Lever balance structure

Abstract

The utility model relates to the technical field of mechanical arms, and discloses a lever balance structure which comprises a lifting arm set, a first swing arm set and a second swing arm set, the first swing arm set is arranged at the top of the lifting arm set, and the second swing arm set is arranged at one end of the first swing arm set. The first swing arm set comprises a first hollow harmonic reducer, a first swing arm, a second driving motor, a third driving motor and a second hollow harmonic reducer. According to the utility model, the first swing arm assembly is arranged, specifically, the first swing arm is used as a support, the second driving motor and the third driving motor are installed, and the second driving motor is moved backwards by optimizing the layout of the second driving motor and the third driving motor, so that the stress is moved backwards, and the forward inclining force is offset and balanced; and the second driving motor and the third driving motor are successfully and separately arranged, so that the problem of concentrated stress is avoided, the working precision and efficiency of the swing arm are improved, the abrasion of the swing arm is reduced, and the service life of the swing arm is prolonged.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a lever balance structure. Background Technology

[0002] A robotic arm, also known as a mechanical arm or industrial robot arm, is a programmable mechanical device inspired by the human arm. It achieves various movements through joint connections. Under preset program control, it can automatically perform complex tasks such as handling, assembly, welding, and painting.

[0003] In traditional robotic arm structures, components such as motors are mounted on the swing arm. These components are usually quite heavy, which causes the swing arm to tilt forward. This force causes the swing arm's pivot point to shift, which will accelerate the wear and tear of the robotic arm over time. Furthermore, the motors are often concentrated in a certain part of the swing arm. Although this layout simplifies the structural design, it leads to the problem of concentrated stress. When the robotic arm bears a large load or moves at high speed, this concentrated stress may cause damage to the local structure of the robotic arm or even lead to safety accidents. Utility Model Content

[0004] The main purpose of this invention is to provide a lever-balanced structure to address the problem in traditional robotic arm structures where components such as motors are mounted on the swing arm. These components are typically heavy, causing the swing arm to generate a forward tilting force. This force causes the swing arm's pivot point to shift, which over time exacerbates wear on the robotic arm. Furthermore, the motors are often concentrated in a specific part of the swing arm. While this layout simplifies the structural design, it leads to concentrated stress. When the robotic arm bears a large load or moves at high speed, this concentrated stress may damage the local structure of the robotic arm or even cause a safety accident.

[0005] In order to achieve the above-mentioned utility model objectives, the first aspect of the present utility model proposes a lever balance structure including a lifting arm assembly, a first swing arm assembly and a second swing arm assembly, wherein the first swing arm assembly is disposed at the top of the lifting arm assembly, and the second swing arm assembly is disposed at one end of the first swing arm assembly, and the lifting arm assembly and the first swing arm assembly are respectively fixedly installed with a first outer shell and a second outer shell.

[0006] The first swing arm assembly includes a first hollow harmonic reducer, a first swing arm, a second drive motor, a third drive motor, and a second hollow harmonic reducer. The first swing arm is fixedly mounted on the bottom of the first hollow harmonic reducer. The second drive motor and the third drive motor are fixedly mounted on the top of the first swing arm, and the second drive motor and the third drive motor are located at one end and the middle of the first swing arm, respectively. The second hollow harmonic reducer is fixedly mounted on the bottom of one end of the first swing arm.

[0007] Furthermore, the lifting arm assembly includes a base, a first support arm, two slide rails, a slider, a drive screw, a first drive motor, and a second support arm. The first support arm is fixedly installed on the top of the base, the two slide rails are fixedly installed on the inner side of the first support arm, the slider is slidably connected to the outer wall of the slide rails, the drive screw is rotatably connected to the inner side of the first support arm and is located between the two slide rails, the first drive motor is fixedly installed on the top of the base, and the second support arm is fixedly installed on the top of the slider.

[0008] Furthermore, the second swing arm assembly includes a second swing arm, a fourth drive motor, a transmission shaft, and a third hollow harmonic reducer. One end of the second swing arm is fixedly installed at the bottom of the second hollow harmonic reducer, the fourth drive motor is fixedly installed at the top of the first swing arm, the third hollow harmonic reducer is fixedly installed at the bottom of one end of the second swing arm, and the transmission shaft is rotatably connected to the middle of the second hollow harmonic reducer.

