A novel practical robotic arm device

Abstract

This utility model discloses a novel practical robotic arm device, belonging to the field of robotic arm technology. The device includes a mounting frame, on which a lifting mechanism is mounted. A connecting member is fixedly mounted on the lifting mechanism, and a rotating mechanism is mounted on the connecting member. A connecting block is fixedly mounted on the rotating mechanism, and an adjusting mechanism is mounted on the connecting block. The robotic arm body is mounted on the adjusting mechanism. The lifting mechanism drives the rotating mechanism to achieve lifting motion, the rotating mechanism drives the adjusting mechanism to achieve rotational motion, and the adjusting mechanism drives the robotic arm body to adjust its pitch angle. This achieves multi-dimensional adjustment of the robotic arm's height, horizontal angle, and pitch angle to expand the processing range and ensure processing accuracy.

Description

Technical Field

[0001] This utility model relates to a novel practical robotic arm device, belonging to the field of robotic arm technology. Background Technology

[0002] Robotic arms are the most widely used automated mechanical devices in the field of robotics, and can be found in fields such as industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, and space exploration.

[0003] For example, a novel practical robotic arm device authorized on March 16, 2021, with announcement number CN212706772U, includes a slot base. A first lead screw and a second lead screw are rotatably supported between the upper and lower side plates of the slot base. The top end of the first lead screw is fixedly connected to the output shaft of a servo motor. A first gear is fixed to the body of the first lead screw, and a second gear that meshes with the first gear is fixed to the body of the second lead screw. A drive block is sleeved on the outer side of the first and second lead screws. A guide roller is fixed to one end of the drive block. The guide roller can roll vertically along the inner wall of the web of the slot base. A first support arm is fixed to the other end of the drive block, and a second support arm is rotatably connected to the outer end of the first support arm.

[0004] While the aforementioned patent addresses this issue by using two lead screws and an innovative drive block design, allowing for easy switching when one lead screw malfunctions by loosening the sliders on either side of the faulty lead screw and tightening the sliders on either side of the other lead screw, the solution only allows for lifting and rotating the robotic arm. It is difficult to adjust the tilt angle of the robotic arm, resulting in a limited application range and making it difficult to process workpieces from multiple angles, thus exhibiting certain limitations. Utility Model Content

[0005] The technical problem to be solved by this utility model is to overcome the shortcomings of the existing technology and provide a new type of practical robotic arm device that realizes multi-dimensional adjustment of the height, horizontal angle and pitch angle of the robotic arm to expand the processing range and ensure processing accuracy.

[0006] The technical solution adopted by this utility model to solve its existing problems is:

[0007] A novel practical robotic arm device includes a mounting frame, on which a lifting mechanism is mounted. A connecting component is fixedly mounted on the lifting mechanism, and a rotating mechanism is mounted on the connecting component. A connecting block is fixedly mounted on the rotating mechanism, and an adjusting mechanism is mounted on the connecting block. The robotic arm body is mounted on the adjusting mechanism. The lifting mechanism drives the rotating mechanism to achieve lifting motion, the rotating mechanism drives the adjusting mechanism to achieve rotational motion, and the adjusting mechanism drives the robotic arm body to adjust its pitch angle.

[0008] Preferably, the lifting mechanism includes a mounting plate, on which a third motor is fixedly mounted. The output end of the third motor is connected to a lead screw, on which a bushing is mounted. The lead screw and the bushing are threaded together. A lifting block is fixedly mounted on the bushing. A guide block is fixedly mounted on one end of the lifting block, and a connecting piece is fixedly mounted on the other end of the lifting block.

[0009] Preferably, the mounting bracket is a side-standing concave bracket, with a guide groove on the side of the mounting bracket, and second bearing seats installed on the top and bottom edges of the mounting bracket, with both ends of the lead screw rotatably connected to the second bearing seats, the guide block slidably connected to the guide groove, and the mounting plate fixedly connected to the mounting bracket.

[0010] Preferably, the rotating mechanism includes a fixed block fixedly connected to the connecting member, a second motor fixedly mounted on the fixed block, a rotating rod provided at the output end of the second motor, and a turntable fixedly mounted at the end of the rotating rod.

[0011] Preferably, the adjustment mechanism includes a connecting block fixedly connected to the turntable, a first motor fixedly mounted on the connecting block, a transmission rod provided at the output end of the first motor, a ratchet disposed opposite to the transmission rod, and a pawl assembly adapted to the ratchet mounted on the connecting block.

[0012] Preferably, the pawl assembly includes a support frame, one end of which is fixedly connected to a connecting block, and the other end of which is rotatably connected to a rotating shaft. Pawls that mesh with ratchet wheels are respectively arranged on the rotating shaft, and a one-way bearing is provided between the pawls and the rotating shaft. The main body of the robotic arm is fixedly mounted on the rotating shaft.

