Self-walking mechanism of a robot arm

Abstract

The utility model discloses a kind of self-walking mechanism of mechanical arm, it relates to walking device technical field.It includes frame body, slide rail, sliding assembly and mechanical arm, the frame body is installed with slide rail, the sliding assembly includes connecting plate, guide wheel group and driving piece, the connecting plate one end is installed with mechanical arm, the other end is provided with driving piece and several guide wheel groups, the guide wheel group is symmetrically distributed in the connecting plate bottom, the guide wheel group opposite to each other is used for clamping on slide rail, the connecting plate is moved along slide rail under the driving of driving piece.The utility model has beneficial effect for first guide wheel (load bearing wheel) abuts slide rail top surface to reach to bear vertical load.Two sides second guide wheel clamps slide rail side to reach to eliminate lateral sway, prevent derailment, U-shaped connecting plate two sides symmetric layout to reach to enhance anti-overturning moment ability.Motion process is stable without shaking, anti-interference ability is strong, guarantee mechanical arm end effector operation stability.

Description

Technical Field

[0001] This utility model relates to the field of walking device technology, specifically to a self-walking mechanism for a robotic arm. Background Technology

[0002] Robotic arms are widely used as core execution units in fields such as automated production, material handling, precision machining, and testing. Traditional robotic arm systems mainly have the following limitations:

[0003] Weak anti-tipping and anti-lateral sway capabilities: When the robotic arm moves on a long track, especially during lifting operations or when subjected to large lateral forces, traditional single-point or simple wheel support structures are prone to lateral swaying or even derailment. The lack of effective lateral constraints and anti-tipping design results in poor motion stability, making it difficult to ensure the precise position of the end effector under dynamic loads or external disturbances.

[0004] Limited workspace: The effective working range of a robotic arm mounted on a fixed base depends primarily on its arm span and joint range of motion, typically confined to a relatively fixed circular or spherical area. This makes it difficult to meet the needs of scenarios involving large workpieces, long-distance production lines, or large-area coverage (such as large panel inspection or long material processing), requiring frequent movement of the entire system or workpiece, resulting in low efficiency. Utility Model Content

[0005] The purpose of this invention is to address the problem in the prior art that robotic arms tend to sway when moving on long tracks, and to provide a self-propelled mechanism for robotic arms.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a self-propelled mechanism for a robotic arm, comprising a frame, a slide rail, a sliding assembly, and a robotic arm. The slide rail is mounted on the frame. The sliding assembly includes a connecting plate, a guide wheel assembly, and a driving component. The robotic arm is mounted on one end of the connecting plate, and the driving component and several guide wheel assemblies are provided on the other end. The guide wheel assemblies are symmetrically distributed on the connecting plate, and the upper and lower opposing guide wheel assemblies are used to clamp onto the slide rail. The connecting plate moves along the slide rail under the drive of the driving component.

[0007] Furthermore, the frame includes support columns, displacement plates, racks and pull ropes. Adjacent support columns are connected by displacement plates. One end of the displacement plate facing the sliding assembly is equipped with a slide rail and a rack that meshes with the drive component. One end of the pull rope is connected to the wall and the other end is connected to the displacement plate.

[0008] Furthermore, the connecting plate is U-shaped, and guide wheel sets are provided on both short sides of the U-shaped connecting plate. The guide wheel sets include a first guide wheel and two rows of symmetrically arranged second guide wheels. The first guide wheel abuts against the top of the slide rail, and the second guide wheel is clamped on both sides of the slide rail.

[0009] Furthermore, the robotic arm includes a longitudinal drive component and a mounting frame. The longitudinal drive component is mounted on a connecting plate, and the mounting frame is provided with a longitudinal rack that meshes with the longitudinal drive component.

[0010] The beneficial effects of this utility model after adopting the above technical solution are as follows: ultra-large working space coverage; X-axis (slide rail length direction): the robotic arm moves horizontally on a single slide rail via a sliding component; Y-axis (vertical direction): the robotic arm itself achieves lifting and lowering motion via a longitudinal drive component. Through two-axis linkage, the working range of the robotic arm is expanded from the "rotation area of ​​the robotic arm" to a "single strip area", breaking through the physical limitations of traditional fixed or single-track robotic arms.

