Inclined avoiding type mechanical arm

Abstract

The utility model discloses an inclined avoiding type mechanical arm, and relates to the technical field of mechanical automation. Comprising a bottom plate, a supporting plate, a first driving lead screw, a first driving seat, a driving plate, a guide rail, a guide chute, a sliding block, a connecting seat, a sliding chute, a second driving lead screw, a second driving seat, a mounting plate, a connecting plate, a connecting disc, a connecting block, a reset spring, a lifting rod, a connecting frame and a mechanical arm main body. The bottom plate serves as a basic supporting part of the whole mechanical arm and provides a stability and installation platform for the whole structure. And the supporting plate is fixed on the bottom plate. According to the inclined avoiding type mechanical arm, through the multi-shaft linkage design, guiding and sliding groove structure optimization, introduction of the reset spring and modular design, the operation flexibility, the movement precision and the stability of the mechanical arm are remarkably improved. The device can effectively avoid collision and damage, adapts to complex working environments, and has wide application prospects and market value.

Description

Technical Field

[0001] This utility model relates to the field of mechanical automation technology, specifically to a tilting avoidance robotic arm. Background Technology

[0002] In the field of modern industrial automation, robotic arms, as an important actuator, are widely used in material handling, assembly, welding, and other scenarios. With increasingly complex and diversified production demands, robotic arms need to complete high-precision, high-efficiency tasks within limited spaces. However, existing robotic arms still have certain limitations in practical applications, particularly in their ability to avoid obstacles in confined spaces or complex working conditions. For example, traditional robotic arms typically operate using linear motion or fixed trajectories, and when facing obstacles or special working environments, they often struggle to adjust their posture flexibly, leading to reduced work efficiency or even the risk of collision damage.

[0003] Furthermore, existing robotic arm designs primarily rely on vertical lifting or horizontal movement, resulting in limited obstacle avoidance methods and a lack of tilt angle adjustment capabilities, failing to meet the spatial adaptability requirements of certain specific scenarios. While some patented technologies enhance robotic arm flexibility by adding drive devices or optimizing control algorithms, these solutions often come with increased structural complexity, higher costs, and reduced reliability, failing to fundamentally solve the challenge of efficient obstacle avoidance in confined spaces. Therefore, designing a robotic arm capable of flexible obstacle avoidance in confined spaces while maintaining structural simplicity and high reliability has become a pressing technical problem.

[0004] This invention aims to provide a tilting avoidance robotic arm that, through innovative structural design and motion mechanism, effectively solves the problem of insufficient avoidance capability of existing robotic arms in complex environments, while also taking into account the compactness and economy of the equipment, providing a more efficient solution for the field of industrial automation. Utility Model Content

[0005] This invention addresses the problems of high collision risk and low operational accuracy caused by insufficient motion flexibility and limited obstacle avoidance capabilities in existing robotic arms in complex working environments. It proposes a tilting obstacle avoidance robotic arm. Through multi-axis linkage design, optimized guide and slide structure, the introduction of a return spring, and modular design, this invention significantly improves the robotic arm's operational flexibility, motion accuracy, and stability.

[0006] This utility model provides a tilting avoidance robotic arm, including a base plate, a support plate, a first drive screw, a first drive seat, a drive plate, a guide rail, a guide groove, a slider, a connecting seat, a slide, a second drive screw, a second drive seat, a mounting plate, a connecting plate, a connecting disc, a connecting block, a return spring, a lifting rod, a connecting frame, and a robotic arm body. Specifically: the base plate serves as the fundamental support for the entire robotic arm, providing stability and a mounting platform for the overall structure; the support plate is fixed to the base plate to support other components and ensure the overall vertical stability of the robotic arm; the first drive screw is mounted on the support plate and achieves linear transmission through rotational motion, driving the first drive seat to move along the guide rail, thereby achieving the horizontal displacement of the robotic arm; the first drive seat cooperates with the first drive screw to perform linear motion along the guide rail, transmitting horizontal motion; the drive plate is fixed to the first drive seat and serves as the mounting platform for the second drive system, bearing the relevant components for subsequent vertical motion; the guide rail is mounted on the support plate to guide the first drive seat, ensuring its linearity and stability.

