Mechanical arm device

Abstract

The utility model relates to the technical field of mechanical arms, in particular to a mechanical arm device which comprises a base, a steering seat, a first support arm, a second support arm and a steering connecting mechanism, a first driving mechanism is arranged on the steering seat, the steering seat is rotatably arranged on the base, and the first driving mechanism is used for driving the steering seat to rotate relative to the base. A portal frame is arranged on the steering seat, a second driving mechanism is arranged between the other end of the first support arm and one end of the second support arm, and a steering connecting mechanism is arranged at the other end of the second support arm; the steering connecting mechanism comprises a connecting frame, a steering bracket, a third driving mechanism, a fourth driving mechanism and a mounting bracket; and a fifth driving mechanism is arranged on the steering seat. Multidirectional movement and steering are achieved, using flexibility and convenience are improved, the second supporting arm can be stacked after rotating relative to the first supporting arm, occupied space is reduced, and the structure is compact.

Description

Technical Field

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

[0002] With the development of industrial automation, robotic arms, as one of the key devices for achieving automated operations, are finding increasingly wider applications. Traditional robotic arm devices have limitations in flexibility, space occupation, and multi-directional movement and turning capabilities, which restricts their application in some complex environments. For example, in confined spaces or situations requiring high-precision positioning, traditional robotic arms may not meet the needs. Furthermore, when robotic arms need to make large-angle adjustments, traditional designs may lead to structural instability or uneven movement. Therefore, there is a growing demand for new robotic arm devices that can improve usability, reduce space occupation, and have a compact structure. Summary of the Invention

[0003] This utility model addresses the problems of the prior art by providing a robotic arm device that enables multi-directional movement and turning, improving the flexibility and convenience of use. Furthermore, the second arm can be rotated relative to the first arm and stacked in a layered arrangement, reducing space occupation and resulting in a compact structure.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0005] This utility model provides a robotic arm device, comprising a base, a steering seat, a first arm, a second arm, and a steering connection mechanism. A first drive mechanism is mounted on the steering seat, which is rotatably mounted on the base. The first drive mechanism drives the steering seat to rotate relative to the base. A gantry frame is mounted on the steering seat. One end of the first arm is rotatably connected to the upper end of the gantry frame, and the other end of the first arm is rotatably connected to one end of the second arm. A second drive mechanism is mounted between the other end of the first arm and one end of the second arm, driving the second arm to rotate. The steering connection mechanism is mounted on the other end of the second arm. The steering connection mechanism includes a connecting frame, a steering bracket, a third drive mechanism mounted on the connecting frame, a fourth drive mechanism mounted on the steering bracket, and a mounting bracket connected to the fourth drive mechanism. The steering bracket is rotatably connected to the connecting frame. The third drive mechanism drives the steering bracket to swing, and the fourth drive mechanism drives the mounting bracket to rotate. A fifth drive mechanism is mounted on the steering seat, driving the first arm to rotate.

[0006] A fixed guide gear is fixedly connected to the base. The first drive mechanism includes a first drive motor and a first drive gear. The output end of the first drive motor is driven by the first drive gear. The first drive gear is meshed with the fixed guide gear. The first drive gear is located on one side of the outer circumference of the fixed guide gear. The fixed guide gear and the steering seat are coaxially arranged on the base.

[0007] The second drive mechanism includes a second drive motor, the other end of the first support arm is equipped with a support frame, the second drive motor is mounted on the support frame, one end of the second support arm is rotatably connected to the support frame, and the output end of the second drive motor is drivenly connected to one end of the second support arm.

[0008] The third drive mechanism includes a third drive motor, a second drive gear, and a swing gear section. The swing gear section is mounted on one side of the steering bracket and is rotatably connected to the connecting frame. The second drive gear meshes with the swing gear section for transmission. The third drive motor is mounted on the connecting frame, and the output end of the third drive motor is connected to the second drive gear.

[0009] The fourth drive mechanism includes a fourth drive motor, which drives the mounting bracket to rotate. The mounting bracket has multiple mounting holes.

[0010] The steering seat is provided with a reinforcing support rod, and the two ends of the reinforcing support rod are respectively connected to the steering seat and the gantry frame.

