Heavy-load easy-to-maintain folding mechanical leg motion platform

Abstract

The utility model discloses a heavy-load easy-to-maintain folding mechanical leg motion platform, which relates to the technical field of mechanical legs and comprises a base, a mounting seat is fixedly arranged on the upper surface of the base, a lower arm rod is rotatably arranged on the upper side of the mounting seat, and an upper arm rod is rotatably arranged at one end, far away from the mounting seat, of the lower arm rod. A first RV speed reducer is rotationally arranged in the end, away from the lower arm rod, of the upper arm rod, a first servo motor is fixedly installed in the middle end of the upper arm rod, and the first servo motor and the first RV speed reducer are in transmission through a transmission mechanism. According to the utility model, the total length of the servo motor and the RV speed reducer is shortened by customizing the servo motor and the RV speed reducer, and during installation, the installation position of the servo motor which is easy to damage faces upwards, so that installation and subsequent maintenance of the servo motor are facilitated; and meanwhile, the output RV speed reducer on the upper arm rod is driven through the synchronous belt, and by adopting the transmission mode, the overall height can be further reduced while the later maintenance can be ensured to be easy.

Description

Technical Field

[0001] This utility model relates to the field of mechanical leg technology, specifically to a folding mechanical leg motion platform with high load capacity and easy maintenance. Background Technology

[0002] With the development of modern industrial technology, SCARA robots are being used more and more widely. However, SCARA robots are mainly used in applications with small loads, especially in the 3C industry. The fundamental reason for this is that the load at the end of the SCARA robot is relatively small. Therefore, the market demand for SCARA-like robots or robotic leg platforms with large loads is increasing.

[0003] Mechanical devices generally have a certain weight. By fixing the mechanical device to a motion system platform (folding mechanical leg platform), it can achieve a specific job by reaching a specific position in the plane.

[0004] Traditional high-load folding mechanical leg motion platforms are tall and heavy, with low effective workload, thus occupying a lot of space. Moreover, they are inconvenient to maintain and repair in case of failure, which increases maintenance and repair costs. Utility Model Content

[0005] In view of the problems existing in the current high-load folding mechanical leg motion platform, this utility model is proposed.

[0006] Therefore, the purpose of this utility model is to provide a high-load, easy-to-maintain folding mechanical leg motion platform, which solves the problems of existing high-load folding mechanical leg motion platforms having a high height and a large non-effective working load of the mechanical legs during use, thus occupying a lot of space and resulting in a low effective working load. Moreover, it is inconvenient to maintain and repair them when a failure occurs, thus increasing the cost of maintenance and repair.

[0007] To achieve the above objectives, this utility model provides the following technical solution:

[0008] A high-load, easy-to-maintain folding mechanical leg motion platform includes a base. A mounting seat is fixedly mounted on the upper surface of the base. A lower arm is rotatably mounted on the upper side of the mounting seat. An upper arm is rotatably mounted on the end of the lower arm away from the mounting seat. A mounting port is provided in the middle of the upper arm for mounting a first servo motor. A first RV reducer is internally located at the end of the upper arm away from the lower arm. A load transfer flange is fixedly mounted on the output end of the first RV reducer. A transmission mechanism for driving the first RV reducer is internally located within the upper arm. The upper arm has a first mounting groove at one end near the lower arm, and a second RV reducer is installed inside the first mounting groove. A second servo motor is installed on the upper side of the second RV reducer, and the output end of the second servo motor is fixedly connected to the input end of the second RV reducer. The lower arm has a second mounting groove on the upper side away from the upper arm, and a third RV reducer is installed inside the second mounting groove. A third servo motor is installed on the upper side of the third RV reducer, and the output end of the third servo motor is fixedly connected to the input end of the third RV reducer.

[0009] Preferably, the transmission mechanism includes a synchronous belt and synchronous pulleys, with the two synchronous pulleys respectively fixedly sleeved on the output end of the first servo motor and the input end of the first RV reducer, and the synchronous belt being tensioned and sleeved on the outer wall of the two synchronous pulleys.

[0010] Preferably, both the first mounting groove and the second mounting groove have a beveled surface on one side.