[0013] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0014] Expanding the processing range and eliminating blind spots: The tilt angle of the main body of the robotic arm is adjusted unidirectionally and gradually. Combined with the horizontal angle adjustment of the rotation mechanism and the height adjustment of the lifting mechanism, the robotic arm can flexibly adjust its working posture in three dimensions: vertical tilt, horizontal rotation, and height adjustment. It can adapt to the processing needs of workpieces with different shapes, heights, and inclinations, effectively avoid processing blind spots, and ensure the comprehensiveness of workpiece processing.

[0015] Improved adjustment accuracy and stability: The adjustment mechanism adopts a ratchet, pawl and one-way bearing structure. The ratchet pitch control realizes the precise feed of angle adjustment. The directional locking characteristic of the one-way bearing ensures that the pawl only drives the shaft to rotate in the adjustment direction and does not interfere with the angle stability when resetting. At the same time, the self-locking function of the ratchet and pawl avoids the angle deviation caused by external force or gravity, which significantly improves the accuracy and stability of pitch angle adjustment.

[0016] Enhanced equipment applicability and versatility: The main body of the robotic arm and the connecting shaft are detachably connected, which makes it easy to replace different types of actuators, meet diverse processing needs, and greatly improve the adaptability and versatility of the equipment;

[0017] Optimized transmission structure ensures reliable operation: The cooperation between the guide groove and the guide block in the lifting mechanism ensures that the rotational motion of the screw is stably converted into lifting motion, avoiding jamming; the rotating mechanism and the adjusting mechanism support the transmission rod and the rotating rod through the bearing seat and bearing, reducing rotational friction and improving transmission stability. The overall structure is compact and reasonable, reducing the risk of equipment failure and extending service life. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of a novel practical robotic arm device;

[0019] Figure 2 This is a schematic diagram of the lifting mechanism in a novel practical robotic arm device;

[0020] Figure 3 This is a schematic diagram of the main structure of the rotating mechanism in a novel practical robotic arm device.

[0021] Figure 4 This is one of the schematic diagrams of the adjustment mechanism in a novel practical robotic arm device;

[0022] Figure 5 This is the second schematic diagram of the adjustment mechanism in a novel practical robotic arm device.

[0023] In the picture:

[0024] 1. Mounting bracket; 2. Connector; 3. Rotating mechanism; 301. Fixing block; 302. Second motor; 303. Rotating rod; 4. Adjusting mechanism; 401. Connecting block; 402. First motor; 403. Transmission rod; 404. Ratchet; 405. Pawl; 406. One-way bearing; 407. Rotating shaft; 408. Connector; 5. Lifting mechanism; 501. Third motor; 502. Lead screw; 503. Bushing; 504. Lifting block; 505. Mounting plate; 6. Turntable; 7. Connecting shaft; 8. Robotic arm body; 9. Support frame; 10. First bearing seat; 11. Second bearing seat; 12. Guide groove; 13. Guide block. Detailed Implementation

[0025] This specification and claims do not distinguish components by differences in name, but by differences in function. In the description of this utility model, it should be understood that terms such as "upper," "lower," "front," "rear," "left," "right," and "horizontal," indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. In this utility model, unless otherwise expressly specified and limited, terms such as "installed," "connected," "joined," and "fixed" should be interpreted broadly. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0026] like Figures 1-5 The novel practical robotic arm device shown includes a mounting frame 1, on which a lifting mechanism 5 is mounted. A connecting piece 2 is fixedly mounted on the lifting mechanism 5, and a rotating mechanism 3 is mounted on the connecting piece 2. A connecting block 401 is fixedly mounted on the rotating mechanism 3, and an adjusting mechanism 4 is mounted on the connecting block 401. A robotic arm body 8 is mounted on the adjusting mechanism 4. The lifting mechanism 5 drives the rotating mechanism 3 to achieve lifting motion, the rotating mechanism 3 drives the adjusting mechanism 4 to achieve rotational motion, and the adjusting mechanism 4 drives the robotic arm body 8 to achieve pitch angle adjustment.

[0027] The lifting mechanism 5 includes a mounting plate 505, on which a third motor 501 is fixedly mounted. The output end of the third motor 501 is connected to a lead screw 502. A bushing 503 is mounted on the lead screw 502. The lead screw 502 and the bushing 503 are threadedly connected. A lifting block 504 is fixedly mounted on the bushing 503. A guide block 13 is fixedly mounted on one end of the lifting block 504. A connecting piece 2 is fixedly mounted on the other end of the lifting block 504.

