Mechanical arm rotating joint and mechanical arm

Abstract

The utility model discloses a mechanical arm rotating joint and a mechanical arm, and relates to the technical field of mechanical arms. The device comprises a base and a connecting rod, a U-shaped fixing seat is arranged on the base, a rotating shaft is arranged on the connecting rod, two fixing plates are arranged on the base, containing grooves are formed in the fixing plates, L-shaped limiting rods are hinged to the fixing plates, and the rotating shaft is located in the containing grooves. A limiting piece used for limiting or releasing limiting of the rotating shaft is arranged in the containing groove, a locking piece used for locking or releasing locking of the limiting rod is arranged on the fixing plate, a movable plate is movably arranged in the fixing base, and a driving piece used for driving the movable plate to move axially and rotate is arranged in the fixing base. And the movable plate is linked with the rotating shaft through a linkage piece. During use, the mounting and dismounting processes of the base and the connecting rod are convenient and rapid, the mounting and dismounting efficiency is improved, and therefore the practicability is higher.

Description

Technical Field

[0001] The present application relates to the technical field of robotic arms, and in particular to a robotic arm rotation joint and a robotic arm. Background Art

[0002] A robotic arm is a type of robotic device that can perform tasks such as grasping, carrying, and operating in space. It can achieve various complex movements through programming or remote control. A robotic arm usually includes a base, joints, and connecting rods. The base is the fixed part of the robotic arm, and the joints are used to connect the connecting rods so that the robotic arm can perform various movements. The connecting rods are used to transmit power and motion. Since the base and the connecting rod are connected through a joint transmission, the installation and disassembly procedures of the two are relatively cumbersome, and the installation and disassembly efficiency is low. Therefore, a robotic arm rotation joint and a robotic arm are proposed. Utility Model Content

[0003] The purpose of the present application is to solve the technical problem that the base and the connecting rod are connected through a joint transmission, the installation and disassembly procedures of the two are relatively cumbersome, and the installation and disassembly efficiency is low. The present application provides a robotic arm rotation joint and a robotic arm.

[0004] In order to achieve the above-mentioned purpose, this application specifically adopts the following technical solutions:

[0005] A mechanical arm rotating joint comprises a base and a connecting rod, wherein a U-shaped fixed seat is provided on the base, a rotating shaft is provided on the connecting rod, two fixed plates are provided on the base, a receiving groove is provided on the fixed plate, a limiting rod with an L-shaped structure is hinged on the fixed plate, the rotating shaft is located in the receiving groove, a limiting member for limiting or releasing the limit of the rotating shaft is provided in the receiving groove, a locking member for locking or releasing the limit rod is provided on the fixed plate, a movable plate is movably provided in the fixed seat, a driving member for driving the movable plate to axially move and rotate is provided in the fixed seat, the movable plate is linked with the rotating shaft through a linkage member, and when the movable plate rotates, the rotating shaft is driven to rotate through the linkage member.

[0006] Furthermore, two supporting wheels are rotatably arranged in the accommodating groove, a limiting wheel is rotatably arranged on the limiting rod, and the rotating shaft is rollingly overlapped with the supporting wheels and the limiting wheel.

[0007] Furthermore, the limiting member comprises an annular groove formed on the rotating shaft, and a limiting column plug-fitted with the annular groove is arranged in the accommodating groove.

[0008] Furthermore, a torsion spring is arranged between the limiting rod and the fixing plate.

[0009] Further, the driving member includes a driving motor disposed in the fixed seat. A driving plate is provided on the output shaft of the driving motor. A forward and reverse lead screw is rotatably provided on the driving plate. Sliders are threadedly provided on both the forward and reverse threaded sections of the forward and reverse lead screw. A driving rod is hinged to the slider, and the free end of the driving rod is hinged to the movable plate.

[0010] Further, the linkage member includes a plugging groove formed on the rotating shaft, and a plugging block that is pluggingly matched with the plugging groove is provided on the movable plate.