[0009] Furthermore, the second swing arm assembly includes a second swing arm, a fourth drive motor, a transmission shaft, and a third hollow harmonic reducer. One end of the second swing arm is fixedly installed at the bottom of the second hollow harmonic reducer, the fourth drive motor is fixedly installed at the top of the first swing arm, the third hollow harmonic reducer is fixedly installed at the bottom of one end of the second swing arm, and the transmission shaft is rotatably connected to the middle of the second hollow harmonic reducer.

[0010] Furthermore, the first hollow harmonic reducer is fixedly installed on the top of the second support arm;

[0011] Furthermore, a synchronous pulley is installed at one end of the output shaft of the second drive motor and the input end of the first hollow harmonic reducer, and the output shaft of the second drive motor and the input end of the first hollow harmonic reducer are belt driven by the synchronous pulley.

[0012] Furthermore, a synchronous pulley is installed at one end of the output shaft of the third drive motor and the input end of the second hollow harmonic reducer, and the output shaft of the third drive motor and the input shaft of the second hollow harmonic reducer are belt driven by the synchronous pulley.

[0013] Furthermore, a synchronous pulley is installed at one end of the output shaft of the first drive motor and one end of the drive screw shaft, and the output shaft of the first drive motor and the drive screw shaft are driven by the synchronous pulley.

[0014] Furthermore, the drive screw and the slider are engaged by a thread;

[0015] Furthermore, a synchronous pulley is installed at one end of the output shaft of the fourth drive motor and at the top of the transmission shaft, and the output shaft of the fourth drive motor and the top of the transmission shaft are connected by a belt drive through the synchronous pulley.

[0016] Furthermore, both the bottom end of the drive shaft and the input end of the third hollow harmonic reducer are equipped with synchronous pulleys, and the bottom end of the drive shaft and the input end of the third hollow harmonic reducer are belt driven through the synchronous pulleys.

[0017] Beneficial effects:

[0018] This utility model discloses a lever balancing structure. By setting up a first swing arm assembly, specifically, using the first swing arm as a support, a second drive motor and a third drive motor are installed. By optimizing the layout of the second drive motor and the third drive motor, the second drive motor is moved backward, thereby shifting the force backward and counteracting and balancing the forward tilting force. The second drive motor and the third drive motor are successfully arranged separately, avoiding the problem of concentrated force, thereby improving the working accuracy and efficiency of the swing arm, reducing the wear of the swing arm, and extending its service life. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the external structure of this utility model;

[0020] Figure 2 This is a schematic diagram of the first swing arm assembly of this utility model from one perspective after removing the second outer shell;

[0021] Figure 3 This is a schematic diagram of the first swing arm assembly of this utility model from another perspective after removing the second outer shell;

[0022] Figure 4 This is a schematic diagram of the lifting arm assembly of this utility model after removing the first outer shell;

[0023] in:

[0024] 1-Lifting arm assembly; 101-Base; 102-First support arm; 103-Slide rail; 104-Slider; 105-Drive screw; 106-First drive motor; 107-Second support arm; 2-First swing arm assembly; 201-First hollow harmonic reducer; 202-First swing arm; 203-Second drive motor; 204-Third drive motor; 205-Second hollow harmonic reducer; 3-Second swing arm assembly; 301-Second swing arm; 302-Fourth drive motor; 303-Drive shaft; 304-Third hollow harmonic reducer; 4-First outer shell; 5-Second outer shell.

[0025] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0026] It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0027] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly and specifically defined.

[0028] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, a direct connection, or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0029] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0030] Reference Figures 1-4An embodiment of the present invention provides a lever balance structure including a lifting arm assembly 1, a first swing arm assembly 2, and a second swing arm assembly 3. The first swing arm assembly 2 is disposed on the top of the lifting arm assembly 1, and the second swing arm assembly 3 is disposed at one end of the first swing arm assembly 2. The lifting arm assembly 1 and the first swing arm assembly 2 are respectively fixedly installed with a first outer shell 4 and a second outer shell 5.

