Multi-rigidity transmission mechanical arm

Abstract

The utility model discloses a multi-rigidity transmission mechanical arm, and relates to the technical field of mechanical automation. Comprising a bottom plate, a first machine base, a first motor, a first lead screw, a first supporting plate, a vertical plate, a chain wheel, a chain, a driving seat, a sliding rail, a second lead screw, a sliding block, a mounting bottom plate, a mechanical arm body, a second machine base, a second motor, a rotating rod, an abutting block, a connecting frame, a bearing, a worm, an abutting groove, a worm wheel and a second supporting plate. The bottom plate serves as a basic supporting platform of the whole mechanical arm and is used for fixing and bearing other components. According to the multi-rigidity transmission mechanical arm, through the multi-rigidity transmission design, the first motor is used for driving the sliding block to achieve longitudinal movement, the second motor is matched with the worm and the worm gear to achieve rotation of the mechanical arm, and the overall structure is compact and stable. The control precision and the operation stability of the mechanical arm can be improved, meanwhile, maintenance operation is simplified, and the mechanical arm is suitable for various industrial scenes.

Description

Technical Field

[0001] This utility model relates to the field of mechanical automation technology, specifically to a multi-rigid transmission robotic arm. Background Technology

[0002] In the field of modern industrial automation and intelligent technology, robotic arms, as an important actuator, are widely used in manufacturing, assembly, and material handling. Their core function is to manipulate target objects through precise motion control. However, existing robotic arms still have many shortcomings in their transmission methods and structural designs, especially in the design and application of multi-rigid transmission systems. For example, some robotic arms use a single transmission mode or a flexible transmission structure, which, while meeting certain motion requirements, often exhibit insufficient rigidity, low transmission efficiency, and poor motion stability under high loads, high precision, or complex working conditions. Furthermore, some existing robotic arms, when performing multi-degree-of-freedom coordinated motion, are prone to decreased positioning accuracy due to transmission backlash or structural deformation, thus affecting the overall operational performance.

[0003] Therefore, addressing the problems of insufficient transmission rigidity, complex structure, and poor motion stability in existing technologies, there is an urgent need to develop a novel multi-rigidity transmission robotic arm to improve its overall performance and meet the application requirements under high load, high precision, and complex working conditions. This invention aims to solve the aforementioned technical challenges through an innovative multi-rigidity transmission design, providing a more efficient, stable, and reliable robotic arm solution for the industrial automation field. Utility Model Content

[0004] This invention addresses the technical problems of insufficient control precision, poor operational stability, and complex and difficult-to-maintain structures in existing robotic arms, proposing a multi-rigid transmission robotic arm. By employing a multi-rigid transmission design, combined with precise transmission components and a stable support structure, high-precision control of the robotic arm in longitudinal movement and rotation is achieved, while simultaneously improving the reliability and compactness of the overall structure.

[0005] This utility model provides a multi-rigid transmission robotic arm, including a base plate, a first base, a first motor, a first lead screw, a first support plate, a vertical plate, a sprocket, a chain, a drive seat, a slide rail, a second lead screw, a slider, a mounting base plate, a robotic arm body, a second base, a second motor, a rotating rod, an abutment block, a connecting frame, a bearing, a worm gear, an abutment groove, a worm wheel, and a second support plate. Wherein:

[0006] The base plate serves as the basic support platform for the entire robotic arm, used to fix and support other components, and to provide a stable foundation for the overall structure of the robotic arm.

[0007] The first base is mounted on the base plate to fix the first motor and related transmission components, ensuring that the first motor remains stable during operation.

[0008] The first motor is directly connected to the first lead screw, and the rotation of the first motor drives the first lead screw to rotate. The rotation of the first lead screw causes the slider to move linearly along the slide rail, thereby realizing the longitudinal movement of the robotic arm.

[0009] The first support plate is fixed on the base plate to support the first lead screw and slide rail, ensuring their stability during operation and preventing displacement or deformation caused by vibration or load.

[0010] The upright plate is vertically mounted on the base plate and is used to fix the second base and other related components, forming a support frame for the rotating part of the robotic arm.

[0011] The sprocket and chain work together to transmit power to the drive seat. The sprocket is connected to the output shaft of the first motor, and the chain transmits power to the drive seat, enabling the drive seat to drive the second lead screw to rotate.

[0012] The drive seat is mounted on the slider and moves along the slide rail with the slider. It also drives the second lead screw to rotate via a chain, which in turn drives the slider to move linearly along the slide rail.

[0013] The slide rail is fixed to the base plate and is used to guide the slider to move along a predetermined trajectory, ensuring that the robotic arm has high stability and accuracy during longitudinal movement.