[0011] Further, the locking member includes a locking hole formed on the limiting rod. A locking rod is slidably provided on the fixed plate, and a return spring is provided between the two. A wedge-shaped block that is pluggingly matched with the locking hole is provided at the free end of the locking rod.

[0012] The robotic arm includes the above-mentioned robotic arm rotating joint, and further includes a base, and the base is rotatably provided on the pedestal.

[0013] The beneficial effects of the present application are as follows:

[0014] When the present application is in use, the installation and disassembly processes of the pedestal and the connecting rod are convenient and fast, improving the installation and disassembly efficiency, and thus it is more practical. Description of the Drawings

[0015] Figure 1 is a three-dimensional view of the structure of the present application;

[0016] Figure 2 is a three-dimensional view of a part of the structure of the present application;

[0017] Figure 3 is the present application Figure 2 the enlarged view at A in;

[0018] Figure 4 is a three-dimensional view of another part of the structure of the present application;

[0019] Figure 5 is the present application Figure 4 the three-dimensional cross-sectional view of;

[0020] Figure 6 is the present application Figure 5 the enlarged view at B in;

[0021] Figure 7 is a three-dimensional view of yet another part of the structure of the present application.

[0022] Reference numerals: 1, base; 2, connecting rod; 3, fixed seat; 4, rotating shaft; 5, fixed plate; 6, receiving groove; 7, limiting rod; 8, movable plate; 9, supporting wheel; 10, limiting wheel; 11, annular groove; 12, limiting column; 13, torsion spring; 14, driving motor; 15, driving plate; 16, positive and negative lead screw; 17, slider; 18, driving rod; 19, insertion groove; 20, insertion block; 21, locking hole; 22, locking rod; 23, return spring; 24, wedge block; 25, base. Detailed implementation manners

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application.

[0024] As Figures 1 - 7 shown, a robotic arm rotating joint proposed in an embodiment of the present application includes a base 1 and a connecting rod 2. The base 1 is in the vertical direction. A fixed seat 3 with a U-shaped structure is provided on the base 1. The fixed seat 3 is in the vertical direction and is fixed on the base 1. A rotating shaft 4 is provided on the connecting rod 2. The rotating shaft 4 is in the horizontal direction and is fixed on the connecting rod 2. Two fixed plates 5 are provided on the base 1. The fixed plates 5 are in the vertical direction and are fixed on the base 1. The two fixed plates 5 are spaced apart. A receiving groove 6 is formed in the fixed plate 5. The receiving groove 6 is in the vertical direction and has a U-shaped structure. A limiting rod 7 with an L-shaped structure is hinged on the fixed plate 5. The rotating shaft 4 is located in the receiving groove 6. A limiting member for limiting or releasing the limit of the rotating shaft 4 is provided in the receiving groove 6. A locking member for locking or releasing the lock of the limiting rod 7 is provided on the fixed plate 5. A movable plate 8 is movably provided in the fixed seat 3. The movable plate 8 moves axially along the fixed seat 3. A driving member for driving the axial movement and rotation of the movable plate 8 is provided in the fixed seat 3. In this embodiment, the number of driving members is two and they are symmetrically distributed. The movable plate 8 is linked to the rotating shaft 4 through a linkage member. When the movable plate 8 rotates, the rotating shaft 4 is driven to rotate through the linkage member;

