A multi-joint linkage type composite robot arm connecting device

Abstract

The utility model provides a kind of multi-joint linkage type composite robot mechanical arm connecting device, belong to intelligent mechanical arm field technical field, the multi-joint linkage type composite robot mechanical arm connecting device includes first connecting seat and second connecting seat, second connecting seat surface is provided with the fixed connecting mechanism for installing mechanical arm, first connecting seat end and the suspension connecting structure fixed connection of mechanical arm, first connecting seat and second connecting seat are movably connected by rotating positioning mechanism;Rotating positioning mechanism includes the convex part of first connecting seat, bearing part and the recessed portion of second connecting seat;Second connecting seat side is provided with gear adjusting device, and is matched with gear adjusting device by the convex tooth of equidistant setting in outer periphery, gear adjusting device is fixedly connected with first connecting seat by connecting shell;The utility model can solve the problem that angle adjustment is difficult after mechanical arm installation, operation is time-consuming and laborious, angle adjustment mode and structural stability are difficult to take into account.

Description

Technical Field

[0001] This utility model belongs to the technical field of intelligent robotic arms, specifically, it relates to a multi-joint linkage composite robot robotic arm connection device. Background Technology

[0002] In modern industrial production, logistics warehousing, precision manufacturing, and automated assembly, multi-joint linkage composite robots have become core equipment for improving production efficiency and operational precision. The robotic arm connection device, as a key component connecting the robotic arm to load-bearing structures such as suspension hangers and support frames, directly determines the robot's deployment efficiency and operational adaptability through its ease of installation, angle adjustability, and structural stability.

[0003] In the current technological field, the connection methods between robotic arms and supporting structures still have significant limitations. On the one hand, traditional rigid connection devices mostly use fixed bolt structures. During initial installation, the tilt angle of the robotic arm must be precisely aligned in one go. Furthermore, if the angle needs to be changed due to changes in the work scenario (such as workpiece position adjustment or process switching), the connecting bolts must be completely disassembled and repositioned, which is not only cumbersome and time-consuming, but also requires a high level of manual labor. On the other hand, although some adjustable connection devices use hinge or pin structures to achieve angle swing, they are limited by the weight of the robotic arm itself (especially heavy robotic arms with a load of over 50kg). During the adjustment process, multiple people need to work together to lift and balance the gravity. If not careful, the angle will shift due to the imbalance of forces. Moreover, the hinge connection lacks an effective positioning mechanism, and the angle is prone to loosening due to vibration after adjustment.

[0004] Therefore, the root cause of the problem lies in the fact that the existing connection device fails to balance "convenience of adjustment after installation" and "structural stability". Fixed structures sacrifice adjustability to ensure rigidity, while simple hinge structures sacrifice precision and load-bearing capacity to achieve adjustment. In addition, the existing device lacks a targeted force-saving adjustment mechanism. When the robotic arm has an irregular shape (such as multiple protruding joints or a large end effector) that results in a narrow operating space, manual adjustment is not only time-consuming (the average time for a single adjustment exceeds 40 minutes), but also prone to damage to robotic arm components due to uneven force application.

[0005] In summary, existing technologies suffer from problems such as difficulty in adjusting the angle of the robotic arm after installation, time-consuming and labor-intensive operation, and difficulty in balancing angle adjustment methods with structural stability. Utility Model Content

[0006] In view of this, the present invention provides a multi-joint linkage composite robot arm connection device, which can solve the problems of difficulty in angle adjustment after robot arm installation, time-consuming and labor-intensive operation, and difficulty in balancing angle adjustment method and structural stability.

[0007] This utility model is implemented as follows:

[0008] This utility model provides a multi-joint linkage composite robot arm connection device, including a first connecting seat and a second connecting seat. The surface of the second connecting seat is provided with a fixing connection mechanism for mounting the robot arm. The end of the first connecting seat is fixedly connected to the suspension connection structure of the robot arm. The first connecting seat and the second connecting seat are movably connected by a rotation positioning mechanism. The rotation positioning mechanism includes a protrusion of the first connecting seat, a bearing part, and a recess of the second connecting seat. A gear adjustment device is provided on one side of the second connecting seat and engages with the gear adjustment device through equidistant teeth on the outer periphery. The gear adjustment device is fixedly connected to the first connecting seat through a connecting housing.

