Rotary mechanism of wall-mounted robot

Abstract

The utility model discloses a kind of rotary mechanisms of wall-mounted mechanical hand, it is related to wall-mounted mechanical hand technical field, including mechanical hand component, wall-mounted mechanism is installed in the bottom of mechanical hand component, wall-mounted mechanism outer ring is provided with reinforcing mechanism, reinforcing mechanism is fixedly connected with mechanical hand component, mechanical hand component includes base and rotating shaft, base is rotatably connected with rotating shaft, rotating shaft end fixedly connected with No. The utility model, through No.

Description

Technical Field

[0001] This utility model relates to the field of wall-mounted robotic arms, and more particularly to a rotating mechanism for a wall-mounted robotic arm. Background Technology

[0002] Wall-mounted robotic arms are widely used in industrial automation, service robots and other fields due to their space-saving and reliable fixed features. Their efficient operation is inseparable from the coordinated operation of core components. The rotating mechanism, as the key to achieving flexible movement, is usually composed of a drive device, transmission structure, support components and limit positioning system. It can achieve high-precision rotation through servo motors and gear transmission to expand the working range, and can also ensure safety with the self-locking function of worm gears. It can also be combined with encoders to optimize the path and adapt to the needs of multiple scenarios.

[0003] For example, CN222807070U discloses a wall-mounted folding robotic arm, including a base, a support plate fixedly connected to the top center of the base, insertion slots on both the front and rear ends of the left side of the support plate, cavities on both the front and rear sides of the inside of the support plate, a fixing rod fixedly connected inside the cavity, a spring sleeved on the outside of the fixing rod, a locking plate slidably connected to the outside of the fixing rod, a folding robotic arm arranged on the left side of the support plate, insertion plates fixedly connected to both the front and rear ends of the right side of the folding robotic arm, a locking component on the right side of each insertion plate, and a protective cover fixedly connected to the bottom of the folding robotic arm.

[0004] However, in the existing technology, when the base rotates, it needs to drive the robotic arm and the load to rotate as a whole. Especially when the robotic arm is extended and the load is large, the center of gravity shift will cause the connection structure between the base and the wall and the mating parts of the rotating shaft and the bearing to bear large shear forces. Shear forces will cause slight deformation of the connection parts or further expansion of the shaft system mating clearance, which will cause obvious shaking or displacement during rotation, resulting in increased operation positioning error. Long-term exposure to alternating shear forces may also cause fatigue damage to the connecting parts, or even cause overall resonance due to structural instability, exacerbating the risk of equipment damage. Utility Model Content

[0005] The purpose of this utility model is to solve the problems existing in the prior art by proposing a rotating mechanism for a wall-mounted robotic arm.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a rotating mechanism for a wall-mounted robotic arm, comprising a robotic arm assembly, a wall-mounting mechanism installed at the bottom of the robotic arm assembly, a reinforcing mechanism provided on the outer ring of the wall-mounting mechanism, the reinforcing mechanism being fixedly connected to the robotic arm assembly, the robotic arm assembly comprising a base and a rotating shaft, the base being rotatably connected to the rotating shaft, and a No. 1 joint being fixedly connected to the end of the rotating shaft;

[0007] The wall-mounting mechanism includes a first fixed frame and a first slide rail. The first fixed frame is fixedly connected to the base, and the first slide rail is fixedly connected to the side of the base. A first slider is slidably connected inside the first slide rail, and the first slider is fixedly connected to the bottom of the first joint.

[0008] The reinforcement mechanism includes a second fixed frame and a first mounting frame. A fixed plate is fixedly connected to the side of the second fixed frame, and a second slide rail is fixedly connected to the end of the fixed plate. A second slider is slidably connected inside the second slide rail. The first mounting frame is fixedly connected to the inside of the second slider, and a hydraulic cylinder is fixedly connected to the surface of the first mounting frame. A pressure sensor is installed at the end of the hydraulic cylinder, and the second mounting frame is installed at the end of the pressure sensor. The second mounting frame is fixedly connected to the surface of the first slider.

[0009] Preferably, a second joint is installed at the end of the first joint, and a third joint is installed at the end of the second joint.

[0010] Preferably, multiple fixing plates are fixedly connected to the side of the second fixing frame, and the multiple fixing plates are evenly distributed in a ring on the side of the second fixing frame.