[0025] In the initial state, the base 1 and the connecting rod 2 are separated, and the limiting rod 7 and the movable plate 8 are both in their initial positions. When in use, the rotating shaft 4 is in a horizontal direction and located within the two receiving grooves 6. The two limiting rods 7 are respectively driven to rotate to their limit positions. The limiting rods 7 block the receiving grooves 6, and the limiting rods 7 are locked by the locking member, so that the rotating shaft 4 cannot withdraw from the receiving grooves 6. The rotating shaft 4 is limited by the limiting member to prevent axial movement, so as to realize the installation of the base 1 and the connecting rod 2. First, the driving member is used to drive the movable plate 8 to move axially until the movable plate 8 abuts and overlaps with the rotating shaft 4. Then, the driving member is used to drive the movable plate 8 to rotate. When the movable plate 8 rotates, the rotating shaft 4 is driven to rotate through the linkage member, thereby driving the connecting rod 2 to rotate, enabling the robotic arm to perform various actions. Conversely, when it is necessary to disassemble the base 1 and the connecting rod 2, the driving member is used to drive the movable plate 8 to move axially away from the rotating shaft 4. The locking of the limiting rod 7 is released by the locking member, so that the limiting rod 7 rotates to its initial position and releases the blockage of the receiving groove 6, allowing the rotating shaft 4 to withdraw from the receiving groove 6. The limiting of the rotating shaft 4 is released by the limiting member;

[0026] In summary, when in use, the installation and disassembly processes of the base 1 and the connecting rod 2 of the present application are convenient and fast, improving the installation and disassembly efficiency, and thus being more practical.

[0027] As Figure 4 shown, in some embodiments, two support wheels 9 are rotatably provided in the receiving groove 6. The two support wheels 9 are both in a vertical direction and are spaced apart. A limiting wheel 10 is rotatably provided on the limiting rod 7. The limiting wheel 10 is in a vertical direction, and the rotating shaft 4 is in rolling contact with both the support wheels 9 and the limiting wheel 10;

[0028] Referring to the above, when the rotating shaft 4 is located within the receiving groove 6, it will be in rolling contact with the two support wheels 9. When the limiting rod 7 rotates to its limit position and blocks the receiving groove 6, the limiting wheel 10 moves together with the limiting rod 7 and is in rolling contact with the rotating shaft 4. Through the cooperative action of the support wheels 9 and the limiting wheel 10, the rotation of the rotating shaft 4 can be made smoother, and at the same time, the actions of the robotic arm are more fluent. Conversely, when the limiting rod 7 rotates to its initial position and releases the blockage of the receiving groove 6, the limiting wheel 10 moves together with the limiting rod 7 and moves away from the rotating shaft 4. When the rotating shaft 4 withdraws from the receiving groove 6, the rotating shaft 4 moves away from the two support wheels 9.

[0029] As Figures 3 - 4 shown, in some embodiments, the limiting member includes an annular groove 11 formed on the rotating shaft 4. The annular groove 11 is coaxially distributed with the rotating shaft 4. A limiting post 12 that is in plug-in fit with the annular groove 11 is provided in the receiving groove 6. The limiting post 12 is in a horizontal direction and is fixed in the receiving groove 6;

[0030] Referring to the above, when the rotating shaft 4 is located within the receiving groove 6, the limiting post 12 is correspondingly inserted into the annular groove 11. Through the cooperative action of the limiting post 12 and the annular groove 11, the rotating shaft 4 is unable to move axially, thereby achieving the limitation of the rotating shaft 4. Conversely, when the rotating shaft 4 exits the receiving groove 6, the limiting post 12 exits the annular groove 11, thereby releasing the limitation of the rotating shaft 4.

[0031] As Figure 4 shown, in some embodiments, a torsion spring 13 is disposed between the limiting rod 7 and the fixed plate 5. The torsion spring 13 is in a horizontal direction and its two ends are respectively fixedly connected to the limiting rod 7 and the fixed plate 5;

[0032] Referring to the above, in the initial state, the limiting rod 7 is located at the initial position and the torsion spring 13 is in a natural state. When the limiting rod 7 rotates to the extreme position and blocks the receiving groove 6, the torsion spring 13 is compressed. When the limiting rod 7 is unlocked by the locking member, the torsion spring 13 returns to the natural state, and the limiting rod 7 rotates to the initial position due to the elastic potential energy, thereby making the disassembly more convenient and rapid.

