A robot arm turning device

Abstract

A robot arm rotating device, including a mechanical arm, further comprising a connecting mechanism connected with the mechanical arm, a transmission mechanism connected with the connecting mechanism, a driving mechanism connected with the transmission mechanism, an inductive mechanism connected with the transmission mechanism, the inductive mechanism and the driving mechanism are electrically connected with a control module respectively, the inductive mechanism is used for inducting the rotation of the mechanical arm, the connecting mechanism comprises a connecting shaft connected with the mechanical arm at one end, a bearing seat connected with the connecting shaft, and a mounting plate connected with the bearing seat, the other end of the connecting shaft is connected with the transmission mechanism, and the connecting shaft is connected with the inductive mechanism. The robot arm rotating device provided by the utility model can be used as the joint structure of the mechanical arm of the robot, the specific structure is simplified while the normal rotation of the robot arm is ensured, maintenance is facilitated, and the automatic reset function is provided, and the practicability is improved.

Description

Technical Field

[0001] This utility model belongs to the field of robotics technology, specifically relating to a robotic arm rotation device. Background Technology

[0002] With the development of science and technology, industrial production has shifted from manual production to automated and intelligent production. More and more work scenarios are utilizing robots for production. Furthermore, with the advancement of robotics technology, the application of robots is no longer limited to production; they are also widely used in service. Taking unmanned service halls as an example, robots are used to serve users. However, the joint structure of robots typically suffers from the following problems: high mechanical complexity of the joints. Traditional robot joint transmission often relies on multi-stage gears or hydraulic systems, resulting in a bulky joint structure that is difficult to maintain. Moreover, when the robot's arm is subjected to external forces during operation or rotation, it is easy for internal components of the joint structure to shift, or even for the robot arm to malfunction, potentially damaging the joint structure and causing harm to users. Due to the difficulty of maintenance, robot maintenance in this situation requires a long time, affecting the normal operation of the unmanned service hall and increasing the workload of maintenance personnel. Therefore, a simplified and easily maintained robotic arm joint structure is needed. This utility model addresses this technical problem. Utility Model Content

[0003] This invention provides a robot arm rotation device, which can be used as a joint structure for a robot arm. While ensuring that the robot arm can rotate normally, it simplifies the specific structure, facilitates maintenance, and has an automatic reset function, thus improving practicality.

[0004] A robotic arm rotation device includes a robotic arm, a connecting mechanism connected to the robotic arm, a transmission mechanism connected to the connecting mechanism, a drive mechanism connected to the transmission mechanism, and a sensing mechanism connected to the transmission mechanism. The sensing mechanism and the drive mechanism are electrically connected to a control module, and the sensing mechanism is used to sense the rotation of the robotic arm.

[0005] Furthermore, the connecting mechanism includes a connecting shaft connected to the robotic arm at one end, a bearing seat connected to the connecting shaft, and a mounting plate connected to the bearing seat. The other end of the connecting shaft is connected to the corresponding transmission mechanism, and the connecting shaft is connected to the sensing mechanism.

[0006] Furthermore, the transmission mechanism includes a driven wheel connected to the connecting mechanism, a driving wheel meshing with the driven wheel, and a drive mechanism connected to the driving wheel.

[0007] Furthermore, the drive mechanism includes a damping shaft connected to the drive wheel, a drive motor connected to the damping shaft, and a motor bracket connected to the drive motor. The drive motor is electrically connected to the control module.

[0008] Furthermore, the sensing mechanism includes a position sensor connected to the mounting plate and a zero-position plate connected to the connecting shaft, and the position sensor is electrically connected to the control module.

[0009] Furthermore, the control module includes an MCU electrically connected to the position sensor and a motor driver electrically connected to the MCU, the motor driver being electrically connected to the drive motor.

[0010] The technical effects of this utility model are as follows:

[0011] (1) The drive mechanism in this solution drives the connecting mechanism to run through the transmission mechanism, so that the connecting mechanism drives the robotic arm to rotate, thus serving as the joint structure of the robot. The function of driving the robot arm to rotate is realized through three mechanisms. The structure is simple and easy to maintain. Moreover, this solution also includes a sensing mechanism that can sense whether the robotic arm is rotating. When the robotic arm rotates, the control module will control the drive mechanism to drive the robotic arm to reset, thus realizing the reset function and improving practicality.

[0012] (2) The position sensor in this solution can detect the rotation of the robotic arm by the position of the zero-position piece. When the robotic arm rotates under the action of external force, the zero-position piece on the connecting shaft will also rotate. At this time, the position sensor will detect the rotation and transmit the signal to the MCU in the control module. The MCU will control the motor driver to make the motor rotate, drive the robotic arm to reset, and realize the reset function.

