Foldable mechanical arm structure for robot

Abstract

The utility model belongs to the technical field of mechanical arms, and particularly relates to a foldable mechanical arm structure for a robot. Comprising a moving structure and a mechanical arm device, the moving structure comprises a moving frame, a mounting plate is mounted at the top end of the moving frame, two side plates are mounted at the side end of the moving frame, driving wheels are arranged on the outer sides of the side plates, the mechanical arm device comprises a mounting box, and a driving gear and a follow-up gear ring are rotationally connected to the top end of the mounting box; the driving gear is meshed with the follow-up gear ring; according to the mechanical arm device, connection between the mounting plate and the mechanical arm device can be completed by utilizing the movable frame through the movable structure, and the mechanical arm device can be driven to transfer by matching with the driving wheels arranged on the side plates, so that the mechanical arm device can be transferred according to actual working requirements, and a manual carrying mode is completely eradicated; and manpower is saved, and meanwhile the working efficiency is improved.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically a foldable robotic arm structure for robots. Background Technology

[0002] A robot is a machine that performs tasks automatically. It can be directed by humans, run pre-programmed procedures, or act according to principles established using artificial intelligence technology. Its task is to assist or replace human workers.

[0003] As an indispensable core component of robotic systems, robotic arms bear the important mission of performing various complex and delicate operations. They not only mimic the movements of human arms but also surpass human physiological limitations in some aspects, exhibiting greater flexibility and precision. Through advanced control systems and sophisticated mechanical structures, robotic arms can demonstrate their capabilities in various fields such as manufacturing, medicine, and scientific research, completing various challenging tasks such as welding, assembly, surgical assistance, and experimental operations. Their existence greatly improves production efficiency, reduces labor costs, and plays an irreplaceable role in dangerous or inaccessible environments.

[0004] Existing robotic arms typically need to be fixed in a designated location. When the robotic arm needs to be moved, multiple people are required to carry it, making the operation cumbersome and laborious. Furthermore, the robotic arm is easily damaged by collisions during movement. In addition, most existing robotic arms have fixed structures and cannot be adjusted in length according to actual needs, limiting their applicability.

[0005] Therefore, we propose a foldable robotic arm structure to solve the above problems. Utility Model Content

[0006] (a) Technical problems to be solved

[0007] To address the shortcomings of existing technologies, this invention provides a foldable robotic arm structure for robots, solving the problems mentioned in the background section.

[0008] (II) Technical Solution

[0009] To achieve the above objectives, this utility model specifically adopts the following technical solution:

[0010] A foldable robotic arm structure for robots includes a movable structure and a robotic arm device. The movable structure includes a movable frame, a mounting plate is installed on the top of the movable frame, two side plates are installed on the side ends of the movable frame, and drive wheels are provided on the outer sides of the side plates.

[0011] The robotic arm device includes a mounting box, on the top of which a drive gear and a follower gear ring are rotatably connected. The drive gear and the follower gear ring mesh with each other. An embedded motor is provided inside the mounting box, and the output shaft of the embedded motor is fixedly connected to the center of the drive gear.

[0012] The top end of the follower gear ring is provided with a first hinge rod, the other end of the first hinge rod is provided with a second hinge rod, and the other end of the second hinge rod is provided with a clamping structure.

[0013] The top of the follower gear ring is fixedly connected to a rotating base and a servo motor. The outer side of the rotating base and the output shaft of the servo motor are both provided with transmission gears, and the two transmission gears mesh with each other.

[0014] Furthermore, the mounting plate has an installation opening on its inner side, and the mounting box is located inside the installation opening.

[0015] Furthermore, a built-in motor is provided on the inner side of the side plate, and the output shaft of the built-in motor passes through the side plate and is fixedly connected to the central shaft of the drive wheel.

[0016] Furthermore, a light is fixedly installed at the front end of the mobile frame, and a storage box is fixedly connected to the back side of the mobile frame.

[0017] Furthermore, a circuit board is installed at the bottom of the mobile frame, and the mobile structure and the robotic arm device are both electrically connected to the circuit board.

[0018] Furthermore, an external motor is fixedly installed on the outer side of the first hinge rod, and a transmission chain is connected between the output shaft of the external motor and the connection between the first hinge rod and the second hinge rod.

[0019] Furthermore, the clamping structure includes a motion table, and a brake motor is provided on the outer side of the motion table. The motion table is rotatably connected to the end of the second hinge rod away from the first hinge rod via the brake motor.

[0020] Furthermore, a fixed plate is fixedly installed on the front side of the motion platform. Two meshing gears are rotatably connected to the top of the fixed plate, and the two meshing gears mesh with each other. A lower motor is installed at the bottom of the fixed plate, and the output shaft of the lower motor is fixedly connected to the center of the meshing gear on the right side.

