Carrying mechanical arm with improved rotating mechanism

Abstract

The carrying mechanical arm with the improved rotating mechanism comprises a driving assembly, the driving assembly comprises a mounting frame, a motor is fixedly connected to the mounting frame, a worm is fixedly connected to the output end of the motor, a worm gear is connected to the worm in a meshed mode, a rotating shaft is fixedly connected to the worm gear, a first fluted disc is fixedly connected to the rotating shaft, and a second fluted disc is fixedly connected to the first fluted disc. The top end of the first fluted disc is in meshed connection with a second fluted disc, the rotating shaft is rotationally connected with a guide rod, the second fluted disc is slidably connected to the guide rod, the guide rod is sleeved with a spring, one end of the spring is arranged on the second fluted disc, and the other end of the spring is arranged on the mounting frame; the driving assembly is provided with the tensioning wheel capable of being automatically adjusted, the tensioning wheel can keep the synchronous belt in a tensioning state all the time, manual regular adjustment is not needed, and the maintenance cost can be reduced; the synchronous belt adopts the design that the embedded steel wires are combined with the connecting rods, so that the strength can be improved, the service life is prolonged, and the slipping phenomenon caused by abrasion is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical equipment, in particular to a transport mechanical arm with an improved rotating mechanism. Background Art

[0002] A handling robot arm is an intelligent mechanical device that can automatically perform object handling tasks. The handling robot arm receives instructions through the control system, and the drive system drives the joint movement of the robot arm so that the end effector reaches the target position. Then, the end effector grabs the object according to the task requirements and moves the object to the designated location. In this process, a rotating mechanism is required to realize the movement of the joint. The rotating mechanism is usually composed of a drive motor, a reducer and a transmission device. The transmission device of the existing rotating mechanism mostly uses a belt drive, which has the following disadvantages: First, the synchronous belt will gradually produce plastic deformation due to repeated stretching, bending and friction. This deformation will cause the length of the belt to increase, making the synchronous belt gradually loose in the transmission system. Therefore, the tensioning device needs to be adjusted regularly, resulting in increased maintenance costs; second, the synchronous belt of the existing transmission device has poor strength and is prone to cracking and wear. After the teeth of the synchronous belt are worn, they are prone to slipping. Utility Model Content

[0003] The purpose of the utility model is to provide a transport robot arm with an improved rotation mechanism to solve the problems raised in the above background technology.

[0004] In order to solve the above technical problems, the utility model provides the following technical solutions: a handling robot arm with an improved rotating mechanism, comprising a driving assembly, the driving assembly comprising a mounting frame, a motor fixedly connected to the mounting frame, a worm fixedly connected to the output end of the motor, a worm meshingly connected to the worm, a worm wheel fixedly connected to the worm, a rotating shaft fixedly connected to the rotating shaft, a first gear disc fixedly connected to the top end of the first gear disc meshingly connected to the second gear disc, a guide rod rotatably connected to the rotating shaft, and the second gear disc slidably connected to the guide rod, a spring sleeved on the guide rod, and one end of the spring is arranged on the second gear disc, and the other end is arranged on the mounting frame, a threaded rod fixedly connected to the top end of the guide rod, a slider threadedly connected to the threaded rod, a mounting plate fixedly connected to the slider, and a tensioning wheel rotatably connected to the mounting plate.

[0005] Preferably, the worm, the rotating shaft and the threaded rod are all rotatably connected to the mounting frame.

[0006] Preferably, a guide rail is fixedly connected to the mounting frame, and the slider is slidably connected to the guide rail.

[0007] Preferably, the top end of the threaded rod is fixedly connected to a ratchet, the mounting frame is fixedly connected to a mounting seat, the mounting seat is fixedly connected to a spring plate, the spring plate is fixedly connected to a ratchet, and the ratchet is meshed and connected to the ratchet, and the ratchet is slidably connected to the mounting seat.

[0008] Preferably, the worm is fixedly connected to a driving wheel, the driving wheel is transmission-connected to a synchronous belt, and the synchronous belt is transmission-connected to the tensioning wheel, the synchronous belt is transmission-connected to a driven wheel, and the driven wheel is rotationally connected to the mounting frame.

[0009] Preferably, the driving wheel, the tensioning wheel and the driven wheel are all provided with tooth grooves.

[0010] Preferably, the synchronous belt includes steel wires, connecting rods and a rubber layer, a plurality of connecting rods are evenly distributed in the rubber layer, and both ends of the connecting rods are respectively fixedly connected to two steel wires, and the steel wires are arranged in the rubber layer.