[0014] The second lead screw is driven to rotate by the drive seat, and through the action of the threaded pair, it drives the slider to move along the slide rail, thereby realizing the longitudinal displacement adjustment of the robotic arm.

[0015] The slider moves along the slide rail and is mounted on the mounting base plate and the main body of the robotic arm. The movement of the slider directly determines the position change of the main body of the robotic arm.

[0016] The mounting base plate is fixed on the slider and is used to mount the main body of the robotic arm, ensuring that the main body of the robotic arm maintains a stable connection during movement.

[0017] The main body of the robotic arm serves as the component that performs end-effector operations, completing various tasks. Its position and orientation can be adjusted by the movement and rotation of the slider.

[0018] Furthermore, the second base is mounted on the upright plate to fix the second motor and related transmission components, ensuring the stability of the second motor when driving the main body of the robotic arm to rotate.

[0019] The second motor is connected to the worm gear via a rotating rod. The rotational motion of the second motor is transmitted to the worm gear through the rotating rod, thereby driving the worm wheel to rotate.

[0020] The rotating rod is directly connected to the output shaft of the second motor, and drives the worm gear to move synchronously by rotating.

[0021] The abutment block is installed on the rotation path of the robotic arm body to limit the rotation range of the robotic arm body and prevent damage to the equipment due to excessive rotation.

[0022] The connecting frame connects the rotating rod and the main body of the robotic arm, and is used to transmit the rotational motion of the rotating rod to the main body of the robotic arm, ensuring that the main body of the robotic arm can rotate at a preset angle.

[0023] The bearings are installed at key parts of the worm and rotor to reduce friction, improve transmission efficiency, and extend mechanical life.

[0024] The worm gear meshes with the worm wheel, and the rotation of the worm gear drives the worm wheel to rotate, thereby realizing the rotation of the main body of the robotic arm.

[0025] The abutment groove is set on the rotation path of the robotic arm body and is used to install the abutment block, further limiting the rotation range of the robotic arm body and enhancing the safety and reliability of the robotic arm.

[0026] The worm gear meshes with the worm, and the rotation of the worm drives the main body of the robotic arm to rotate, thereby achieving the angle adjustment of the main body of the robotic arm.

[0027] The second support plate is fixed on the vertical plate to support the second lead screw and slide rail, ensuring high stability during operation and avoiding deviations caused by load or vibration.

[0028] Furthermore, the first motor drives the slider to move linearly along the slide rail via the first lead screw. Specifically, the rotational motion of the first motor is converted into the linear motion of the slider via the first lead screw, and the slider moves along a predetermined trajectory of the slide rail, thereby realizing the longitudinal movement of the robotic arm. During this process, the first support plate supports the first lead screw and the slide rail to ensure that the slider remains stable during movement and avoids errors caused by vibration or load.

[0029] Specifically, the second motor achieves the rotational movement of the robotic arm body through the cooperation of a rotating rod, a worm gear, and a worm wheel. Specifically, the rotational movement of the second motor is transmitted to the worm gear via the rotating rod; the rotational movement of the worm gear drives the worm wheel to rotate; and the rotation of the worm wheel is transmitted to the robotic arm body via a connecting frame, thereby causing the robotic arm body to rotate at a preset angle. During this process, bearings are installed at key parts of the rotating rod and the worm gear to reduce friction, improve transmission efficiency, and extend the mechanical life.

[0030] Furthermore, the engagement of the abutment block and the abutment groove is used to limit the rotation range of the robotic arm body. Specifically, the abutment block is installed on the rotation path of the robotic arm body. When the robotic arm body rotates to a preset range, the abutment block contacts the abutment groove, preventing the robotic arm body from continuing to rotate, thereby preventing damage to the equipment due to excessive rotation. This design effectively improves the safety and reliability of the robotic arm.

[0031] Furthermore, the transmission design of the sprocket and chain effectively transmits power to the drive unit. Specifically, the sprocket is connected to the output shaft of the first motor, and the chain transmits the rotational motion of the sprocket to the drive unit. The drive unit then drives the second lead screw to rotate through the tension of the chain, thereby enabling the slider to move along the slide rail. This transmission design not only improves the efficiency of power transmission but also enhances the stability of the robotic arm during longitudinal movement.

[0032] Furthermore, the first support plate and the second support plate respectively support the first lead screw and the second lead screw. Specifically, the first support plate is fixed to the base plate to support the first lead screw and the slide rail, ensuring their stability during operation; the second support plate is fixed to the upright plate to support the second lead screw and the slide rail, ensuring high stability during operation. This support design effectively reduces vibration and errors of the robotic arm during movement and improves the reliability of the overall structure.