[0021] Furthermore, the front side of the fixed plate is rotatably connected to a clamping claw via a linkage rod, and the top of the meshing gear is fixedly connected to a connecting plate. The other end of the connecting plate is slidably connected to a groove opened at the end of the clamping claw.

[0022] (III) Beneficial Effects

[0023] Compared with the prior art, this utility model provides a foldable robotic arm structure for robots, which has the following beneficial effects:

[0024] This utility model, through a movable structure, utilizes a movable frame that can be connected to the robotic arm device via a mounting plate. In addition, the drive wheels set on the side plate can drive the robotic arm device for transportation, allowing the robotic arm device to be moved according to actual work needs. This eliminates the need for manual handling, saving manpower and improving work efficiency.

[0025] This utility model, through a robotic arm device, utilizes a first hinge rod and a second hinge rod to facilitate the folding and storage of the robotic arm device when not in use, reducing the space occupied and making it easy to store and carry. Moreover, the length of the robotic arm device can be adjusted according to actual needs, increasing the applicability of the robotic arm device. Furthermore, it provides protection for the robotic arm device during transportation, preventing damage from collisions and extending the service life of the robotic arm device. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of this utility model;

[0027] Figure 2 This is a schematic diagram of the movable structure of this utility model;

[0028] Figure 3 This is a bottom view of the movable structure of this utility model;

[0029] Figure 4 This is a schematic diagram of the robotic arm device of this utility model;

[0030] Figure 5 This is a rear view of the robotic arm device of this utility model;

[0031] Figure 6 for Figure 4 Enlarged schematic diagram of the structure at point A in the middle.

[0032] In the diagram: 1. Moving structure; 101. Moving frame; 102. Mounting plate; 103. Side plate; 104. Drive wheel; 105. Mounting port; 106. Lighting lamp; 107. Storage box; 108. Circuit board; 2. Robotic arm device; 201. Mounting box; 202. Drive gear; 203. Follower gear ring; 204. First hinge rod; 205. Second hinge rod; 206. Clamping structure; 207. Rotating seat; 208. Servo motor; 209. Transmission gear; 210. External motor; 211. Transmission chain; 212. Brake motor; 213. Motion table; 214. Fixed plate; 215. Meshing gear; 216. Linkage rod; 217. Clamping claw. Detailed Implementation

[0033] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0034] Example

[0035] like Figure 1-6 As shown, an embodiment of the present invention provides a foldable robotic arm structure for robots, including a movable structure 1 and a robotic arm device 2. The movable structure 1 includes a movable frame 101, a mounting plate 102 is installed on the top of the movable frame 101, and two side plates 103 are installed on the side ends of the movable frame 101. Drive wheels 104 are provided on the outer side of the side plates 103.

[0036] The robotic arm device 2 includes a mounting box 201. A drive gear 202 and a follower gear ring 203 are rotatably connected to the top of the mounting box 201. The drive gear 202 and the follower gear ring 203 mesh with each other. An embedded motor is provided inside the mounting box 201. The output shaft of the embedded motor is fixedly connected to the center of the drive gear 202.

[0037] The top end of the follower gear ring 203 is provided with a first hinge rod 204, the other end of the first hinge rod 204 is provided with a second hinge rod 205, and the other end of the second hinge rod 205 is provided with a clamping structure 206.

[0038] The top end of the follower gear ring 203 is fixedly connected to a rotating seat 207 and a servo motor 208. The outer side of the rotating seat 207 and the output shaft of the servo motor 208 are both provided with transmission gears 209, and the two transmission gears 209 mesh with each other.

[0039] like Figure 2 As shown, in some embodiments, the mounting plate 102 has an installation opening 105 on its inner side, and the mounting box 201 is located inside the installation opening 105.

[0040] Specifically, the design of the mounting port 105 allows the mounting box 201 to be securely mounted on the moving structure 1, ensuring the stability and safety of the robotic arm device 2 during movement. At the same time, the size and shape of the mounting port 105 match the mounting box 201, facilitating quick installation and disassembly, and improving the flexibility and convenience of the robotic arm device 2.

[0041] like Figure 3As shown, in some embodiments, a built-in motor is provided on the inner side of the side plate 103, and the output shaft of the built-in motor passes through the side plate 103 and is fixedly connected to the central shaft of the drive wheel 104.

[0042] Specifically, the built-in motor enables the drive wheel 104 to rotate, thereby moving the entire mobile structure 1. By controlling the speed and direction of the built-in motor, precise control of the moving speed and direction of the mobile structure 1 can be achieved, allowing the robotic arm device 2 to accurately reach the designated position, improving work efficiency and accuracy. At the same time, the built-in motor has advantages such as small size, light weight, and high power, making the mobile structure 1 more compact, lightweight, and easy to carry and transport.