[0013] (3) The drive motor in this scheme will drive the drive wheel to rotate through the damping shaft. When the robotic arm is subjected to external force and rotates, the damping shaft can ensure that it will not drive the drive motor to rotate, thus protecting the drive motor. When the device is working normally, the robotic arm rotates upward and needs to maintain its position. The damping force of the damping shaft will balance the weight of the robotic arm itself and the holding force of the drive motor, preventing the robotic arm from falling and rotating due to its own weight, thus realizing the anti-fall function. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of the present invention. Figure 1 .

[0015] Figure 2 This is a schematic diagram of the structure of the present invention. Figure 2 .

[0016] Figure 3 This is a schematic diagram of the structure of the present invention. Figure 3 .

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

[0018] Figure 5 This is a schematic diagram of the control module in this utility model.

[0019] The attached figures are labeled as follows: 1. Robotic arm; 2. Connecting shaft; 3. Bearing seat; 4. Driven wheel; 5. Driving wheel; 6. Damping shaft; 7. Drive motor; 8. Mounting plate; 9. Zero-position plate; 10. Position sensor. Detailed Implementation

[0020] The technical solution of this utility model will now be clearly and completely described in conjunction with specific embodiments and accompanying drawings.

[0021] See Figures 1-5 A robotic arm rotation device includes a robotic arm 1, a connecting mechanism connected to the robotic arm 1, a transmission mechanism connected to the connecting mechanism, a drive mechanism connected to the transmission mechanism, and a sensing mechanism connected to the transmission mechanism. The sensing mechanism and the drive mechanism are electrically connected to a control module, and the sensing mechanism is used to sense the rotation of the robotic arm 1.

[0022] Furthermore, the connecting mechanism includes a connecting shaft 2 connected to the robotic arm 1 at one end, a bearing seat 3 connected to the connecting shaft 2, and a mounting plate 8 connected to the bearing seat 3. The other end of the connecting shaft 2 is connected to the corresponding transmission mechanism, and the connecting shaft 2 is also connected to the sensing mechanism. Since this device is intended for use in robotics, the mounting plate 8 in this embodiment is installed inside the robot.

[0023] See Figure 2 The transmission mechanism includes a driven wheel 4 connected to the connecting mechanism, a driving wheel 5 meshing with the driven wheel 4, and a drive mechanism connected to the driving wheel 5. In this embodiment, the robotic arm 1, the connecting shaft 2, and the driven wheel 4 are rigidly fixedly connected. In this embodiment, the diameter of the driving wheel 5 is smaller than the diameter of the driven wheel 4, thus achieving a speed reduction effect and facilitating more accurate rotation of the robotic arm 1. To facilitate the illustration of the shape of the connecting shaft 2, the robotic arm 1 is not shown in the figure.

[0024] See Figure 3The drive mechanism includes a damping shaft 6 connected to the drive wheel 5, a drive motor 7 connected to the damping shaft 6, and a motor bracket connected to the drive motor 7. The drive motor 7 is electrically connected to the control module. In this embodiment, the damping force of the damping shaft 6 is greater than the weight of the robotic arm 1 itself and less than the holding force of the drive motor 7. This not only prevents the robotic arm 1 from rotating in the opposite direction due to its own weight after normal rotation, but also ensures that the drive motor 7 will not rotate when the robotic arm 1 rotates under the action of external force.

[0025] See Figure 4 The sensing mechanism includes a position sensor 10 connected to the mounting plate 8 and a zero-position plate 9 connected to the connecting shaft 2. The position sensor 10 is electrically connected to the control module. In this embodiment, the position sensor 10 is a through-beam photoelectric sensor. The zero-position plate 9 is located between the transmitter and receiver of the through-beam photoelectric sensor, and this position is used as the starting position, i.e., the zero limit. When the zero-position plate 9 leaves the zero limit, the receiver receives the signal from the transmitter. After the signal is input to the isolation optocoupler, it is converted into a high-level output to the control module. In this embodiment, the connecting shaft 2 is provided with a mounting groove, and the zero-position plate 9 is mounted on the connecting shaft 2 through the mounting groove.

[0026] Preferably, to better determine the position of the zero-position plate 9 after the robotic arm 1 rotates, this embodiment adds another through-beam photoelectric sensor as the upper limit of the zero-position plate 9, and it is also electrically connected to the control module to determine whether the robotic arm 1 has rotated to its maximum limit. Specifically, it is installed inside the robot body. For example, if the maximum rotation limit of the robotic arm 1 in this embodiment is 180°, then the newly added through-beam photoelectric sensor needs to be installed on top of the device, with the two through-beam photoelectric sensors located opposite each other. The installation method of the through-beam photoelectric sensor is common knowledge known to those skilled in the art and will not be described in detail here.

[0027] The technical features not described in detail in this solution are based on the conventional operation and general understanding of those skilled in the art and are derived from existing technologies, and will not be elaborated further here.

[0028] See Figure 5 The control module includes an MCU electrically connected to the position sensor 10 and a motor driver electrically connected to the MCU. The motor driver is electrically connected to the drive motor 7. The motor in the figure is the drive motor 7 in this solution, which is a forward and reverse rotating motor in this embodiment. The connection methods of resistors R70, R71, R82, R83, and optocouplers G9 and G10 in the figure are all common knowledge known to those skilled in the art, and those skilled in the art can understand the corresponding connection methods through the accompanying drawings, so they will not be described in detail here.