[0011] The fifth drive mechanism includes a hydraulic push rod, the rear end of which is rotatably mounted on the steering seat, and the output rod of which is rotatably connected to the first support arm.

[0012] The beneficial effects of this utility model are:

[0013] The base of this utility model is mounted on an external frame or equipment. The first drive mechanism can drive the steering seat to rotate relative to the base, synchronously driving the first arm, the second arm, and the steering connection structure to rotate. When the first arm needs to rotate, the fifth drive mechanism drives the first arm to rotate relative to the gantry, synchronously driving the second arm and the steering connection structure to move. When the second arm needs to rotate, the second drive mechanism drives the second arm to rotate, synchronously driving the steering connection mechanism to move. When the steering connection mechanism is in operation, the third drive mechanism can drive the steering bracket to rotate relative to the connecting frame, and the mounting bracket is used to connect with external devices or tools. The fourth drive mechanism can drive the mounting bracket to rotate. With the above configuration, this utility model realizes multi-directional movement and steering, improving the flexibility and convenience of use. Moreover, the second arm can be stacked after rotating relative to the first arm, reducing the space occupied and making the structure compact. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of a robotic arm device according to the present invention.

[0015] Figure 2 This is a schematic diagram of the internal structure of a robotic arm device according to the present invention.

[0016] Figure 3 for Figure 2 A schematic diagram showing the first and second arms in a relatively open state.

[0017] Figure 4 This is a schematic diagram of the steering connection mechanism of this utility model.

[0018] exist Figures 1 to 4 The reference numerals in the figures include:

[0019] 1. Base; 2. Steering seat; 3. First support arm; 4. Second support arm; 5. Steering connection mechanism; 6. Gantry frame; 7. Connecting frame; 8. Steering bracket; 9. Mounting bracket; 10. Fixed guide gear; 11. First drive motor; 12. First drive gear; 13. Second drive motor; 14. Support frame; 15. Third drive motor; 16. Second drive gear; 17. Swing gear section; 18. Fourth drive motor; 19. Mounting hole; 20. Reinforcing support rod; 21. Hydraulic push rod. Detailed Implementation

[0020] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to embodiments and accompanying drawings. The content mentioned in the embodiments is not intended to limit the present invention. The present invention will be described in detail below with reference to the accompanying drawings.

[0021] like Figures 1 to 4The illustrated robotic arm device includes a base 1, a steering seat 2, a first support arm 3, a second support arm 4, and a steering connection mechanism 5. A first drive mechanism is mounted on the steering seat 2, which is rotatably mounted on the base 1. The first drive mechanism drives the steering seat 2 to rotate relative to the base 1. A gantry frame 6 is mounted on the steering seat 2. One end of the first support arm 3 is rotatably connected to the upper end of the gantry frame 6, and the other end of the first support arm 3 is rotatably connected to one end of the second support arm 4. A second drive mechanism is mounted between the other end of the first support arm 3 and one end of the second support arm 4. The steering connection mechanism 5 is used to drive the second support arm 4 to rotate and is installed at the other end of the second support arm 4. The steering connection mechanism 5 includes a connecting frame 7, a steering bracket 8, a third drive mechanism installed on the connecting frame 7, a fourth drive mechanism installed on the steering bracket 8, and a mounting bracket 9 connected to the fourth drive mechanism. The steering bracket 8 is rotatably connected to the connecting frame 7. The third drive mechanism is used to drive the steering bracket 8 to swing, and the fourth drive mechanism is used to drive the mounting bracket 9 to rotate. A fifth drive mechanism is installed on the steering seat 2 and is used to drive the first support arm 3 to rotate. Specifically, the base 1 of this utility model is mounted on an external frame or equipment. The first drive mechanism can drive the steering seat 2 to rotate relative to the base 1, simultaneously driving the first support arm 3, the second support arm 4, and the steering connection structure to rotate. When the first support arm 3 needs to rotate, the fifth drive mechanism drives the first support arm 3 to rotate relative to the gantry 6, simultaneously driving the second support arm 4 and the steering connection structure to move. When the second support arm 4 needs to rotate, the second drive mechanism drives the second support arm 4 to rotate, simultaneously driving the steering connection mechanism 5 to move. When the steering connection mechanism 5 is in operation, the third drive mechanism can drive the steering bracket 8 to rotate relative to the connecting frame 7, and the mounting bracket 9 is used to connect with external devices or tools. The fourth drive mechanism can drive the mounting bracket 9 to rotate. With the above configuration, this utility model achieves multi-directional movement and steering, improving the flexibility and convenience of use. Moreover, the second support arm 4 can be stacked after rotating relative to the first support arm 3, reducing space occupation and making the structure compact.

