Mechanical arm joint mechanism

Abstract

The utility model discloses a mechanical arm joint mechanism, which comprises a first mechanical arm and a second mechanical arm, and is characterized in that the end part of the first mechanical arm and the end part of the second mechanical arm are respectively provided with a mounting sheet, the mounting sheets are detachably connected with a motor cover, a servo motor is arranged in the motor cover, and the servo motor is connected with the motor cover. An output shaft of the servo motor is fixedly connected with the centers of the connecting blocks, the two connecting blocks are connected through a hinge assembly, the hinge assembly comprises a first hinge piece and a second hinge piece which are fixedly connected with the two connecting blocks respectively, and the first hinge piece and the second hinge piece are rotationally connected through a rotating shaft. Wherein supporting frames are arranged on the two sides of the first hinge piece respectively, electric push rods are arranged in the supporting frames, the working ends of the electric push rods are connected with racks connected into the supporting frames in a sliding mode, gears are fixedly arranged on the two sides of the second hinge piece respectively, and the gears are meshed with the racks.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm design and manufacturing, and in particular to a robotic arm joint mechanism. Background Technology

[0002] A robotic arm is a complex system characterized by high precision, multiple inputs and outputs, high nonlinearity, and strong coupling. Due to its flexible operation, safety, and high efficiency, it has been widely used in industrial assembly, safety and explosion-proof applications, and other fields.

[0003] During the operation of a robotic arm, control is typically achieved through its joint components, enabling the displacement of the manipulator or tool mounted at the end of the arm in space. However, due to limitations in the joint structure, existing robotic arms are generally limited to a small range of adjustments, offering relatively few degrees of freedom of movement. This results in their inability to perform certain complex actions, leading to relatively poor overall adaptability and an inability to meet demanding and complex machining conditions. Therefore, a method or device is needed to solve these problems. Summary of the Invention

[0004] The present invention addresses the aforementioned shortcomings of the existing technology by proposing a robotic arm joint mechanism that is simple in structure, ingenious in design, has a higher degree of freedom, and allows the robotic arm to perform more complex movements.

[0005] The technical solution of this utility model is: a robotic arm joint mechanism, including a first robotic arm 1 and a second robotic arm 2, characterized in that: each end of the first robotic arm 1 and the second robotic arm 2 is provided with a mounting plate 3, a motor cover 4 is detachably connected to the mounting plate 3, a servo motor 5 is provided inside the motor cover 4, the output shaft of the servo motor 5 is fixedly connected to the center of a connecting block 6, and the two connecting blocks 6 are connected to each other by a hinge assembly.

[0006] The hinge assembly includes a first hinge 7 and a second hinge 8, which are fixedly connected to two connecting blocks 6 respectively. The first hinge 7 and the second hinge 8 are rotatably connected by a pivot. The first hinge 7 has a support frame 9 on both sides. An electric push rod 10 is provided in the support frame 9. The working end of the electric push rod 10 is connected to a rack 11 that is slidably connected in the support frame 9. Gears 12 are fixedly provided on both sides of the second hinge 8. The gears 12 mesh with the rack 11.

[0007] The bottom of the rack 11 is provided with a limiting block 13, which is movably connected in a limiting groove 14 opened on the bottom surface of the support frame 9.

[0008] The mounting plate 3 is provided with a plurality of connecting holes 15 evenly distributed in the circumferential direction. The mounting plate 3 is fixedly connected to the first robotic arm 1 or the second robotic arm 2 by bolts passing through the connecting holes 15.

[0009] The connecting block 6 is provided with a plurality of reinforcing ribs 16 evenly distributed in the circumferential direction. One end of the reinforcing rib 16 is fixedly connected to the connecting block 6, and the other end is connected to the output shaft of the servo motor 5.

[0010] The surface of the motor cover 4 has multiple through holes 17.

[0011] Compared with the prior art, this utility model has the following advantages:

[0012] This type of robotic arm joint mechanism is simple in structure, ingenious in design, and rationally laid out. Addressing the limitations of traditional robotic arm joints, which suffer from relatively small range of motion and limited degrees of freedom, it employs a unique structure. Its core component is a hinge assembly. Two hinged parts within this assembly can rotate relative to the two robotic arms, and simultaneously oscillate relative to each other. The combination of these three actions allows the manipulator or other actuators attached to the end effector of the robotic arm to perform extremely complex composite movements in space to meet operational requirements. Furthermore, its manufacturing process is simple and inexpensive. Therefore, this joint mechanism possesses numerous advantages, making it particularly suitable for widespread application in this field, and its market prospects are very broad. Attached Figure Description

[0013] Figure 1 This is a three-dimensional structural schematic diagram of an embodiment of the present utility model.

[0014] Figure 2 This is a structural schematic diagram of the hinge component in an embodiment of this utility model (direction one).

[0015] Figure 3 This is a structural schematic diagram of the hinge component in an embodiment of this utility model (direction two).

[0016] Figure 4 This is a cross-sectional view of the hinge assembly in an embodiment of this utility model. Detailed Implementation

[0017] The specific embodiments of this utility model will be described below with reference to the accompanying drawings. Figures 1 to 4As shown: A robotic arm joint mechanism includes a first robotic arm 1 and a second robotic arm 2. Each end of the first robotic arm 1 and the second robotic arm 2 is provided with a mounting plate 3. A motor cover 4 is detachably connected to the mounting plate 3. A servo motor 5 is disposed inside the motor cover 4. The output shaft of the servo motor 5 is fixedly connected to the center of a connecting block 6. The two connecting blocks 6 are connected to each other via a hinge assembly.