[0029] The working process of this utility model is as follows:

[0030] When the robot arm 1 needs to be rotated, the MCU controls the drive motor 7 to work through the motor driver. The drive motor 7 drives the drive wheel 5 to rotate through the damping shaft 6. The driven wheel 4, which is meshed with the drive wheel 5, drives the robot arm 1 to rotate through the connecting shaft 2. When the robot arm 1 needs to remain stationary for a period of time after rotating, the drive motor 7 stops working. The damping force of the damping shaft 6 is greater than the weight of the robot arm 1 itself, which can prevent the robot arm 1 from rotating downwards due to its own weight.

[0031] When the robotic arm 1 rotates under external force, such as when the user shakes the robotic arm 1, the robotic arm 1 will drive the driven wheel 4 to rotate through the connecting shaft 2. The driving wheel 5, which is meshed with the driven wheel 4, will also rotate. At this time, since the damping force of the damping shaft 6 is less than the holding force of the drive motor 7, it will not drive the drive motor 7 to rotate, thus protecting the drive motor 7. After the robotic arm 1 rotates, the zero-position plate 9 will leave its original position (i.e., zero limit). At this time, the light signal emitted by the transmitter of the through-beam photoelectric sensor will be received by the receiver. The signal will be input to the isolation optocoupler and converted into a high-level electrical signal output to the MCU. The MCU controls the motor driver through the 485 interface to make the drive motor 7 rotate, thereby resetting the robotic arm through the drive motor 7. When the zero-position plate 9 is reset to the initial position, it will block the transmitter and receiver. The isolation optocoupler will output a low level to the MCU, indicating that the zero-position plate 9 has been reset.

[0032] When the upper limit photoelectric sensor is blocked by the zero-position plate 9, it indicates that the robotic arm 1 has rotated to its maximum angle. The corresponding isolation optocoupler will output a low level to the MCU, causing it to control the drive motor 7 to reset the robotic arm 1. Preferably, in this embodiment, the upper limit is mainly used as a safety mechanism. When the zero limit device fails, the rotation of the robotic arm 1 can still be detected by the upper limit device. Since the upper limit represents the maximum rotation angle of the robotic arm 1, continued rotation may damage the robot structure. Therefore, when the above situation occurs, the MCU can also perform a timely reset control. For this reset method, the MCU in this embodiment can determine the number of rotations of the drive motor 7 by calculating the rotation time and rotation speed of the drive motor 7, thereby determining whether the zero-position plate 9 has moved to the correct position, that is, whether the robotic arm 1 has reset. This calculation method is common knowledge known to those skilled in the art and will not be described in detail here.

[0033] The above embodiments are merely preferred embodiments of this utility model. Those skilled in the art can obtain other embodiments from the above embodiments without creative effort. Therefore, the above embodiments of this utility model do not represent a limitation on this solution. All technical solutions that are consistent with the principles and features of this application are within the protection scope of this utility model.

Claims

1. A robotic arm rotation device, comprising a robotic arm (1), characterized in that, It also includes a connection mechanism connected to the robotic arm (1), a transmission mechanism connected to the connection mechanism, a drive mechanism connected to the transmission mechanism, and a sensing mechanism connected to the transmission mechanism. The sensing mechanism and the drive mechanism are electrically connected to the control module, and the sensing mechanism is used to sense the rotation of the robotic arm (1).

2. The robotic arm rotation device according to claim 1, characterized in that, The connecting mechanism includes a connecting shaft (2) connected to the robotic arm (1) at one end, a bearing seat (3) connected to the connecting shaft (2), and a mounting plate (8) connected to the bearing seat (3). The other end of the connecting shaft (2) is connected to the transmission mechanism, and the connecting shaft (2) is connected to the sensing mechanism.

3. The robotic arm rotation device according to claim 2, characterized in that, The transmission mechanism includes a driven wheel (4) connected to the connecting mechanism, a driving wheel (5) meshing with the driven wheel (4), and a drive mechanism connected to the driving wheel (5).

4. The robotic arm rotation device according to claim 3, characterized in that, The drive mechanism includes a damping shaft (6) connected to the drive wheel (5), a drive motor (7) connected to the damping shaft (6), and a motor bracket connected to the drive motor (7). The drive motor (7) is electrically connected to the control module.

5. The robotic arm rotation device according to claim 4, characterized in that, The sensing mechanism includes a position sensor (10) connected to the mounting plate (8) and a zero-position plate (9) connected to the connecting shaft (2). The position sensor (10) is electrically connected to the control module.

6. The robotic arm rotation device according to claim 5, characterized in that, The control module includes an MCU electrically connected to the position sensor (10) and a motor driver electrically connected to the MCU. The motor driver is electrically connected to the drive motor (7).

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