Six-joint one-key locking device for mechanical arm

Abstract

The utility model relates to the technical field of mechanical arms, and discloses a six-joint one-key locking device of a mechanical arm. Comprising a base, a plurality of long joints and a plurality of short joints, the two ends of the long joints and the two ends of the short joints are arranged in a contact mode respectively, the lower long joints are rotationally connected with the base, and the inner walls of the two ends of the long joints and the inner walls of the two ends of the short joints are fixedly connected with connecting bases respectively. The long joints and the short joints are rotationally connected through the connecting shafts, so that the mechanical arm is stably used, the stability of connection between the connecting shafts and the long joints and the short joints can be improved through the connecting bases, and the outer gear rings are moved out of the connecting shafts to be located on the outer sides of the annular tooth grooves during movement; and flexible adjustment treatment between the long joints and the short joints is guaranteed, and the connecting electric wire extends into the connecting base and penetrates through the outer gear ring and the connecting shaft, so that the connecting electric wire can be arranged in the multiple long joints and the multiple short joints.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a one-click locking device for six joints of a robotic arm. Background Technology

[0002] A robotic arm, also known as a robotic arm, is a device used for automating and mechanizing tasks. It typically consists of multiple joints and connectors to mimic the movements of a human arm. Robotic arms are widely used in industrial manufacturing, medical, agricultural, and service industries.

[0003] In existing technologies, as robotic arms become more sophisticated, they are often added to one side of the operating table to assist in surgical procedures. To improve the flexibility of the robotic arm, joints are added, while reducing external wiring. During use, the joints of the robotic arm need to rotate flexibly. Adding wiring inside the robotic arm can easily cause tangling, making subsequent control difficult. This also makes it difficult to simultaneously lock the joint connections after use, affecting the stability and effectiveness of the robotic arm. Therefore, this invention designs a one-button locking device for six joints of the robotic arm. Utility Model Content

[0004] The purpose of this utility model is to solve the problem that in the prior art, in order to improve the flexibility of the robotic arm, joints are added to the robotic arm, while reducing the external wiring. When the robotic arm needs to rotate flexibly at the joints, if wiring is added inside the robotic arm, it is easy to get tangled and difficult to control. This makes it difficult to lock the joints of the robotic arm at the same time after use, which affects the stability of the robotic arm and its subsequent use efficiency. The proposed device is a one-button locking device for six joints of the robotic arm.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A six-joint one-button locking device for a robotic arm includes a base, multiple long joints, and multiple short joints. The two ends of the long and short joints are respectively contacted. The lower long joint is rotatably connected to the base. Connecting seats are fixedly connected to the inner walls of the two ends of each of the long and short joints. A connecting shaft is rotatably connected to the connection points of the long and short joints. The two ends of the connecting shaft are rotatably connected to the interior of the connecting seats. A cavity is formed inside the connecting seat, and a sliding plate is slidably mounted on the inner wall of the cavity. An external gear ring is fixedly connected to the side wall of the sliding plate. Annular toothed grooves are formed on the inner walls of the two ends of the connecting shaft. The external gear ring is aligned with the end of the connecting shaft. A motor is mounted on the side wall of the connecting seat. Connecting wires are simultaneously arranged inside the multiple long and short joints. A through hole is formed inside the connecting shaft, and the wires of the connecting wires extend into the interior of the external gear ring and pass through the connecting shaft.

[0007] Preferably, a first protective tube is fixedly connected inside the long joint, and the connecting wire passes through the first protective tube.

[0008] Preferably, a gear is fixedly connected to the end of the output shaft of the motor, a rack is meshed on the side wall of the gear, a connecting block is fixedly connected to the end of the rack, the connecting seat has an opening on the inner wall of the cavity, a transmission rod is hinged to the side of the connecting block away from the rack, and the end of the transmission rod away from the connecting block is hinged to the side wall of the slide plate.

[0009] Preferably, a support rod is fixedly connected to the bottom of the rack, and sliding grooves are respectively opened inside the multiple long joints and short joints. The bottom end of the support rod is slidably disposed on the inner wall of the sliding groove. A guide groove is opened on the inner wall of the connecting seat. A guide block is fixedly connected to the bottom of the connecting block, and the guide block is slidably disposed on the inner wall of the guide groove.

[0010] Preferably, the connecting wire is spirally arranged on the inner wall of the outer toothed ring and the connecting shaft through hole, and is fixedly sleeved with a protective spiral tube.

[0011] Preferably, a second protective tube is fixedly connected inside each of the plurality of short joints, and the connecting wire passes through the second protective tube.