[0033] Specifically, the bearings are installed at key locations on the worm and rotor to reduce friction. This is achieved by minimizing friction through the rolling elements of the inner and outer rings, thereby improving the rotational efficiency of the rotor and worm and extending the machine's lifespan. This design not only improves transmission efficiency but also reduces wear on the robotic arm during prolonged operation.

[0034] Furthermore, the main body of the robotic arm is fixed to the slider via a mounting base plate. Specifically, the mounting base plate is connected to the slider by bolts or other fixing methods, and the main body of the robotic arm is fixed to the slider via the mounting base plate. Its position is adjusted as the slider moves, thereby enabling diverse work tasks. This design allows the main body of the robotic arm to complete various operational tasks from different positions and angles.

[0035] The multi-rigid transmission robotic arm provided by this utility model has the following significant advantages:

[0036] First, through a multi-rigid transmission design, the longitudinal movement of the robotic arm is achieved using components such as the first motor, the first lead screw, the slider, and the slide rail. At the same time, the rotational movement of the robotic arm is achieved using components such as the second motor, the rotating rod, the worm gear, and the worm wheel. The overall structure is reasonably designed and has diverse motion forms, meeting the requirements of high-precision operation.

[0037] Secondly, through the precise coordination of transmission components such as sprockets, chains, worms, and worm wheels, precise control of the robotic arm's movement is achieved, ensuring high precision and stability of the robotic arm when performing tasks.

[0038] Furthermore, the design of components such as the first support plate, the second support plate, and bearings ensures the stability of the robotic arm during movement, reduces vibration and errors, and improves the overall structural reliability.

[0039] In addition, the design of the abutment block and abutment groove limits the rotation range of the main body of the robotic arm, preventing damage to the equipment due to excessive rotation and improving the safety and reliability of the robotic arm.

[0040] Finally, the components are rationally arranged, the overall structure is compact, which facilitates installation and maintenance, saves space, and is suitable for a variety of industrial scenarios.

[0041] In summary, the multi-rigid transmission robotic arm provided by this utility model not only solves the problems of inaccurate movement and poor stability of existing robotic arms, but also achieves higher work efficiency and reliability, and is suitable for various industrial scenarios. Attached Figure Description

[0042] 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.

[0043] Figure 1 A schematic diagram of the overall structure provided for an embodiment of this utility model;

[0044] Figure 2 Provided for the embodiments of this utility model Figure 1 Schematic diagram of the structure at point A;

[0045] Figure 3 Provided for the embodiments of this utility model Figure 1 Schematic diagram of the structure at point B;

[0046] Figure 4 Provided for the embodiments of this utility model Figure 2 A schematic diagram of the structure of the worm gear and worm wheel.

[0047] Explanation of reference numerals in the attached figures:

[0048] 1. Base plate; 2. First base; 3. First motor; 4. First lead screw; 5. First support plate; 6. Vertical plate; 7. Sprocket; 8. Chain; 9. Drive seat; 10. Slide rail; 11. Second lead screw; 12. Slider; 13. Mounting base plate; 14. Main body of robotic arm; 15. Second base; 16. Second motor; 17. Rotating rod; 18. Abutment block; 19. Connecting frame; 20. Bearing; 21. Worm gear; 22. Abutment groove; 23. Worm wheel; 24. Second support plate. Detailed Implementation

[0049] 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.

[0050] Please see Figures 1 to 4 This utility model provides a multi-rigid transmission robotic arm comprising a base plate 1, a first base 2, a first motor 3, a first lead screw 4, a first support plate 5, a vertical plate 6, a sprocket 7, a chain 8, a drive seat 9, a slide rail 10, a second lead screw 11, a slider 12, a mounting base plate 13, a robotic arm body 14, a second base 15, a second motor 16, a rotating rod 17, an abutment block 18, a connecting frame 19, a bearing 20, a worm gear 21, an abutment groove 22, a worm wheel 23, and a second support plate 24. The specific embodiments of this utility model are described in detail below with reference to the accompanying drawings.

[0051] The base plate 1, serving as the fundamental support platform for the entire robotic arm, is made of high-strength metal. Its bottom is securely connected to the ground or workbench surface via bolts or other fixing devices, ensuring no displacement or shaking occurs during operation. The upper surface of the base plate 1 undergoes precision machining, meeting high requirements for flatness and roughness to guarantee the installation accuracy of subsequent components. The first base 2 is bolted to one side of the base plate 1 and is used to mount the first motor 3 and related transmission components. The first base 2 is equipped with shock-absorbing pads to effectively absorb the vibrations generated by the first motor 3 during operation, improving the overall structural stability.