[0011] Preferably, a limiting rod is fixedly connected to the surface of the second mounting bracket, and the limiting rod is inserted into the first mounting bracket.

[0012] Preferably, a spring is provided on the surface of the hydraulic cylinder, one end of the spring is fixedly connected to the first mounting bracket, and the other end of the spring is fixedly connected to the second mounting bracket.

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

[0014] 1. In this utility model, the robot arm component is suspended and installed by the first fixing frame and the second fixing frame, which improves the overall installation rigidity. When the base drives the rotating shaft to rotate, the first joint rotates and drives the first slider to slide along the first slide rail, which reinforces and limits the first joint and reduces shaking. At the same time, the second mounting frame and the second slider slide along the second slide rail, which work with the first mounting frame to reinforce and limit the first joint again, further improving the operational stability.

[0015] 2. In this utility model, the pressure sensor can monitor the force around the No. 1 joint. When the force on one side is too large, the hydraulic cylinder extends to support the position with large force and transmits the support force through the No. 2 mounting bracket. This reduces the force at the connection between the wall-mounted mechanism and the robot arm assembly, reduces the deformation of the connection part or the expansion of the shaft clearance caused by shear force, thereby reducing the shaking and positioning error during rotation, avoiding fatigue damage to the connecting parts due to alternating shear force, preventing structural instability and resonance, and improving the overall stability and service life.

[0016] 3. In this utility model, the position of the working end can be flexibly adjusted by the cooperation of the second and third joints at the end of the first joint, expanding the working range. At the same time, the rotation of the base drive shaft makes the overall adjustment more precise. The multiple fixing plates evenly distributed in a ring on the side of the second fixing frame can evenly distribute the force to the connection between the wall-mounting mechanism and the reinforcement mechanism, enhancing the installation rigidity and reducing the concentration of local shear force. The limiting rod on the surface of the second mounting frame is inserted into the first mounting frame, which can further limit the deviation of the first joint when it rotates. With the double limiting of the first slider sliding along the first slide rail and the second slider sliding along the second slide rail, the stability of the first joint operation is greatly improved and the shaking is reduced. Attached Figure Description

[0017] Figure 1 A first three-dimensional structural schematic diagram of the rotating mechanism of a wall-mounted robotic arm is provided for this utility model.

[0018] Figure 2 A second three-dimensional structural diagram of the rotating mechanism of a wall-mounted robotic arm is provided for this utility model;

[0019] Figure 3 A cross-sectional side view of the reinforcing mechanism in the rotating mechanism of a wall-mounted robotic arm is provided for this utility model.

[0020] Figure 4 This utility model proposes a rotating mechanism for a wall-mounted robotic arm. Figure 3 Enlarged view of the structure at point A in the middle;

[0021] Figure 5 This utility model presents a three-dimensional structural diagram of the second mounting bracket in the rotating mechanism of a wall-mounted robotic arm.

[0022] Legend: 1. Robotic arm assembly; 11. Base; 12. Rotating shaft; 13. Joint 1; 14. Joint 2; 15. Joint 3; 2. Wall-mounting mechanism; 21. Fixing frame 1; 22. Slide rail 1; 23. Slider 1; 3. Reinforcing mechanism; 31. Fixing frame 2; 32. Fixing plate; 33. Slide rail 2; 34. Slider 2; 35. Mounting bracket 1; 36. Hydraulic cylinder; 37. Limiting rod; 38. Spring; 39. Pressure sensor; 310. Mounting bracket 2. Detailed Implementation

[0023] To better understand the above-mentioned objectives, features, and advantages of this utility model, the present utility model will be further described below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0024] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed in the following specification.

[0025] Example 1: As Figures 1-5 As shown, this utility model provides a rotating mechanism for a wall-mounted robotic arm, including a robotic arm assembly 1, a wall-mounting mechanism 2 installed at the bottom of the robotic arm assembly 1, a reinforcing mechanism 3 provided on the outer ring of the wall-mounting mechanism 2, the reinforcing mechanism 3 being fixedly connected to the robotic arm assembly 1, the robotic arm assembly 1 including a base 11 and a rotating shaft 12, the base 11 being rotatably connected to the rotating shaft 12, and a first joint 13 being fixedly connected to the end of the rotating shaft 12;

[0026] The wall-mounting mechanism 2 includes a first fixing frame 21 and a first slide rail 22. The first fixing frame 21 is fixedly connected to the base 11, the first slide rail 22 is fixedly connected to the side of the base 11, and a first slider 23 is slidably connected inside the first slide rail 22. The first slider 23 is fixedly connected to the bottom of the first joint 13.

