Auxiliary extension mechanical arm device for rotational joint
By designing an auxiliary extension robotic arm device for rotating joints and driving the telescopic device with transmission components, the problem of difficulty in modifying the robotic arm is solved, and the rotational action of the rotating joint is converted into a telescopic action without disassembling the rotating joint, which is suitable for the extension needs of the robotic arm in narrow spaces.
Patent Information
- Application Number
- CN202520711987.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-16
- Publication Date
- 2025-05-23
- Estimated Expiration
- 2035-04-16
AI Technical Summary
The joint modification of existing robotic arms is difficult, especially in narrow spaces, and independent driving and control are required to achieve elongation of the robotic arms.
An auxiliary extension robot arm device for rotating the joint is designed, and the first transmission part and the second transmission part drives the extension or shortening of the expansion device, thereby modifying the rotational action of the rotational joint into a telescopic action, and there is no need to disassemble the rotational joint during the entire process.
It reduces the difficulty of modifying the robotic arm, and realizes the rotational action of the rotating joint into a telescopic action without disassembling the rotating joint, which is suitable for the extension needs of the robotic arm in narrow spaces.
Smart Images
Figure CN222891270U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of mechanical joints, in particular to an auxiliary extension mechanical arm device for rotating joints. Background Art
[0002] At present, the existing robot arm joints are generally divided into two types: rotating joints and mobile joints. The movement and extension of the robot arm are generally achieved through the movement of rotating and mobile joints, such as the movement of a six-axis robot arm and the movement of a lead screw mechanism. These two types of joint movements have their own movement characteristics and usage environments for achieving the extension of the robot arm. Modifying a robot arm that needs to change its working mode often requires a large workload and requires the addition of independent drives and controls. For example, a robot arm with a rotating joint may need to add a mobile motion unit with a motor at the end to extend the robot arm in a narrow space. Utility Model Content
[0003] The purpose of the utility model is to provide an auxiliary extension mechanical arm device for rotating joints, which solves the technical problem that the mechanical arm modification is difficult. The preferred technical solution among the many technical solutions provided by the utility model can produce many technical effects as described below.
[0004] In order to achieve the above purpose, the utility model provides the following technical solutions:
[0005] The utility model provides an auxiliary extension mechanical arm device for a rotating joint, comprising a first transmission part connected to a first joint, a telescopic device arranged in connection with a second joint, a second transmission part and an actuator, wherein one end of the first transmission part is connected to the first joint, and the other end is hinged to one end of the second transmission part, and the other end of the second transmission part is hinged to the telescopic device, and the actuator is arranged at an end of the telescopic device away from the first transmission part. The rotating joint comprises a folding state and an unfolding state. In the folding state, the telescopic device is in a retracted state, and the hinged ends of the first transmission part and the second transmission part are located on the outside of the hinge axes of the first joint and the second joint, and the actuator is close to the second joint; in the unfolding state, the telescopic device is in an extended state, and the actuator is extended away from the second joint.
[0006] Preferably, the telescopic device is a two-stage telescopic device or a multi-stage telescopic device.
[0007] Preferably, the telescopic device includes a fixed connection part and a sliding connection part, the fixed connection part is arranged on the second joint and along the length direction of the second joint, the sliding connection part is slidably arranged on the fixed connection part, an actuator is arranged at one end of the sliding connection part away from the first transmission part, and the second transmission part is connected to the sliding connection part.
[0008] Preferably, the sliding connection part includes a first sliding member, a second sliding member and a synchronous connection component, the first sliding member is slidably set on the fixed connection part, the second sliding member is slidably set on the first sliding member, the second transmission part is hinged to the first sliding member, and the synchronous connection component is set on the fixed connection part, the first sliding member and the second sliding member and is used to drive the second sliding member to move synchronously with the first sliding member.