[0011] Preferably, the first servo motor, the second servo motor, the third servo motor, the first RV reducer, the second RV reducer, and the third RV reducer are all installed and fixed with bolts to their corresponding mounting positions.

[0012] Preferably, a motor mounting plate is fixedly installed inside the upper arm, and the first servo motor is fixedly installed on the upper arm through the motor mounting plate.

[0013] Preferably, an inspection port is provided on the lower side of the upper arm.

[0014] Preferably, a maintenance cover is fixedly installed on the lower side of the inspection port.

[0015] Preferably, the motor mounting plate is mounted on the mounting opening on the upper surface of the upper arm through two protruding ears at the top, and the bottom of the motor mounting plate has a through hole through which the output end of the first servo motor passes.

[0016] Preferably, the upper arm and the lower arm are hollow structures.

[0017] Preferably, the upper arm and the lower arm have rounded ends and a tapered shape with a middle width smaller than the widths at both ends.

[0018] The technical effects and advantages provided by this utility model in the above technical solution are as follows:

[0019] 1. This utility model uses an RV reducer, with the servo motor output shaft directly serving as the input shaft of the RV reducer, which greatly reduces the overall height of the servo motor and RV reducer. At the same time, during installation, the servo motor is installed from top to bottom, so when any key servo motors are damaged, they can be directly replaced from top to bottom.

[0020] 2. This utility model connects the mechanical leg to the base and designs a universal load transfer flange to form a motion platform. Through the connection interface, it can meet different requirements.

[0021] 3. This utility model, by installing the servo motor in the middle of the upper arm, can effectively reduce the load at the end of the upper arm, improve the stability of the upper arm operation, and effectively improve its effective working load capacity. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this utility model. For those skilled in the art, other drawings can be obtained based on these drawings.

[0023] Figure 1 This is a front view of the high-load, easy-to-maintain folding mechanical leg motion platform proposed in this utility model.

[0024] Figure 2 This is a perspective view of the high-load, easy-to-maintain folding mechanical leg motion platform proposed in this utility model.

[0025] Figure 3 for Figure 2 A stereoscopic view from another perspective;

[0026] Figure 4 for Figure 2 A top-view structural diagram;

[0027] Figure 5 This is an image showing the mechanical leg retracting.

[0028] Figure 6 for Figure 1 Internal structure diagram;

[0029] Figure 7 This is a schematic diagram of the inner wall structure of the upper arm.

[0030] Figure 8 This is a structural diagram for motor replacement and maintenance.

[0031] Figure 9 This is a schematic diagram of the mounting structure of the first servo motor, motor mounting plate, and synchronous pulley in this utility model.

[0032] Explanation of reference numerals in the attached figures:

[0033] 1. Load transfer flange; 2. First servo motor; 3. Upper boom; 4. Second servo motor; 5. Lower boom; 6. Third servo motor; 7. Second RV reducer; 8. Third RV reducer; 9. Base; 10. Synchronous belt; 11. Synchronous pulley; 12. Maintenance cover plate; 13. Motor mounting plate; 14. First RV reducer; 15. Mounting seat. Detailed Implementation

[0034] To enable those skilled in the art to better understand the technical solution of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings.

[0035] This utility model discloses a high-load, easy-to-maintain folding mechanical leg motion platform.

