner cavity of the cavity, and the four connecting rods pass through the inner cavities of the four slots and extend to the outside of the main arm.

[0012] Further preferably, screw grooves are provided around the surface of the base turntable, and the eight fixing bolts are threadedly connected to the inner cavities of the eight screw grooves.

[0013] Further preferably, the size of the plug-in interface matches the size of the connecting rod, and the four connecting rods are all plugged into the inner cavities of the four plug-in interfaces.

[0014] Further preferably, a lifting mechanism is provided at the top of the main boom, and the lifting mechanism includes a mounting groove, which is opened at the top of the main boom, and a second motor is fixedly installed at the bottom of the inner cavity of the mounting groove, and a screw rod is fixedly connected to the output end of the second motor, and a screw block is threadedly connected to the surface of the screw rod, and support blocks are fixedly installed around the top of the screw block, and the auxiliary boom is fixedly installed on the top of the four support blocks.

[0015] Further preferably, both left and right sides of the inner cavity of the installation groove are provided with limiting grooves, and both left and right sides of the screw block are slidably connected in the inner cavities of the two limiting grooves.

[0016] The embodiment of the utility model has the following advantages due to the adoption of the above technical solution:

[0017] 1. The utility model sets a connecting mechanism. When the main boom and the auxiliary boom need to be repaired, the fixing bolt is rotated to be moved out of the inner cavity of the screw groove. Through the output of the first motor, the driving gear will rotate, and through the mutual cooperation with the driven gear, the driven gear drives the rotating disk to rotate synchronously. At this time, the position of the movable groove changes, and due to the limitation of the connecting rod by the movable groove, the movable groove pushes the connecting rod and the mounting plate outward to move. At this time, the connecting rod is moved out of the inner cavity of the plug interface, thereby releasing the connection state between the main boom and the base rotating disk. When the main boom and the auxiliary boom are repaired, the first motor outputs in the reverse direction, and the driving gear drives the driven gear to rotate in the reverse direction. At this time, the rotating disk follows the driven gear. The gears rotate synchronously in the opposite direction. As the rotating disk rotates, the movable slot returns to its initial position, and through the cooperation of the movable slot, the connecting rod and the mounting plate are pulled inward to move, and the connecting rod is plugged into the inner cavity of the plug interface again, and then the fixing bolt is rotated to make it threadedly connected to the inner cavity of the screw groove to complete the connection of the main boom. Compared with the connection using welding technology, this connection method is convenient for the later disassembly and maintenance of the main boom and the auxiliary boom, and reduces the problem of high cost of disassembly of the main boom due to the cumbersome disassembly or installation method, and it will consume more time and labor costs. At the same time, by fixing in the four directions of front, back, left and right, the main boom and the base turntable are still tight when connected to each other.

[0018] Second, the utility model can limit the movement of the connecting rod by providing a movable groove, so as to avoid the position of the connecting rod changing when the rotating disk rotates, thereby affecting the installation or disassembly of the main arm; by providing a sliding groove, the position of the rotating disk can be limited when it rotates, so as to avoid its deviation when it rotates, thereby affecting the installation or disassembly of the main arm; by providing a slot, the moving direction of the connecting rod can be limited, so as to avoid the direction of the connecting rod changing when it moves, resulting in the inability to be plugged into the inner cavity of the plug interface, so that the main arm and the base turntable cannot be tightly connected; by providing a screw groove, the fixing bolt can be threadedly connected to the inner cavity of the screw groove, thereby further improving the tightness of the main arm when connected, and by providing the plug interface and the connecting rod The connecting rod is in the same horizontal direction and has matching sizes, so that the connecting rod can be firmly plugged into the inner cavity of the plug-in interface without shaking in the inner cavity of the plug-in interface, thereby ensuring the tightness of the main arm and the base turntable when connected. By setting a lifting mechanism and the output of the second motor, the screw rod rotates, and the screw block moves upward along the thread on the surface of the screw rod, and simultaneously drives the support block to move upward. As the support block moves, the limit groove moves upward synchronously, thereby realizing the adjustment of the length of the arm, making it convenient for the arm to drive the clamping component to clamp objects of different heights. By setting the limit groove, the moving direction of the screw block can be limited to avoid deviation of the screw block when it moves, which in turn affects the height adjustment of the auxiliary arm.