[0007] Furthermore, the guide groove is disposed on the drive plate to guide the slider to move along a specific trajectory, thereby realizing the tilting and obstacle avoidance function of the robotic arm; the slider is installed in the guide groove and moves with the rotation of the second drive screw, transmitting vertical motion; the connecting seat connects the slider and the second drive system, transmitting the slider's motion to subsequent components; the slide is disposed on the connecting seat to provide guidance for the lifting rod, ensuring its smooth movement along a predetermined trajectory; the second drive screw is mounted on the drive plate and achieves linear transmission through rotational motion, driving the second drive seat to move along the slide, thereby realizing the vertical displacement of the robotic arm; the second drive seat cooperates with the second drive screw to perform linear motion along the slide, transmitting vertical motion; the mounting plate is fixed on the second drive seat, serving as the mounting platform for the main body of the robotic arm, ensuring the stability and reliability of the main body of the robotic arm.

[0008] Specifically, the connecting plate connects the mounting plate and the robotic arm body, transmitting motion and enhancing structural rigidity; the connecting plate is mounted on the connecting plate to connect the robotic arm body, further improving the stability of the connection; the connecting block is mounted on the connecting plate to further fix the robotic arm body and prevent loosening; the return spring is installed between the connecting plate and the connecting block to provide a return force, enabling the robotic arm to quickly return to its original position after being disturbed by external forces, avoiding collisions and damage; the lifting rod is installed in the slide groove and moves with the second drive seat to realize the vertical lifting of the robotic arm; the connecting frame connects the lifting rod and the robotic arm body, transmitting motion and enhancing the overall integrity of the structure; the robotic arm body is mounted on the connecting frame to perform specific operational tasks.

[0009] Furthermore, this invention achieves flexible movement of the robotic arm through a multi-axis linkage design, wherein: S1, the first drive screw is driven to rotate by a motor, causing the first drive seat to move horizontally along the guide rail; S2, the movement of the first drive seat is transmitted to the second drive system through the drive plate; S3, the second drive screw is driven to rotate by a motor, causing the second drive seat to move vertically along the slide groove; S4, the movement of the second drive seat is transmitted to the main body of the robotic arm through the mounting plate, connecting plate, connecting disc, and connecting block, completing the composite movement of the robotic arm. This multi-axis linkage design greatly improves the operational flexibility of the robotic arm, enabling it to adapt to complex working environments.

[0010] Specifically, this invention features optimized designs for the guide and sliding groove structures. Specifically: the guide groove employs an arc or inclined design to guide the slider along a specific trajectory, reducing friction and vibration during movement; the sliding groove has a smooth surface treatment and an internal lubrication layer to reduce the movement resistance of the lifting rod; both the slider and the lifting rod are made of high-strength materials to improve their wear resistance and load-bearing capacity. These optimized designs ensure smooth movement of the slider and lifting rod, effectively improving motion accuracy and reducing vibration and errors during movement.

[0011] Furthermore, this invention introduces a return spring to enhance the robotic arm's obstacle avoidance capability. One end of the return spring is fixed to the connecting plate, and the other end is fixed to the connecting block. When the robotic arm is subjected to external force, the return spring undergoes elastic deformation, storing energy. When the external force disappears, the return spring releases the energy, pushing the robotic arm back to its initial position. This design gives the robotic arm excellent obstacle avoidance capabilities, effectively preventing collisions and damage, and improving safety.