[0009] The technical advantages of the multi-joint linkage composite robot arm connecting device provided by this utility model are as follows: A first connecting seat is provided to cooperate with a second connecting seat to adjust the suspension angle of the robot arm; the protrusion and bearing of the first connecting seat and the recess of the second connecting seat form an interlocking rotating structure; a gear adjustment device is provided to achieve precise and labor-saving adjustment; utilizing the relative rotation characteristics of the rotation positioning mechanism, the tilt angle can still be flexibly adjusted after the robot arm is fixedly installed, eliminating the need for angle correction during installation, significantly shortening the adjustment time; the force-increasing characteristics of gear transmission reduce the intensity of manual operation, solving the problem of difficult installation and adjustment caused by the large weight and special shape of the robot arm.

[0010] Based on the above technical solution, the multi-joint linkage composite robot arm connection device of this utility model can be further improved as follows:

[0011] The bearing part is fitted onto the protruding part, and its outer side abuts against the recessed part. An outer stop is welded and fixed to the outer side of the recessed part.

[0012] The beneficial effects of adopting the above-mentioned improvement scheme are as follows: the outer stop is fixed to the outside of the recess by welding, forming an axial limit on the bearing part, preventing the bearing part from axially displacing or falling off during rotation, and solving the problem of easy loosening of the bearing in the rotating mechanism; the tight contact between the bearing part and the protrusion and the recess reduces the gap during rotation, reduces noise and wear, and extends the service life.

[0013] Furthermore, the outer baffle has a through hole in the middle to accommodate the protrusion, and the inner wall is provided with a bearing seat for mounting the bearing.

[0014] The beneficial effects of adopting the above-mentioned improvement scheme are as follows: the compatibility between the through hole and the protrusion ensures the coaxiality of the first and second connecting seats, avoiding the shaking caused by eccentricity during rotation; the bearing seat provides precise installation positioning for the bearing part, ensuring that the bearing rotates stably within the preset trajectory, and solving the problem of rotation jamming or decreased accuracy caused by bearing installation misalignment.

[0015] Furthermore, the rotary positioning mechanism also includes multiple sets of positioning holes provided on the first and second connecting seats. The positioning holes are used to cooperate with the positioning bolts and nuts to achieve angular positioning of the second connecting seat.

[0016] The beneficial effects of adopting the above-mentioned improved scheme are as follows: After the gear adjustment device completes the angle adjustment, the angle of the second connecting seat is rigidly fixed by passing the positioning bolt through the corresponding positioning hole and locking the nut, which solves the problem of "locking and fixing after adjustment"; the cooperation between the positioning hole and the positioning bolt provides double protection for the angle fixation and improves the positioning reliability.

[0017] Furthermore, the number of positioning holes is at least two sets, and they are evenly distributed along the circumference of the first connecting seat and the second connecting seat.

[0018] The beneficial effects of adopting the above-mentioned improvement scheme are as follows: multiple sets of evenly distributed positioning holes provide multiple angle positions to meet the multi-angle fixing needs of the robotic arm in different working scenarios, and can solve the problem of poor adaptability of traditional single positioning positions; the evenly distributed design ensures the symmetry of positioning force and avoids deformation of the connecting seat caused by local stress concentration.

[0019] Furthermore, the gear adjustment device includes a drive gear, an auxiliary transmission gear, a drive motor, a rotating handle, and an angle sensor; the auxiliary transmission gear meshes with the convex teeth on the outer periphery of the second connecting seat, the auxiliary transmission gear meshes with the drive gear, and the output shaft of the drive motor is fixedly connected to the drive gear; the rotating handle is movably connected to the connecting housing through a damping coupling seat, and the angle sensor is installed at the end of the rotating shaft of the rotating handle to identify the rotation angle of the rotating handle and feed it back to the controller.

[0020] The beneficial effects of adopting the above-mentioned improvement scheme are as follows: the drive motor assists the rotating handle to achieve electric adjustment through gear transmission, which solves the problem of high resistance caused by the weight of the robotic arm when relying on manual adjustment; the angle sensor provides real-time feedback of the rotation angle and transmits it to the controller, realizing digital and precise control of the angle.

[0021] Furthermore, the connecting housing is welded and fixed to the outer periphery of the first connecting seat.

[0022] Furthermore, the gear adjustment device also includes a power supply and a control switch, which is used to control the start of the motor, angle sensor, and controller.

[0023] The beneficial effects of adopting the above-mentioned improvement scheme are as follows: the independent power supply is free from the constraints of external cables, improves the mobility and adaptability of the device to different usage scenarios, and solves the problems of complex wiring and limited range of movement caused by wired power supply.