[0043] like Figure 3 As shown, in some embodiments, a lighting lamp 106 is fixedly installed at the front end of the mobile frame 101, and a storage box 107 is fixedly connected to the back side of the mobile frame 101.

[0044] Specifically, the lighting 106 provides good illumination for operators at night or in low-light environments, ensuring the safety and accuracy of the robotic arm 2 during transport and operation. Simultaneously, the lighting 106 is strategically positioned to avoid obstructing the operator's view or interfering with the normal operation of the robotic arm 2. The storage box 107 facilitates the storage and carrying of necessary tools and accessories, such as screwdrivers, wrenches, and batteries, improving work efficiency and convenience. The storage box 107 has sufficient volume and load-bearing capacity to meet the actual needs of the operators.

[0045] like Figure 3 As shown, in some embodiments, a circuit board 108 is mounted on the bottom of the mobile frame 101, and both the mobile structure 1 and the robotic arm device 2 are electrically connected to the circuit board 108.

[0046] Specifically, the circuit board 108 mounted at the bottom of the mobile frame 101 not only provides power to the mobile structure 1 and the robotic arm device 2, but also realizes signal transmission and control between the various components through electrical connections. This design enables the entire robotic arm structure to perform various tasks efficiently and accurately, improving work efficiency and reliability.

[0047] like Figure 4 As shown, in some embodiments, an external motor 210 is fixedly installed on the outer side of the first hinge rod 204, and a transmission chain 211 is connected between the output shaft of the external motor 210 and the connection between the first hinge rod 204 and the second hinge rod 205.

[0048] Specifically, the external motor 210 drives the transmission chain 211 to rotate the second hinge rod 205 relative to the first hinge rod 204, thereby enabling the folding and unfolding functions of the robotic arm device 2. When the robotic arm device 2 needs to be folded to reduce space occupation, the external motor 210 starts and drives the transmission chain 211, causing the second hinge rod 205 to move closer to the first hinge rod 204 and fold up. Conversely, when the robotic arm device 2 needs to be used for work, the external motor 210 drives the transmission chain 211 in the opposite direction, causing the second hinge rod 205 to move away from the first hinge rod 204 and unfold to the required angle.

[0049] like Figure 6 As shown, in some embodiments, the clamping structure 206 includes a motion table 213. A brake motor 212 is provided on the outer side of the motion table 213. The motion table 213 is rotatably connected to the end of the second hinge rod 205 away from the first hinge rod 204 via the brake motor 212. A fixing plate 214 is fixedly installed on the front side of the motion table 213. Two meshing gears 215 are rotatably connected to the top of the fixing plate 214. The two meshing gears 215 mesh with each other. A lower motor is provided at the bottom of the fixing plate 214. The output shaft of the lower motor is fixedly connected to the center of the meshing gear 215 on the right. A clamping claw 217 is rotatably connected to the front side of the fixing plate 214 via a linkage rod 216. A connecting plate is fixedly connected to the top of the meshing gear 215. The other end of the connecting plate is slidably connected to a groove opened at the end of the clamping claw 217.

[0050] Specifically, the design of the gripper 217 enables the gripping structure 206 to firmly hold objects of various shapes and sizes, ensuring the stability and accuracy of the robotic arm 2 during task execution. Driven by the brake motor 212, the angle of the gripper 217 can be adjusted, allowing the gripping structure 206 to adapt to different gripping requirements. Simultaneously, the coordinated use of the meshing gear 215 and the lower motor enables fine-tuning of the gripper 217, further improving gripping accuracy and reliability. The sliding connection design between the connecting plate and the slide groove ensures the smoothness and stability of the gripper 217 during movement, preventing any impact on gripping performance due to shaking or jamming.

[0051] In use, the operator can control the robotic arm device 2 via the control panel or remote control. Driven by the built-in motor, the drive wheel 104 of the moving structure 1 can move the entire robotic arm structure to the designated working position.

[0052] Upon reaching the designated position, the drive gear 202 and follower gear ring 203 of the robotic arm device 2 begin to work under the drive of the embedded motor. Through the transmission chain 211, they drive the first hinge rod 204 and the second hinge rod 205 to rotate, thereby realizing the unfolding and folding functions of the robotic arm.

[0053] At the same time, the brake motor 212 and the lower motor of the clamping structure 206 also start to work. Through the cooperation of the meshing gear 215 and the connecting plate, the opening and closing and fine adjustment control of the clamping claw 217 are realized, thereby completing the task of clamping and transporting the object.

[0054] In summary, through the mobile structure 1, the mobile frame 101 can be connected to the robotic arm device 2 through the mounting plate 102. In addition, the drive wheel 104 set on the side plate 103 can drive the robotic arm device 2 to be transported, so that the robotic arm device 2 can be transferred according to the actual work needs, and the manual handling method is eliminated, which not only saves manpower, but also improves work efficiency.

