Large-range moving manipulator device

By designing a large-range mobile robotic arm device and utilizing the coordinated movement of the base mechanism and connecting rod, the problem of limited robotic arm movement range was solved, enabling flexible and efficient processing of large workpieces and reducing system complexity and cost.

CN223643705UActive Publication Date: 2025-12-09CHANGZHOU TIAN YAO ELECTRICAL TECH CO LTD
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Patent Information

Application Number
CN202423193247.8
Authority / Receiving Office
CN · China
Patent Type
Utility models(China)
Current Assignee / Owner
Filing Date
2024-12-24
Publication Date
2025-12-09
Estimated Expiration
2034-12-24

AI Technical Summary

Technical Problem

Existing robotic arms have limited range of motion, making it difficult to achieve flexibility and high efficiency in the processing of large workpieces, and deploying multiple robotic arm mechanisms increases system complexity and cost.

Method used

A large-range mobile robotic arm device was designed. The base mechanism drives the swinging and rotation of the long arm. Combined with the coordinated movement of the rotary motor, lead screw drive and multiple connecting rods, the robotic arm can achieve 360° large-range movement and multi-angle processing.

Benefits of technology

It enables the robotic arm to move flexibly over a wide range and perform multi-angle processing, improving processing efficiency and flexibility while reducing system complexity and cost.

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Abstract

The utility model relates to a large-range moving manipulator device which comprises a base mechanism and a manipulator mechanism arranged on the base mechanism, and a first sliding plate and a driving mechanism for driving the first sliding plate to slide are arranged on the base mechanism in a sliding mode. A first mounting seat is arranged on the first sliding plate, and one end of a first adjusting rod is connected into the first mounting seat through a first rotating rod; a rear fixing plate is further connected to the rear portion of the mounting frame, a second sliding plate is slidably connected to the rear fixing plate, a second mounting base is arranged on the side, facing the mounting frame, of the second sliding plate, and a second adjusting rod is connected into the second mounting base through a second rotating rod; the first rotating rod is further connected with one end of a middle connecting rod, and the other end of the middle connecting rod is connected to a third rotating rod arranged on the second adjusting rod. The end of the first adjusting rod and the end of the second adjusting rod are both rotationally connected to the long arm rod. And the manipulator mechanism is connected to the end part of the long arm rod. The device and the manipulator can move in a large range.
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Description

Technical Field

[0001] This utility model relates to a robotic arm device, specifically a robotic arm device for large-range movement. Background Technology

[0002] As a key automated component in modern processing equipment, the range of motion of robotic arms largely determines their operational flexibility and efficiency. However, the limited range of motion of existing robotic arms restricts their application in larger workspaces.

[0003] For large parts to be processed, robotic arms require more space to move and meet processing needs. Typically, to expand the working range of a robotic arm, it is equipped with a railcar, allowing it to move along a track to cover a larger work area. However, in machining environments, parts are often placed densely, making it difficult to find space for a railcar and thus limiting the robotic arm's range of motion.

[0004] To address this issue, multiple robotic arms are sometimes deployed to work collaboratively on large workpieces. While this solution can meet processing requirements to some extent, it also increases system complexity and cost. Therefore, for the design and application of robotic arms, overcoming the limitations of their range of motion and improving their flexibility and efficiency in processing large workpieces is a pressing technical problem that needs to be solved. Utility Model Content

[0005] To solve the above-mentioned technical problems, the purpose of this utility model is to provide a device that enables a robotic arm to move over a wide range.

[0006] The technical solution of this utility model is as follows:

[0007] A large-range mobile robotic arm device includes a base mechanism and a robotic arm mechanism disposed on the base mechanism, characterized in that:

[0008] The base mechanism includes a base (100), a rotatable mounting platform (102) on the base (100), a mounting frame on the mounting platform (102), a first sliding plate (1010) slidably mounted on the mounting frame, and a driving mechanism for driving the first sliding plate (1010) to slide.

