Physical safety lock catch mechanism of six-axis mechanical arm

Abstract

The utility model discloses a six-axis mechanical arm physical safety lock catch mechanism, and relates to the technical field of mechanical arms, the six-axis mechanical arm physical safety lock catch mechanism comprises a mechanical arm I, a mechanical arm II is arranged on the outer surface of the mechanical arm I, a circular groove is formed in the outer surface of the mechanical arm II, a safety lock mechanism is arranged in the circular groove, and the safety lock mechanism comprises a limiting assembly and a locking assembly, the groove is arranged in the circular groove. According to the physical safety lock catch mechanism of the six-axis mechanical arm, when a motor works normally, the L-shaped lock catch is kept at the initial position through the pulling force of the spring, and when the motor breaks down and the mechanical arm II rotates rapidly, the L-shaped lock catch rotates around the shaft rod and is unfolded outwards to be clamped on the clamping rod under the action of centrifugal force, so that the limiting assembly and the mechanical arm II are prevented from continuously rotating and falling off; the safety protection function is achieved, the safety protection effect is improved through the two oppositely-arranged L-shaped lock catches, and no matter which direction the mechanical arm II rotates to fall off, at least one L-shaped lock catch can play a role.

Description

Technical Field

[0001] The utility model relates to the technical field of robotic arms, in particular to a physical safety locking mechanism for a six-axis robotic arm. Background Art

[0002] In modern industrial production and technological development, robotic arms play a vital role. With the continuous advancement of technology, the application range of robotic arms is becoming more and more extensive, and they can be seen in fields ranging from industrial manufacturing to medical care, scientific research and other fields.

[0003] In the prior art, such as the publication number CN221809348U, a six-axis robotic arm physical safety locking mechanism is disclosed, which includes a base, an upper end of the base is fixedly connected to a mounting box, an adjustment component is slidably connected to the interior of the mounting box, and locking mechanisms are symmetrically installed on the front and rear sides of the mounting box. The utility model can drive the lifting base to move up and down through the cooperation of a protective box, a motor, a screw, a threaded seat, a docking plate, a vertical rod, and a slider, so that the height of the six-axis robotic arm can be adjusted to complete the work. Then, through the cooperation of a connecting plate, a card interface, a fixed plate, a slide, a mounting frame, an electric push rod, a card block, a bracket, a pulley, and a speed sensor, when the entire robotic arm falls directly, the robotic arm that is about to fall can be directly fixed in the current position to prevent the entire robotic arm from falling directly, avoiding accidental injury to other people or damage to the robotic arm, thereby achieving the effect of safe use.

[0004] Based on the above patent, the existing safety locking mechanism still has the following problems: currently conventional robotic arms are often composed of multiple joints, similar to the arm joints of the human body, and each joint can rotate independently. However, the full locking mechanism in the existing technology can only provide safety protection for vertical lifting type robotic arms to prevent the vertical fall of the robotic arms, but cannot implement protection measures for independently rotatable type robotic arms. For this reason, the present utility model provides a six-axis robotic arm physical safety locking mechanism. Utility Model Content

[0005] In response to the shortcomings of the existing technology, the utility model provides a physical safety locking mechanism for a six-axis robotic arm, which solves the problem that the safety locking mechanism in the existing technology can only provide safety protection for vertical lifting type robotic arms to prevent the robotic arms from falling vertically, but cannot provide protection measures for independently rotating type robotic arms.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a six-axis robotic arm physical safety locking mechanism, including a robotic arm I, a robotic arm II is provided on the outer surface of the robotic arm I, a circular groove is opened on the outer surface of the robotic arm II, and a safety locking mechanism is provided inside the circular groove, and the safety locking mechanism includes:

[0007] A limit assembly is provided inside the circular groove, the limit assembly comprising a fixed disk embedded in the circular groove, one end of the fixed disk is fixedly connected to a center column, one end of the center column is fixedly connected to a connecting disk, and a plurality of clamping rods are fixedly connected between opposite end surfaces of the fixed disk and the connecting disk;

[0008] There are multiple locking components, which are equidistantly distributed on the outer surface of the limit component. Each of the locking components includes a rotating shaft, a gear is fixedly sleeved on the outer wall of the rotating shaft, and two circular plates are fixedly sleeved on the outer wall of the rotating shaft away from the gear. Two shafts are arranged between the opposite side end faces of the two circular plates, and an L-shaped lock is rotatably provided on the outer surface of the shaft, and the two L-shaped locks are arranged in opposite directions to each other.