[0052] The first motor 3 is a high-precision servo motor, and its output shaft is directly connected to the first lead screw 4 via a coupling to realize the conversion of rotary motion to linear motion. The first lead screw 4 is mounted on the first support plate 5 at both ends via bearings. The first support plate 5 is fixed to the base plate 1 by bolts, providing stable support for the first lead screw 4 and the slide rail 10. The threaded portion of the first lead screw 4 mates with the internal thread of the slider 12. When the first motor 3 drives the first lead screw 4 to rotate, the slider 12 moves linearly along the slide rail 10. The slide rail 10 adopts a double-rail design, and its surface is hardened, possessing high wear resistance and corrosion resistance, capable of withstanding repeated movements of the slider 12 without deformation.

[0053] The slider 12 is fixedly connected to the mounting base plate 13 by bolts, and the mounting base plate 13 is used to support the robotic arm body 14. The robotic arm body 14 is fixed to the mounting base plate 13 by bolts or other fasteners, and moves along the slide rail 10 with the slider 12 to complete the longitudinal position adjustment. The end of the robotic arm body 14 can be equipped with execution tools such as clamps and welding guns according to actual needs to realize various work tasks. In order to further improve the motion accuracy of the slider 12, a rolling element is provided between the slider 12 and the slide rail 10, which replaces sliding friction with rolling friction, reduces motion resistance and extends service life.

[0054] The upright plate 6 is vertically mounted on the other side of the base plate 1 and is used to fix the second base 15 and other related components. The second base 15 is fixed to the upright plate 6 with bolts and is used to install the second motor 16 and related transmission components. The second motor 16 is also a high-precision servo motor, and its output shaft is connected to the rotating rod 17 through a coupling. The other end of the rotating rod 17 is mounted on the upright plate 6 through a bearing. The middle part of the rotating rod 17 is connected to the worm gear 21 through a keyway to ensure that the two rotate synchronously. The worm gear 21 meshes with the worm wheel 23, and the rotation of the worm gear 21 drives the worm wheel 23 to rotate. The worm wheel 23 is fixed to the connecting frame 19 with bolts. The other end of the connecting frame 19 is connected to the main body of the robotic arm 14 with bolts, thereby transmitting the rotation of the worm gear 21 to the main body of the robotic arm 14, realizing the rotation of the main body of the robotic arm 14.

[0055] To limit the rotation range of the robotic arm body 14, an abutment groove 22 is provided along the rotation path of the robotic arm body 14, and an abutment block 18 is installed inside the abutment groove 22. The abutment block 18 is made of elastic material and can contact the abutment groove 22 when the robotic arm body 14 rotates to a preset angle, preventing the robotic arm body 14 from continuing to rotate and preventing damage to the equipment due to excessive rotation. This design not only improves the safety of the robotic arm but also enhances its reliability.

[0056] The transmission design of sprocket 7 and chain 8 is used to transmit power from the first motor 3 to the drive base 9. Sprocket 7 is connected to the output shaft of the first motor 3 via a keyway. Chain 8 is sleeved on the outer circumference of sprocket 7 and drive base 9. When the first motor 3 rotates, sprocket 7 drives chain 8, and the tension of chain 8 causes drive base 9 to rotate. Drive base 9 is fixed to slider 12 by bolts, moves along slide rail 10 with slider 12, and drives second lead screw 11 to rotate via chain 8. The two ends of second lead screw 11 are mounted on second support plate 24 by bearings. Second support plate 24 is fixed to vertical plate 6 by bolts, providing stable support for second lead screw 11 and slide rail 10. The threaded part of second lead screw 11 mates with the internal thread of slider 12. When drive base 9 drives second lead screw 11 to rotate, slider 12 moves linearly along slide rail 10, thereby realizing the longitudinal movement of the robotic arm.

[0057] Bearing 20 is installed at key locations on the worm gear 21 and the rotating shaft 17. Its inner ring fits tightly with the outer circumference of the rotating shaft 17 or the worm gear 21, while its outer ring is mounted on the vertical plate 6 or the connecting bracket 19. Bearing 20 minimizes friction through its rolling elements, effectively reducing the frictional resistance of the rotating shaft 17 and the worm gear 21 during rotation, improving transmission efficiency and extending mechanical life. Furthermore, bearing 20 has a certain degree of self-lubricating properties, maintaining a low coefficient of friction during long-term operation and reducing maintenance frequency.

