Robot swing arm joint movement mechanism

Abstract

The utility model relates to the technical field of robot swing arm joint movement mechanisms, and discloses a robot swing arm joint movement mechanism which comprises a first mechanical arm, a movable mechanism is arranged on the right side of the first mechanical arm, and a limiting protection mechanism is arranged on the outer side of the first mechanical arm. The movable mechanism comprises a second mechanical arm, the outer surface of the second mechanical arm is movably hinged to the inner wall of the first mechanical arm, a first stepping motor is arranged on the left side of the first mechanical arm, a rotating disc is fixedly installed at the power output end of the first stepping motor, and the right side face of the rotating disc is fixedly connected with the left side face of the first mechanical arm. A second stepping motor is arranged on the outer side of the first mechanical arm. According to the robot swing arm joint movement mechanism, the rotating disc can be driven to rotate through power provided by the first stepping motor, so that the first mechanical arm can be driven to rotate, the angle of the second mechanical arm is adjusted, the second mechanical arm can swing horizontally or obliquely, and the mechanical movement capacity is high.

Description

Technical Field

[0001] The utility model relates to the technical field of robot swing arm joint motion mechanisms, in particular to a robot swing arm joint motion mechanism. Background Art

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. It has basic characteristics such as perception, decision-making, and execution. It can assist or even replace humans in completing dangerous, heavy, and complex tasks, improve work efficiency and quality, serve human life, and expand or extend human activities and capabilities. The mechanical swing arm is its main part, which is connected by multiple joints and can achieve multi-degree-of-freedom movement. The joints are responsible for connecting the various parts of the swing arm.

[0003] The existing robot arm joint movement mechanism has a single joint rotation direction, resulting in poor mechanical activity and inconvenient joint limit protection. The robot arm joint is prone to large rotation angles, making the support mechanism with the greatest force easily damaged by heavy pressure, thus reducing its practicality.

[0004] Therefore, those skilled in the art provide a robot swing arm joint motion mechanism to solve the problems raised in the above background technology. Utility Model Content

[0005] The purpose of the utility model is to provide a robot swing arm joint motion mechanism to solve the problems raised in the above background technology.

[0006] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0007] A robot swing arm joint motion mechanism comprises a first mechanical arm, a movable mechanism is arranged on the right side of the first mechanical arm, and a limit position protection mechanism is arranged on the outer side of the first mechanical arm;

[0008] The movable mechanism includes a second mechanical arm, the outer surface of the second mechanical arm is movably hinged to the inner wall of the first mechanical arm, a first stepper motor is arranged on the left side of the first mechanical arm, a turntable is fixedly installed on the output end of the power of the first stepper motor, and the right side of the turntable is fixedly connected to the left side of the first mechanical arm, a second stepper motor is arranged on the outside of the first mechanical arm, the output end of the power of the second stepper motor passes through the first mechanical arm and is fixedly installed with a first gear, the outer surface of the first gear is meshed with a second gear, and the right side of the second gear is fixedly connected to the left side of the second mechanical arm, and the limit protection mechanism includes two limit frames, and the side surfaces of the two limit frames close to each other are respectively fixedly connected to the upper surface and bottom surface of the first mechanical arm, and two arc frames are fixedly installed on the left side of the second mechanical arm, and the right side surface of each arc frame is in contact with the inner side wall of the first mechanical arm, and the inner side wall of each limit frame is fixedly installed with a rubber pad.

[0009] As a further solution of the utility model: a fixing frame is fixedly installed on the bottom surface of the first stepper motor, and the right side surface of the fixing frame contacts the left side surface of the turntable.

[0010] As a further solution of the utility model: two connection blocks are fixedly installed on the left side of the fixing frame, and a round hole is opened on the front side of each of the connection blocks.

[0011] As a further solution of the utility model: a protection box is fixedly installed on the bottom surface of the second stepper motor, and the back surface of the protection box is fixedly connected to the front surface of the first mechanical arm.

[0012] As a further solution of the utility model: a connecting flange is fixedly installed on the right side of the second mechanical arm, and the right side of the connecting flange is provided with connecting holes arranged at equal distances.

[0013] As a further solution of the utility model: fixing blocks are fixedly installed on the upper surface and the bottom surface of the first mechanical arm, and the right side surface of each of the fixing blocks is fixedly connected to the left side surface of the limiting frame.

[0014] As a further solution of the utility model: four fixing bolts are arranged inside the fixing frame, the bottom end of each fixing bolt passes through the first stepper motor and extends to the inside of the fixing frame, and each fixing bolt is threadedly connected to the fixing frame.

