Quick change universal robot structure

Abstract

The utility model relates to mechanical arm technical field discloses a quick replacement general mechanical arm structure, including support base frame, the left -hand end fixed connection of support base frame has motor no.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a quick-change universal robotic arm structure. Background Technology

[0002] Robotic arms are the most widely used automated mechanical devices in the field of robotics, found in industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, and space exploration. Although they vary in form, they all share a common characteristic: the ability to receive commands and precisely position themselves in three dimensions. A robotic arm is a complex system, subject to uncertainties such as parameter perturbations, external interference, and unmodeled dynamics. Therefore, the modeling of a robotic arm also contains uncertainties. For different tasks, it is necessary to plan the motion trajectories of the robotic arm's joints to cascade and construct the end effector pose.

[0003] An existing quick-change universal robotic arm structure is prone to damage when the robotic arm is used and operated by workers for a long time. It is inconvenient for workers to install and disassemble it, thus affecting the service life of the robotic arm. Utility Model Content

[0004] To solve the above-mentioned technical problems, this utility model provides a quick-change universal robotic arm structure.

[0005] This utility model is achieved using the following technical solution: a quick-change universal robotic arm structure, comprising a supporting base frame, a motor 1 fixedly connected to the left end of the supporting base frame, a rotating bracket fixedly connected to the output end of the motor 1, a motor 2 rotatably connected inside the rotating bracket, a rotating bracket fixedly connected to the output end of the motor 2, a motor 3 rotatably connected inside the rotating bracket, a bearing bracket fixedly connected to the output end of the motor 3, a rotary motor fixedly connected inside the bearing bracket, a clamp fixedly connected to the front of the rotary motor, a motor 4 fixedly connected to the bottom of the clamp, a mounting frame fixedly connected to the bottom of the supporting base frame, a mounting base plate inserted into the bottom of the supporting base frame, a positioning pin inserted into the interior of the mounting base plate, a positioning base plate inserted into the bottom of the positioning pin, and a mounting insert fixedly connected to the bottom of the positioning base plate.

[0006] Through the above technical solution, motor one drives the rotating bracket to achieve basic rotation, and motor two drives the rotating bracket to perform secondary pitch adjustment, forming a compound motion trajectory to meet the needs of complex space operations. The hinged design between the rotating brackets supports multi-angle attitude locking, improving operational flexibility.

[0007] As a further improvement to the above solution, the surface of the rotating bracket is hinged with a rotating bracket, which is rotatably connected to the inside of the supporting base frame, and the second motor is located at the top of the supporting base frame.

[0008] As a further improvement to the above solution, the number of clamps is set to two, and the two clamps are symmetrically distributed on the left and right sides with the support bracket as the center, with the motor located on the front of the support bracket.

[0009] Through the above technical solution, the three-motor drive of the support bracket extends and retracts, the rotary motor controls the rotation of the fixture, and the four-motor drive of the fixture opens and closes, realizing six-degree-of-freedom precise control of the end effector, which is suitable for diverse workpiece gripping and assembly tasks.

[0010] As a further improvement to the above solution, the number of mounting frames is set to several, and the several mounting frames are distributed equidistantly around the supporting base frame, and the positioning pins are fixedly connected to the bottom of the supporting base frame.

[0011] Through the above technical solution, several mounting frames are evenly distributed around the supporting base frame, and with the plug-in design of the mounting plate and positioning pin, the robotic arm can be quickly docked and separated from the external equipment; the positioning base plate is precisely positioned by the positioning pin, ensuring high accuracy of position repeatability after replacement.

[0012] As a further improvement to the above solution, the positioning pin is inserted into the inside of the positioning base plate, the mounting plate is inserted into the inside of the mounting bracket, and the mounting plate is located at the bottom of the supporting base frame.

[0013] As a further improvement to the above solution, the number of mounting plates is set to several, and the several mounting plates are distributed equidistantly around the supporting base frame.

[0014] Compared with the prior art, the beneficial effects of this utility model are as follows: This utility model uses a positioning pin that is inserted into the positioning base plate to form a physical limit, preventing displacement caused by vibration or external force. The tight fit between the mounting plate and the mounting frame eliminates gaps, preventing dust and liquid from entering key moving parts, and increasing the convenience for workers to install and disassemble the equipment.