[0011] The utility model provides a handling robot arm with an improved rotating mechanism, which has the following advantages: the driving component of the utility model is designed with an automatically adjustable tensioning wheel, which can always keep the synchronous belt in a tensioned state, and does not require manual regular adjustment, which can reduce maintenance costs; the synchronous belt of the utility model adopts a design of embedded steel wire combined with a connecting rod, which can improve strength, extend service life, and avoid slipping due to wear. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0013] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the utility model;

[0014] Figure 2 This is a schematic diagram of a three-dimensional cutaway structure of a drive assembly of the present invention;

[0015] Figure 3 for Figure 2 A magnified view of the structure of area A in the middle;

[0016] Figure 4 This is a schematic diagram of the main cutaway structure of the synchronous belt of the present invention.

[0017] In the figure: 1. Drive assembly; 11. Mounting frame; 12. Motor; 13. Worm; 14. Worm wheel; 15. Rotating shaft; 16. First gear plate; 17. Second gear plate; 18. Guide rod; 19. Spring; 110. Threaded rod; 111. Slider; 112. Guide rail; 113. Ratchet; 114. Mounting seat; 115. Shrapnel; 116. Ratchet; 2. Driving wheel; 21. Tensioning wheel; 22. Driven wheel; 23. Tooth groove; 24. Mounting plate; 3. Synchronous belt; 31. Steel wire; 32. Connecting rod; 33. Rubber layer. DETAILED DESCRIPTION

[0018] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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 creative work are within the scope of protection of the present invention.

[0019] Please see the attached Figure 1 -Attached Figure 4The utility model provides an embodiment: a handling robot arm with an improved rotating mechanism, including a driving assembly 1, the driving assembly 1 includes a mounting frame 11, a motor 12 is fixedly connected to the mounting frame 11, a worm 13 is fixedly connected to the output end of the motor 12, the worm 13 is meshed with a worm wheel 14, the worm wheel 14 is fixedly connected to a rotating shaft 15, a first gear disc 16 is fixedly connected to the rotating shaft 15, a second gear disc 17 is meshed with the top end of the first gear disc 16, a guide rod 18 is rotatably connected to the rotating shaft 15, and the second gear disc 17 is slidably connected to the guide rod 18, a spring 19 is sleeved on the guide rod 18, and one end of the spring 19 is arranged on the second gear disc 17, and the other end is arranged on the mounting frame 11, the guide rod 1 8 The top is fixedly connected to a threaded rod 110, a slider 111 is threadedly connected to the threaded rod 110, a mounting plate 24 is fixedly connected to the slider 111, and the mounting plate 24 is rotatably connected to the tensioning wheel 21. The motor 12 is used to drive the worm 13, the worm 13 is used to drive the worm wheel 14, the worm wheel 14 is used to drive the rotating shaft 15, the rotating shaft 15 is used to drive the first gear plate 16, the first gear plate 16 is used to drive the second gear plate 17, the second gear plate 17 is used to drive the guide rod 18, the guide rod 18 is used to drive the threaded rod 110, the threaded rod 110 is used to drive the slider 111, the slider 111 is used to drive the mounting plate 24, and the mounting plate 24 is used to install the tensioning wheel 21; the worm 13, the rotating shaft 15 and the threaded rod 110 are all rotatably connected to the mounting plate The mounting frame 11 is fixedly connected to a guide rail 112, and the slider 111 is slidably connected to the guide rail 112, and the guide rail 112 is used to guide the slider 111; the top of the threaded rod 110 is fixedly connected to a ratchet 113, and the mounting frame 11 is fixedly connected to a mounting seat 114, and the mounting seat 114 is fixedly connected to a spring piece 115, and the spring piece 115 is fixedly connected to a ratchet 116, and the ratchet 116 is meshed and connected to the ratchet 113, and the ratchet 116 is slidably connected to the mounting seat 114. The ratchet 116 is used to cooperate with the ratchet 113 so that the threaded rod 110 can only rotate in one direction, and the spring piece 115 is used to provide a reset elastic force for the ratchet 116; the worm 13 is fixedly connected to the driving wheel 2, and the driving wheel 2 is driven It is connected to a synchronous belt 3, and the synchronous belt 3 is transmission-connected to the tensioning pulley 21. The synchronous belt 3 is transmission-connected to a driven pulley 22, and the driven pulley 22 is rotationally connected to the mounting frame 11. The driving pulley 2 is used to drive the driven pulley 22 through the synchronous belt 3, and the tensioning pulley 21 is used to tension the synchronous belt 3; the driving pulley 2, the tensioning pulley 21 and the driven pulley 22 are all provided with teeth and grooves 23; the synchronous belt 3 includes a steel wire 31, a connecting rod 32 and a rubber layer 33, and a plurality of connecting rods 32 are evenly distributed in the rubber layer 33, and the two ends of the connecting rod 32 are respectively fixedly connected to two steel wires 31, and the steel wire 31 is arranged in the rubber layer 33, the teeth and grooves 23 are used to cooperate with the connecting rod 32, the steel wire 31 is used to improve the strength of the synchronous belt 3, and the rubber layer 33 is used to reduce vibration and increase friction.