[0012] Compared with the prior art, this utility model provides a one-click locking device for six joints of a robotic arm, which has the following advantages:

[0013] 1. The robotic arm's six-joint one-button locking device uses multiple long joints and multiple short joints connected by multiple connecting shafts to ensure stable operation of the robotic arm. The connecting seat can improve the stability of the connection between the connecting shaft and the multiple long joints and multiple short joints. During movement, the outer gear ring moves out of the connecting shaft and is located outside the annular tooth groove, ensuring flexible adjustment between the long joints and short joints. The connecting wire extends into the interior of the connecting seat and passes through the outer gear ring and the connecting shaft, allowing the connecting wire to be placed inside the multiple long joints and multiple short joints.

[0014] 2. The six-joint one-key locking device of this robotic arm can drive the gear to rotate by rotating the output shaft of the motor. The rotation of the gear can drive the rack to move. The side wall of the rack slides along the inner wall of the connecting seat located in the opening, which can improve the stability of the sliding. The movement of the rack can drive the connecting block to move and push the transmission rod to move. The movement of the transmission rod can push the slide plate to slide along the inner wall of the cavity and push the outer gear ring to extend to the inner wall of the annular tooth groove at the end of the connecting shaft. This can lock the outer gear ring and the annular tooth groove at the end of the connecting shaft, which can improve the stability of the two ends of the connecting shaft inside the connecting seat and ensure the limiting effect.

[0015] 3. The robotic arm's six-joint one-button locking device can protect the connecting wires inside the long and short joints through the first and second protective tubes, respectively, while the protective spiral tube can protect the connecting wires inside the connecting shaft. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the six-joint one-key locking device for the robotic arm proposed in this utility model;

[0017] Figure 2 for Figure 1 Enlarged structural diagram of part A in the middle section;

[0018] Figure 3 for Figure 2 Three-dimensional view of the structure of the guide block.

[0019] In the diagram: 1. Base, 2. Long joint, 3. Short joint, 4. Connecting seat, 5. Connecting shaft, 6. External gear ring, 7. Slide plate, 8. First protective tube, 9. Motor, 10. Gear, 11. Rack, 12. Connecting block, 13. Transmission rod, 14. Support rod, 15. Guide block, 16. Connecting wire, 17. Protective spiral tube, 18. Second protective tube. Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0021] Example 1

[0022] Reference Figure 1-3 The robotic arm has a six-joint one-button locking device, including a base 1, multiple long joints 2 and multiple short joints 3. The two ends of the multiple long joints 2 and multiple short joints 3 are respectively contacted. The lower long joint 2 is rotatably connected to the base 1. The inner walls of the two ends of the multiple long joints 2 and multiple short joints 3 are respectively fixedly connected to the connecting seats 4. The connecting shaft 5 is rotatably connected to the connection points of the multiple long joints 2 and multiple short joints 3. The two ends of the connecting shaft 5 are respectively rotatably connected to the inside of the connecting seats 4. The inside of the connecting seats 4 has a cavity. The inner wall of the cavity has a sliding plate 7. The side wall of the sliding plate 7 is fixedly connected to the outer gear ring 6. The inner walls of the two ends of the connecting shaft 5 have annular toothed grooves. The outer gear ring 6 is aligned with the end of the connecting shaft 5. The side wall of the connecting seat 4 has a motor 9. The inside of the multiple long joints 2 and multiple short joints 3 is also provided with connecting wires 16. The inside of the connecting shaft 5 has a through hole. The wire of the connecting wire 16 extends into the inside of the outer gear ring 6 and passes through the connecting shaft 5.

[0023] A gear 10 is fixedly connected to the end of the output shaft of the motor 9. A rack 11 is meshed on the side wall of the gear 10. A connecting block 12 is fixedly connected to the end of the rack 11. An opening is provided in the inner wall of the cavity of the connecting seat 4. A transmission rod 13 is hinged to the side of the connecting block 12 away from the rack 11. The end of the transmission rod 13 away from the connecting block 12 is hinged to the side wall of the slide plate 7. A support rod 14 is fixedly connected to the bottom of the rack 11. Slide grooves are provided inside the multiple long joints 2 and short joints 3. The bottom end of the support rod 14 is slidably disposed in the inner wall of the slide groove. A guide groove is provided in the inner wall of the connecting seat 4. A guide block 15 is fixedly connected to the bottom of the connecting block 12. The guide block 15 is slidably disposed in the inner wall of the guide groove.