[0009] Preferably, an annular groove is formed at one end of the central column, and the annular groove surrounds the periphery of the clamping rod. A gear ring is fixedly sleeved on the outer wall of the connecting disk, and the gear ring is meshed with the gear.

[0010] Preferably, a motor is fixedly mounted on the outer surface of the robotic arm I, and the output shaft end of the motor movably passes through the outer surface of the robotic arm I and extends to the other side. The output shaft end of the motor is fixedly connected to the end face of the connecting disk and is used to drive the connecting disk to rotate. A plurality of shaft holes are provided on the outer surface of the robotic arm I on the side facing away from the motor.

[0011] Preferably, one end of the rotating shaft is rotatably set inside the shaft hole, and the other end of the rotating shaft is movably set inside the annular groove. A mounting plate is provided between the two L-shaped locks, and the mounting plate is fixedly connected to the outer wall of the rotating shaft. The two opposite side surfaces of the mounting plate are fixedly connected with springs, and the two springs are respectively fixedly connected to the two L-shaped lock surfaces.

[0012] Preferably, two blocking rods are fixedly connected to positions between the opposite side end surfaces of the two circular plates and away from the shaft rod, and the two blocking rods are respectively used to limit the rotation angles of the two L-shaped lock buckles.

[0013] Preferably, a plurality of threaded holes are provided on one end of the fixing plate facing away from the annular groove, and a plurality of connecting screws are provided on the surface of the side of the robotic arm II facing away from the circular groove. The connecting screws are movable through the outer surface of the robotic arm II and extend to the other side to be threadedly connected to the threaded holes.

[0014] Beneficial effects

[0015] The utility model provides a six-axis mechanical arm physical safety locking mechanism. Compared with the existing technology, it has the following advantages:

[0016] (1) The six-axis robot arm has a physical safety lock mechanism. When the motor is working normally, the L-shaped lock is kept in the initial position by the tension of the spring. When the motor fails and the robot arm II rotates rapidly, the L-shaped lock rotates around the shaft under the action of centrifugal force and expands outward, getting stuck on the clamping rod, preventing the limit assembly and the robot arm II from continuing to rotate and fall, thereby realizing the safety protection function. The two oppositely arranged L-shaped locks improve the safety protection effect. No matter which direction the robot arm II rotates and falls, at least one L-shaped lock will work.

[0017] (2) The six-axis robot arm has a physical safety locking mechanism. By removing the connecting screw, the robot arm II can be separated from the limit assembly, which is convenient for the later maintenance of the limit assembly and the locking assembly, as well as for the repair of the connection between the motor output shaft end and the connecting disk. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the three-dimensional appearance of the utility model;

[0019] Figure 2 This is an exploded view of the utility model;

[0020] Figure 3 This is a schematic diagram of the three-dimensional appearance of the shaft hole of the utility model;

[0021] Figure 4 This is a schematic diagram of the three-dimensional appearance of the circular groove of the utility model;

[0022] Figure 5 This is a schematic diagram of the three-dimensional appearance of the limit assembly of the utility model;

[0023] Figure 6 This is a schematic diagram of the three-dimensional appearance of the lock assembly of the present utility model;

[0024] Figure 7 It is a partial structural diagram of the lock assembly of the utility model.

[0025] In the figure: 1. Robotic arm I; 11. Shaft hole; 12. Motor; 2. Robotic arm II; 21. Circular groove; 22. Connecting screw; 3. Limiting assembly; 31. Fixing plate; 32. Annular groove; 33. Center column; 34. Connecting plate; 35. Ring gear; 36. Clamping rod; 37. Threaded hole; 4. Locking assembly; 41. Rotating shaft; 42. Gear; 43. Circular plate; 44. Shaft; 45. L-shaped locking rod; 46. Mounting plate; 47. Spring; 48. Stop rod. DETAILED DESCRIPTION

[0026] The following will be combined with the accompanying drawings of the embodiments of the present invention to clearly and completely describe the technical solution I 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.

