Swing mechanism of electric control mechanical arm base

Abstract

The utility model relates to the technical field of electric control mechanical arms, in particular to a slewing mechanism of an electric control mechanical arm base, which comprises a mechanical arm main body, the lower end of the mechanical arm main body is movably connected with a bearing base, and a slewing connecting plate is connected between the bearing base and the mechanical arm main body; a stable bearing assembly is arranged between the bottom end face of the rotary connecting plate and the top end face of the bearing base and comprises an assembling groove rail fixedly installed on the top end face of the bearing base, the assembling groove rail is filled with a plurality of rolling steel balls, and a connecting sliding strip is embedded in the position, located above the rolling steel balls, in the assembling groove rail. By optimizing the contact area of the rolling steel balls and the assembling groove rail, the connecting sliding strip can bear large loads, friction and vibration are reduced through a rolling mechanism of the rolling steel balls, noise generated by the connecting sliding strip in the running process of the assembling groove rail is remarkably reduced, and a quiet working environment is provided for a user.

Description

Technical Field

[0001] The utility model relates to the technical field of electric-controlled mechanical arms, in particular to a rotary mechanism of a base of an electric-controlled mechanical arm. Background Art

[0002] An electric-controlled robotic arm uses an electronic control system to precisely control and operate the arm. It typically consists of the arm itself, a control system, a drive system, and sensors, achieving automated operation through programming and remote control. The arm's base is the foundational structure, bearing the arm's weight and various motion loads while also responsible for its rotation and positioning.

[0003] An electric-controlled robotic arm base typically consists of a main body, motor, and reducer, among other core components. The main body is often a non-standard structure to accommodate different robotic arm designs. The motor serves as the primary driving force for the robotic arm base; program-controlled, the motor rotates or turns the base, providing precise power support for the robotic arm. The reducer reduces the motor's speed and increases its output torque, ensuring sufficient stability and precision during rotation. Furthermore, an electric-controlled robotic arm base may include auxiliary components such as encoders, turntables, bearings, and connectors to enable more complex motion and positioning functions.

[0004] After searching, the application number is 202022422718.3, which is a rotating mechanism of the base of an electric-controlled robotic arm. The bottom end of the rotating disk is provided with a slide groove that is slidably connected to the arc-shaped guide rail. The guide rail is slidably connected with a slider, which is arranged in the slide groove. Under the support of the support rod and the arc-shaped guide rail, the rotating disk can rotate at the top of the box. At the same time, the arc-shaped guide rail can prevent the rotating disk from tilting during rotation, thereby ensuring the stability of the robotic arm body.

[0005] In the existing technical solution, the cooperation between the guide rail and the slider facilitates the rotation of the rotating disk on the top of the box, thereby providing stable support for the rotating disk during rotation. However, when the electric-controlled robotic arm carries a moving load, the offset of its center of gravity will cause the rotating disk to pass through different positions of the guide rail under the action of the slider. In this way, during rotation, greater friction will be generated at the connection between the guide rail and the slider, and the friction will also generate more noise, thereby affecting the operating accuracy of the electric-controlled robotic arm and failing to provide a quieter working environment for workers. Summary of the Invention

[0006] The purpose of the present utility model is to provide a slewing mechanism for the base of an electric-controlled robotic arm, which optimizes the contact area between the rolling steel balls and the assembly groove rails so that the connecting slide bar can withstand a larger load, and the rolling mechanism of the rolling steel balls reduces friction and vibration, so that the noise generated by the connecting slide bar during the operation of the assembly groove rails is significantly reduced, providing users with a quieter working environment, thereby solving the problems raised in the above-mentioned background technology.

[0007] To achieve the above-mentioned object, the present invention provides the following technical solution: a slewing mechanism of an electrically controlled robotic arm base, comprising a robotic arm body, wherein the lower end of the robotic arm body is movably connected to a bearing base, a slewing connecting plate is connected between the bearing base and the robotic arm body, and the slewing connecting plate is detachably mounted on the bottom end of the robotic arm body by bolts;

[0008] A stable bearing assembly is provided between the bottom end surface of the swivel connecting plate and the top end surface of the bearing base. The stable bearing assembly includes an assembly groove rail fixedly installed on the top end surface of the bearing base. The interior of the assembly groove rail is filled with a plurality of rolling steel balls. A connecting slide is embedded in the interior of the assembly groove rail above the rolling steel balls. The connecting slide is fixed to the bottom end surface of the swivel connecting plate.