[0028] The mounting frame 1 is a side-standing concave support. A guide groove 12 is provided on the side of the mounting frame 1. Second bearing seats 11 are respectively installed on the top and bottom edges of the mounting frame 1. Through holes are provided on the top and bottom edges of the mounting frame 1 to prevent interference between the lead screw 502 and the mounting frame 1. Bearings are installed inside the second bearing seats 11. Both ends of the lead screw 502 are rotatably connected to the mounting frame 1 via bearings. The guide block 13 is slidably connected to the guide groove 12. The mounting plate 505 is fixedly connected to the mounting frame 1. By setting the guide groove 12 and the guide block 13, the guide groove 12 and guide block 13 can guide and limit the movement of the lifting block 504 during the rotation of the lead screw 502, thereby ensuring that the rotational motion of the lead screw 502 can be converted into the lifting motion of the lifting block 504.

[0029] The rotating mechanism 3 includes a fixed block 301 fixedly connected to the connecting member 2. A second motor 302 is fixedly installed on the fixed block 301. A rotating rod 303 is provided at the output end of the second motor 302. A through hole is provided on the fixed block 301 for the rotating rod 303 to pass through. A first bearing seat 10 is fixedly installed between the fixed block 301 and the second motor 302. A bearing is installed in the first bearing seat 10. The fixed block 301 is rotatably connected to the rotating rod 303 through the bearing. A turntable 6 is fixedly installed at the end of the rotating rod 303.

[0030] The adjustment mechanism 4 includes a connecting block 401 fixedly connected to the turntable 6. A first motor 402 is fixedly mounted on the connecting block 401. A transmission rod 403 is provided at the output end of the first motor 402. A through hole is provided on the connecting block 401 for the transmission rod 403 to pass through. A first bearing seat 10 is fixedly installed between the connecting block 401 and the first motor 402. A bearing is installed in the first bearing seat 10. The connecting block 401 is rotatably connected to the transmission rod 403 through the bearing. A ratchet 404 is arranged opposite to the transmission rod 403. A pawl assembly adapted to the ratchet 404 is installed on the connecting block 401.

[0031] The pawl assembly includes a support frame 9, one end of which is fixedly connected to a connecting block 401, and the other end of which is rotatably connected to a rotating shaft 407. The other end of the support frame 9 has a through hole rotatably connected to the rotating shaft 407. Pawls 405, which mesh with ratchet wheels 404, are respectively arranged opposite each other on the rotating shaft 407. A one-way bearing 406 is provided between the pawls 405 and the rotating shaft 407. The one-way bearing 406 is a mechanical transmission component with directional locking function, a mature existing technology. Its core function is to allow the rotating shaft 407 to rotate freely in one direction while locking in the opposite direction, thereby achieving unidirectional power transmission or unidirectional positioning of the equipment. A connector 408 is fixedly installed in the middle of the rotating shaft 407. A connecting shaft 7 is fixedly connected to the end of the connector 408. A robotic arm body 8 is fixedly installed at the end of the connecting shaft 7. The robotic arm body 8 and the connecting shaft 7 are detachably fixedly connected, such as by a threaded connection, which facilitates the replacement of the robotic arm body 8. This allows for the processing of workpieces using different types of robotic arm bodies 8, increasing the adaptability and versatility of the equipment.

[0032] By incorporating a lifting mechanism 5, the robotic arm body 8 can be raised and lowered during use, thereby adjusting its height and position. This facilitates processing of workpieces at different heights, ensuring the applicability of the robotic arm device. The rotation mechanism 3 allows adjustment of the horizontal angle of the robotic arm body 8, enabling processing of workpieces from multiple horizontal angles. The adjustment mechanism 4 allows adjustment of the pitch angle of the robotic arm body 8, expanding the processing range and avoiding processing dead zones.

[0033] This device is also equipped with a control system, which can be a PLC control system. The first motor 402, the second motor 302 and the third motor 501 are electrically connected to the control system. The PLC control system can uniformly regulate each motor to realize automated operation of lifting, horizontal rotation and pitch angle adjustment, reduce manual intervention and improve the convenience of equipment operation and work efficiency.

[0034] The working principle of a new type of practical robotic arm device is as follows:

[0035] When using this new practical robotic arm device, the third motor 501 is started, and the third motor 501 drives the lead screw 502 to rotate. Since the lead screw 502 and the bushing 503 are connected by threads, the rotation of the lead screw 502 drives the bushing 503 to rise and fall. The rise and fall of the bushing 503 drives the lifting block 504 to rise and fall. The lifting block 504 drives the rotating mechanism 3 and the adjusting mechanism 4 to rise and fall through the connecting piece 2, thereby realizing the lifting and falling of the main body 8 of the robotic arm.