[0020] Working principle: When using the present invention, the robot arm is installed on the axle of the driven wheel 22, and the motor 12 is used to drive the worm 13, the worm 13 drives the driving wheel 2, and the driving wheel 2 drives the driven wheel 22 via the synchronous belt 3, thereby driving the robot arm to rotate. In this process, the worm 13 drives the worm wheel 14, and the rotating shaft 15 on the worm wheel 14 rotates accordingly. The first toothed disc 16 on the rotating shaft 15 drives the second toothed disc 17, and the second toothed disc 17 drives the threaded rod 110 via the guide rod 18. The threaded rod 110 drives the slider 111, so that the slider 111 slides down along the guide rail 112, thereby driving the tensioning wheel 21 on the mounting plate 24 to move downward and tighten the synchronous belt 3. When the tensioning force is small, the resistance encountered by the slider 111 is also small. At this time, the first toothed disc 16 drives the second toothed disc 17, and the second toothed disc 17 drives the threaded rod 110 via the guide rod 18. The threaded rod 110 drives the slider 111, so that the slider 111 slides down along the guide rail 112, thereby driving the tensioning wheel 21 on the mounting plate 24 to move downward and tighten the synchronous belt 3. When the tensioning force is small, the resistance encountered by the slider 111 is also small. 16 can drive the second toothed disc 17 to rotate. When the tensioning force is large, the elastic force of the spring 19 cannot make the second toothed disc 17 fit into the first toothed disc 16. The first toothed disc 16 will squeeze and push the second toothed disc 17 to move upward. At this time, the second toothed disc 17 cannot drive the guide rod 18, and the position of the tensioning wheel 21 remains unchanged; when the worm 13 rotates in the opposite direction, the ratchet 116 prevents the rotation of the ratchet 113, so the threaded rod 110 cannot rotate and the slider 111 cannot move upward; wherein, the mounting seat 114 is used to install the spring piece 115 and the ratchet 116, the spring piece 115 is used to provide a reset elastic force for the ratchet 116, the tooth groove 23 is used to cooperate with the connecting rod 32, the steel wire 31 is used to increase the strength of the synchronous belt 3, and the rubber layer 33 is used to reduce vibration and increase friction.

[0021] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0022] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0023] 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 aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A handling robot arm with an improved rotation mechanism, comprising a drive assembly (1), characterized in that: The driving assembly (1) comprises a mounting frame (11), a motor (12) is fixedly connected to the mounting frame (11), a worm (13) is fixedly connected to the output end of the motor (12), a worm wheel (14) is meshedly connected to the worm (13), a rotating shaft (15) is fixedly connected to the worm wheel (14), a first toothed disc (16) is fixedly connected to the rotating shaft (15), a second toothed disc (17) is meshedly connected to the top end of the first toothed disc (16), a guide rod (18) is rotatably connected to the rotating shaft (15), and The second toothed disc (17) is slidably connected to the guide rod (18), a spring (19) is sleeved on the guide rod (18), one end of the spring (19) is arranged on the second toothed disc (17), and the other end is arranged on the mounting frame (11), the top end of the guide rod (18) is fixedly connected to a threaded rod (110), the threaded rod (110) is threadedly connected to a slider (111), the slider (111) is fixedly connected to a mounting plate (24), and the mounting plate (24) is rotatably connected to a tension wheel (21).

2. The transport robot arm according to claim 1, characterized in that: The worm (13), the rotating shaft (15) and the threaded rod (110) are all rotatably connected to the mounting frame (11).

3. The transport robot arm according to claim 1, wherein: A guide rail (112) is fixedly connected to the mounting frame (11), and a slider (111) is slidably connected to the guide rail (112).

4. The transport robot arm according to claim 1, wherein: The top end of the threaded rod (110) is fixedly connected to a ratchet (113), the mounting frame (11) is fixedly connected to a mounting seat (114), the mounting seat (114) is fixedly connected to a spring piece (115), the spring piece (115) is fixedly connected to a ratchet (116), and the ratchet (116) is meshedly connected to the ratchet (113), and the ratchet (116) is slidably connected to the mounting seat (114).

5. The transport robot arm according to claim 1, characterized in that: The worm (13) is fixedly connected to a driving wheel (2), the driving wheel (2) is transmission-connected to a synchronous belt (3), and the synchronous belt (3) is transmission-connected to a tensioning wheel (21), the synchronous belt (3) is transmission-connected to a driven wheel (22), and the driven wheel (22) is rotationally connected to the mounting frame (11).

6. The transport robot arm according to claim 5, characterized in that: The driving wheel (2), the tensioning wheel (21) and the driven wheel (22) are all provided with tooth grooves (23).

7. The transport robot arm according to claim 5, characterized in that: The synchronous belt (3) comprises a steel wire (31), a connecting rod (32) and a rubber layer (33). A plurality of connecting rods (32) are evenly distributed in the rubber layer (33), and the two ends of the connecting rod (32) are respectively fixedly connected to two steel wires (31). The steel wires (31) are arranged in the rubber layer (33).

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