[0009] Preferably, an auxiliary component is provided at the center of the connection between the swivel connecting plate and the bearing base, and the auxiliary component includes a limiting groove rail provided on the top surface of the bearing base.

[0010] Preferably, the auxiliary component further comprises a plurality of load-bearing connecting rods fixed on the bottom end surface of the rotary connecting plate corresponding to the limiting groove rails, and the bottom ends of the plurality of load-bearing connecting rods are all rotatably fixedly connected to rollers.

[0011] Preferably, a lubricating oil filling assembly is provided on both the inner and outer sides of the stable load-bearing assembly. The lubricating oil filling assembly includes a filling pipe fixedly inserted into the outer side wall of the assembly groove rail, and the filling pipe is interconnected with the interior of the assembly groove rail.

[0012] Preferably, the lubricating oil filling assembly further comprises a communicating groove fixedly inserted into the inner side wall of the assembly groove rail, the communicating groove is communicated with the interior of the assembly groove rail, and one end of the communicating groove away from the assembly groove rail corresponds to the open end of the limiting groove rail.

[0013] Preferably, a protective threaded sleeve is provided on the outside of the stable bearing assembly, the bottom end of the protective threaded sleeve is fixedly connected to the bearing base, the structure of the protective threaded sleeve is a rubber elastic structure, and the top end of the protective threaded sleeve abuts against the bottom end surface of the rotary connecting plate.

[0014] Preferably, a servo motor is fixedly installed inside the supporting base, a reducer is provided on one side of the power output end of the servo motor, and the power input end of the reducer is fixedly connected to the power output end of the servo motor.

[0015] Preferably, the power output end of the reducer is fixedly connected to a transmission rod, the top end of the transmission rod is fixedly connected to a transmission internal gear, the inner bottom end of the rotary connecting plate is fixedly installed with a transmission outer ring gear, and the transmission outer ring gear and the transmission inner gear are meshed with each other.

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] 1. The rolling steel balls of this utility model roll between the assembly groove and the connecting slide, effectively reducing the direct contact area between the two, thereby reducing friction and wear. By optimizing the contact area between the rolling steel balls and the assembly groove, the connecting slide can withstand greater loads. The rolling steel ball rolling mechanism reduces friction and vibration, significantly reducing the noise generated by the connecting slide during operation in the assembly groove, providing users with a quieter working environment.

[0018] 2. The present invention can effectively reduce the vibration and shaking of the robotic arm during the rotation process through auxiliary components, ensuring that the robotic arm is more stable when performing tasks. At the same time, it can also enhance the carrying capacity of the robotic arm base, so that the robotic arm can carry heavier loads and remain stable; the limitation of the rollers by the limiting groove rail can reduce accidents and incidents that may occur during the operation of the robotic arm, thereby improving the safety of the workplace.

[0019] 3. The utility model can fully lubricate the assembly groove rail and the limit groove rail through the lubricating oil filling component. Sufficient lubrication can form a lubricating film on the contact surface, reduce direct contact between metal surfaces, and thus reduce energy loss caused by friction, which not only helps to improve the working efficiency of the robotic arm, but also reduces energy waste; and the lubricating oil can absorb and transfer heat, help mechanical equipment dissipate heat, and at the same time can reduce the noise generated by friction, making the robotic arm quieter during operation. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0021] Figure 1 This is the overall structural view of the utility model;

[0022] Figure 2 This is a schematic diagram of the structure of the load-bearing base of the utility model;

[0023] Figure 3 This is a schematic diagram of the internal structure of the top surface of the load-bearing base of the utility model;

[0024] Figure 4 This is a schematic diagram of the bottom end surface connection structure of the rotary connecting plate of the utility model;

[0025] Figure 5 This is a schematic diagram of the half-section structure of the internal support base of the utility model.