[0015] Compared with the prior art, the beneficial effects of the utility model are:

[0016] The utility model is provided with a second stepper motor which provides power to drive the first gear to rotate, thereby driving the second gear to rotate, so that the second gear can drive the second mechanical arm to swing, and the power provided by the first stepper motor can drive the turntable to rotate, thereby driving the first mechanical arm to rotate, so that the second mechanical arm can swing horizontally or obliquely, so that the mechanical activity ability is strong, the arc frame can be blocked by the limit frame, and the rubber pad can buffer the arc frame, so as to facilitate the limit protection of the first mechanical arm, so that when the second mechanical arm moves, it is prevented from causing the support position to be damaged due to the large pressure caused by excessive rotation angle, thereby achieving a strong practical effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of a robot swing arm joint motion mechanism;

[0018] Figure 2 It is a schematic diagram of a cutaway three-dimensional structure of a first mechanical arm in a robot swing arm joint motion mechanism;

[0019] Figure 3 It is a rear view cross-sectional three-dimensional structural schematic diagram of a limit frame in a robot swing arm joint motion mechanism;

[0020] Figure 4 It is a schematic diagram of the right-side stereoscopic structure of a connecting flange in a robot swing arm joint motion mechanism.

[0021] In the figure: 1. first mechanical arm; 2. movable mechanism; 201. second mechanical arm; 202. first stepper motor; 203. turntable; 204. second stepper motor; 205. first gear; 206. second gear; 3. limit protection mechanism; 301. limit frame; 302. arc frame; 303. rubber pad; 4. fixing frame; 5. fixing bolt; 6. connecting block; 7. round hole; 8. protection box; 9. connecting flange; 10. connecting hole; 11. fixing block. DETAILED DESCRIPTION

[0022] See also Figure 1-4 A robot swing arm joint motion mechanism comprises a first mechanical arm 1, a movable mechanism 2 is arranged on the right side of the first mechanical arm 1, and a limited position protection mechanism 3 is arranged on the outer side of the first mechanical arm 1;

[0023] The movable mechanism 2 includes a second robotic arm 201, the outer surface of the second robotic arm 201 is movably hinged to the inner wall of the first robotic arm 1, a first stepper motor 202 is arranged on the left side of the first robotic arm 1, a fixing frame 4 is fixedly installed on the bottom surface of the first stepper motor 202, the right side surface of the fixing frame 4 is in contact with the left side surface of the turntable 203, and the first stepper motor 202 can be supported and protected by the fixing frame 4, thereby preventing the first stepper motor 202 from shaking and deviating during operation, thereby increasing the stability of the first stepper motor 202.

[0024] A turntable 203 is fixedly installed on the output end of the power of the first stepper motor 202, and the right side of the turntable 203 is fixedly connected to the left side of the first robotic arm 1. A second stepper motor 204 is arranged on the outside of the first robotic arm 1. Two connecting blocks 6 are fixedly installed on the left side of the fixed frame 4. A circular hole 7 is opened on the front side of each connecting block 6. The connecting block 6 can be used to facilitate the connection between the fixed frame 4 and the robot, thereby facilitating the installation and disassembly of the fixed frame 4 and increasing the convenience of the device.

[0025] The output end of the power of the second stepper motor 204 passes through the first robotic arm 1 and is fixedly installed with a first gear 205. The outer surface of the first gear 205 is meshed with a second gear 206. The right side of the second gear 206 is fixedly connected to the left side of the second robotic arm 201. The limit protection mechanism 3 includes two limit frames 301. A protection box 8 is fixedly installed on the bottom surface of the second stepper motor 204. The back side of the protection box 8 is fixedly connected to the front side of the first robotic arm 1. The second stepper motor 204 can be protected by the protection box 8, thereby preventing the second stepper motor 204 from being damaged by external force, thereby increasing the protection of the device.

[0026] The side surfaces of the two limit frames 301 that are close to each other are fixedly connected to the upper surface and the bottom surface of the first robotic arm 1 respectively; the left side surface of the second robotic arm 201 is fixedly installed with two arc frames 302; the right side surface of each arc frame 302 is in contact with the inner wall of the first robotic arm 1; the inner wall of each limit frame 301 is fixedly installed with a rubber pad 303; the right side surface of the second robotic arm 201 is fixedly installed with a connecting flange 9; the right side surface of the connecting flange 9 is provided with connecting holes 10 arranged at equal distances; the second robotic arm 201 can be connected to the working mechanism through the connecting flange 9, thereby facilitating the installation of the working mechanism and increasing the practicability of the device.

[0027] The upper surface and the bottom surface of the first robotic arm 1 are fixedly installed with fixed blocks 11, and the right side surface of each fixed block 11 is fixedly connected to the left side surface of the limit frame 301. The fixed blocks 11 can increase the stability of the limit frame 301, thereby preventing the limit frame 301 from falling and increasing the stability of the limit frame 301.