[0009] Preferably, the synchronous connection assembly includes a first connecting member, a second connecting member, a first synchronous member, a second synchronous member, a first synchronous element and a second synchronous element. The first connecting member is arranged on the fixed connection part away from one end of the hinge shaft, the second connecting member is arranged on the second sliding member close to one end of the hinge shaft, the first synchronous member and the second synchronous member are respectively arranged at two ends of the first sliding member, one end of the first synchronous element is connected to the first connecting member, and the other end is connected to the second connecting member, and the first synchronous element is wound around the first synchronous member, one end of the second synchronous element is connected to the first connecting member, and the other end is connected to the second connecting member, and the second synchronous element is wound around the second synchronous member.
[0010] Preferably, the first synchronous element and the second synchronous element are both synchronous belts or transmission chains, and the first synchronous component and the second synchronous component are both synchronous shafts or transmission gears.
[0011] Preferably, the first synchronous member and the second synchronous member are respectively arranged on two sides of the first sliding member.
[0012] Preferably, the first transmission part and the second transmission part are rods.
[0013] Preferably, the first transmission part and the first joint, and the telescopic device and the second joint are connected via a detachable connecting piece.
[0014] Preferably, the detachable connecting member is a connecting belt.
[0015] This application adopts the above technical solution, which has at least the following beneficial effects:
[0016] The auxiliary extension mechanical arm device for rotating joints includes a first transmission part for connecting with a first joint, a telescopic device arranged in connection with a second joint, a second transmission part and an execution part, one end of the first transmission part is connected with the first joint, so that the first joint and the second joint are respectively connected through the first transmission part and the telescopic device, the other end of the first transmission part is hinged with one end of the second transmission part, the other end of the second transmission part is hinged with the telescopic device, the execution part is arranged at an end of the telescopic device away from the first transmission part, and the rotating joint includes a folding state and an unfolding state. In the folding state, the telescopic device is in a retracted state, the hinged ends of the first transmission part and the second transmission part are located outside the hinge axis of the first joint and the second joint, and the execution part is close to the second joint; in the unfolding state, the telescopic device is in an extended state, and the execution part is extended away from the second joint. In this way, the telescopic device can be driven to extend or shorten through the two transmission parts, so that the rotating action of the rotating joint can be converted into a telescopic action, and the rotating joint does not need to be disassembled during the whole process, thereby reducing the difficulty of conversion.
[0017] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] In order to more clearly illustrate the embodiments of the utility model 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 utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0019] Figure 1 It is a schematic diagram of the structure of the auxiliary extension mechanical arm device for rotating joints provided by an embodiment of the utility model in a folded state;
[0020] Figure 2 It is a schematic diagram of the structure of the auxiliary extension mechanical arm device for rotating joints provided by an embodiment of the utility model in the extension state;
[0021] Figure 3 It is a schematic diagram of the three-dimensional structure of an auxiliary extension mechanical arm device for rotating joints provided in an embodiment of the utility model.
[0022] In the figure, 1 is the first transmission part; 2 is the second transmission part; 3 is the executive part; 4 is the first joint; 5 is the second joint; 6 is the fixed connection part; 7 is the first sliding member; 8 is the second sliding member; 9 is the first connecting member; 10 is the second connecting member; 11 is the first synchronous member; 12 is the second synchronous member; 13 is the first synchronous element; 14 is the second synchronous element; 15 is the articulated shaft; 16 is the detachable connecting member. DETAILED DESCRIPTION
[0023] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the utility model.
[0024] The specific embodiment of the utility model provides an auxiliary extension mechanical arm device for rotating joints, combined with the attached Figure 1-3 As shown, it includes a first transmission part 1 connected to a first joint 4, a telescopic device arranged in connection with a second joint 5, a second transmission part 2 and an actuator 3.
[0025] One end of the first transmission part 1 is connected to the first joint 4, and the other end is hinged to one end of the second transmission part 2, and the other end of the second transmission part 2 is hinged to the telescopic device. The actuator 3 is arranged at the end of the telescopic device away from the first transmission part 1, so that the first transmission part 1 and the second transmission part 2 can be driven to move during the mutual rotation of the first joint 4 and the second joint 5, thereby driving the telescopic device to extend or retract, and then driving the actuator 3 to move. The rotating joint includes a folding state and an unfolding state. When the rotating joint is in the folding state, the telescopic device is in a retracted state, the hinged end of the first transmission part 1 and the second transmission part 2 is located on the outside of the hinge axis 15 of the first joint 4 and the second joint 5, and the actuator 3 is close to the second joint 5; in the unfolded state, the telescopic device is in an extended state, and the actuator 3 extends away from the second joint 5. In this way, the rotation of the rotating joint can be converted into the extension or retraction of the telescopic device. In this process, there is no need to disassemble the original rotating joint, and this device only needs to be installed on the first joint 4 and the second joint 5.