[0026] Description of reference numerals:

[0027] 1. Robotic arm body; 2. Load-bearing base; 3. Rotating connecting plate; 4. Protective threaded sleeve; 5. Stable load-bearing assembly; 501. Connecting slide; 502. Rolling steel ball; 503. Assembly groove; 6. Lubricating oil filling assembly; 601. Filling pipe; 602. Connecting groove; 7. Auxiliary assembly; 701. Load-bearing connecting rod; 702. Roller; 703. Limiting groove; 8. Servo motor; 9. Reducer; 10. Transmission rod; 11. Transmission internal gear; 12. Transmission external gear ring. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0029] The utility model provides a technical solution:

[0030] See also Figures 1 to 5 , a rotating mechanism of an electric-controlled robotic arm base, including a robotic arm body 1, the lower end of the robotic arm body 1 is movably connected to a load-bearing base 2, a rotating connecting plate 3 is connected between the load-bearing base 2 and the robotic arm body 1, and the rotating connecting plate 3 is detachably mounted on the bottom end of the robotic arm body 1 by bolts; a stable load-bearing component 5 is provided between the bottom end surface of the rotating connecting plate 3 and the top surface of the load-bearing base 2, and the stable load-bearing component 5 includes an assembly groove rail 503 fixedly mounted on the top surface of the load-bearing base 2, the interior of the assembly groove rail 503 is filled with a plurality of rolling steel balls 502, and a connecting slide bar 501 is embedded in the interior of the assembly groove rail 503 above the rolling steel balls 502, and the connecting slide bar 501 is fixed to the bottom end surface of the rotating connecting plate 3.

[0031] By adopting the above technical solution, when in use, the robot arm body 1 can be assembled to the swivel connecting plate 3 by bolts. When the robot arm body 1 needs to rotate, the swivel connecting plate 3 can drive the robot arm body 1 to rotate, and the connecting slide 501 of the swivel connecting plate 3 can rotate inside the assembly groove 503, and the assembly groove 503 and the connecting slide 501 are connected to each other through the rolling steel balls 502. In this way, when the robot arm body 1 is working under load, the connecting slide 501 can distribute the gravity of the load to the rolling steel balls 502, and the rolling steel balls 502 roll between the assembly groove 503 and the connecting slide 501, effectively reducing the direct contact area between the two, thereby reducing friction and wear; by optimizing the contact area between the rolling steel balls 502 and the assembly groove 503, the connecting slide 501 can withstand a larger load, and the rolling mechanism of the rolling steel balls 502 reduces friction and vibration, so that the noise generated by the connecting slide 501 during the operation of the assembly groove 503 is significantly reduced, providing a quieter working environment for the user.

[0032] Specifically, such as Figure 1 、 Figure 3 、 Figure 4 and Figure 5 As shown, an auxiliary component 7 is provided at the center position of the connection between the swivel connecting plate 3 and the bearing base 2, and the auxiliary component 7 includes a limiting groove rail 703 opened on the top surface of the bearing base 2, and the auxiliary component 7 also includes a plurality of bearing connecting rods 701 fixed on the bottom end surface of the swivel connecting plate 3 and corresponding to the limiting groove rail 703, and the bottom ends of the plurality of bearing connecting rods 701 are rotatably fixedly connected with rollers 702, and the inner and outer sides of the stable bearing component 5 are jointly provided with a lubricating oil filling component 6, and the lubricating oil filling component 6 includes a filling pipe 601 fixedly inserted into the outer wall of the assembly groove rail 503, and the filling pipe 601 is communicated with the interior of the assembly groove rail 503, and the lubricating oil filling component 6 also includes a connecting groove 602 fixedly inserted into the inner wall of the assembly groove rail 503, and the connecting groove 602 is communicated with the interior of the assembly groove rail 503. The end of the groove 602 away from the assembly groove rail 503 corresponds to the open end of the limiting groove rail 703; a protective threaded sleeve 4 is provided on the outside of the stable bearing assembly 5, and the bottom end of the protective threaded sleeve 4 is fixedly connected to the bearing base 2. The structure of the protective threaded sleeve 4 is a rubber elastic structure, and the top of the protective threaded sleeve 4 abuts against the bottom end surface of the rotary connecting plate 3; a servo motor 8 is fixedly installed inside the bearing base 2, and a reducer 9 is provided on one side of the power output end of the servo motor 8. The power input end of the reducer 9 is fixedly connected to the power output end of the servo motor 8, and the power output end of the reducer 9 is fixedly connected to a transmission rod 10, and the top end of the transmission rod 10 is fixedly connected to a transmission internal gear 11, and the inner bottom end of the rotary connecting plate 3 is fixedly installed with a transmission outer gear ring 12, and the transmission outer gear ring 12 and the transmission inner gear 11 are meshed with each other.