[0033] As Figure 7 shown, in some embodiments, the driving member includes a driving motor 14 disposed within the fixed seat 3. The driving motor 14 is fixedly provided within the fixed seat 3 and its output shaft is in a horizontal direction. A driving plate 15 is provided on the output shaft of the driving motor 14. The driving plate 15 is fixedly provided on the output shaft of the driving motor 14. A forward and reverse lead screw 16 is rotatably provided on the driving plate 15. The forward and reverse lead screw 16 is distributed along the length direction of the driving plate 15. Slide blocks 17 are threadedly provided on both the forward and reverse threaded sections of the forward and reverse lead screw 16. A driving rod 18 is hinged to the slide block 17. The free end of the driving rod 18 is hinged to the movable plate 8;

[0034] Referring to the above, in the initial state, the movable plate 8 is located at the initial position, the two driving rods 18 tend to be collinear, and the two slide blocks 17 move away from each other. During use, the forward and reverse lead screw 16 is driven to rotate forward, and the two slide blocks 17 respectively move synchronously and reversely towards each other due to the forward and reverse thread action until they are close to each other. The two driving rods 18 respectively rotate synchronously and reversely around their respective hinge points until they tend to be parallel, thereby driving the movable plate 8 to move axially until the movable plate 8 abuts against the rotating shaft 4. Thereafter, the driving motor 14 operates, and the output shaft rotates, driving the driving plate 15, the forward and reverse lead screw 16, the slide blocks 17, the driving rods 18, and the movable plate 8 to rotate together. Conversely, during disassembly, the forward and reverse lead screw 16 is driven to rotate reversely, and the two slide blocks 17 respectively move synchronously and reversely away from each other due to the forward and reverse thread action until they are far apart. The two driving rods 18 respectively rotate synchronously and reversely around their respective hinge points until they tend to be collinear, thereby driving the movable plate 8 to move axially away from the rotating shaft 4.

[0035] As Figures 3 - 7As shown, in some embodiments, the linkage member includes a socket groove 19 formed in the rotating shaft 4, and a socket block 20 is provided on the movable plate 8 and is in plug-in fit with the socket groove 19. The socket block 20 is fixedly provided on the movable plate 8. In this embodiment, the socket groove 19 and the socket block 20 have the same shape and are both rectangular;

[0036] Referring to the above, in the initial state, both the movable plate 8 and the socket block 20 are in the initial position. When the movable plate 8 abuts and overlaps with the rotating shaft 4, the socket block 20 correspondingly plugs into the socket groove 19. When the movable plate 8 rotates, through the cooperation of the socket groove 19 and the socket block 20, the rotating shaft 4 is driven to rotate. Conversely, when the movable plate 8 moves away from the rotating shaft 4, the socket block 20 moves together with the movable plate 8 and exits the socket groove 19.

[0037] As Figure 6 shown, in some embodiments, the locking member includes a locking hole 21 formed in the limiting rod 7. A locking rod 22 is slidably provided on the fixing plate 5, and a return spring 23 is provided between them. The locking rod 22 slides in the horizontal direction. The return spring 23 is in the horizontal direction and its two ends are respectively fixedly connected to the locking rod 22 and the fixing plate 5. A wedge block 24 that is in plug-in fit with the locking hole 21 is provided at the free end of the locking rod 22. The wedge block 24 is fixedly provided at the free end of the locking rod 22;

[0038] Referring to the above, in the initial state, both the locking rod 22 and the wedge block 24 are in the initial position, and the return spring 23 is in the natural state. When the limiting rod 7 rotates to the extreme position and blocks the receiving groove 6, the limiting rod 7 abuts and overlaps with the inclined surface of the wedge block 24. Through the transition of the inclined surface, the wedge block 24 and the locking rod 22 are forced to move to the extreme position together, and the return spring 23 is stretched. Then the return spring 23 returns to the natural state, and the wedge block 24 and the locking rod 22 move to the initial position together. The wedge block 24 correspondingly plugs into the locking hole 21. Through the cooperation of the wedge block 24 and the locking hole 21, the limiting rod 7 is locked. Conversely, the locking rod 22 is slid to the extreme position, driving the wedge block 24 to move together to exit the locking hole 21, and the return spring 23 is stretched, thereby unlocking the limiting rod 7. Then the locking rod 22 is released, and the return spring 23 returns to the natural state, and the wedge block 24 and the locking rod 22 move to the initial position together.