[0012] Specifically, this invention employs a modular design, wherein: the base plate, support plate, first drive screw, first drive seat, drive plate, guide rail, and other components constitute a horizontal motion module, facilitating assembly and disassembly; the guide groove, slider, connecting seat, slide groove, second drive screw, second drive seat, mounting plate, connecting plate, connecting disc, connecting block, return spring, lifting rod, and other components constitute a vertical motion module, facilitating maintenance and upgrades; the robotic arm body is connected to the vertical motion module via a connecting frame, allowing for the replacement of robotic arm bodies of different specifications as needed. This modular design makes the assembly, disassembly, and maintenance of the robotic arm more convenient, extends the service life of the equipment, and reduces maintenance costs.

[0013] The tilting avoidance robotic arm provided by this utility model achieves the following technical effects through the specific implementation of the aforementioned innovations: First, through multi-axis linkage design, the robotic arm can move flexibly in both horizontal and vertical directions, adapting to various complex work scenarios; second, the optimized design of the guide chute and slide ensures the smoothness and accuracy of the movement, reducing motion errors; third, the introduction of the return spring gives the robotic arm excellent avoidance capabilities, effectively preventing collisions and damage, and improving safety; finally, the modular design makes the assembly, disassembly, and maintenance of the robotic arm more convenient, extending the service life of the equipment and reducing maintenance costs. In summary, this utility model, through innovative structural design and technical optimization, significantly improves the performance of the robotic arm and has broad application prospects and market value. Attached Figure Description

[0014] 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.

[0015] Figure 1 A schematic diagram of the overall structure provided for an embodiment of this utility model;

[0016] Figure 2 Provided for the embodiments of this utility model Figure 1 Schematic diagram of the structure at point A;

[0017] Figure 3 Provided for the embodiments of this utility model Figure 1 Schematic diagram of the structure at point B;

[0018] Figure 4 Provided for the embodiments of this utility model Figure 1 A schematic diagram of the back structure of the driver board.

[0019] Explanation of reference numerals in the attached figures:

[0020] 1. Base plate; 2. Support plate; 3. First drive screw; 4. First drive seat; 5. Drive plate; 6. Guide rail; 7. Guide groove; 8. Slider; 9. Connecting seat; 10. Slide groove; 11. Second drive screw; 12. Second drive seat; 13. Mounting plate; 14. Connecting plate; 15. Connecting disc; 16. Connecting block; 17. Return spring; 18. Lifting rod; 19. Connecting frame; 20. Main body of the robotic arm. Detailed Implementation

[0021] 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.

[0022] This utility model provides a tilting avoidance robotic arm, the specific structure and operating principle of which are described in detail with reference to the accompanying drawings. Figure 1 As shown, the overall structure of the robotic arm includes a base plate 1, a support plate 2, a first drive screw 3, a first drive seat 4, a drive plate 5, a guide rail 6, a guide groove 7, a slider 8, a connecting seat 9, a slide groove 10, a second drive screw 11, a second drive seat 12, a mounting plate 13, a connecting plate 14, a connecting disc 15, a connecting block 16, a return spring 17, a lifting rod 18, a connecting frame 19, and the robotic arm body 20. These components work together to ensure the flexibility, accuracy, and stability of the robotic arm in complex environments.

[0023] The base plate 1, serving as the foundation of the entire robotic arm, is fixed to the ground or operating platform, providing stable support for the overall structure. The support plate 2 is vertically fixed to the base plate 1, further enhancing the vertical stability of the robotic arm and providing a mounting platform for other components. The first drive screw 3 is mounted on one side of the support plate 2 and is driven to rotate by a motor. The first drive screw 3 cooperates with the first drive seat 4, which moves along the guide rail 6 to achieve horizontal displacement. The guide rail 6, fixed to the support plate 2, is designed as a high-precision linear guide to ensure that the movement trajectory of the first drive seat 4 remains linear, reducing motion errors. The drive plate 5 is fixed to the first drive seat 4 and moves synchronously with it, thereby transmitting horizontal motion to subsequent components.