[0027] This utility model provides two technical solutions:

[0028] Figure 1-Figure 7 The first embodiment is shown: a six-axis robotic arm physical safety locking mechanism, including a robotic arm I1, a robotic arm II2 is provided on the outer surface of the robotic arm I1, a circular groove 21 is opened on the outer surface of the robotic arm II2, and a safety locking mechanism is provided inside the circular groove 21. The safety locking mechanism includes:

[0029] The limit assembly 3 is arranged inside the circular groove 21. The limit assembly 3 includes a fixed disk 31 embedded in the circular groove 21. One end of the fixed disk 31 is fixedly connected to a center column 33. One end of the center column 33 is fixedly connected to a connecting disk 34. A plurality of clamping rods 36 are fixedly connected between the end surfaces of the opposite sides of the fixed disk 31 and the connecting disk 34. The connecting disk 34 is fixedly connected to the output shaft end of the motor 12, receives the power of the motor 12 and drives the entire limit assembly 3 to rotate. By providing the clamping rod 36, a locking position is provided for the L-shaped lock 45 of the lock assembly 4, forcing the limit assembly 3 and the robot arm II 2 to stop rotating, thereby preventing the robot arm from falling;

[0030] The number of locking components 4 is set to be multiple and equidistantly distributed on the outer surface of the limit component 3. The multiple locking components 4 all include a rotating shaft 41. The outer wall of the rotating shaft 41 is fixedly sleeved with a gear 42. Two circular plates 43 are fixedly sleeved on the outer wall of the rotating shaft 41 away from the gear 42. Two shafts 44 are provided between the opposite side end faces of the two circular plates 43. An L-shaped lock 45 is provided on the outer surface of the shaft 44 for rotation. The two L-shaped locks 45 are set in opposite directions to each other. The rotating shaft 41 ensures that when the motor 12 fails, it can rotate with the rotation of the ring gear 35 to drive the entire locking component 4 to work. The gear 42 can receive the power of the ring gear 35 to drive the rotating shaft 41 and the circular plate 43 to rotate. The shaft 44 provides a rotation axis for the L-shaped lock 45, so that the L-shaped lock 45 can rotate around the shaft 44 under the action of centrifugal force and expand outward.

[0031] An annular groove 32 is provided at one end of the center column 33, and the annular groove 32 surrounds the periphery of the clamping rod 36. A gear ring 35 is fixedly sleeved on the outer wall of the connecting disk 34, and the gear ring 35 is meshed and connected with the gear 42. The gear ring 35 is meshed and connected with the gear 42 of the locking assembly 4. When the motor 12 fails and the connection with the connecting disk 34 fails, the robot arm II 2 will rotate downward rapidly under the action of its own weight, and during the rotation process, it can drive the locking assembly 4 to work.

[0032] A motor 12 is fixedly installed on the outer surface of the robot arm I1. The output shaft end of the motor 12 is movable through the outer surface of the robot arm I1 and extends to the other side. The output shaft end of the motor 12 is fixedly connected to the end face of the connecting disk 34, which is used to drive the connecting disk 34 to rotate. A plurality of shaft holes 11 are provided on the outer surface of the robot arm I1 on the side facing away from the motor 12. The motor 12 provides power for the rotation of the connecting disk 34, thereby driving the entire limit assembly 3 and the robot arm II2 to rotate, thereby realizing normal operation of the robot arm.

[0033] One end of the rotating shaft 41 is rotatably set inside the shaft hole 11, and the other end of the rotating shaft 41 is movably set inside the annular groove 32. A mounting plate 46 is provided between the two L-shaped lock buckles 45. The mounting plate 46 is fixedly connected to the outer wall of the rotating shaft 41. The two opposite side surfaces of the mounting plate 46 are fixedly connected with springs 47. The two springs 47 are respectively fixedly connected to the surfaces of the two L-shaped lock buckles 45. The mounting plate 46 provides a fixed point for the spring 47, so that the spring 47 can apply tension to the L-shaped lock buckle 45 to ensure that the L-shaped lock buckle 45 is in the initial position during normal operation.