[0019] The above summary is for the purpose of description only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features of the utility model will be readily apparent by reference to the accompanying drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 It is a three-dimensional front view structural schematic diagram of the utility model;

[0022] Figure 2 This is a schematic diagram of the lifting mechanism structure of the utility model;

[0023] Figure 3 This is a schematic diagram of the disassembly structure of the base turntable of the utility model;

[0024] Figure 4This is a schematic diagram of the connection mechanism structure of the utility model;

[0025] Figure 5 This is a schematic diagram of the structure of the rotating disk of the utility model;

[0026] Figure 6 This is a schematic diagram of the gear structure of the utility model.

[0027] Figure numerals: 1. main arm; 2. connecting mechanism; 201. cavity; 202. first motor; 203. driving gear; 204. driven gear; 205. rotating disk; 206. movable groove; 207. connecting rod; 208. mounting plate; 209. fixing bolt; 210. circular plate; 211. movable groove; 212. sliding groove; 213. slot; 3. lifting mechanism; 301. mounting groove; 302. second motor; 303. screw rod; 304. screw block; 305. support block; 306. limiting groove; 4. auxiliary arm; 5. base turntable; 6. plug interface; 7. screw groove. DETAILED DESCRIPTION

[0028] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0029] The embodiments of the present utility model are described in detail below with reference to the accompanying drawings.

[0030] Example 1

[0031] like Figure 1-5 As shown, the embodiment of the utility model provides a robot arm that is connected and fastened, including a main arm 1, a secondary arm 4 is arranged on the top of the main arm 1, a base turntable 5 is arranged at the bottom of the main arm 1, and plug interfaces 6 are opened around the base turntable 5;

[0032] A connecting mechanism 2 is provided on the inner surface of the main arm 1, and the connecting mechanism 2 includes a cavity 201, which is opened on the inner surface of the main arm 1, and a first motor 202 is fixedly installed on the top of the main arm 1, and a driving gear 203 is fixedly connected to the output end of the first motor 202, and a driven gear 204 is movably connected to the middle end of the top of the inner cavity of the cavity 201, and the rear side of the driven gear 204 is meshed with the front side of the driving gear 203, and the bottom of the driven gear 204 is fixedly connected to a rotating disk 205 through a rotating shaft, and movable grooves 206 are opened around the bottom of the rotating disk 205, and connecting rods 207 are slidably connected in the inner cavity of the four movable grooves 206, and mounting plates 208 are fixedly installed on the inner sides of the four connecting rods 207, and fixing bolts 209 are threadedly connected to the outer sides of the four mounting plates 208, and a circular plate 210 is fixedly installed in the inner cavity of the cavity 201 and located at the bottom of the rotating disk 205.

[0033] By setting the connecting mechanism 2, when the main arm 1 and the auxiliary arm 4 need to be repaired, the fixing bolt 209 is rotated to move it out of the inner cavity of the screw groove 7. Then, through the output of the first motor 202, the driving gear 203 will rotate, and through the mutual cooperation with the driven gear 204, the driven gear 204 drives the rotating disk 205 to rotate synchronously. At this time, the position of the movable groove 206 changes, and due to the limitation of the connecting rod 207 by the movable groove 211, the movable groove 206 pushes the connecting rod 207 and the mounting plate 208 to move outward. At this time, the connecting rod 207 is moved out of the inner cavity of the plug-in interface 6, thereby releasing the connection state between the main arm 1 and the base turntable 5. When the main arm 1 and the auxiliary arm 4 are repaired, the first motor 202 outputs in the reverse direction, and the driving gear 203 drives the driven gear 204 to rotate in the reverse direction. At the same time, the rotating disk 205 rotates synchronously in the opposite direction with the driven gear 204. As the rotating disk 205 rotates, the movable groove 206 returns to its initial position, and through the cooperation of the movable groove 211, the connecting rod 207 and the mounting plate 208 are pulled inward to move, and the connecting rod 207 is plugged into the inner cavity of the plug interface 6 again, and then the fixing bolt 209 is rotated to make it threadedly connected to the inner cavity of the screw groove 7 to complete the connection of the main boom 1. Compared with the connection using welding technology, this connection method is convenient for the later disassembly and maintenance of the main boom 1 and the auxiliary boom 4, and reduces the problem that the cost of disassembling the main boom 1 is high due to the cumbersome disassembly or installation method, and it will consume more time and labor costs. At the same time, by fixing the four directions of front, back, left and right, the main boom 1 and the base turntable 5 are still tight when connected to each other.