[0036] Reference Figure 1-9 A high-load, easy-to-maintain folding mechanical leg motion platform includes a base 9. A mounting seat 15 is fixedly mounted on the upper surface of the base 9. A lower arm 5 is rotatably mounted on the upper side of the mounting seat 15. An upper arm 3 is rotatably mounted on the end of the lower arm 5 away from the mounting seat. Both the upper arm 3 and the lower arm 5 have a hollow structure design, and the two arms have a waist-tight structure design, that is, the width of the middle of the arm is slightly smaller than the width of its two ends, and a round-head structure design. This structural design can save space, reduce weight, and is more aesthetically pleasing. An installation port is provided in the middle of the upper side of the upper arm 3 for installing the first servo motor 2. A first RV reducer 14 is fixedly installed inside the upper arm 3 at the end away from the lower arm 5. A load transfer flange 1 is fixedly installed at the output end of the first RV reducer 14. A first mounting groove is provided on the upper side of the upper arm 3 near the lower arm 5. A second RV reducer 7 is fixedly installed inside the first mounting groove. A second servo motor 4 is fixedly installed on the upper side of the second RV reducer 7. The output end of the second servo motor 4 is fixedly connected to the input end of the second RV reducer 7. A second mounting groove is provided on the upper side of the lower arm 5 at the end away from the upper arm 3. A third RV reducer 8 is fixedly installed inside the second mounting groove. A third servo motor 6 is fixedly installed on the upper side of the third RV reducer 8. The output end of the third servo motor 6 is fixedly connected to the input end of the third RV reducer 8. Both the first and second mounting grooves have inclined surfaces on one side to facilitate the installation of the servo motors and to reduce the weight of the upper and lower arms themselves.

[0037] The third servo motor 6 and the third RV reducer 8 are installed in the second mounting slot. The lower arm 5 is rotatably connected to the mounting base 15 through the third RV reducer 8 installed in the second mounting slot. The second servo motor 4 and the second RV reducer 7 are installed in the first mounting slot. The upper arm 3 and the lower arm 5 are rotatably connected through the second RV reducer 7 installed in the first mounting slot.

[0038] The third servo motor 6 and the third RV reducer 8 are used to achieve the relative rotation of the lower arm 5 relative to the mounting base 15. The second servo motor 4 and the second RV reducer 7 are used to achieve the relative rotation of the upper arm 3 and the lower arm 5. The first servo motor 2 and the first RV reducer 14 are used to achieve the relative rotation of the upper arm 3 and the load transfer flange 1.

[0039] Reference Figure 1-9 The upper arm 3 has an internal transmission mechanism that drives the first RV reducer 14 to rotate. The transmission mechanism includes a synchronous belt 10 and synchronous pulleys 11. The two synchronous pulleys 11 are respectively fixedly sleeved on the output end of the first servo motor 2 and the input end of the first RV reducer 14. The synchronous belt 10 is tensioned and sleeved on the outer wall of the two synchronous pulleys 11. The transmission mechanism can also use a chain and sprockets. The chain drive is sleeved on the outer wall of the two sprockets, and the two sprockets are respectively fixedly sleeved on the corresponding output end of the first servo motor 2 and the input end of the first RV reducer 14.

[0040] Reference Figure 1-9 The first servo motor 2, the second servo motor 4, the third servo motor 6, the first RV reducer 14, the second RV reducer 7, and the third RV reducer 8 are all installed and fixed with bolts to their corresponding mounting positions. That is, bolt mounting positions are provided at the corresponding mounting slots and mounting openings of the mounting base and the upper and lower arms for bolt mounting and fixing to the corresponding servo motors or RV reducers.

[0041] Reference Figure 1-9 A motor mounting plate 13 is fixedly installed inside the upper arm 3. The first servo motor 2 is fixedly installed on the upper side of the upper arm 3 through the motor mounting plate 13. The motor mounting plate 13 is installed at the mounting port on the upper surface of the upper arm 3 through two protruding ears. The bottom of the motor mounting plate has a through hole through which the output shaft of the first servo motor 2 passes. An inspection port is provided on the lower side of the upper arm 3 to facilitate the inspection of the internal parts of the upper arm 3. The inspection port on the lower side of the upper arm 3 is arranged opposite to the mounting port on the upper side. A maintenance cover plate 12 is fixedly installed on the lower side of the inspection port to protect the internal parts of the inspection port.

[0042] Reference Figure 5In conjunction with the above, this folding robotic leg motion platform achieves a rotatable connection between the upper and lower arms and the mounting base through a rotating mechanism composed of a servo motor and an RV reducer. This enables the upper and lower arms of the robotic leg to rotate relative to the mounting base at any angle within a plane. Therefore, this platform is easy to store, saves installation space, and facilitates multi-station movement for load transfer.