[0058] The multi-rigid transmission robotic arm provided by this invention can be widely used in industrial automated production lines, logistics handling systems, and medical surgical auxiliary equipment. For example, in an industrial automated production line, a gripper can be installed at the end of the robotic arm body 14 for gripping and transporting workpieces. When the position of the workpiece needs to be adjusted, the first motor 3 drives the first lead screw 4 to rotate, causing the slider 12 to move along the slide rail 10, thereby adjusting the longitudinal position of the robotic arm body 14. At the same time, the second motor 16 drives the robotic arm body 14 to rotate through the cooperation of the rotating rod 17, worm gear 21, and worm wheel 23, adjusting the angle of the workpiece and completing precise operation tasks. In a logistics handling system, a suction cup can be installed at the end of the robotic arm body 14 for transporting cartons or packages. Through the coordinated work of the first motor 3 and the second motor 16, the robotic arm can quickly and accurately complete the tasks of transporting and stacking goods. In medical surgical auxiliary equipment, a miniature camera or surgical instruments can be installed at the end of the robotic arm body 14 to complete complex surgical operations through precise control.

[0059] This invention achieves precise control of the robotic arm's movement through the aforementioned design, meeting the requirements of high-precision operation. The design of the first support plate 5 and the second support plate 24 ensures the stability of the robotic arm during movement, reduces vibration and errors, and improves the overall structural reliability. The design of the abutment block 18 and the abutment groove 22 limits the rotation range of the robotic arm body 14, preventing damage due to excessive rotation and improving the safety and reliability of the robotic arm. The components are rationally arranged, the overall structure is compact, facilitating installation and maintenance, while saving space and making it suitable for various industrial scenarios.

[0060] 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 multi-rigid transmission robotic arm, characterized in that, The system includes a base plate (1), a first base (2), a first motor (3), a first lead screw (4), a first support plate (5), a vertical plate (6), a sprocket (7), a chain (8), a drive seat (9), a slide rail (10), a second lead screw (11), a slider (12), a mounting base plate (13), a robotic arm body (14), a second base (15), a second motor (16), a rotating rod (17), abutment block (18), a connecting frame (19), a bearing (20), a worm gear (21), abutment groove (22), a worm wheel (23), and a second support plate (24). The base plate (1) serves as a basic support platform. The first base (2) is fixed on the base plate (1) for mounting the first motor (3). The first motor (3) is connected to the first lead screw (4). The first support plate (5) is fixed on the base plate (1) to support the first lead screw (4) and the slide rail (10). The slider (12) is engaged with the first lead screw (4) through a threaded pair and moves along the slide rail (10). The mounting base plate (13) and the main body of the robotic arm (14) are fixed on the slider (12). The upright plate (6) is vertically mounted on the base plate (1) to fix the second base (15). The second motor (16) is mounted on the second base (15). The second motor (16) is connected to the worm (21) through the rotating rod (17). The worm (21) meshes with the worm wheel (23). The worm wheel (23) is connected to the main body of the robotic arm (14) through the connecting frame (19). The abutment block (18) is set in the abutment groove (22) to limit the rotation range of the main body of the robotic arm (14).

2. The multi-rigid transmission robotic arm according to claim 1, characterized in that, The first support plate (5) is fixed to the base plate (1) by bolts and provides support for the first lead screw (4) and the slide rail (10).

3. The multi-rigid transmission robotic arm according to claim 2, characterized in that, The first support plate (5) is made of high-strength metal and is precision machined to improve its flatness and roughness.

4. The multi-rigid transmission robotic arm according to claim 1, characterized in that, The sprocket (7) is connected to the output shaft of the first motor (3) via a keyway, and the chain (8) is sleeved on the outer periphery of the sprocket (7) and the drive seat (9) to transmit power.

5. A multi-rigid transmission robotic arm according to claim 4, characterized in that, The drive seat (9) is fixed to the slider (12) by bolts and drives the second lead screw (11) to rotate by chain (8).

6. A multi-rigid transmission robotic arm according to claim 1, characterized in that, The second support plate (24) is fixed to the upright plate (6) by bolts and provides support for the second lead screw (11) and the slide rail (10).

7. A multi-rigid transmission robotic arm according to claim 1, characterized in that, The bearing (20) is installed in key parts of the rotating rod (17) and the worm (21), with its inner ring tightly fitted with the rotating rod (17) or the worm (21), and its outer ring installed on the vertical plate (6) or the connecting frame (19).

8. A multi-rigid transmission robotic arm according to claim 1, characterized in that, The abutment block (18) is made of elastic material and installed in the abutment groove (22) to contact the abutment groove (22) when the robotic arm body (14) rotates to a preset angle to limit the rotation range.

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