[0034] Example 2

[0035] In one embodiment, movable grooves 211 are provided around the bottom of the circular plate 210, and four connecting rods 207 penetrate the inner cavities of the four movable grooves 211 and extend to the bottom of the circular plate 210. A sliding groove 212 is provided at the middle end of the inner cavity of the cavity 201, and the outer side of the rotating disk 205 is slidably connected to the inner cavity of the sliding groove 212. Slots 213 are provided around the inner cavity of the cavity 201, and four connecting rods 207 penetrate the inner cavity of the four slots 213 and extend to the outside of the main arm 1. Screw grooves 7 are provided around the surface of the base turntable 5, and eight fixing bolts 209 are threadedly connected to the inner cavities of the eight screw grooves 7. The size of the plug interface 6 matches the size of the connecting rod 207. The connecting rods 207 are all plugged into the inner cavities of the four plug-in interfaces 6. A lifting mechanism 3 is arranged on the top of the main arm 1. The lifting mechanism 3 includes a mounting groove 301. The mounting groove 301 is opened at the top of the main arm 1. A second motor 302 is fixedly installed at the bottom of the inner cavity of the mounting groove 301. A screw rod 303 is fixedly connected to the output end of the second motor 302. A screw block 304 is threadedly connected to the surface of the screw rod 303. Support blocks 305 are fixedly installed around the top of the screw block 304. The auxiliary arm 4 is fixedly installed on the top of the four support blocks 305. Limiting grooves 306 are opened on the left and right sides of the inner cavity of the mounting groove 301. The left and right sides of the screw block 304 are slidably connected in the inner cavities of the two limiting grooves 306.

[0036] By setting the movable groove 211, the movement of the connecting rod 207 can be limited to avoid the position of the connecting rod 207 changing when the rotating disk 205 rotates, thereby affecting the installation or disassembly of the main arm 1. By setting the sliding groove 212, the position of the rotating disk 205 can be limited when it rotates to avoid its deviation when it rotates, thereby affecting the installation or disassembly of the main arm 1. By setting the slot 213, the moving direction of the connecting rod 207 can be limited to avoid the direction of the connecting rod 207 changing when it moves, resulting in the inability to be plugged into the inner cavity of the plug interface 6, so that the main arm 1 and the base turntable 5 cannot be tightly connected. By setting the screw groove 7, the fixing bolt 209 can be threadedly connected to the inner cavity of the screw groove 7, thereby further improving the tightness of the main arm 1 when connected. , because the two are in the same horizontal direction and their sizes match each other, the connecting rod 207 can be firmly plugged into the inner cavity of the plug-in port 6, and no shaking will occur in the inner cavity of the plug-in port 6, thereby ensuring the tightness of the main arm 1 when connected to the base turntable 5. By setting the lifting mechanism 3, the screw rod 303 rotates through the output of the second motor 302. At this time, the screw block 304 moves upward along the thread on the surface of the screw rod 303, and synchronously drives the support block 305 to move upward. As the support block 305 moves, the limiting groove 306 moves upward synchronously, thereby realizing the adjustment of the length of the arm, making it convenient for the arm to drive the clamping component to clamp objects of different heights. By setting the limiting groove 306, the moving direction of the screw block 304 can be limited to avoid deviation of the screw block 304 when it moves, thereby affecting the height adjustment of the auxiliary arm 4.

[0037] When the utility model is working: when the main arm 1 and the auxiliary arm 4 fail and need to be repaired, after the fixing bolt 209 is screwed and moved out of the inner cavity of the screw groove 7, the output end of the first motor 202 drives the driving gear 203 to rotate, and the driven gear 204 rotates synchronously due to the rotation of the driving gear 203, and drives the rotating disk 205 to rotate synchronously, and the position of the movable groove 206 changes due to the rotation of the rotating disk 205, and due to the limit of the connecting rod 207 by the movable groove 211, the movable groove 206 pushes the connecting rod 207 and the mounting plate 208 to move outward, and the connecting rod 207 is moved out of the inner cavity of the plug interface 6, and the connecting rod 207 is moved out of the inner cavity of the plug interface 6. The connection between the main arm 1 and the base turntable 5 is released. After the maintenance of the main arm 1 and the auxiliary arm 4 is completed, the output end of the first motor 202 outputs in the reverse direction, so that the driving gear 203 drives the driven gear 204 to rotate in the reverse direction. At this time, the rotating disk 205 rotates in the reverse direction synchronously with the driven gear 204. The movable groove 206 is restored to the initial position due to the rotation of the rotating disk 205, and through the cooperation of the movable groove 211, the connecting rod 207 and the mounting plate 208 are pulled inward to move, so that the connecting rod 207 is plugged into the inner cavity of the plug interface 6 again, and then the fixing bolt 209 is rotated to make it threadedly connected to the inner cavity of the screw groove 7, completing the connection work of the main arm 1.