[0031] The first swing arm assembly 2 includes a first hollow harmonic reducer 201, a first swing arm 202, a second drive motor 203, a third drive motor 204, and a second hollow harmonic reducer 205. The first swing arm 202 is fixedly installed at the bottom of the first hollow harmonic reducer 201. The second drive motor 203 and the third drive motor 204 are fixedly installed at the top of the first swing arm 202, with the second drive motor 203 and the third drive motor 204 located at one end and the middle of the first swing arm 202, respectively. The second hollow harmonic reducer 205 is fixedly installed at the bottom of one end of the first swing arm 202. Hollow harmonic reducer 201 is fixedly installed on the top of the second support arm 107. One end of the output shaft of the second drive motor 203 and the input end of the first hollow harmonic reducer 201 are both equipped with synchronous pulleys, and the output shaft of the second drive motor 203 and the input end of the first hollow harmonic reducer 201 are connected by belt drive through the synchronous pulleys. One end of the output shaft of the third drive motor 204 and the input end of the second hollow harmonic reducer 205 are both equipped with synchronous pulleys, and the output shaft of the third drive motor 204 and the input shaft of the second hollow harmonic reducer 205 are connected by belt drive through the synchronous pulleys.

[0032] Among them, the third drive motor 204 drives the second hollow harmonic reducer 205 through belt drive, which enables the second hollow harmonic reducer 205 to drive the second swing arm group 3 to work.

[0033] This embodiment employs a rearward arrangement of the motors. While ensuring the first swing arm assembly 2 can operate normally above the lifting arm assembly 1, the second drive motor 203 is moved to the rear of the first swing arm 202 and the first hollow harmonic reducer 201. A synchronous belt is used for transmission drive. This optimizes the layout of the second drive motor 203 and the third drive motor 204. After the second drive motor 203 is moved backward, the force it bears shifts backward, offsetting and balancing the force that tilts the first swing arm 202 forward. Furthermore, the second drive motor 203 and the third drive motor 204 are successfully separated, avoiding the problem of concentrated force. This improves the working accuracy and efficiency of the swing arm, reduces wear on the swing arm, and extends its service life.

[0034] In one embodiment, the lifting arm assembly 1 includes a base 101, a first support arm 102, two slide rails 103, a slider 104, a drive screw 105, a first drive motor 106, and a second support arm 107. The first support arm 102 is fixedly installed on the top of the base 101, the two slide rails 103 are fixedly installed on the inner side of the first support arm 102, the slider 104 is slidably connected to the outer wall of the slide rails 103, the drive screw 105 is rotatably connected to the inner side of the first support arm 102 and is located between the two slide rails 103, the first drive motor 106 is fixedly installed on the top of the base 101, the second support arm 107 is fixedly installed on the top of the slider 104, a synchronous pulley is installed at one end of the output shaft of the first drive motor 106 and one end of the rotating shaft of the drive screw 105, and the output shaft of the first drive motor 106 and the rotating shaft of the drive screw 105 are belt driven by the synchronous pulleys, and the drive screw 105 and the slider 104 are threadedly engaged.

[0035] This embodiment provides a first support arm 102 and a second support arm 107. The second support arm 107 can slide precisely up and down inside the first support arm 102 through the slide rail 103 and the slider 104. Then, a first drive motor 106 and a drive screw 105 are provided. The first drive motor 106 can drive the drive screw 105 to rotate through belt drive. The drive screw 105 then meshes with the slider 104. The first drive motor 106 drives the drive screw 105 to rotate forward or reverse to realize the up and down movement of the slider 104.

[0036] In one embodiment, the second swing arm assembly 3 includes a second swing arm 301, a fourth drive motor 302, a transmission shaft 303, and a third hollow harmonic reducer 304. One end of the second swing arm 301 is fixedly mounted on the bottom of the second hollow harmonic reducer 205. The fourth drive motor 302 is fixedly mounted on the top of the first swing arm 202. The third hollow harmonic reducer 304 is fixedly mounted on the bottom of one end of the second swing arm 301. The transmission shaft 303 is rotatably connected to the middle of the second hollow harmonic reducer 205. A synchronous pulley is mounted on one end of the output shaft of the fourth drive motor 302 and the top of the transmission shaft 303, and the output shaft of the fourth drive motor 302 and the top of the transmission shaft 303 are connected by a synchronous pulley for belt drive. A synchronous pulley is mounted on the bottom end of the transmission shaft 303 and the input end of the third hollow harmonic reducer 304, and the bottom end of the transmission shaft 303 and the input end of the third hollow harmonic reducer 304 are connected by a synchronous pulley for belt drive.