[0033] By adopting the above technical solution, when it is necessary to rotate, the servo motor 8 is started, the output end of the servo motor 8 can drive the reducer 9 to work, the power output end of the reducer 9 can drive the transmission rod 10 to rotate, the transmission rod 10 can drive the transmission internal gear 11 to rotate, the transmission internal gear 11 is meshed with the transmission outer ring gear 12, and the transmission outer ring gear 12 is fixed on the rotary connecting plate 3, which can drive the rotary connecting plate 3 to rotate, and the rotation of the rotary connecting plate 3 drives the robot arm body 1 to rotate, thereby completing the power transmission. When the rotary connecting plate 3 rotates, The support rod 701 can be driven to rotate, and the support rod 701 can slide in the limiting groove 703 through the roller 702, so as to play an auxiliary stabilizing effect during movement. The auxiliary component 7 can effectively reduce the vibration and shaking of the robot arm during the rotation process, ensuring that the robot arm is more stable when performing tasks. At the same time, it can also enhance the carrying capacity of the robot arm base, so that the robot arm can carry heavier loads and remain stable; the limitation of the roller 702 by the limiting groove 703 can reduce the possible accidents that may occur during the operation of the robot arm and accidents, improve the safety of the workplace, when it is necessary to fill the lubricating oil inside the device, the filling pipe 601 passing through the protective threaded sleeve 4 can be connected to the lubricating oil filling device, so that the lubricating oil can be filled into the filling pipe 601, and the filling pipe 601 is connected to the assembly groove rail 503 to introduce the oil into the assembly groove rail 503, and the rolling of the rolling steel ball 502 can squeeze the oil in the assembly groove rail 503 into the connecting groove 602, and at the same time, the connecting groove 602 is connected with the limit groove rail 703, and the lubricating oil can be introduced into In the limiting groove rail 703, this can facilitate the lubrication of the movement of the roller 702 in the limiting groove rail 703. Sufficient lubrication can form a lubricating film on the contact surface, reduce direct contact between metal surfaces, and thus reduce energy loss caused by friction. This not only helps to improve the working efficiency of the robotic arm, but also reduces energy waste; and the lubricating oil can absorb and transfer heat, help mechanical equipment dissipate heat, and at the same time reduce the noise generated by friction, making the robotic arm quieter during operation, and the protective threaded sleeve 4 can play a dust-proof role.

[0034] Working principle: When in use, start the servo motor 8, and the output end of the servo motor 8 can drive the reducer 9 to work. The power output end of the reducer 9 can drive the transmission rod 10 to rotate, and the transmission rod 10 can drive the transmission inner gear 11 to rotate. The transmission inner gear 11 is meshed and connected with the transmission outer ring gear 12, and the transmission outer ring gear 12 is fixed on the rotary connecting plate 3, which can drive the rotary connecting plate 3 to rotate, and the rotation of the rotary connecting plate 3 drives the robot arm body 1 to rotate, thereby completing the power transmission, and the connecting slide 501 of the rotary connecting plate 3 can rotate inside the assembly groove 503, and the assembly groove 503 and the connecting slide 501 are connected to each other through the rolling steel ball 502, so that when the robot arm body 1 is working under load, the connecting slide 501 can distribute the gravity of the load to the rolling steel ball 502, and the rolling steel ball 502 The rotating connecting plate 3 rolls between the assembly groove rail 503 and the connecting slide 501, and when it rotates, it can drive the load-bearing connecting rod 701 to rotate. The load-bearing connecting rod 701 can slide in the limiting groove rail 703 through the roller 702, thereby playing an auxiliary stabilizing effect during movement. The filling pipe 601 passing through the protective threaded sleeve 4 can be connected with the lubricating oil filling device, so that the lubricating oil can be added to the filling pipe 601. The filling pipe 601 is connected to the assembly groove rail 503, and the oil can be introduced into the assembly groove rail 503. The rolling of the rolling steel ball 502 can squeeze the oil in the assembly groove rail 503 into the connecting groove 602. At the same time, through the connection between the connecting groove 602 and the limiting groove rail 703, the lubricating oil can be introduced into the limiting groove rail 703, which can facilitate lubrication for the movement of the roller 702 in the limiting groove rail 703.