[0011] High precision and stability: The sliding component drive engages with the displacement plate rack to achieve precise control of X-axis movement. The robotic arm's longitudinal drive engages with the mounting frame rack to achieve precise control of Y-axis lifting. The gear and rack transmission has high rigidity and low backlash, enabling high repeatability (millimeter level or even higher), making it suitable for precision operations.

[0012] Multiple guide wheel design: The first guide wheel (load-bearing wheel) abuts against the top surface of the slide rail to bear vertical loads. Second guide wheels on both sides clamp the sides of the slide rail to eliminate lateral swaying and prevent derailment. The symmetrical layout of the U-shaped connecting plates on both sides enhances the anti-overturning moment capability. The movement is smooth and vibration-free, with strong anti-interference capabilities, ensuring the operational stability of the robotic arm's end effector.

[0013] High structural rigidity and load-bearing capacity: The support columns and displacement plates form a rigid frame, providing a stable foundation for the slide rails and racks. The tension ropes distribute the traction force during frame movement, reducing the risk of track deformation.

[0014] Distributed load-bearing guide wheel assembly: The symmetrically distributed wheel assembly evenly transmits the load of the robotic arm to the slide rail, avoiding stress concentration at a single point. It can support heavy robotic arms and workpieces and meet the needs of industrial-grade operations. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art 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.

[0016] Figure 1 This is a schematic diagram of the structure of this utility model.

[0017] Figure 2 This is a schematic diagram of the sliding component in this utility model.

[0018] Figure 3 This is a schematic diagram of the robotic arm in this utility model.

[0019] Explanation of reference numerals in the attached drawings: Frame 1, Support column 11, Displacement plate 12, Straight rack 13, Pull rope 14, Slide rail 2, Sliding assembly 3, Connecting plate 31, Guide wheel group 32, First guide wheel 321, Second guide wheel 322, Drive component 33, Robotic arm 4, Longitudinal drive component 41, Mounting frame 42, Longitudinal rack 43. Detailed Implementation

[0020] See Figure 1-3 As shown, the technical solution adopted in this specific embodiment is: a self-propelled mechanism for a robotic arm, which includes a frame 1, a slide rail 2, a sliding assembly 3, and a robotic arm 4. The slide rail 2 is installed on the frame 1. The sliding assembly 3 includes a connecting plate 31, a guide wheel set 32, and a driving component 33. The robotic arm 4 is installed on one end of the connecting plate 31, and the driving component 33 and several guide wheel sets 32 are provided on the other end. The guide wheel sets 32 are symmetrically distributed vertically at the bottom of the connecting plate 31. The vertically opposite guide wheel sets 32 are used to clamp onto the slide rail 2. The connecting plate 31 moves along the slide rail 2 under the drive of the driving component 33.

[0021] The specific connecting plate 31 is U-shaped, and guide wheel sets 32 are provided on both short sides of the U-shaped connecting plate 31. The guide wheel sets 32 include a first guide wheel 321 and two rows of symmetrically arranged second guide wheels 322. The first guide wheel 321 abuts against the top of the slide rail 2, and the second guide wheel 322 is clamped on both sides of the slide rail 2.

[0022] The specific frame 1 includes support columns 11, displacement plates 12, racks 13, and pull ropes 14. Adjacent support columns 11 are connected by displacement plates 12. The end of the displacement plate 12 facing the sliding assembly 3 is equipped with a slide rail 2 and a rack 13 that meshes with the drive component 33. One end of the pull rope 14 is connected to the wall, and the other end is connected to the displacement plate 12.

[0023] The specific robotic arm 4 includes a longitudinal drive component 41 and a mounting frame 42. The longitudinal drive component 41 is mounted on a connecting plate 31, and the mounting frame 42 is provided with a longitudinal rack 43 that meshes with the longitudinal drive component 41.

[0024] The working principle of this utility model:

[0025] Robotic arm 4 moves horizontally along slide rail 2 (X-axis movement):

[0026] When the robotic arm 4 needs to move horizontally on the current frame segment 1, the drive component 33 of the sliding assembly 3 (in this embodiment, it is a motor + reducer + pinion) is activated.

[0027] The pinion of the drive unit 33 meshes with the rack 13 fixed on the displacement plate 12. When the pinion rotates, since the rack 13 is fixed, the pinion will "walk" on the rack 13, thereby driving the entire sliding assembly 3 (including the connecting plate 31, the guide wheel group 32, the drive unit 33 itself and the mechanical arm 4 installed on it) to move along the slide rail 2.