[0039] As Figure 1 shown, in some embodiments, the robotic arm includes the above-mentioned robotic arm rotating joint, and further includes a base 25. The base 1 is rotatably provided on the base 25;

[0040] Referring to the above, during use, the base 1 is driven to rotate on the base 25 so that the robotic arm can perform various actions.

[0041] The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A mechanical arm rotation joint, comprising a base (1) and a connecting rod (2), wherein the base (1) is provided with a U-shaped fixing seat (3), and the connecting rod (2) is provided with a rotating shaft (4), characterized in that: Two fixed plates (5) are arranged on the base (1), and a receiving groove (6) is provided on the fixed plate (5). A limiting rod (7) with an L-shaped structure is hinged on the fixed plate (5). The rotating shaft (4) is located in the receiving groove (6). A limiting member for limiting or releasing the limiting of the rotating shaft (4) is arranged in the receiving groove (6). A locking member for locking or releasing the limiting rod (7) is arranged on the fixed plate (5). A movable plate (8) is movably arranged in the fixed seat (3). A driving member for driving the movable plate (8) to axially move and rotate is arranged in the fixed seat (3). The movable plate (8) is linked with the rotating shaft (4) through a linkage member. When the movable plate (8) rotates, the rotating shaft (4) is driven to rotate through the linkage member.

2. The mechanical arm rotation joint according to claim 1, characterized in that: Two supporting wheels (9) are rotatably arranged in the containing groove (6), a limiting wheel (10) is rotatably arranged on the limiting rod (7), and the rotating shaft (4) and the supporting wheels (9) and the limiting wheel (10) are all rollingly overlapped.

3. The mechanical arm rotation joint according to claim 1, characterized in that: The limiting member comprises an annular groove (11) formed on the rotating shaft (4), and a limiting column (12) pluggably engaged with the annular groove (11) is arranged in the accommodating groove (6).

4. The mechanical arm rotation joint according to claim 1, characterized in that: A torsion spring (13) is arranged between the limiting rod (7) and the fixing plate (5).

5. The mechanical arm rotation joint according to claim 1, characterized in that: The driving member comprises a driving motor (14) arranged in a fixed seat (3); a driving plate (15) is arranged on the output shaft of the driving motor (14); a forward and reverse screw rod (16) is rotatably arranged on the driving plate (15); a slider (17) is threadedly arranged on the forward and reverse threaded sections of the forward and reverse screw rod (16); a driving rod (18) is hingedly connected to the slider (17); and a free end of the driving rod (18) is hingedly connected to the movable plate (8).

6. The mechanical arm rotation joint according to claim 1, characterized in that: The linkage member comprises a plug-in slot (19) provided on the rotating shaft (4), and a plug-in block (20) pluggably matched with the plug-in slot (19) is provided on the movable plate (8).

7. The mechanical arm rotation joint according to claim 1, characterized in that: The locking member comprises a locking hole (21) formed on the limiting rod (7), a locking rod (22) is slidably arranged on the fixing plate (5) and a return spring (23) is arranged between the two, and a wedge block (24) is arranged at the free end of the locking rod (22) and is plugged into and matched with the locking hole (21).

8. A robotic arm, comprising a robotic arm rotation joint as claimed in any one of claims 1 to 7, characterized in that: It also comprises a base (25), on which the base (1) is rotatably arranged.

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