[0035] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A rotary mechanism of an electrically controlled robotic arm base, comprising a robotic arm body (1), characterized in that: The lower end of the mechanical arm body (1) is movably connected to a bearing base (2), a rotary connecting plate (3) is connected between the bearing base (2) and the mechanical arm body (1), and the rotary connecting plate (3) is detachably mounted on the bottom end of the mechanical arm body (1) by means of bolts; A stable bearing assembly (5) is provided between the bottom end surface of the rotary connecting plate (3) and the top end surface of the bearing base (2), and the stable bearing assembly (5) includes an assembly groove rail (503) fixedly mounted on the top end surface of the bearing base (2), the interior of the assembly groove rail (503) is filled with a plurality of rolling steel balls (502), and a connecting slide bar (501) is embedded in the interior of the assembly groove rail (503) above the rolling steel balls (502), and the connecting slide bar (501) is fixed to the bottom end surface of the rotary connecting plate (3).

2. The rotary mechanism of the electric-controlled robotic arm base according to claim 1, characterized in that: An auxiliary component (7) is provided at the center of the connection between the rotary connecting plate (3) and the bearing base (2), and the auxiliary component (7) includes a limiting groove rail (703) provided on the top surface of the bearing base (2).

3. The rotary mechanism of the electric-controlled robotic arm base according to claim 2, characterized in that: The auxiliary component (7) further comprises a plurality of bearing connecting rods (701) fixed on the bottom end surface of the rotary connecting plate (3) and corresponding to the limiting groove rail (703), and the bottom ends of the plurality of bearing connecting rods (701) are all rotatably fixedly connected to rollers (702).

4. The rotary mechanism of the electric-controlled robotic arm base according to claim 3, characterized in that: A lubricating oil filling assembly (6) is provided on both the inner and outer sides of the stable bearing assembly (5), and the lubricating oil filling assembly (6) comprises a filling pipe (601) fixedly inserted into the outer wall of the assembly groove rail (503), and the filling pipe (601) is in communication with the interior of the assembly groove rail (503).

5. The rotary mechanism of the electric-controlled robotic arm base according to claim 4, characterized in that: The lubricating oil filling assembly (6) further comprises a connecting groove (602) fixedly inserted into the inner wall of the assembly groove rail (503); the connecting groove (602) is in communication with the interior of the assembly groove rail (503); and one end of the connecting groove (602) away from the assembly groove rail (503) corresponds to the open end of the limiting groove rail (703).

6. The rotary mechanism of the electric-controlled robotic arm base according to claim 1, characterized in that: A protective threaded sleeve (4) is provided on the outside of the stable bearing assembly (5), the bottom end of the protective threaded sleeve (4) is fixedly connected to the bearing base (2), the structure of the protective threaded sleeve (4) is a rubber elastic structure, and the top end of the protective threaded sleeve (4) abuts against the bottom end surface of the rotary connecting plate (3).

7. The rotary mechanism of the electric-controlled robotic arm base according to claim 1, characterized in that: A servo motor (8) is fixedly installed inside the bearing base (2), a reducer (9) is provided on one side of the power output end of the servo motor (8), and the power input end of the reducer (9) is fixedly connected to the power output end of the servo motor (8).

8. The rotary mechanism of the electric-controlled robotic arm base according to claim 7, characterized in that: The power output end of the reducer (9) is fixedly connected to a transmission rod (10), the top end of the transmission rod (10) is fixedly connected to a transmission internal gear (11), and the inner bottom end of the rotary connecting plate (3) is fixedly installed with a transmission outer ring gear (12), and the transmission outer ring gear (12) and the transmission internal gear (11) are meshed with each other.

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