[0027] The reinforcement mechanism 3 includes a second fixing frame 31 and a first mounting frame 35. A fixing plate 32 is fixedly connected to the side of the second fixing frame 31. A second slide rail 33 is fixedly connected to the end of the fixing plate 32. A second slider 34 is slidably connected inside the second slide rail 33. The first mounting frame 35 is fixedly connected to the inner side of the second slider 34. A hydraulic cylinder 36 is fixedly connected to the surface of the first mounting frame 35. A pressure sensor 39 is installed at the end of the hydraulic cylinder 36. A second mounting frame 310 is installed at the end of the pressure sensor 39. The second mounting frame 310 is fixedly connected to the surface of the first slider 23.

[0028] The specific settings and functions of this embodiment are described in detail below. The robot arm assembly 1 is suspended and installed by the first fixing frame 21 and the second fixing frame 31. The base 11 drives the rotating shaft 12 to rotate, thereby driving the first joint 13 to rotate. The first joint 13 drives the second joint 14 to adjust, and then the second joint 14 drives the second joint 14 to adjust. Finally, the third joint 15 drives the working end to adjust.

[0029] When the whole system is running, when the first joint 13 rotates, the first slider 23 slides along the first slide rail 22, thereby reinforcing and limiting the movement of the first joint 13. At the same time, the second mounting bracket 310, the limiting rod 37, the first mounting bracket 35, the second slider 34 and the second slide rail 33 further reinforce and limit the first joint 13, thereby improving the stability of the first joint 13 during operation.

[0030] During the operation of joint 13, joint 24, joint 35 and the fixed workpiece, the pressure sensor 39 monitors the force around joint 13. When the force on one side of joint 13 is too large, the extension hydraulic cylinder 36 supports the part of joint 13 with large force to reduce the force at the connection between the wall-mounted mechanism 2 and the robot arm assembly 1.

[0031] The robot arm assembly 1 is suspended and installed using the first mounting bracket 21 and the second mounting bracket 31, improving the overall installation rigidity. When the base 11 drives the rotating shaft 12 to rotate, the first joint 13 rotates, causing the first slider 23 to slide along the first slide rail 22, reinforcing and limiting the first joint 13 and reducing swaying. At the same time, the second mounting bracket 310 and the second slider 34 slide along the second slide rail 33, working with the first mounting bracket 35 to further reinforce and limit the first joint 13, further improving operational stability. The pressure sensor 39 can monitor the force around the first joint 13. When the force on one side is too large, the hydraulic cylinder 36 extends to support the position with large force, and the support force is transmitted through the second mounting bracket 310, reducing the force at the connection between the wall-mounted mechanism 2 and the robot arm assembly 1, reducing the deformation of the connection part or the expansion of the shaft clearance caused by shear force, thereby reducing the swaying and positioning error during rotation, avoiding fatigue damage to the connecting parts due to alternating shear force, preventing structural instability and resonance, and improving the overall operational stability and service life.

[0032] Example 2: Figures 1-5 As shown, a second joint 14 is installed at the end of the first joint 13, and a third joint 15 is installed at the end of the second joint 14. Multiple fixing plates 32 are fixedly connected to the side of the second fixing frame 31. The multiple fixing plates 32 are evenly distributed in a ring on the side of the second fixing frame 31. A limit rod 37 is fixedly connected to the surface of the second mounting frame 310. The limit rod 37 is inserted into the first mounting frame 35. A spring 38 is provided on the surface of the hydraulic cylinder 36. One end of the spring 38 is fixedly connected to the first mounting frame 35, and the other end of the spring 38 is fixedly connected to the second mounting frame 310.