[0024] In use, the base 1 and the long joint 2 below it are rotated. Multiple long joints 2 and multiple short joints 3 are rotatably connected by multiple connecting shafts 5, which can make the robotic arm stable. The connecting seat can improve the stability of the connection between the connecting shaft 5 and the multiple long joints 2 and multiple short joints 3. During movement, the outer gear ring 6 moves out of the connecting shaft 5 and is located outside the annular tooth groove, which can ensure flexible adjustment between the long joints 2 and short joints 3. When a limit is required after movement, the output shaft of the motor 9 rotates, which can drive the gear 10 to rotate. The rotation of the gear 10 can drive the rack 11 to move. The side wall of 1 slides along the inner wall of the connecting seat 4 located in the opening, which can improve the stability of the sliding. The movement of the rack 11 can drive the connecting block 12 to move and push the transmission rod 13 to move. The movement of the transmission rod 13 can push the slide plate 7 to slide along the inner wall of the cavity and push the outer gear ring 6 to extend to the end of the connecting shaft 5 located on the inner wall of the annular tooth groove. This can make the outer gear ring 6 and the annular tooth groove at the end of the connecting shaft 5 locked together, which can improve the stability of both ends of the connecting shaft 5 inside the connecting seat 4 and ensure the limiting effect. Thus, multiple long joints 2 and multiple short joints 3 can be stably set together.

[0025] The support rod 14 and guide block 15 slide along the inner walls of the slide groove and guide groove, respectively, which can improve the stability of the movement of the rack 11 and connecting block 12. The connecting wire 16 extends into the interior of the connecting seat 4 and passes through the outer gear ring 6 and the connecting shaft 5, which allows the connecting wire 16 to be placed inside the multiple long joints 2 and multiple short joints 3.

[0026] Example 2

[0027] Reference Figure 1-3 The long joint 2 is fixedly connected to the inside of the first protective tube 8, and the connecting wire 16 is set through the first protective tube 8. The connecting wire 16 is spirally arranged on the inner wall of the through hole of the outer tooth ring 6 and the connecting shaft 5 and is fixedly sleeved with the protective spiral tube 17. The multiple short joints 3 are respectively fixedly connected to the inside of the second protective tube 18, and the connecting wire 16 is set through the second protective tube 18.

[0028] The first protective tube 8 and the second protective tube 18 can respectively protect the connecting wires 16 inside the long joint 2 and the short joint 3, while the protective spiral tube 17 can protect the connecting wires 16 inside the connecting shaft 5.

[0029] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A six-joint one-button locking device for a robotic arm, comprising a base (1), multiple long joints (2) and multiple short joints (3), characterized in that: Multiple long joints (2) and short joints (3) are respectively connected at both ends. The lower long joint (2) is rotatably connected to the base (1). Connecting seats (4) are fixedly connected to the inner walls of both ends of multiple long joints (2) and multiple short joints (3). Connecting shafts (5) are rotatably connected at the connection points of multiple long joints (2) and multiple short joints (3). The two ends of the connecting shafts (5) are rotatably connected to the inside of the connecting seats (4). A cavity is opened inside the connecting seats (4). The inner wall of the cavity is slidably provided with The slide (7) has an external gear ring (6) fixedly connected to its side wall. The inner walls of both ends of the connecting shaft (5) are respectively provided with annular tooth grooves. The external gear ring (6) is aligned with the end of the connecting shaft (5). The side wall of the connecting seat (4) is provided with a motor (9). The interiors of the multiple long joints (2) and short joints (3) are simultaneously provided with connecting wires (16). The interior of the connecting shaft (5) is provided with a through hole. The wire of the connecting wire (16) extends into the interior of the external gear ring (6) and passes through the connecting shaft (5).

2. The one-key locking device for the six joints of the robotic arm according to claim 1, characterized in that: The long joint (2) is internally fixedly connected to a first protective tube (8), and the connecting wire (16) is installed through the first protective tube (8).

3. The one-key locking device for the six joints of the robotic arm according to claim 1, characterized in that: A gear (10) is fixedly connected to the output shaft end of the motor (9). A rack (11) is meshed on the side wall of the gear (10). A connecting block (12) is fixedly connected to the end of the rack (11). An opening is provided on the inner wall of the cavity of the connecting seat (4). A transmission rod (13) is hinged to the side of the connecting block (12) away from the rack (11). The end of the transmission rod (13) away from the connecting block (12) is hinged to the side wall of the slide plate (7).

4. The one-key locking device for the six joints of the robotic arm according to claim 3, characterized in that: The bottom of the rack (11) is fixedly connected to a support rod (14), and the interior of the multiple long joints (2) and short joints (3) is provided with sliding grooves. The bottom end of the support rod (14) is slidably disposed on the inner wall of the sliding groove. The inner wall of the connecting seat (4) is provided with a guide groove. The bottom of the connecting block (12) is fixedly connected to a guide block (15), and the guide block (15) is slidably disposed on the inner wall of the guide groove.

5. The one-key locking device for the six joints of a robotic arm according to claim 1, characterized in that: The connecting wire (16) is spirally arranged on the inner wall of the through hole of the outer toothed ring (6) and the connecting shaft (5) and is fixedly sleeved with a protective spiral tube (17).

6. The one-key locking device for the six joints of a robotic arm according to claim 1, characterized in that: Each of the short joints (3) is fixedly connected to a second protective tube (18), and the connecting wire (16) passes through the second protective tube (18).

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