[0009] The first slide plate (1010) is provided with a set of first mounting seats (10102), and one end of the first adjusting rod (1011) is connected to the first mounting seat (10102) through the first rotating rod (10103);

[0010] The rear of the mounting frame is also connected to a rear fixing plate (1012), and a second sliding plate (1013) is slidably connected to the rear fixing plate (1012). A second mounting seat (101302) is provided on the side of the second sliding plate (1013) facing the mounting frame. A second adjusting rod (1014) is connected to the second mounting seat (101302) through a second rotating rod (101303).

[0011] One end of an intermediate connecting rod (101402) is also connected to the first rotating rod (10103), and the other end of the intermediate connecting rod (101402) is connected to the third rotating rod (101401) provided on the second adjusting rod (1014);

[0012] The ends of the first adjusting rod (1011) and the second adjusting rod (1014) are both rotatably connected to the long arm rod (1015);

[0013] The robotic arm mechanism is connected to the end of the long arm (1015).

[0014] Furthermore, a rotary motor is provided inside the base (100), and the drive end of the rotary motor is connected to a rotating shaft (103). The rotating shaft (103) is connected to a rotating disk (101), and the mounting platform (102) is connected to the rotating disk (101).

[0015] Furthermore, the mounting frame includes a plurality of side plates (104) connected to the mounting platform (102), and a set of first connecting plates (105) arranged parallel to each other on the top of the side plates (104), one end of the first connecting plate (105) being connected to a second connecting plate (106).

[0016] Furthermore, the driving mechanism includes a motor (107) disposed at the lower part of the second connecting plate (106), a lead screw (109) rotatably connected to the upper part of the second connecting plate (106), a driven wheel (10901) disposed at the end of the lead screw (109), a belt (108) connecting the driven wheel (10901) and the drive wheel of the motor (107), a first slide rail (1051) is also disposed on the first connecting plate (105), a first slider (10101) is slidably connected on the first slide rail (1051), and the first slider (10101) is connected to the first slide plate (1010).

[0017] Furthermore, a rear fixing plate (1012) is connected to the rear part of the side plate (104), a second slide rail (101201) is connected to the rear fixing plate (1012), a second slider (101301) is slidably connected to the second slide rail (101201), and the second slider (101301) is connected to the second slide plate (1013).

[0018] Furthermore, the third rotating rod (101401) is higher than the axis of the first rotating rod (10103), and the axis of the first rotating rod (10103) is higher than the axis of the second rotating rod (101303).

[0019] Furthermore, the robotic arm mechanism includes a first rotary motor (1016) connected to the end of the long arm (1015), the drive end of the first rotary motor (1016) being connected to the robotic arm (1017), the end of the robotic arm (1017) being provided with a second rotary motor (1018), the drive end of the second rotary motor (1018) being connected to a drill motor (1019), and the drive end of the drill motor (1019) being connected to a drill bit (1020).

[0020] By means of the above solution, this utility model has at least the following advantages:

[0021] This device can drive the swing and rotation of the long arm through the base mechanism, and the robotic arm can achieve rotation at two angles, thus enabling processing over a wide range of angles.

[0022] The above description is only an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model and to implement it in accordance with the contents of the specification, the preferred embodiments of this utility model are described in detail below with reference to the accompanying drawings. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show a certain embodiment of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the structure of this utility model;

[0025] Figure 2 This is a partial enlarged view of the present invention;

[0026] In the diagram: 100-base; 101-rotating disk; 102-mounting platform; 103-rotating shaft; 104-side plate; 105-first connecting plate; 10501-first slide rail; 106-second connecting plate; 107-motor; 108-belt; 109-lead screw; 10901-driven wheel; 1010-first sliding plate; 10101-first slider; 10102-first mounting base; 10103-first rotating rod; 1011-first adjusting rod; 1012 - Rear fixing plate; 101201 - Second slide rail; 1013 - Second slide plate; 101301 - Second slider; 101302 - Second mounting base; 101303 - Second rotating rod; 1014 - Second adjusting rod; 101401 - Third rotating rod; 101402 - Intermediate connecting rod; 1015 - Long arm rod; 1016 - First rotating motor; 1017 - Robotic arm; 1018 - Second rotating motor; 1019 - Drill bit motor; 1020 - Drill bit. Detailed Implementation

[0027] The specific embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this utility model, but are not intended to limit its scope.