[0026] The specific first transmission part 1 and the first joint 4 are connected in a detachable connection manner, and the telescopic device and the second joint 5 are connected in a detachable connection manner, which can further ensure the convenience of modification. The specific first transmission part 1 and the first joint 4 and the telescopic device and the second joint 5 are connected by a detachable connecting member 16, and the detachable connecting member 16 is a connecting belt.
[0027] In a specific embodiment of the present application, the telescopic device is a two-stage telescopic device or a multi-stage telescopic device. The two-stage telescopic device or the multi-stage telescopic device can be selected according to actual needs.
[0028] In some embodiments, the telescopic device includes a fixed connection part 6 and a sliding connection part. The fixed connection part 6 is arranged on the second joint 5 and along the length direction of the second joint 5. The sliding connection part is slidably arranged on the fixed connection part 6. The actuator 3 is arranged at one end of the sliding connection part away from the first transmission part 1, and the second transmission part 2 is connected to the sliding connection part. In this way, the sliding connection part can be driven to move relative to the fixed connection part 6 by indirectly driving the first transmission part 1 and the second transmission part 2 when the rotating joint rotates, thereby driving the actuator 3 to move.
[0029] In some embodiments, the sliding connection portion includes a first sliding member 7, a second sliding member 8 and a synchronous connection component. The first sliding member 7 is slidably set on the fixed connection portion 6, and the second sliding member 8 is slidably set on the first sliding member 7. The second transmission portion 2 is hinged to the first sliding member 7, and can drive the first sliding member 7 to move relative to the fixed connection portion 6 through the second transmission portion 2. The synchronous connection component is set on the fixed connection portion 6, the first sliding member 7 and the second sliding member 8 and is used to drive the second sliding member 8 to move synchronously with the first sliding member 7. In this way, the second sliding member 8 and the first sliding member 7 can be extended and retracted at the same time, thereby making the extension distance longer.
[0030] In some embodiments, the synchronous connection component includes a first connecting member 9, a second connecting member 10, a first synchronous member 11, a second synchronous member 12, a first synchronous element 13 and a second synchronous element 14. The first connecting member 9 is arranged on a fixed connection part 6 away from one end of the hinge shaft 15, and the second connecting member 10 is arranged on the second sliding member 8 close to one end of the hinge shaft 15. The first connecting member 9 and the second connecting member 10 can both be connecting plates. The first synchronous member 11 and the second synchronous member 12 are respectively arranged at both ends of the first sliding member 7. One end of the first synchronous element 13 is connected to the first connecting member 9 and the other end is connected to the second connecting member 10, and the first synchronous element 13 is wrapped around the first synchronous member 11, one end of the second synchronous element 14 is connected to the first connecting member 9 and the other end is connected to the second connecting member 10, and the second synchronous element 14 is wrapped around the second synchronous member 12. In this way, the synchronous extension or synchronous retraction of the second sliding member 8 and the first sliding member 7 can be achieved through this synchronous connection component.
[0031] In some embodiments, the first synchronous element 13 and the second synchronous element 14 are both synchronous belts, the first synchronous component 11 and the second synchronous component 12 are both synchronous shafts, the synchronous shaft is rotatably connected to the first sliding component 7, the synchronous shaft has external teeth, the end face of the synchronous belt facing the synchronous shaft is a tooth surface, and the tooth surface is meshed with the external teeth of the synchronous shaft.
[0032] The first synchronous element 13 and the second synchronous element 14 are both transmission chains, the first synchronous member 11 and the second synchronous member 12 are both transmission gears, the transmission gears are rotatably connected to the first sliding member 7, and the transmission chain is connected to the transmission gears.