[0024] The drive plate 5 is equipped with a guide groove 7, which has an arc-shaped design to guide the slider 8 to move along a specific trajectory. The slider 8 is installed in the guide groove 7 and connected to the second drive system via a connecting seat 9. When the first drive seat 4 drives the drive plate 5 to move, the slider 8 tilts along the trajectory of the guide groove 7. This tilting motion enables the robotic arm to perform obstacle avoidance in the horizontal direction, preventing collisions with other objects. The connecting seat 9 is fixed to the slider 8 and has a sliding groove 10 inside to guide the lifting rod 18. The sliding groove 10 has a smooth surface treatment and is coated with a lubricating layer inside to reduce the movement resistance of the lifting rod 18 and ensure its smooth movement.

[0025] The second drive screw 11 is mounted on the other side of the drive plate 5 and is driven to rotate by a motor. The second drive screw 11 cooperates with the second drive seat 12, which moves along the slide groove 10 to achieve vertical displacement. The mounting plate 13 is fixed on the second drive seat 12 and is used to mount the relevant components of the robotic arm body 20. The connecting plate 14 is fixed on the mounting plate 13 to further enhance the structural rigidity and transmit the motion to the connecting plate 15. The connecting plate 15 is fixed to the connecting plate 14 with bolts and is used to connect the robotic arm body 20. The connecting block 16 is fixed on the connecting plate 15 to further enhance the stability of the connection and prevent the robotic arm body 20 from loosening during operation.

[0026] A return spring 17 is installed between the connecting plate 15 and the connecting block 16. When the robotic arm is subjected to external force, the return spring 17 undergoes elastic deformation and stores energy. After the external force disappears, the return spring 17 releases the energy, pushing the robotic arm back to its initial position, thereby effectively avoiding collisions and damage. The lifting rod 18 is installed in the slide groove 10 and moves up and down with the movement of the second drive seat 12, realizing the vertical lifting function of the robotic arm. The connecting frame 19 is fixed to the top of the lifting rod 18 and connected to the robotic arm body 20, transmitting the movement of the lifting rod 18 to the robotic arm body 20. The robotic arm body 20 is installed on the connecting frame 19 and performs specific work tasks.

[0027] The operating principle of this utility model is as follows: S1, the first drive screw 3 is driven to rotate by a motor, causing the first drive seat 4 to move horizontally along the guide rail 6. The movement of the first drive seat 4 is transmitted to the guide groove 7 through the drive plate 5, causing the slider 8 to tilt along the trajectory of the guide groove 7. S2, the tilting movement of the slider 8 is transmitted to the slide groove 10 through the connecting seat 9, and the lifting rod 18 in the slide groove 10 tilts accordingly, thereby realizing the tilting avoidance function of the robotic arm. S3, the second drive screw 11 is driven to rotate by a motor, causing the second drive seat 12 to move vertically along the slide groove 10. The movement of the second drive seat 12 is transmitted to the robotic arm body 20 through the mounting plate 13, connecting plate 14, connecting disc 15 and connecting block 16, completing the compound movement of the robotic arm. S4, during the operation of the robotic arm, if it is disturbed by an external force, the return spring 17 undergoes elastic deformation and stores energy. After the external force disappears, the return spring 17 releases energy and pushes the robotic arm back to its initial position.

[0028] Specific application scenarios for this utility model include complex environments such as automated production lines, logistics sorting systems, and medical surgical auxiliary equipment. For example, on an automated production line, a robotic arm needs to complete the task of grasping and placing workpieces within a confined space. Through the multi-axis linkage design of the first drive screw 3 and the second drive screw 11, the robotic arm can move flexibly in both horizontal and vertical directions to adapt to different operational needs. The arc-shaped design of the guide chute 7 and the smooth surface treatment of the slide chute 10 ensure the smooth movement of the slider 8 and the lifting rod 18, reducing vibration and errors during movement and improving operational accuracy. In addition, the introduction of the return spring 17 allows the robotic arm to quickly return to its original position when encountering obstacles, avoiding collisions and damage, and significantly improving safety.