[0055] The robotic arm device 2, with its first hinge rod 204 and second hinge rod 205, can be easily folded and stored when not in use, reducing the space it occupies and making it easy to store and carry. Moreover, the length of the robotic arm device 2 can be adjusted according to actual needs, increasing its applicability. It also provides protection during transport, preventing damage from collisions and extending its service life.

[0056] It should be noted that the specific models and specifications of the lighting lamp 106, circuit board 108, servo motor 208, external motor 210, and brake motor 212 in the foldable robotic arm structure of the robot need to be selected and determined according to the actual specifications of the device. The specific selection and calculation method adopts the existing technology in this field, so it will not be described in detail.

[0057] Furthermore, the power supply and principles of the lighting lamp 106, circuit board 108, servo motor 208, external motor 210, and brake motor 212 in the foldable robotic arm structure are clear to those skilled in the art and will not be described in detail here.

[0058] Furthermore, the working principles and wiring methods of the lighting lamp 106, circuit board 108, servo motor 208, external motor 210, and brake motor 212 in the foldable robotic arm structure are commonplace and belong to conventional methods or common knowledge. They will not be elaborated here. Those skilled in the art can make any selections according to their needs or convenience.

[0059] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A foldable robotic arm structure for robots, comprising a movable structure (1) and a robotic arm device (2), characterized in that: The mobile structure (1) includes a mobile frame (101), a mounting plate (102) is installed on the top of the mobile frame (101), and two side plates (103) are installed on the side ends of the mobile frame (101). A drive wheel (104) is provided on the outer side of the side plate (103). The robotic arm device (2) includes a mounting box (201). A drive gear (202) and a follower gear ring (203) are rotatably connected to the top of the mounting box (201). The drive gear (202) and the follower gear ring (203) mesh with each other. An embedded motor is provided inside the mounting box (201). The output shaft of the embedded motor is fixedly connected to the center of the drive gear (202). The top end of the follower gear ring (203) is provided with a first hinge rod (204), the other end of the first hinge rod (204) is provided with a second hinge rod (205), and the other end of the second hinge rod (205) is provided with a clamping structure (206). The top of the follower gear ring (203) is fixedly connected to a rotating seat (207) and a servo motor (208). The outer side of the rotating seat (207) and the output shaft of the servo motor (208) are both provided with transmission gears (209), and the two transmission gears (209) mesh with each other.

2. The foldable robotic arm structure for robots according to claim 1, characterized in that: The mounting plate (102) has an installation opening (105) on its inner side, and the mounting box (201) is located inside the installation opening (105).

3. The foldable robotic arm structure for robots according to claim 1, characterized in that: An internal motor is provided on the inner side of the side plate (103), and the output shaft of the internal motor passes through the side plate (103) and is fixedly connected to the central shaft of the drive wheel (104).

4. The foldable robotic arm structure for robots according to claim 1, characterized in that: A light (106) is fixedly installed at the front end of the mobile frame (101), and a storage box (107) is fixedly connected to the back side of the mobile frame (101).

5. The foldable robotic arm structure for robots according to claim 1, characterized in that: A circuit board (108) is installed at the bottom of the mobile frame (101), and the mobile structure (1) and the robotic arm device (2) are both electrically connected to the circuit board (108).

6. The foldable robotic arm structure for robots according to claim 1, characterized in that: An external motor (210) is fixedly installed on the outside of the first hinge rod (204), and a transmission chain (211) is connected between the output shaft of the external motor (210) and the connection between the first hinge rod (204) and the second hinge rod (205).

7. The foldable robotic arm structure for robots according to claim 1, characterized in that: The clamping structure (206) includes a motion table (213), and a brake motor (212) is provided on the outside of the motion table (213). The motion table (213) is rotatably connected to the end of the second hinge rod (205) away from the first hinge rod (204) through the brake motor (212).

8. The foldable robotic arm structure for robots according to claim 7, characterized in that: A fixed plate (214) is fixedly installed on the front side of the motion table (213). Two meshing gears (215) are rotatably connected to the top of the fixed plate (214). The two meshing gears (215) mesh with each other. A lower motor is provided at the bottom of the fixed plate (214). The output shaft of the lower motor is fixedly connected to the center of the meshing gear (215) on the right side.

9. The foldable robotic arm structure for robots according to claim 8, characterized in that: The front side of the fixed plate (214) is rotatably connected to the clamping claw (217) via the linkage rod (216), and the top end of the meshing gear (215) is fixedly connected to the connecting plate. The other end of the connecting plate is slidably connected to the groove opened at the end of the clamping claw (217).

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