[0037] This embodiment includes a fourth drive motor 302 and a transmission shaft 303. The fourth drive motor 302 drives the transmission shaft 303 to rotate via belt drive. The transmission shaft 303 then drives the third hollow harmonic reducer 304 via belt drive, so as to drive other components installed on the third hollow harmonic reducer 304.

[0038] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural or procedural transformations made based on the content of the present utility model specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present utility model.

Claims

1. A lever-balanced structure, comprising a lifting arm assembly (1), a first swing arm assembly (2), and a second swing arm assembly (3); characterized in that, The first swing arm assembly (2) is located on the top of the lifting arm assembly (1), and the second swing arm assembly (3) is located at one end of the first swing arm assembly (2). The lifting arm assembly (1) and the first swing arm assembly (2) are respectively fixedly installed with a first outer shell (4) and a second outer shell (5). The first swing arm assembly (2) includes a first hollow harmonic reducer (201), a first swing arm (202), a second drive motor (203), a third drive motor (204), and a second hollow harmonic reducer (205). The first swing arm (202) is fixedly installed at the bottom of the first hollow harmonic reducer (201). The second drive motor (203) and the third drive motor (204) are fixedly installed at the top of the first swing arm (202). The second drive motor (203) and the third drive motor (204) are located at one end and the middle of the first swing arm (202), respectively. The second hollow harmonic reducer (205) is fixedly installed at the bottom of one end of the first swing arm (202).

2. The lever balance structure according to claim 1, characterized in that, The lifting arm assembly (1) includes a base (101), a first support arm (102), two slide rails (103), a slider (104), a drive screw (105), a first drive motor (106), and a second support arm (107). The first support arm (102) is fixedly installed on the top of the base (101). The two slide rails (103) are fixedly installed on the inner side of the first support arm (102). The slider (104) is slidably connected to the outer wall of the slide rails (103). The drive screw (105) is rotatably connected to the inner side of the first support arm (102) and is located between the two slide rails (103). The first drive motor (106) is fixedly installed on the top of the base (101), and the second support arm (107) is fixedly installed on the top of the slider (104).

3. The lever balance structure according to claim 1, characterized in that, The second swing arm assembly (3) includes a second swing arm (301), a fourth drive motor (302), a transmission shaft (303), and a third hollow harmonic reducer (304). One end of the second swing arm (301) is fixedly installed at the bottom of the second hollow harmonic reducer (205). The fourth drive motor (302) is fixedly installed at the top of the first swing arm (202). The third hollow harmonic reducer (304) is fixedly installed at the bottom of one end of the second swing arm (301). The transmission shaft (303) is rotatably connected to the middle of the second hollow harmonic reducer (205).

4. The lever balance structure according to claim 1, characterized in that, The first hollow harmonic reducer (201) is fixedly installed on the top of the second support arm (107).

5. The lever balance structure according to claim 1, characterized in that, Both the output shaft of the second drive motor (203) and the input shaft of the first hollow harmonic reducer (201) are equipped with synchronous pulleys, and the output shaft of the second drive motor (203) and the input shaft of the first hollow harmonic reducer (201) are belt driven by the synchronous pulleys.

6. The lever balance structure according to claim 1, characterized in that, Both the output shaft of the third drive motor (204) and the input shaft of the second hollow harmonic reducer (205) are equipped with synchronous pulleys, and the output shaft of the third drive motor (204) and the input shaft of the second hollow harmonic reducer (205) are belt driven by the synchronous pulleys.

7. The lever balance structure according to claim 2, characterized in that, Both the output shaft of the first drive motor (106) and the shaft of the drive screw (105) are equipped with synchronous pulleys, and the output shaft of the first drive motor (106) and the shaft of the drive screw (105) are belt driven by the synchronous pulleys.

8. The lever balance structure according to claim 2, characterized in that, The drive screw (105) and the slider (104) are engaged by threads.

9. The lever balance structure according to claim 3, characterized in that, The output shaft of the fourth drive motor (302) and the top of the transmission shaft (303) are both equipped with synchronous pulleys, and the output shaft of the fourth drive motor (302) and the top of the transmission shaft (303) are driven by the synchronous pulleys.

10. The lever balance structure according to claim 3, characterized in that, Both the bottom end of the drive shaft (303) and the input end of the third hollow harmonic reducer (304) are equipped with synchronous pulleys, and the bottom end of the drive shaft (303) and the input end of the third hollow harmonic reducer (304) are belt driven by the synchronous pulleys.

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