[0033] The overall effect of this embodiment is that, through the cooperation of the second joint 14 and the third joint 15 at the end of the first joint 13, the position of the working end can be flexibly adjusted, expanding the working range. At the same time, in conjunction with the rotation of the rotating shaft 12 driven by the base 11, the overall adjustment is more precise. The multiple fixing plates 32 evenly distributed in a ring on the side of the second fixing frame 31 can evenly distribute the force to the connection between the wall-mounting mechanism 2 and the reinforcement mechanism 3, enhancing the installation rigidity and reducing the concentration of local shear force. The limiting rod 37 on the surface of the second mounting frame 310 is inserted into the first mounting frame 35, which can further limit its displacement when the first joint 13 rotates. In conjunction with the sliding of the first slider 23 along the first slide rail 22 and the sliding of the second slider 34 along the second slide rail 22, the second joint 13 can be adjusted to move along the first slide rail 22. The double-limiting mechanism of slide rail 33 significantly improves the stability of joint 13 and reduces swaying. The springs 38 on the surface of hydraulic cylinder 36 are fixed at both ends to mounting bracket 35 and mounting bracket 310 respectively, which can buffer the impact force when hydraulic cylinder 36 is supported, and avoid structural damage caused by rigid contact. At the same time, when pressure sensor 39 detects that the force on one side of joint 13 is too large, hydraulic cylinder 36 extends to support. Combined with the above structure, the force at the connection between wall-mounted mechanism 2 and robot arm assembly 1 is effectively reduced, reducing the slight deformation and shaft clearance expansion caused by shear force at the connection part, thereby reducing positioning error, avoiding fatigue damage to connecting parts and structural instability resonance, and extending the service life of equipment.

[0034] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments for application in other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present utility model without departing from the technical solution of the present utility model shall still fall within the protection scope of the technical solution of the present utility model.

Claims

1. A rotating mechanism for a wall-mounted robotic arm, comprising a robotic arm assembly (1), wherein a wall-mounting mechanism (2) is mounted on the bottom of the robotic arm assembly (1), and a reinforcing mechanism (3) is provided on the outer ring of the wall-mounting mechanism (2), characterized in that: The reinforcement mechanism (3) is fixedly connected to the robotic arm assembly (1). The robotic arm assembly (1) includes a base (11) and a rotating shaft (12). The base (11) is rotatably connected to the rotating shaft (12). A first joint (13) is fixedly connected to the end of the rotating shaft (12). The wall-mounting mechanism (2) includes a first fixing frame (21) and a first slide rail (22). The first fixing frame (21) is fixedly connected to the base (11), and the first slide rail (22) is fixedly connected to the side of the base (11). A first slider (23) is slidably connected inside the first slide rail (22), and the first slider (23) is fixedly connected to the bottom of the first joint (13). The reinforcement mechanism (3) includes a second fixing frame (31) and a first mounting frame (35). A fixing plate (32) is fixedly connected to the side of the second fixing frame (31). A second slide rail (33) is fixedly connected to the end of the fixing plate (32). A second slider (34) is slidably connected inside the second slide rail (33). The first mounting frame (35) is fixedly connected to the inner side of the second slider (34). A hydraulic cylinder (36) is fixedly connected to the surface of the first mounting frame (35). A pressure sensor (39) is installed at the end of the hydraulic cylinder (36). A second mounting frame (310) is installed at the end of the pressure sensor (39). The second mounting frame (310) is fixedly connected to the surface of the first slider (23).

2. The rotating mechanism of a wall-mounted robotic arm according to claim 1, characterized in that: The first joint (13) is equipped with a second joint (14), and the second joint (14) is equipped with a third joint (15).

3. The rotating mechanism of a wall-mounted robotic arm according to claim 1, characterized in that: The second fixing frame (31) has multiple fixing plates (32) fixedly connected to its side, and the multiple fixing plates (32) are evenly distributed in a ring on the side of the second fixing frame (31).

4. The rotating mechanism of a wall-mounted robotic arm according to claim 1, characterized in that: The second mounting bracket (310) is fixedly connected to a limiting rod (37), which is inserted into the first mounting bracket (35).

5. The rotating mechanism of a wall-mounted robotic arm according to claim 1, characterized in that: The surface of the hydraulic cylinder (36) is provided with a spring (38), one end of the spring (38) is fixedly connected to the first mounting bracket (35), and the other end of the spring (38) is fixedly connected to the second mounting bracket (310).

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