[0015] This utility model features an installation base plate that is inserted into the bottom of a support frame, making it compatible with different models of industrial robots or work platforms, reducing production line switching costs. The circumferentially distributed design of the installation base plate supports multi-directional expansion and is compatible with various end-effector configurations. By setting the support frame as a basic load-bearing platform, the weight of key components such as motor one, motor two, and motor three is distributed to the overall structure, reducing single-point loads. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the disassembled structure of the positioning base plate of this utility model; Figure 3 This is a schematic diagram of the structure of this utility model from below; Figure 4 This is a schematic diagram of the right-side structure of this utility model.

[0017] Explanation of key symbols: 1. Support base frame; 2. Motor 1; 3. Rotating bracket; 4. Motor 2; 5. Rotating bracket; 6. Motor 3; 7. Bearing bracket; 8. Rotating motor; 9. Motor 4; 10. Clamp; 11. Mounting frame; 12. Mounting base plate; 13. Positioning pin; 14. Positioning base plate; 15. Mounting insert plate. Detailed Implementation

[0018] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments. Example:

[0019] Please combine Figure 1-4 This embodiment of a quick-change universal robotic arm structure includes a supporting base frame 1. A motor 2 is fixedly connected to the left end of the supporting base frame 1. A rotating bracket 3 is fixedly connected to the output end of motor 2. A motor 4 is rotatably connected inside the rotating bracket 3. A rotating bracket 5 is fixedly connected to the output end of motor 4. A motor 6 is rotatably connected inside the rotating bracket 5. A bearing bracket 7 is fixedly connected to the output end of motor 6. A rotary motor 8 is fixedly connected inside the bearing bracket 7. A clamp 10 is fixedly connected to the front of the rotary motor 8. A motor 9 is fixedly connected to the bottom of the clamp 10. The bottom of the support frame 1 is fixedly connected to a mounting frame 11. A mounting base plate 12 is inserted into the bottom of the support frame 1. A positioning pin 13 is inserted into the inside of the mounting base plate 12. A positioning base plate 14 is inserted into the bottom of the positioning pin 13. A mounting insert plate 15 is fixedly connected to the bottom of the positioning base plate 14. By setting the positioning pin 13 to be inserted into the inside of the positioning base plate 14, a physical limit is formed to prevent displacement caused by vibration or external force. The tight fit between the mounting insert plate 15 and the mounting frame 11 eliminates gaps and prevents dust and liquid from entering the key moving parts, increasing the convenience for workers to install and disassemble the equipment.

[0020] Motor 1 (2) drives rotating bracket 3 to achieve basic rotation, while motor 2 (4) drives rotating bracket 5 to perform secondary pitch adjustment, forming a composite motion trajectory to meet the needs of complex space operations. The hinged design of rotating bracket 3 and rotating bracket 5 supports multi-angle attitude locking, improving operational flexibility.

[0021] The rotating bracket 5 is hinged to the rotating bracket 3, which is rotatably connected to the inside of the supporting base frame 1. The motor 4 is located at the top of the supporting base frame 1.

[0022] The number of clamps 10 is set to two, and the two clamps 10 are symmetrically distributed on the left and right sides with the support bracket 7 as the center, so that the motor 9 is located on the front of the support bracket 7.

[0023] Motor 3 (6) drives the extension and retraction of the support bracket 7, and the rotary motor 8 controls the rotation of the fixture 10. Together with motor 4 (9) driving the opening and closing of the fixture 10, it realizes six degrees of freedom precise control of the end effector, which is suitable for diverse workpiece gripping and assembly tasks.

[0024] The number of mounting brackets 11 is set to several, and the several mounting brackets 11 are evenly distributed around the support base frame 1. The positioning pins 13 are fixedly connected to the bottom of the support base frame 1.

[0025] Several mounting frames 11 are evenly distributed around the supporting base frame 1, and with the plug-in design of the mounting plate 15 and the positioning pin 13, the robotic arm can be quickly docked and separated from the external equipment; the positioning base plate 14 is precisely positioned by the positioning pin 13 to ensure high position repeatability after replacement.