[0043] In this invention, by installing the servo motor of the upper arm in the middle and driving the load transfer flange to rotate through the transmission mechanism, the end load of the upper arm can be reduced. This improves the operational stability of the upper arm and effectively increases its effective working load capacity. During use, because the reducer uses an RV reducer, the output shaft of the servo motor directly serves as the input shaft of the RV reducer, significantly reducing the overall height of the servo motor and RV reducer. Furthermore, during installation, the servo motor is installed from top to bottom, allowing for direct replacement of any damaged servo motors from top to bottom. The mechanical legs connect to the base, and a universal load transfer flange is designed to form a motion platform. Through connection interfaces, different requirements can be met.

[0044] The foregoing description only illustrates certain exemplary embodiments of the present invention. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A high-load, easy-to-maintain folding mechanical leg motion platform, comprising a base (9), characterized in that, A mounting base (15) is fixedly provided on the upper surface of the base (9). A lower arm (5) is rotatably provided on the upper side of the mounting base (15). An upper arm (3) is rotatably provided at the end of the lower arm (5) away from the mounting base (15). An installation port is provided in the middle of the upper arm (3) for installing a first servo motor (2). A first RV reducer (14) is provided inside the end of the upper arm (3) away from the lower arm (5). A load adapter flange (1) is fixedly installed at the output end of the first RV reducer (14). A transmission mechanism for driving the first RV reducer (14) to rotate is provided inside the upper arm (3). A first mounting groove is provided at one end of the lower arm (5), and a second RV reducer (7) is provided inside the first mounting groove. A second servo motor (4) is provided on the upper side of the second RV reducer (7). The output end of the second servo motor (4) is fixedly connected to the input end of the second RV reducer (7). A second mounting groove is provided on the upper side of the lower arm (5) away from the upper arm (3), and a third RV reducer (8) is provided inside the second mounting groove. A third servo motor (6) is provided on the upper side of the third RV reducer (8). The output end of the third servo motor (6) is fixedly connected to the input end of the third RV reducer (8).

2. The high-load, easy-to-maintain folding mechanical leg motion platform according to claim 1, characterized in that, The transmission mechanism includes a synchronous belt (10) and synchronous pulleys (11). The two synchronous pulleys (11) are respectively fixedly sleeved on the output end of the first servo motor (2) and the input end of the first RV reducer (14). The synchronous belt (10) is tensioned and sleeved on the outer wall of the two synchronous pulleys (11).

3. The high-load, easy-to-maintain folding mechanical leg motion platform according to claim 1, characterized in that, Both the first mounting groove and the second mounting groove have a beveled surface on one side.

4. The high-load, easy-to-maintain folding mechanical leg motion platform according to claim 1, characterized in that, The first servo motor (2), the second servo motor (4), the third servo motor (6), the first RV reducer (14), the second RV reducer (7), and the third RV reducer (8) are all installed and fixed with bolts to their corresponding mounting positions.

5. The high-load, easy-to-maintain folding mechanical leg motion platform according to claim 1, characterized in that, A motor mounting plate (13) is fixedly installed inside the upper arm (3), and the first servo motor (2) is fixedly installed on the upper arm (3) through the motor mounting plate (13).

6. The high-load, easy-to-maintain folding mechanical leg motion platform according to claim 1, characterized in that, The upper arm (3) has an inspection port on its lower side.

7. The high-load, easy-to-maintain folding mechanical leg motion platform according to claim 6, characterized in that, A maintenance cover plate (12) is fixedly installed on the lower side of the inspection port.

8. The high-load, easy-to-maintain folding mechanical leg motion platform according to claim 5, characterized in that, The motor mounting plate (13) is mounted on the mounting port on the upper surface of the upper arm (3) by two protruding ears. The bottom of the motor mounting plate (13) has a through hole through which the output end of the first servo motor (2) passes.

9. The high-load, easy-to-maintain folding mechanical leg motion platform according to claim 1, characterized in that, The upper arm (3) and the lower arm (5) are hollow structures.

10. The high-load, easy-to-maintain folding mechanical leg motion platform according to claim 1, characterized in that, The upper arm (3) and the lower arm (5) have rounded ends and a tapered structure with a middle width smaller than the width at both ends.

Images