[0033] In some embodiments, the first synchronizer 11 and the second synchronizer 12 are respectively arranged on both sides of the first sliding member 7 , that is, they can be respectively arranged on the upper and lower sides of the first sliding member 7 , and for this purpose, the first synchronizer 13 and the second synchronizer 14 are also respectively arranged on the upper and lower sides of the first sliding member 7 .
[0034] In some embodiments, the first transmission part 1 and the second transmission part 2 are rods or strips.
[0035] In the present utility model, the terms "one embodiment", "some embodiments", "examples", "specific examples", "some examples", etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.
[0036] 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 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 mechanical arm device for assisting the extension of a rotating joint, characterized in that: The invention comprises a first transmission part for connecting with a first joint, a telescopic device arranged in connection with a second joint, a second transmission part and an actuator, wherein one end of the first transmission part is connected with the first joint, and the other end is hinged with one end of the second transmission part, and the other end of the second transmission part is hinged with the telescopic device, and the actuator is arranged at an end of the telescopic device away from the first transmission part, and the rotating joint comprises a folding state and an unfolding state, and in the folding state, the telescopic device is in a retracted state, the hinged ends of the first transmission part and the second transmission part are located on the outside of the hinge axes of the first joint and the second joint, and the actuator is close to the second joint; in the unfolding state, the telescopic device is in an extended state, and the actuator is extended away from the second joint.
2. The auxiliary extension mechanical arm device for rotating joints according to claim 1, characterized in that: The telescopic device is a two-stage telescopic device or a multi-stage telescopic device.
3. The auxiliary extension mechanical arm device for rotating joints according to claim 1, characterized in that: The telescopic device includes a fixed connection part and a sliding connection part. The fixed connection part is arranged on the second joint and along the length direction of the second joint. The sliding connection part is slidably arranged on the fixed connection part. An actuator is arranged at one end of the sliding connection part away from the first transmission part, and the second transmission part is connected to the sliding connection part.
4. The auxiliary extension mechanical arm device for rotating joints according to claim 3, characterized in that: The sliding connection part includes a first sliding member, a second sliding member and a synchronous connection component. The first sliding member is slidably arranged on the fixed connection part, the second sliding member is slidably arranged on the first sliding member, the second transmission part is hinged to the first sliding member, and the synchronous connection component is arranged on the fixed connection part, the first sliding member and the second sliding member and is used to drive the second sliding member to move synchronously with the first sliding member.
5. The auxiliary extension mechanical arm device for rotating joints according to claim 4, characterized in that: The synchronous connection assembly includes a first connecting member, a second connecting member, a first synchronous member, a second synchronous member, a first synchronous element and a second synchronous element. The first connecting member is arranged on the fixed connection portion away from one end of the hinge shaft, the second connecting member is arranged on the second sliding member close to one end of the hinge shaft, the first synchronous member and the second synchronous member are respectively arranged at two ends of the first sliding member, one end of the first synchronous element is connected to the first connecting member, and the other end is connected to the second connecting member, and the first synchronous element is wound around the first synchronous member, one end of the second synchronous element is connected to the first connecting member, and the other end is connected to the second connecting member, and the second synchronous element is wound around the second synchronous member.
6. The auxiliary extension robot arm device for rotating joints according to claim 5, characterized in that: The first synchronous element and the second synchronous element are both synchronous belts or transmission chains, and the first synchronous component and the second synchronous component are both synchronous shafts or transmission gears.
7. The auxiliary extension mechanical arm device for rotating joints according to claim 5, characterized in that: The first synchronous member and the second synchronous member are respectively arranged on two sides of the first sliding member.
8. The auxiliary extension mechanical arm device for rotating joints according to claim 1, characterized in that: The first transmission part and the second transmission part are rod bodies.
9. The auxiliary extension mechanical arm device for rotating joints according to claim 1, characterized in that: The first transmission part and the first joint, and the telescopic device and the second joint are both connected via a detachable connecting piece.
10. The auxiliary extension mechanical arm device for rotating joints according to claim 9, characterized in that: The detachable connecting piece is a connecting belt.