[0028] See Figure 1 and Figure 2 A preferred embodiment of the present invention provides a large-range mobile robotic arm device, which includes a base mechanism and a robotic arm mechanism disposed on the base mechanism. In this device, the base mechanism is used to drive the robotic arm mechanism to move over a large range.

[0029] The base mechanism includes a base 100, on which a rotatable mounting platform 102 is provided. Specifically, a rotary motor is installed inside the base 100, and the drive end of the rotary motor is connected to a rotating shaft 103. The rotating shaft 103 is connected to a rotating disk 101, and the mounting platform 102 is connected to the rotating disk 101. Driven by the rotary motor, the rotating disk 101 can be rotated through the rotating shaft 103. Generally, the rotary motor is also equipped with a reduction gearbox, and the rotational speed of the rotary motor is reduced by the reduction gearbox before driving the rotation of the rotating disk 101.

[0030] The mounting platform 102 is provided with a mounting frame, which includes multiple side plates 104 connected to the mounting platform 102. Generally, at least two side plates are required, and the two side plates are arranged opposite each other. Alternatively, as shown in the attached drawings of this utility model, four side plates are provided, with two side plates on one side. A set of first connecting plates 105 are arranged parallel to each other on the top of the side plate 104. One end of the first connecting plate 105 is connected to a second connecting plate 106. A first sliding plate 1010 is slidably mounted on the mounting frame, and a driving mechanism for driving the first sliding plate 1010 to slide is also provided. The driving mechanism includes a motor 107 located at the lower part of the second connecting plate 106, a lead screw 109 rotatably connected to the upper part of the second connecting plate 106, a driven wheel 10901 located at the end of the lead screw 109, and a belt 108 connecting the driven wheel 10901 and the drive wheel of the motor 107. A first slide rail 1051 is also provided on the first connecting plate 105, and a first slider 10101 is slidably connected to the first slide rail 1051. The first slider 10101 is connected to the first sliding plate 1010. Driven by the motor 107, the lead screw 109 can be rotated, thereby driving the first sliding plate 1010 to slide.

[0031] A first mounting base 10102 is provided on the first sliding plate 1010. One end of the first adjusting rod 1011 is connected to the first mounting base 10102 via a first rotating rod 10103. A rear fixing plate 1012 is connected to the rear part of the side plate 104 of the mounting frame. A second slide rail 101201 is connected to the rear fixing plate 1012. A second slider 101301 is slidably connected to the second slide rail 101201, and the second slider 101301 is connected to the second sliding plate 1013. The second sliding plate 1013 can slide vertically under the action of external force.

[0032] The second sliding plate 1013 is provided with a second mounting base 101302 on the side facing the mounting frame. The second mounting base 101302 is connected to a second adjusting rod 1014 through a second rotating rod 101303. One end of an intermediate connecting rod 101402 is also connected to the first rotating rod 10103. The other end of the intermediate connecting rod 101402 is connected to a third rotating rod 101401 provided on the second adjusting rod 1014. The ends of the first adjusting rod 1011 and the second adjusting rod 1014 are both rotatably connected to the long arm rod 1015.

[0033] The third rotating rod 101401 is higher than the axis of the first rotating rod 10103, and the axis of the first rotating rod 10103 is higher than the axis of the second rotating rod 101303. This is so that the movement of the second adjusting rod 1014 can be driven through the intermediate connecting rod 101402.

[0034] The robotic arm mechanism is connected to the end of the long arm 1015. The robotic arm mechanism includes a first rotary motor 1016 connected to the end of the long arm 1015. The drive end of the first rotary motor 1016 is connected to the robotic arm 1017. A second rotary motor 1018 is provided at the end of the robotic arm 1017. The drive end of the second rotary motor 1018 is connected to a drill motor 1019. The drive end of the drill motor 1019 is connected to a drill bit 1020.

[0035] The working principle of this device is as follows:

[0036] In this device, the rotation of the rotating shaft can drive the rotation of the upper robotic arm mechanism, thereby enabling the upper robotic arm to perform 360° wide-range work.