[0034] Two baffle rods 48 are fixedly connected to the position between the opposite side end surfaces of the two circular plates 43, away from the shaft 44. The two baffle rods 48 are used to limit the rotation angle of the two L-shaped lock buckles 45 respectively. The baffle rods 48 can ensure that the L-shaped lock buckles 45 can be stably stuck on the clamping rod 36 when unfolded to the extreme position, thereby playing a safety protection role.

[0035] When the motor 12 is working normally, the L-shaped lock 45 is maintained in the initial position by the tension of the spring 47. When the motor fails and the robotic arm II 2 rotates rapidly, the L-shaped lock 45 rotates around the shaft 44 and expands outward under the action of centrifugal force, and is stuck on the clamping rod 36, preventing the limit assembly 3 and the robotic arm II 2 from continuing to rotate and fall, thereby realizing the safety protection function. The two relatively arranged L-shaped locks 45 improve the safety protection effect. No matter which direction the robotic arm II 2 rotates and falls, at least one L-shaped lock 45 will play a role.

[0036] Figure 1-Figure 7 A second embodiment is shown, which mainly differs from the first embodiment in that a plurality of threaded holes 37 are provided on one end of the fixing plate 31 facing away from the annular groove 32, and a plurality of connecting screws 22 are provided on the surface of the side of the robotic arm Ⅱ2 facing away from the circular groove 21. The connecting screws 22 are movable through the outer surface of the robotic arm Ⅱ2 and extend to the other side to be threadedly connected to the threaded holes 37. The entire limiting assembly 3 is fixed to the robotic arm Ⅱ2 through the connecting screws 22, ensuring that the robotic arm Ⅱ2 can be driven to rotate when the motor 12 is working normally.

[0037] At the same time, the contents not described in detail in this specification belong to the existing technology well known to those skilled in the art.

[0038] During operation, the motor 12 drives the connecting disk 34 to rotate, thereby rotating the entire limit assembly 3. Since the fixed disk 31 in the limit assembly 3 is fixedly connected to the robot arm Ⅱ 2 through the connecting screw 22, the robot arm Ⅱ 2 is rotated, which is convenient for personnel to operate the robot arm for daily operations. When the motor 12 fails and the connection with the connecting disk 34 fails, the robot arm Ⅱ 2 will quickly rotate downward under the action of its own weight. During the rotation process, the robot arm Ⅱ 2 drives the gear ring 35 in the limit assembly 3 to rotate. Due to the lock The assembly 4 is mounted on the robot arm II 2 via the rotating shaft 41, so the position of the lock assembly 4 relative to the robot arm II 2 is fixed. When the gear ring 35 rotates, it drives the gears 42 in all the lock assemblies 4 to rotate, so that the rotating shaft 41 and the circular plate 43 rotate synchronously. At this time, an outward centrifugal force is generated on the L-shaped lock 45. When the centrifugal force is greater than the pulling force of the spring 47, the L-shaped lock 45 rotates around the shaft 44 and expands outward. At the same time, when the L-shaped lock 45 is expanded to the limit position, the L-shaped lock 45 is pressed by the blocking rod 48. 5 is limited, so that the L-shaped lock 45 cannot rotate. The unfolded L-shaped lock 45 will be stuck on the corresponding clamping rod 36, thereby forcing the limit assembly 3 to stop rotating. The mechanical arm II 2 fixedly connected to the limit assembly 3 will also stop rotating downward and fall down accordingly, thereby realizing a safety protection measure for the independently rotatable type mechanical arm and reducing the economic losses caused by failures. In addition, through the two oppositely arranged L-shaped locks 45 in the lock assembly 4, when the mechanical arm II 2 rotates and falls in any direction, at least one L-shaped lock 45 will be stuck on the clamping rod 36, further improving the safety protection measure of the mechanical arm. When the fault is eliminated, it is only necessary to drive the mechanical arm II 2 to reverse, so that the limit assembly 3 is reversed synchronously, and the clamping rod 36 will disengage from the L-shaped lock 45. Under the action of the tension of the spring 47, the L-shaped lock 45 is reset. By removing the connecting screw 22, the mechanical arm II 2 can be separated from the limit assembly 3, which facilitates the maintenance of the limit assembly 3 and the lock assembly 4 in the future, as well as the convenient maintenance of the connection between the output shaft end of the motor 12 and the connecting disk 34.