[0022] In this embodiment, a fixed guide gear 10 is fixedly connected to the base 1. The first drive mechanism includes a first drive motor 11 and a first drive gear 12. The output end of the first drive motor 11 is driven by the first drive gear 12. The first drive gear 12 meshes with the fixed guide gear 10. The first drive gear 12 is located on one side of the outer circumference of the fixed guide gear 10. The fixed guide gear 10 and the steering seat 2 are coaxially arranged on the base 1. Specifically, in order to realize the rotation of the steering seat 2, a fixed guide gear 10 is fixed on the base 1, and the first drive mechanism consists of the first drive motor 11 and the first drive gear 12. The output end of the motor is connected to the drive gear, and the drive gear meshes with the fixed guide gear 10 on the base 1. This design ensures the stable rotation of the steering seat 2. At the same time, due to the high efficiency and accuracy of gear transmission, the steering action is guaranteed to be smooth and precise. Through such a gear system, the robotic arm can complete a large-angle steering under a small torque, enhancing the system's response speed and control accuracy.

[0023] In this embodiment, the second drive mechanism includes a second drive motor 13. A support frame 14 is mounted on the other end of the first arm 3. The second drive motor 13 is mounted on the support frame 14, and one end of the second arm 4 is rotatably connected to the support frame 14. The output end of the second drive motor 13 is drivenly connected to one end of the second arm 4. Specifically, for the rotation of the second arm 4, the second drive mechanism includes a second drive motor 13, which is mounted on a support frame 14 located at the end of the first arm 3. The motor's output directly drives one end of the second arm 4, causing it to rotate relative to the first arm 3. This mechanism not only simplifies the power transmission path but also improves energy conversion efficiency and reduces unnecessary energy loss. Simultaneously, the direct drive method makes the movement of the second arm 4 faster and smoother, adapting to rapidly changing work requirements.

[0024] In this embodiment, the third drive mechanism includes a third drive motor 15, a second drive gear 16, and a swing gear 17. The swing gear 17 is mounted on one side of the steering bracket 8 and rotatably connected to the connecting frame 7. The second drive gear 16 is meshed with the swing gear 17 for transmission. The third drive motor 15 is mounted on the connecting frame 7, and the output end of the third drive motor 15 is connected to the second drive gear 16. The fourth drive mechanism includes a fourth drive motor 18, which drives the mounting bracket 9 to rotate. The mounting bracket 9 has multiple mounting holes 19. Specifically, the third drive mechanism controls the swing of the steering bracket 8. It includes a third drive motor 15, a second drive gear 16, and a swing gear 17. These components work together to enable the steering bracket 8 to swing at a predetermined angle on the connecting frame 7. Specifically, the third drive motor 15 drives the second drive gear 16, which in turn changes the angular position of the steering bracket 8 by meshing with the swing gear 17. This provides an additional degree of freedom, further enhancing the position adjustment capability of the robotic arm's end effector and supporting more complex tasks. The fourth drive mechanism is responsible for the rotation of the mounting bracket 9. Its core idea is to use the fourth drive motor 18 to directly drive the mounting bracket 9 to achieve precise positioning of tools or other loads. The multiple mounting holes 19 on the mounting bracket 9 allow for flexible configuration of different tools or accessories according to actual needs. This feature increases the versatility of the robotic arm's application scenarios, enabling it to handle everything from simple grasping to complex assembly operations.