[0024] Furthermore, both the first connecting seat and the second connecting seat are disc-shaped structures, and their central axes are collinear; the diameter of the first connecting seat is larger than the diameter of the second connecting seat.

[0025] The beneficial effects of adopting the above-mentioned improved scheme are as follows: the disc-shaped structure and coaxial design ensure symmetry and balance during rotation, reduce the additional torque caused by eccentricity, and solve the problem of rotational instability caused by asymmetrical structure; the first connecting seat has a larger diameter, which can provide a larger support area and connection strength, adapt to its fixing requirements with the suspension connection structure, and at the same time reserve enough space for the rotation of the second connecting seat to avoid structural interference.

[0026] Furthermore, the power supply uses a removable rechargeable lithium battery. A battery compartment is provided at the end of the connecting shell away from the first connecting seat. The battery compartment is detachably connected to the connecting shell through a snap-fit ​​structure. The battery compartment is equipped with a charging interface and positive and negative contacts adapted to the lithium battery.

[0027] The beneficial effects of adopting the above-mentioned improvement scheme are as follows: the removable lithium battery facilitates quick replacement, solves the problem of having to stop and wait for charging when the power is exhausted, and improves the continuous operation capability of the equipment; the design of the snap-fit ​​connection and charging interface simplifies the battery disassembly and charging process and improves maintenance convenience; the lithium battery has high energy density, which can reduce the size and weight of the power module and meet the requirements of lightweight robots.

[0028] Compared with existing technologies, the beneficial effects of the multi-joint linkage composite robot arm connection device provided by this utility model are as follows: This device effectively solves the core problem of angle adjustment and fixation after the robot arm is installed. Through the interlocking rotating structure formed by the protrusion, bearing, and recess, the angle can be adjusted without disassembly after installation, eliminating repeated disassembly and assembly steps and significantly shortening the adjustment time. The gear adjustment device utilizes the force-increasing characteristics of gear transmission, combined with the manual adjustment mode, to reduce the intensity of manual operation. A single person can complete the adjustment of the heavy-duty robot arm, solving the adjustment difficulties caused by weight and shape. Multiple sets of evenly distributed positioning holes, together with positioning bolts, provide multiple angle fixation positions. The outer stop and bearing seat design enhance rotational stability and reduce noise and wear. The disc-shaped structure and coaxial design avoid rotational interference, and the overall design balances adjustment flexibility and structural rigidity, significantly improving installation efficiency and operational reliability. Attached Figure Description

[0029] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments of this utility model will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 A three-dimensional structural schematic diagram of a multi-joint linkage composite robot arm connection device;

[0031] Figure 2 This is a schematic diagram of a rotary positioning mechanism;

[0032] Figure 3 A top view of a multi-joint linkage composite robot arm connection device;

[0033] Figure 4 This is a schematic diagram of a gear adjustment device;

[0034] The attached diagram lists the components represented by each number as follows:

[0035] 10. First connecting seat; 11. Second connecting seat; 12. Rotary positioning mechanism; 121. Protrusion; 122. Bearing part; 123. Recess; 124. Outer stop; 13. Gear adjustment device; 14. Connecting housing; 15. Positioning hole; 16. Drive gear; 17. Auxiliary transmission gear; 18. Angle sensor; 19. Rotating handle; 20. Control switch; 21. Drive motor; 22. Damping coupling seat. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings.

[0037] like Figure 1-4 As shown, this utility model provides a multi-joint linkage composite robot arm connection device, including a first connecting seat 10 and a second connecting seat 11. The surface of the second connecting seat is provided with a fixed connection mechanism for mounting the robot arm. The end of the first connecting seat is fixedly connected to the suspension connection structure of the robot arm. The first connecting seat and the second connecting seat are movably connected by a rotation positioning mechanism 12. The rotation positioning mechanism includes a protrusion 121 of the first connecting seat, a bearing 122, and a recess 123 of the second connecting seat. A gear adjustment device 13 is provided on one side of the second connecting seat and cooperates with the gear adjustment device through equidistant teeth on the outer periphery. The gear adjustment device is fixedly connected to the first connecting seat through a connecting housing 14.

[0038] The fixed connection mechanism is a plug-in connection structure, which automatically aligns the fixing holes by inserting or plugging them in, thus avoiding the need to spend a long time aligning the holes and using bolts for installation during the installation process. Specifically, both the suspension connection mechanism and the fixed connection mechanism can use rectangular cast aluminum fixing seats. The fixing seats have two sets of M12 screw holes (60mm hole spacing) symmetrically opened along the length direction. The fixing seats are welded to the surfaces of the first connecting seat and the second connecting seat respectively, or they can be integrally cast.