[0029] To facilitate assembly and maintenance, this utility model adopts a modular design. The base plate 1, support plate 2, first drive screw 3, first drive seat 4, drive plate 5, and guide rail 6 constitute a horizontal motion module, which can be quickly disassembled and replaced using bolts. The guide groove 7, slider 8, connecting seat 9, slide groove 10, second drive screw 11, second drive seat 12, mounting plate 13, connecting plate 14, connecting disc 15, connecting block 16, return spring 17, and lifting rod 18 constitute a vertical motion module, which also supports quick disassembly and maintenance. The robotic arm body 20 is connected to the vertical motion module via a connecting frame 19, allowing for the replacement of different specifications of the robotic arm body 20 according to actual needs, meeting diverse operational requirements.

[0030] In summary, this invention significantly improves the operational flexibility, motion accuracy, and stability of the robotic arm through multi-axis linkage design, optimized design of the guide groove 7 and slide 10, introduction of the return spring 17, and modular design. The combination of these innovations enables the robotic arm to operate efficiently in complex environments, demonstrating broad application prospects and market value.

[0031] 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 tilting avoidance robotic arm, characterized in that, The system includes a base plate (1), a support plate (2), a first drive screw (3), a first drive seat (4), a drive plate (5), a guide rail (6), a guide groove (7), a slider (8), a connecting seat (9), a slide groove (10), a second drive screw (11), a second drive seat (12), a mounting plate (13), a connecting plate (14), a connecting disc (15), a connecting block (16), a return spring (17), a lifting rod (18), a connecting frame (19), and a robotic arm body (20). The base plate (1) serves as the basic support; the support plate (2) is fixed to the base plate (1); the first drive screw (3) is mounted on the support plate (2) and moves along the guide rail (6) in cooperation with the first drive seat (4); the drive plate (5) is fixed... On the first drive seat (4); the guide groove (7) is set on the drive plate (5) to guide the slider (8) to move; the connecting seat (9) connects the slider (8) and the slide groove (10); the second drive screw (11) is installed on the drive plate (5) and cooperates with the second drive seat (12) to move along the slide groove (10); the mounting plate (13) is fixed on the second drive seat (12); the connecting plate (14) connects the mounting plate (13) and the connecting plate (15); the connecting block (16) is fixed on the connecting plate (15); the reset spring (17) is set between the connecting plate (15) and the connecting block (16); the lifting rod (18) is installed in the slide groove (10); the connecting frame (19) connects the lifting rod (18) and the main body of the robotic arm (20).

2. The tilting avoidance robotic arm according to claim 1, characterized in that, The guide groove (7) is designed in an arc shape to guide the slider (8) to move along a specific trajectory.

3. The tilting avoidance robotic arm according to claim 2, characterized in that, The surface of the guide groove (7) is smoothed and coated with a lubricating layer to reduce frictional resistance.

4. The tilting avoidance robotic arm according to claim 1, characterized in that, The inner surface of the groove (10) is smoothed and a lubricating layer is provided to reduce the movement resistance of the lifting rod (18).

5. A tilting avoidance robotic arm according to claim 4, characterized in that, The width of the chute (10) matches the diameter of the lifting rod (18) to ensure smooth movement.

6. The tilting avoidance robotic arm according to claim 1, characterized in that, One end of the reset spring (17) is fixed to the connecting plate (15), and the other end is fixed to the connecting block (16) to provide a reset function.

7. The tilting avoidance robotic arm according to claim 1, characterized in that, The base plate (1), support plate (2), first drive screw (3), first drive seat (4), drive plate (5) and guide rail (6) constitute a horizontal motion module, which can be disassembled and replaced by bolts.

8. The tilting avoidance robotic arm according to claim 1, characterized in that, The guide groove (7), slider (8), connecting seat (9), slide groove (10), second drive screw (11), second drive seat (12), mounting plate (13), connecting plate (14), connecting disc (15), connecting block (16), reset spring (17) and lifting rod (18) constitute a vertical motion module, which can be disassembled and maintained by bolts.

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