[0039] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0040] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A six-axis robotic arm physical safety locking mechanism, comprising a robotic arm I (1), wherein a robotic arm II (2) is provided on the outer surface of the robotic arm I (1), and characterized in that: A circular groove (21) is provided on the outer surface of the mechanical arm II (2), and a safety lock mechanism is provided inside the circular groove (21), wherein the safety lock mechanism comprises: A position limiting assembly (3) is arranged inside the circular groove (21), and the position limiting assembly (3) includes a fixed disk (31) embedded in the circular groove (21), one end of the fixed disk (31) is fixedly connected to a center column (33), one end of the center column (33) is fixedly connected to a connecting disk (34), and a plurality of clamping rods (36) are fixedly connected between opposite side end surfaces of the fixed disk (31) and the connecting disk (34); The locking components (4) are arranged in a plurality and are equidistantly distributed on the outer surface of the limiting component (3). The plurality of locking components (4) each include a rotating shaft (41), an outer wall of the rotating shaft (41) is fixedly sleeved with a gear (42), two circular plates (43) are fixedly sleeved on the outer wall of the rotating shaft (41) at a position away from the gear (42), two shafts (44) are arranged between opposite side end surfaces of the two circular plates (43), an outer surface of the shaft (44) is rotatably provided with an L-shaped locking catch (45), and the two L-shaped locking catches (45) are arranged in opposite directions to each other.

2. A six-axis robotic arm physical safety locking mechanism according to claim 1, characterized in that: An annular groove (32) is formed at one end of the center column (33), and the annular groove (32) surrounds the periphery of the clamping rod (36). A gear ring (35) is fixedly sleeved on the outer wall of the connecting disk (34), and the gear ring (35) is meshed with the gear (42).

3. The six-axis robotic arm physical safety locking mechanism according to claim 1, characterized in that: A motor (12) is fixedly mounted on the outer surface of the robotic arm I (1), and an output shaft end of the motor (12) movably passes through the outer surface of the robotic arm I (1) and extends to the other side. The output shaft end of the motor (12) is fixedly connected to the end face of the connecting disk (34) and is used to drive the connecting disk (34) to rotate. A plurality of shaft holes (11) are provided on the outer surface of the side of the robotic arm I (1) facing away from the motor (12).

4. The six-axis robotic arm physical safety locking mechanism according to claim 3, characterized in that: One end of the rotating shaft (41) is rotatably arranged inside the shaft hole (11), and the other end of the rotating shaft (41) is movably arranged inside the annular groove (32). A mounting plate (46) is provided between the two L-shaped lock buckles (45), and the mounting plate (46) is fixedly connected to the outer wall of the rotating shaft (41). Two opposite side surfaces of the mounting plate (46) are fixedly connected with springs (47), and the two springs (47) are respectively fixedly connected to the surfaces of the two L-shaped lock buckles (45).

5. The six-axis robotic arm physical safety locking mechanism according to claim 1, characterized in that: Two blocking rods (48) are fixedly connected to positions between the opposite side end surfaces of the two circular plates (43) and away from the shaft (44). The two blocking rods (48) are respectively used to limit the rotation angles of the two L-shaped lock buckles (45).

6. The six-axis robotic arm physical safety locking mechanism according to claim 2, characterized in that: A plurality of threaded holes (37) are provided on one end of the fixing plate (31) facing away from the annular groove (32), and a plurality of connecting screws (22) are provided on the surface of one side of the mechanical arm II (2) facing away from the circular groove (21). The connecting screws (22) are movable through the outer surface of the mechanical arm II (2) and extend to the other side to be threadedly connected to the threaded holes (37).

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