[0039] In the above technical solution, the bearing part is sleeved on the protrusion, and the outer side abuts against the recess. An outer stop 124 is welded and fixed to the outer side of the recess.

[0040] Furthermore, in the above technical solution, the outer baffle has a through hole in the middle that is adapted to the protrusion, and the inner wall is provided with a bearing seat that is installed with the bearing part.

[0041] Furthermore, in the above technical solution, the rotary positioning mechanism also includes multiple sets of positioning holes 15 opened on the first and second connecting seats. The positioning holes are used to cooperate with the positioning bolt and nut to realize the angular positioning of the second connecting seat.

[0042] Specifically, the positioning holes are distributed in groups of 60° along the circumference, for a total of 6 groups, balancing adjustment accuracy with lightweight structure.

[0043] Furthermore, in the above technical solution, the number of positioning holes is at least two sets, and they are evenly distributed along the circumferential direction of the first connecting seat and the second connecting seat.

[0044] Furthermore, in the above technical solution, the gear adjustment device includes a driving gear 16, an auxiliary transmission gear 17, a drive motor 21, a rotating handle 19, and an angle sensor 18; the auxiliary transmission gear meshes with the convex teeth on the outer periphery of the second connecting seat, the auxiliary transmission gear meshes with the driving gear, and the output shaft of the drive motor is fixedly connected to the driving gear; the rotating handle and the connecting housing are movably connected through a damping coupling seat 22, and the angle sensor is installed at the end of the rotating shaft of the rotating handle to identify the rotation angle of the rotating handle and feed it back to the controller.

[0045] The drive gear and auxiliary transmission gear are 7075 aluminum alloy bevel gears. The drive gear has 12 teeth and the auxiliary transmission gear has 24 teeth, with a module of 1.5. The overall weight of the device is reduced through lightweight design. Polytetrafluoroethylene wear-resistant pads can be added at the meshing position of the two gears to reduce noise during transmission. Two sets of 5mm thick nitrile rubber damping washers are embedded in the damping coupling seat. The inner ring of the washer is interference-fitted with the rotating shaft of the rotating handle, and the outer ring is tightly fitted with the mounting hole of the connecting housing. The rubber provides 0.8-1.2 N·m of rotational damping through elastic deformation, avoiding angle overshoot due to inertia during manual adjustment.

[0046] Furthermore, in the above technical solution, the connecting shell is welded and fixed to the outer periphery of the first connecting seat.

[0047] Furthermore, in the above technical solution, the gear adjustment device also includes a power supply and a control switch 20, which is used to control and start the motor, angle sensor and controller.

[0048] Furthermore, in the above technical solution, both the first connecting seat and the second connecting seat are disc-shaped structures, and their central axes are collinear; the diameter of the first connecting seat is larger than the diameter of the second connecting seat.

[0049] Furthermore, in the above technical solution, the power source is a removable and rechargeable lithium battery. A battery compartment is provided at the end of the connecting shell away from the first connecting seat. The battery compartment is detachably connected to the connecting shell through a snap-fit ​​structure. The battery compartment is provided with a charging interface and positive and negative contacts adapted to the lithium battery.

[0050] The battery compartment is made of transparent ABS material. The lithium battery inside the battery compartment is connected to the input terminal of the control switch via red and black wires. The output terminal of the control switch is divided into three paths: one path is connected to the terminal of the drive motor via a wire, one path is connected to the power pin of the angle sensor, and the other path is connected to the power supply interface of the controller. The signal pin of the angle sensor is connected to the ADC interface of the controller via a shielded wire. The control signal line of the drive motor is connected to the PWM output terminal of the controller. All wires are threaded into the PVC wiring groove inside the housing and the groove is filled with fireproof cotton for fixation.

[0051] In use, manually rotate the handle. The damping washer limits the rotation speed through frictional resistance, and the rotating shaft drives the angle sensor to rotate synchronously. The sensor transmits a real-time angle signal (0-360° analog quantity) to the controller. When the manual adjustment force exceeds 1.5 N·m (determined by the controller through the current detection module), the controller automatically starts the drive motor, amplifying the torque through the active gear and auxiliary transmission gear (transmission ratio 2:1) to assist manual adjustment. When the angle approaches the target value (error ≤ 2°), the controller reduces the motor output power, retaining only the damping feedback provided by the damping washer, facilitating manual fine-tuning to a precise angle, and finally locking it through the positioning hole.