[0036] Start the second motor 302, which drives the rotating rod 303 to rotate. The rotating rod 303 drives the turntable 6 to rotate, and the turntable 6 drives the adjustment mechanism 4 to rotate, thereby adjusting the horizontal rotation angle of the main body 8 of the robotic arm.

[0037] The first motor 402 is started, driving the transmission rod 403 to rotate. The transmission rod 403 drives two ratchet wheels 404 to rotate. When the first motor 402 drives the ratchet wheels 404 to rotate, the ratchet wheels 404 mesh with the pawl 405. The serrated teeth of the ratchet wheels 404 push the pawl 405 to swing in the adjustment target direction (such as the preset direction of the robotic arm tilting up or down). At this time, the one-way bearing 406 is locked in this direction, fixing the pawl 405 relative to the rotating shaft 407, thereby driving the rotating shaft 407 to rotate synchronously, completing one angle feed. When the ratchet wheels 404 rotate to... When the saw teeth disengage from the pawl 405, the pawl 405 resets in the opposite direction under the action of gravity. At this time, the one-way bearing 406 is in a free rotation state in the reset direction, allowing the pawl 405 to swing independently without driving the rotating shaft 407 to rotate. The rotating shaft 407 maintains the adjusted angle unchanged. As the ratchet 404 continues to rotate in one direction, the rotating shaft 407 gradually accumulates angle changes in the same direction through intermittent rotation. The rotation of the rotating shaft 407 is transmitted to the robotic arm body 8 through the connector 408, realizing the directional pitch angle adjustment of the robotic arm body 8 in the vertical direction by gradually accumulating in one direction.

[0038] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A novel practical robotic arm device, comprising a mounting frame (1), characterized in that: The mounting frame (1) is equipped with a lifting mechanism (5), a connecting piece (2) is fixedly installed on the lifting mechanism (5), a rotating mechanism (3) is installed on the connecting piece (2), a connecting block (401) is fixedly installed on the rotating mechanism (3), an adjusting mechanism (4) is installed on the connecting block (401), and a robotic arm body (8) is installed on the adjusting mechanism (4). The lifting mechanism (5) drives the rotating mechanism (3) to achieve lifting motion, the rotating mechanism (3) drives the adjusting mechanism (4) to achieve rotational motion, and the adjusting mechanism (4) drives the robotic arm body (8) to achieve pitch angle adjustment.

2. The novel practical robotic arm device according to claim 1, characterized in that: The lifting mechanism (5) includes a mounting plate (505), on which a third motor (501) is fixedly mounted. The output end of the third motor (501) is connected to a lead screw (502). A bushing (503) is mounted on the lead screw (502). The lead screw (502) and the bushing (503) are threadedly connected. A lifting block (504) is fixedly mounted on the bushing (503). A guide block (13) is fixedly mounted on one end of the lifting block (504), and a connector (2) is fixedly mounted on the other end of the lifting block (504).

3. The novel practical robotic arm device according to claim 2, characterized in that: The mounting bracket (1) is a side-standing concave bracket. A guide groove (12) is provided on the side of the mounting bracket (1). The top and bottom edges of the mounting bracket (1) are respectively equipped with second bearing seats (11). The two ends of the lead screw (502) are rotatably connected to the second bearing seats (11). The guide block (13) is slidably connected to the guide groove (12). The mounting plate (505) is fixedly connected to the mounting bracket (1).

4. The novel practical robotic arm device according to claim 3, characterized in that: The rotating mechanism (3) includes a fixed block (301) fixedly connected to the connecting member (2), a second motor (302) is fixedly installed on the fixed block (301), a rotating rod (303) is provided at the output end of the second motor (302), and a turntable (6) is fixedly installed at the end of the rotating rod (303).

5. The novel practical robotic arm device according to claim 4, characterized in that: The adjustment mechanism (4) includes a connecting block (401) fixedly connected to the turntable (6). A first motor (402) is fixedly mounted on the connecting block (401). A transmission rod (403) is provided at the output end of the first motor (402). A ratchet (404) is arranged opposite to the transmission rod (403). A pawl assembly adapted to the ratchet (404) is installed on the connecting block (401).

6. The novel practical robotic arm device according to claim 5, characterized in that: The pawl assembly includes a support frame (9), one end of which is fixedly connected to a connecting block (401), and the other end of which is rotatably connected to a rotating shaft (407). Pawls (405) that mesh with ratchet (404) are respectively arranged on the rotating shaft (407). A one-way bearing (406) is provided between the pawls (405) and the rotating shaft (407). The main body of the robotic arm (8) is fixedly installed on the rotating shaft (407).

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