[0037] Simultaneously, the movement of the motor-driven lead screw can drive the first slide plate to slide. During the sliding process, the first slide plate will drive one end of the middle connecting rod to move, which in turn will drive the other end of the middle connecting rod to swing the second adjusting rod. When the second adjusting rod swings, it will drive the second slide plate to move through the second rotating rod, thus realizing the synchronous swing of the first and second adjusting rods. This will drive the upper long arm to adjust up and down, further increasing the working range of the robotic arm.

[0038] The robotic arm of this device can rotate at two angles, enabling multi-angle processing.

[0039] This device has the following advantages:

[0040] This device can drive the swing and rotation of the long arm through the base mechanism, and the robotic arm can achieve rotation at two angles, thus enabling processing over a wide range of angles.

[0041] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A large-range mobile robotic arm device, comprising a base mechanism and a robotic arm mechanism disposed on the base mechanism, characterized in that: The base mechanism includes a base (100), a rotatable mounting platform (102) on the base (100), a mounting frame on the mounting platform (102), a first sliding plate (1010) slidably mounted on the mounting frame, and a driving mechanism for driving the first sliding plate (1010) to slide. The first slide plate (1010) is provided with a set of first mounting seats (10102), and one end of the first adjusting rod (1011) is connected to the first mounting seat (10102) through the first rotating rod (10103); The rear of the mounting frame is also connected to a rear fixing plate (1012), and a second sliding plate (1013) is slidably connected to the rear fixing plate (1012). A second mounting seat (101302) is provided on the side of the second sliding plate (1013) facing the mounting frame. A second adjusting rod (1014) is connected to the second mounting seat (101302) through a second rotating rod (101303). One end of an intermediate connecting rod (101402) is also connected to the first rotating rod (10103), and the other end of the intermediate connecting rod (101402) is connected to the third rotating rod (101401) provided on the second adjusting rod (1014); The ends of the first adjusting rod (1011) and the second adjusting rod (1014) are both rotatably connected to the long arm rod (1015); The robotic arm mechanism is connected to the end of the long arm (1015).

2. The large-range mobile robotic arm device according to claim 1, characterized in that: The base (100) is equipped with a rotary motor, the drive end of which is connected to a rotating shaft (103), the rotating shaft (103) is connected to a rotating disk (101), and the mounting platform (102) is connected to the rotating disk (101).

3. The large-range mobile robotic arm device according to claim 1, characterized in that: The mounting frame includes a plurality of side plates (104) connected to the mounting platform (102), and a set of first connecting plates (105) arranged parallel to each other on the top of the side plates (104), with a second connecting plate (106) connected to one end of the first connecting plate (105).

4. The large-range mobile robotic arm device according to claim 3, characterized in that: The driving mechanism includes a motor (107) disposed at the lower part of the second connecting plate (106), a lead screw (109) rotatably connected to the upper part of the second connecting plate (106), a driven wheel (10901) disposed at the end of the lead screw (109), a belt (108) connecting the driven wheel (10901) and the drive wheel of the motor (107), a first slide rail (1051) disposed on the first connecting plate (105), a first slider (10101) slidably connected on the first slide rail (1051), and the first slider (10101) connected to the first slide plate (1010).

5. The large-range mobile robotic arm device according to claim 3, characterized in that: The rear part of the side plate (104) is connected to a rear fixing plate (1012), and a second slide rail (101201) is connected to the rear fixing plate (1012). A second slider (101301) is slidably connected to the second slide rail (101201), and the second slider (101301) is connected to the second slide plate (1013).

6. The large-range mobile robotic arm device according to claim 1, characterized in that: The third rotating rod (101401) is higher than the axis of the first rotating rod (10103), and the axis of the first rotating rod (10103) is higher than the axis of the second rotating rod (101303).

7. The large-range mobile robotic arm device according to claim 1, characterized in that: The robotic arm mechanism includes a first rotary motor (1016) connected to the end of the long arm (1015), the drive end of the first rotary motor (1016) being connected to the robotic arm (1017), the end of the robotic arm (1017) being provided with a second rotary motor (1018), the drive end of the second rotary motor (1018) being connected to a drill motor (1019), and the drive end of the drill motor (1019) being connected to a drill bit (1020).