[0028] The guide wheel assembly 32 plays a key role in this process:

[0029] The guide wheel group 32 (first guide wheel 321 and second guide wheel 322) symmetrically distributed vertically is snapped onto the slide rail 2.

[0030] The first guide wheel 321 abuts against the top surface of the slide rail 2, bearing the downward force of gravity.

[0031] Two rows of symmetrical second guide wheels 322 are respectively clamped on the left and right sides of the slide rail 2 to prevent the sliding component 3 from swaying left and right or falling off the slide rail 2 during movement.

[0032] The guide wheel sets 32 on both sides of the U-shaped connecting plate 31 work together to ensure that the sliding component 3 moves smoothly, with low friction and no backlash on the slide rail 2 in a straight line.

[0033] By controlling the rotation direction and speed of the drive component 33, the horizontal position (X-axis) of the robotic arm 4 within the length range of the slide rail 2 can be precisely controlled.

[0034] Robotic arm 4's self-lifting motion (Y-axis motion):

[0035] When it is necessary to adjust the working height of the robotic arm 4, the longitudinal drive component 41 of the robotic arm 4 (which in this embodiment is also a motor + reducer + pinion structure) is activated.

[0036] The longitudinal drive component 41 is mounted on the connecting plate 31 of the sliding assembly 3.

[0037] The pinion of the longitudinal drive component 41 meshes with the longitudinal rack 43 mounted on the mounting frame 42 of the robotic arm 4.

[0038] When the pinion rotates, since the pinion is fixed on the connecting plate 31 (relative position fixed), it drives the meshing longitudinal rack 43 (together with the mounting frame 42 and the entire robotic arm 4) to make vertical lifting motion (Y-axis) relative to the connecting plate 31.

[0039] By controlling the rotation direction and speed of the longitudinal drive component 41, the height position of the robotic arm 4 can be precisely controlled.

[0040] The above description is only used to illustrate the technical solution of this utility model and is not intended to limit it. Any other modifications or equivalent substitutions made by those skilled in the art to the technical solution of this utility model, as long as they do not depart from the spirit and scope of the technical solution of this utility model, should be covered within the scope of the claims of this utility model.

Claims

1. A self-propelled mechanism for a robotic arm, characterized in that: The system includes a frame (1), a slide rail (2), a sliding assembly (3), and a robotic arm (4). The slide rail (2) is mounted on the frame (1). The sliding assembly (3) includes a connecting plate (31), a guide wheel assembly (32), and a driving component (33). The robotic arm (4) is mounted on one end of the connecting plate (31), and the driving component (33) and several guide wheel assemblies (32) are provided on the other end. The guide wheel assemblies (32) are symmetrically distributed on the connecting plate (31). The guide wheel assemblies (32) that are opposite each other are used to clamp on the slide rail (2). The connecting plate (31) moves along the slide rail (2) under the drive of the driving component (33).

2. The self-propelled mechanism of a robotic arm according to claim 1, characterized in that: The frame (1) includes a support column (11), a displacement plate (12), a rack (13) and a pull rope (14). Adjacent support columns (11) are connected by the displacement plate (12). The end of the displacement plate (12) facing the sliding component (3) is equipped with a slide rail (2) and a rack (13) that meshes with the drive component (33). One end of the pull rope (14) is connected to the wall and the other end is connected to the displacement plate (12).

3. The self-propelled mechanism of a robotic arm according to claim 1, characterized in that: The connecting plate (31) is U-shaped, and guide wheel sets (32) are provided on both short sides of the U-shaped connecting plate (31). The guide wheel set (32) includes a first guide wheel (321) and two rows of symmetrically arranged second guide wheels (322). The first guide wheel (321) abuts against the top of the slide rail (2), and the second guide wheel (322) is clamped on both sides of the slide rail (2).

4. The self-propelled mechanism of a robotic arm according to claim 1, characterized in that: The robotic arm (4) includes a longitudinal drive component (41) and a mounting frame (42). The longitudinal drive component (41) is mounted on a connecting plate (31), and the mounting frame (42) is provided with a longitudinal rack (43) that meshes with the longitudinal drive component (41).

Images