[0052] Specifically, the principle of this utility model is as follows: First, the end of the first connecting seat is fixed to the suspension support structure of the robotic arm, and the robotic arm is installed through the fixed connection mechanism on the surface of the second connecting seat. When the angle needs to be adjusted, the gear adjustment device is manually adjusted by the operator through the rotating handle, and the damping coupling seat ensures smooth adjustment. The angle sensor feeds back the rotation angle to the controller in real time, and the drive motor drives the active gear to rotate. Through the auxiliary transmission gear, it meshes with the outer peripheral convex teeth of the second connecting seat, causing the second connecting seat to rotate around the protrusion of the first connecting seat (the bearing part is sleeved on the protrusion and abuts against the recess to reduce friction); after the target angle is reached (at this time the holes are aligned), the positioning bolt is inserted into the corresponding positioning holes on the first and second connecting seats, and locked with the nut to achieve rigid fixation. The outer stop limits the axial movement of the bearing part through the bearing seat, and the connecting shell is welded to the first connecting seat to enhance the overall stability. The lithium battery powers the motor, sensors, etc., and the control switch can easily start and stop the equipment.

Claims

1. A multi-joint linkage composite robot arm connection device, comprising a first connecting seat and a second connecting seat, wherein the surface of the second connecting seat is provided with a fixing connection mechanism for mounting the robot arm, and the end of the first connecting seat is fixedly connected to the suspension connection structure of the robot arm, characterized in that, The first connecting seat and the second connecting seat are movably connected by a rotary positioning mechanism. The rotary positioning mechanism includes a protrusion of the first connecting seat, a bearing part, and a recess of the second connecting seat. A gear adjustment device is provided on one side of the second connecting seat, and the gear adjustment device cooperates with the gear teeth arranged at equal intervals on the outer periphery. The gear adjustment device is fixedly connected to the first connecting seat through a connecting housing.

2. The multi-joint linkage composite robot arm connection device according to claim 1, characterized in that, The bearing part is fitted onto the protrusion, and its outer side abuts against the recess. An outer stop is welded and fixed to the outer side of the recess.

3. The multi-joint linkage composite robot arm connection device according to claim 2, characterized in that, The outer baffle has a through hole in the middle to accommodate the protrusion, and the inner wall is provided with a bearing seat for mounting the bearing part.

4. The multi-joint linkage composite robot arm connection device according to claim 3, characterized in that, The rotary positioning mechanism also includes multiple sets of positioning holes on the first and second connecting seats. The positioning holes are used to cooperate with the positioning bolts and nuts to achieve angular positioning of the second connecting seat.

5. The multi-joint linkage composite robot arm connection device according to claim 4, characterized in that, The number of positioning holes is at least two sets, and they are evenly distributed along the circumference of the first connecting seat and the second connecting seat.

6. The multi-joint linkage composite robot arm connection device according to claim 5, characterized in that, The gear adjustment device includes a drive gear, an auxiliary transmission gear, a drive motor, a rotating handle, and an angle sensor; the auxiliary transmission gear meshes with the convex teeth on the outer periphery of the second connecting seat, the auxiliary transmission gear meshes with the drive gear, and the output shaft of the drive motor is fixedly connected to the drive gear; The rotating handle and the connecting housing are movably connected by a damping coupling seat. An angle sensor is installed at the end of the rotating shaft of the rotating handle to identify the rotation angle of the rotating handle and feed it back to the controller.

7. The multi-joint linkage composite robot arm connection device according to claim 6, characterized in that, The connecting housing is welded and fixed to the outer periphery of the first connecting seat.

8. The multi-joint linkage composite robot arm connection device according to claim 7, characterized in that, The gear adjustment device also includes a power supply and a control switch, which is used to control the start of the motor, angle sensor and controller.

9. The multi-joint linkage composite robot arm connection device according to claim 8, characterized in that, Both the first connecting seat and the second connecting seat are disc-shaped structures, and their central axes are collinear; the diameter of the first connecting seat is larger than the diameter of the second connecting seat.

10. The multi-joint linkage composite robot arm connection device according to claim 9, characterized in that, The power supply uses a removable rechargeable lithium battery. A battery compartment is located at the end of the connecting housing away from the first connector. The battery compartment is detachably connected to the connecting housing via a snap-fit ​​structure. The battery compartment is equipped with a charging interface and positive and negative contacts adapted to the lithium battery.

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