[0038] The above is only a specific implementation of the utility model, but the protection scope of the utility model is not limited thereto. Any technician familiar with the technical field can easily think of various changes or substitutions within the technical scope disclosed by the utility model, which should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model should be based on the protection scope of the claims.

Claims

1. A robot arm with a fastened connection, characterized in that: It comprises a main arm (1), a secondary arm (4) is arranged on the top of the main arm (1), a base turntable (5) is arranged on the bottom of the main arm (1), and plug-in interfaces (6) are arranged around the base turntable (5); The inner surface of the main arm (1) is provided with a connecting mechanism (2), the connecting mechanism (2) comprising a cavity (201), the cavity (201) being opened on the inner surface of the main arm (1), a first motor (202) being fixedly mounted on the top of the main arm (1), a driving gear (203) being fixedly connected to the output end of the first motor (202), a driven gear (204) being movably connected to the middle end of the top of the inner cavity of the cavity (201), the rear side of the driven gear (204) being meshed with the front side of the driving gear (203), and the driven gear (204) being movably connected to the middle end of the inner top of the cavity (201). The bottom of the gear (204) is fixedly connected to a rotating disk (205) via a rotating shaft, and movable grooves (206) are provided around the bottom of the rotating disk (205), and connecting rods (207) are slidably connected in the inner cavities of the four movable grooves (206), and mounting plates (208) are fixedly installed on the inner sides of the four connecting rods (207), and fixing bolts (209) are threadedly connected on the outer sides of the four mounting plates (208), and a circular plate (210) is fixedly installed in the inner cavity of the cavity (201) and located at the bottom of the rotating disk (205).

2. A robot arm with a fastened connection according to claim 1, characterized in that: The bottom of the circular plate (210) is provided with movable grooves (211) around its periphery, and the four connecting rods (207) penetrate the inner cavities of the four movable grooves (211) and extend to the bottom of the circular plate (210).

3. The robot arm with fastened connection according to claim 1, characterized in that: A sliding groove (212) is provided at the middle end of the inner cavity of the cavity (201), and the outer side of the rotating disk (205) is slidably connected to the inner cavity of the sliding groove (212).

4. The robot arm with fastened connection according to claim 1, characterized in that: Slots (213) are provided around the inner cavity of the cavity (201), and the four connecting rods (207) penetrate the inner cavities of the four slots (213) and extend to the outer side of the main arm (1).

5. The robot arm with fastened connection according to claim 1, characterized in that: Screw grooves (7) are provided around the surface of the base turntable (5), and the eight fixing bolts (209) are threadedly connected in the inner cavities of the eight screw grooves (7).

6. The robot arm with fastened connection according to claim 1, characterized in that: The size of the plug-in interface (6) matches the size of the connecting rod (207), and the four connecting rods (207) are all plugged into the inner cavities of the four plug-in interfaces (6).

7. The robot arm with fastened connection according to claim 1, characterized in that: A lifting mechanism (3) is arranged at the top of the main boom (1), and the lifting mechanism (3) comprises a mounting groove (301), the mounting groove (301) is opened at the top of the main boom (1), a second motor (302) is fixedly mounted at the bottom of the inner cavity of the mounting groove (301), a screw rod (303) is fixedly connected to the output end of the second motor (302), a screw block (304) is threadedly connected to the surface of the screw rod (303), support blocks (305) are fixedly mounted around the top of the screw block (304), and the auxiliary boom (4) is fixedly mounted on the tops of four support blocks (305).

8. The robot arm with fastened connection according to claim 7, characterized in that: Limiting grooves (306) are provided on both the left and right sides of the inner cavity of the installation groove (301), and both the left and right sides of the screw block (304) are slidably connected in the inner cavities of the two limiting grooves (306).

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