[0018] The hinge assembly includes a first hinge 7 and a second hinge 8, which are fixedly connected to two connecting blocks 6 respectively. The first hinge 7 and the second hinge 8 are rotatably connected by a pivot. The first hinge 7 has a support frame 9 on both sides. An electric push rod 10 is provided in the support frame 9. The working end of the electric push rod 10 is connected to a rack 11 that is slidably connected in the support frame 9. Gears 12 are fixedly provided on both sides of the second hinge 8. The gears 12 mesh with the rack 11.

[0019] The bottom of the rack 11 is provided with a limiting block 13, which is movably connected in a limiting groove 14 opened on the bottom surface of the support frame 9.

[0020] The mounting plate 3 is provided with a plurality of connecting holes 15 evenly distributed in the circumferential direction. The mounting plate 3 is fixedly connected to the first robotic arm 1 or the second robotic arm 2 by bolts passing through the connecting holes 15.

[0021] The connecting block 6 is provided with a plurality of reinforcing ribs 16 evenly distributed in the circumferential direction. One end of the reinforcing rib 16 is fixedly connected to the connecting block 6, and the other end is connected to the output shaft of the servo motor 5. These reinforcing ribs 16 can improve the overall connection strength between the output shaft of the servo motor 5 and the connecting block 6, and enhance the overall load-bearing capacity of the mechanism.

[0022] The surface of the motor cover 4 has multiple through holes 17, which is beneficial for heat dissipation when the servo motor 5 is working.

[0023] The working process of the robotic arm joint mechanism in this embodiment of the utility model is as follows: In use, the end of the first robotic arm 1 away from the second robotic arm 2 is connected to the base, and a gripper, robotic hand or other actuator is connected to the free end of the second robotic arm 2.

[0024] The control system coordinates the two servo motors 5 and the two electric push rods 10 in this mechanism. When the servo motor 5 located at the end of the first robotic arm 1 works, it will drive the second robotic arm 2 as a whole to rotate around the central axis of the first robotic arm 1. When the servo motor 5 located at the end of the second robotic arm 2 works, it will drive the second robotic arm 2 itself (i.e. drive the actuator) to rotate around the central axis of the second robotic arm 2.

[0025] When the two electric push rods 10 move, they will drive the two racks 11 to move synchronously, which in turn drives the gear 12 meshing with them to rotate. Since the gear 12 is fixedly connected to the second hinge 8, the rotation of the gear 12 will cause the second hinge 8 to swing relative to the first hinge 7, that is, change the angle between the first robotic arm 1 and the second robotic arm 2.

[0026] In other words, this joint mechanism can drive the actuator to perform three types of movements relative to the base: rotation about the central axis of the first robotic arm 1, rotation about the central axis of the second robotic arm 2, and swinging relative to the first robotic arm 1. The combination of these three movements allows the actuator to perform complex movements in space.

[0027] When the rack 11 moves relative to the support frame 9, the limiting block 13 at its bottom slides in the limiting groove 14. The length of the limiting groove 14 is the maximum stroke of the rack 11. This structure can limit the rack 11. The swing angle range of the first robotic arm 1 and the second robotic arm 2 can be changed by setting different lengths of the limiting groove 14.

Claims

1. A robot joint mechanism comprising a first robot arm (1) and a second robot arm (2), characterized in that: The end of the first mechanical arm (1) and the second mechanical arm (2) is provided with a mounting sheet (3), the mounting sheet (3) is detachably connected with a motor cover (4), the motor cover (4) is provided with a servo motor (5), the output shaft of the servo motor (5) is fixedly connected with the center of a connecting block (6), two connecting blocks (6) are connected with each other through a hinge assembly, The hinge assembly comprises a first hinge piece (7) and a second hinge piece (8) fixedly connected with the two connecting blocks (6), and the first hinge piece (7) and the second hinge piece (8) are rotatably connected through an axis, wherein the two sides of the first hinge piece (7) are provided with a support frame (9), the support frame (9) is provided with an electric push rod (10), the working end of the electric push rod (10) is connected with a rack (11) slidably connected in the support frame (9), and the two sides of the second hinge piece (8) are fixedly provided with a gear (12), the gear (12) is meshed with the rack (11).

2. The mechanism according to claim 1, characterized in that: The bottom of the rack (11) is provided with a limiting block (13), and the limiting block (13) is movably connected in a limiting groove (14) opened on the bottom surface of the support frame (9).

3. The mechanism according to claim 1, characterized in that: A plurality of connecting holes (15) uniformly distributed in the circumferential direction are arranged on the mounting sheet (3), and the mounting sheet (3) is fixedly connected with the first mechanical arm (1) or the second mechanical arm (2) through bolts threaded in the connecting holes (15).

4. The mechanism according to claim 1, characterized in that: A plurality of reinforcing ribs (16) uniformly distributed in the circumferential direction are arranged on the connecting block (6), one end of the reinforcing rib (16) is fixedly connected with the connecting block (6), and the other end is connected with the output shaft of the servo motor (5).

5. The mechanism according to claim 1, characterized in that: A plurality of through holes (17) are arranged on the surface of the motor cover (4).

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