[0028] Four fixing bolts 5 are arranged inside the fixing frame 4, and the bottom end of each fixing bolt 5 passes through the first stepper motor 202 and extends to the inside of the fixing frame 4, and each fixing bolt 5 is threadedly connected to the fixing frame 4. The first stepper motor 202 can be reinforced by the fixing bolts 5, thereby preventing the first stepper motor 202 from shaking during operation, thereby increasing the stability of the first stepper motor 202.

[0029] The working principle of the utility model is as follows: when in use, firstly, the first stepper motor 202 and the second stepper motor 204 are powered on, the fixing frame 4 can be connected to the robot through the connecting block 6, the connecting flange 9 can connect the second mechanical arm 201 to the working mechanism, the power provided by the second stepper motor 204 can drive the first gear 205 to rotate, thereby driving the second gear 206 to rotate, so that the second gear 206 can drive the second mechanical arm 201 to swing, the protective box 8 can protect the second stepper motor 204, thereby preventing the second stepper motor 204 from being damaged by external force, and the power provided by the first stepper motor 202 can drive the first gear 205 to rotate, thereby driving the second gear 206 to rotate, so that the second gear 206 can drive the second mechanical arm 201 to swing, and the protective box 8 can protect the second stepper motor 204, thereby preventing the second stepper motor 204 from being damaged by external force. The force can drive the turntable 203 to rotate, thereby driving the first robotic arm 1 to rotate, so that the second robotic arm 201 can swing horizontally or tilted, so that the mechanical activity is strong, and the arc frame 302 can be blocked by the limit frame 301, and the rubber pad 303 can buffer the arc frame 302, so as to facilitate the limit protection of the first robotic arm 1, so that when the second robotic arm 201 moves, it can avoid the support position being damaged due to the large pressure caused by excessive rotation angle. The fixed block 11 can increase the stability of the limit frame 301, thereby preventing the limit frame 301 from falling, making the robot swing arm joint motion mechanism more practical.

[0030] What is described above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A robot arm joint motion mechanism, comprising a first robot arm (1), characterized in that: A movable mechanism (2) is arranged on the right side of the first mechanical arm (1), and a limit protection mechanism (3) is arranged on the outer side of the first mechanical arm (1); The movable mechanism (2) comprises a second mechanical arm (201), the outer surface of the second mechanical arm (201) is movably hinged to the inner wall of the first mechanical arm (1), a first stepper motor (202) is arranged on the left side of the first mechanical arm (1), a turntable (203) is fixedly installed on the output end of the power of the first stepper motor (202), the right side of the turntable (203) is fixedly connected to the left side of the first mechanical arm (1), a second stepper motor (204) is arranged on the outer side of the first mechanical arm (1), the output end of the power of the second stepper motor (204) passes through the first mechanical arm (1) and is fixedly installed with a first gear (205), the first The outer surface of the gear (205) is meshed with a second gear (206), the right side of the second gear (206) is fixedly connected to the left side of the second mechanical arm (201), the limit protection mechanism (3) comprises two limit frames (301), the side surfaces of the two limit frames (301) close to each other are respectively fixedly connected to the upper surface and the bottom surface of the first mechanical arm (1), the left side of the second mechanical arm (201) is fixedly installed with two arc frames (302), the right side of each arc frame (302) is in contact with the inner side wall of the first mechanical arm (1), and the inner side wall of each limit frame (301) is fixedly installed with a rubber pad (303).

2. A robot swing arm joint motion mechanism according to claim 1, characterized in that: A fixing frame (4) is fixedly mounted on the bottom surface of the first stepper motor (202), and the right side surface of the fixing frame (4) is in contact with the left side surface of the rotating disk (203).

3. A robot arm joint motion mechanism according to claim 2, characterized in that: Two connection blocks (6) are fixedly mounted on the left side of the fixing frame (4), and a circular hole (7) is provided on the front side of each connection block (6).

4. The robot arm joint motion mechanism according to claim 1, characterized in that: A protection box (8) is fixedly mounted on the bottom surface of the second stepper motor (204), and the back surface of the protection box (8) is fixedly connected to the front surface of the first mechanical arm (1).

5. The robot arm swing joint motion mechanism according to claim 1, characterized in that: A connecting flange (9) is fixedly mounted on the right side of the second mechanical arm (201), and connecting holes (10) arranged at equal distances are provided on the right side of the connecting flange (9).

6. The robot arm joint motion mechanism according to claim 1, characterized in that: Fixed blocks (11) are fixedly mounted on the upper surface and the bottom surface of the first mechanical arm (1), and the right side surface of each fixed block (11) is fixedly connected to the left side surface of the limiting frame (301).

7. The robot arm joint motion mechanism according to claim 2, characterized in that: Four fixing bolts (5) are arranged inside the fixing frame (4), the bottom end of each fixing bolt (5) passes through the first stepper motor (202) and extends to the inside of the fixing frame (4), and each fixing bolt (5) is threadedly connected to the fixing frame (4).

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