[0026] The positioning pin 13 is inserted into the inside of the positioning base plate 14, and the mounting plate 15 is inserted into the inside of the mounting frame 11. The mounting plate 15 is located at the bottom of the support base frame 1. By setting the mounting base plate 12 to be inserted into the bottom of the support base frame 1, it can be adapted to different models of industrial robots or work platforms, reducing the cost of production line switching. The circumferentially distributed design of the mounting plate 15 supports multi-directional expansion and is compatible with various end-effector configurations. By setting the support base frame 1 as the basic load-bearing platform, the weight of key components such as motor 1 2, motor 2 4, and motor 3 6 is distributed to the overall structure, reducing single-point load.

[0027] The number of mounting plates 15 is set to several, and the several mounting plates 15 are evenly distributed around the supporting base frame 1.

[0028] The implementation principle of a quick-change universal robotic arm structure in this application embodiment is as follows: By setting a positioning pin 13 to be inserted into the positioning base plate 14, a physical limit is formed to prevent displacement caused by vibration or external force. The tight fit between the mounting plate 15 and the mounting frame 11 eliminates gaps and prevents dust and liquid from entering key moving parts, increasing the convenience of installation and disassembly of the equipment by the staff. By setting the mounting base plate 12 to be inserted into the bottom of the support base frame 1, it can be adapted to different models of industrial robots or work platforms, reducing production line switching costs. The circumferentially distributed design of the mounting plate 15 supports multi-directional expansion and is compatible with various end-effector configurations. By setting the support base frame 1 as a basic load-bearing platform, the weight of key components such as motor 1 2, motor 2 4, and motor 3 6 is distributed to the overall structure, reducing single-point load.

[0029] The above embodiments are merely preferred embodiments of this utility model and should not be construed as limiting the scope of protection of this utility model. Any non-substantial changes and substitutions made by those skilled in the art based on this utility model shall fall within the scope of protection claimed by this utility model.

Claims

1. A quick-change universal robotic arm structure, characterized in that, The system includes a supporting base frame (1), with a motor (2) fixedly connected to the left end of the supporting base frame (1). A rotating bracket (3) is fixedly connected to the output end of the motor (2). A motor (4) is rotatably connected inside the rotating bracket (3). A rotating bracket (5) is fixedly connected to the output end of the motor (4). A motor (6) is rotatably connected to the inside of the rotating bracket (5). A bearing bracket (7) is fixedly connected to the output end of the motor (6). A rotating motor is fixedly connected to the inside of the bearing bracket (7). The machine (8) has a clamp (10) fixedly connected to the front of the rotary motor (8), a motor (9) fixedly connected to the bottom of the clamp (10), a mounting frame (11) fixedly connected to the bottom of the support base frame (1), a mounting base plate (12) inserted into the bottom of the support base frame (1), a positioning pin (13) inserted into the inside of the mounting base plate (12), a positioning base plate (14) inserted into the bottom of the positioning pin (13), and a mounting insert plate (15) fixedly connected to the bottom of the positioning base plate (14).

2. The quick-change universal robotic arm structure as described in claim 1, characterized in that: The rotating bracket (5) is hinged to a rotating bracket (3), which is rotatably connected to the inside of the supporting base frame (1). The second motor (4) is located at the top of the supporting base frame (1).

3. The quick-change universal robotic arm structure as described in claim 1, characterized in that: The number of clamps (10) is set to two, and the two clamps (10) are symmetrically distributed on the left and right sides with the support bracket (7) as the center, with the motor (9) located on the front of the support bracket (7).

4. The quick-change universal robotic arm structure as described in claim 1, characterized in that: The number of mounting frames (11) is set to several, and the several mounting frames (11) are distributed equidistantly around the supporting base frame (1) as the center. The positioning pin (13) is fixedly connected to the bottom of the supporting base frame (1).

5. The quick-change universal robotic arm structure as described in claim 1, characterized in that: The positioning pin (13) is inserted into the inside of the positioning base plate (14), the mounting plate (15) is inserted into the inside of the mounting frame (11), and the mounting plate (15) is located at the bottom of the supporting base frame (1).

6. The quick-change universal robotic arm structure as described in claim 1, characterized in that: The number of mounting plates (15) is set to several, and the several mounting plates (15) are distributed equidistantly around the supporting base frame (1).

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