[0025] In this embodiment, a reinforcing support rod 20 is provided on the steering seat 2, with both ends of the reinforcing support rod 20 connected to the steering seat 2 and the gantry 6, respectively. The fifth drive mechanism includes a hydraulic push rod 21, the rear end of which is rotatably mounted on the steering seat 2, and the output rod of the hydraulic push rod 21 is rotatably connected to the first support arm 3. Specifically, the reinforcing support rod 20 is provided to enhance the structural stability between the steering seat 2 and the gantry 6; this not only improves the rigidity of the overall structure but also ensures that the robotic arm maintains a good working condition even under heavy loads. A stable structure is crucial for maintaining the long-term operation of the robotic arm, helping to extend equipment life and reduce maintenance costs. Furthermore, the fifth drive mechanism uses the hydraulic push rod 21 to drive the first support arm 3 to rotate relative to the gantry 6. The hydraulic system is characterized by its ability to provide powerful driving force and precise position control, which is particularly important for tasks requiring heavy-load handling or delicate operations. In addition, hydraulic drive can achieve stepless speed regulation, making the movement of the first support arm 3 smoother and more controllable, improving work safety and reliability.

[0026] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Although the present utility model has been disclosed above with reference to a preferred embodiment, it is not intended to limit the present utility model. Any person skilled in the art can make some changes or modifications to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present utility model. Any simple modifications, equivalent changes, and modifications made to the above embodiments based on the present utility model without departing from the scope of the present utility model shall fall within the scope of the present utility model.

Claims

1. A robotic arm device, characterized in that: The system includes a base, a steering seat, a first support arm, a second support arm, and a steering connection mechanism. A first drive mechanism is mounted on the steering seat, which is rotatably mounted on the base. The first drive mechanism drives the steering seat to rotate relative to the base. A gantry frame is mounted on the steering seat. One end of the first support arm is rotatably connected to the upper end of the gantry frame, and the other end of the first support arm is rotatably connected to one end of the second support arm. A second drive mechanism is mounted between the other end of the first support arm and one end of the second support arm, driving the second support arm to rotate. The steering connection mechanism is mounted on the other end of the second support arm. The steering connection mechanism includes a connecting frame, a steering bracket, a third drive mechanism mounted on the connecting frame, a fourth drive mechanism mounted on the steering bracket, and a mounting bracket connected to the fourth drive mechanism. The steering bracket is rotatably connected to the connecting frame. The third drive mechanism drives the steering bracket to swing, and the fourth drive mechanism drives the mounting bracket to rotate. A fifth drive mechanism is mounted on the steering seat, driving the first support arm to rotate.

2. The robotic arm device according to claim 1, characterized in that: A fixed guide gear is fixedly connected to the base. The first drive mechanism includes a first drive motor and a first drive gear. The output end of the first drive motor is driven by the first drive gear. The first drive gear is meshed with the fixed guide gear. The first drive gear is located on one side of the outer circumference of the fixed guide gear. The fixed guide gear and the steering seat are coaxially arranged on the base.

3. The robotic arm device according to claim 1, characterized in that: The second drive mechanism includes a second drive motor, a support frame is mounted on the other end of the first support arm, the second drive motor is mounted on the support frame, one end of the second support arm is rotatably connected to the support frame, and the output end of the second drive motor is drivenly connected to one end of the second support arm.

4. The robotic arm device according to claim 1, characterized in that: The third drive mechanism includes a third drive motor, a second drive gear, and a swing gear section. The swing gear section is mounted on one side of the steering bracket and is rotatably connected to the connecting frame. The second drive gear meshes with the swing gear section for transmission. The third drive motor is mounted on the connecting frame, and the output end of the third drive motor is connected to the second drive gear.

5. A robotic arm device according to claim 1, characterized in that: The fourth drive mechanism includes a fourth drive motor, which is used to drive the mounting bracket to rotate. The mounting bracket is provided with multiple mounting holes.

6. The robotic arm device according to claim 1, characterized in that: The steering seat is provided with a reinforcing support rod, and the two ends of the reinforcing support rod are respectively connected to the steering seat and the gantry frame.

7. The robotic arm device according to claim 1, characterized in that: The fifth drive mechanism includes a hydraulic push rod, the rear end of which is rotatably mounted on the steering seat, and the output rod of the hydraulic push rod is rotatably connected to the first support arm.

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