Stabilizing robotic mechanical support arm

Abstract

The utility model relates to support arm technical field, and disclose stable robot mechanical support arm, including robot shell, and the mobile wheel at the bottom of robot shell, the one side outer wall of robot shell is fixedly connected with reduction motor, the output shaft fixed connection of reduction motor has driving wheel, the one side outer wall of driving wheel is connected with the follower meshingly, the inner wall rotation of follower is connected with the pivot, the one side outer wall of pivot rotates and installs the elbow of arm, the top inboard rotation of elbow of arm is installed with the axle, the one side outer wall of axle is fixedly connected with support seat. This stable robot mechanical support arm, through setting up second hydraulic assembly and first hydraulic assembly respectively act on the both ends of elbow of arm, form triangle support structure, utilize the'three edge fixed'characteristic of triangle, significantly improve the anti deformation ability of support system, can reduce the elastic deformation of hydraulic system when retracting fast, improve the motion control precision of robot.

Description

Technical Field

[0001] This utility model relates to the field of support arm technology, specifically a mechanical support arm for a stable robot. Background Technology

[0002] The main function of a mechanical support arm in lifting machinery is to support, fix, and balance the lifted load, preventing it from swaying. It also balances the weight of the load and maintains the stability of the lifting machinery. Furthermore, the support arm bears the reaction forces and torques generated by other components of the lifting machinery, making its stress condition crucial. While not the primary load-bearing structure, the mechanical support arm plays a vital role in lifting machinery, providing support, fixation, and balance to ensure the smooth operation of the lifting process. The load-bearing structure of a lifting machinery also includes components such as the boom, counterweight arm, outriggers, and turntable. The boom bears the weight and torque of the lifted load; the counterweight arm supports the boom and balances the weight; the outriggers support the entire lifting machinery; and the turntable bears the rotational inertia. The main function of a mechanical support arm in stabilizing a robot is to support and fix other components of the robot, ensuring its stability and accuracy during operation. Through precise mechanical design and manufacturing, the mechanical support arm ensures sufficient flexibility and stability for the robot during operation. It connects the various parts of the robot through a combination of linkages and joints, forming a stable support structure.

[0003] Chinese Utility Model Patent Publication No. CN 223357254 U discloses a stabilizing robot mechanical support arm. The specification of this stabilizing robot mechanical support arm discloses a multi-functional design, employing a curved arm in conjunction with a rotating shaft to support the support arm, effectively supporting the robot in different states, offering comprehensive functionality and improving the support arm's usability. It also features a novel drive structure, using a motor paired with a reducer and gears to drive the support arm's movement. The drive force can be adjusted according to different situations, improving the support effect and adaptability of the mechanical support arm. However, this stabilizing robot mechanical support arm only achieves the movement of the curved arm through master-slave gears and driven gears. During operation, the curved arm must withstand complex forces such as vertical loads and lateral forces transmitted from the support seat. The gear meshing points are prone to overload, leading to tooth surface wear, tooth root fracture, or plastic deformation of the gear teeth, making it unable to stably support large loads and resulting in poor practicality. Summary of the Invention

[0004] The technical problem to be solved by this invention is to provide a stable robotic mechanical support arm, which can effectively solve the problems in the prior art.

[0005] The technical solution adopted in this utility model is as follows: a stable robot mechanical support arm, including a robot shell and movable wheels located at the bottom of the robot shell. A reduction motor is fixedly connected to one outer wall of the robot shell, and a drive wheel is fixedly connected to the output shaft of the reduction motor. A driven wheel is meshed with one outer wall of the drive wheel, and a rotating shaft is rotatably connected to the inner wall of the driven wheel. A curved arm is rotatably mounted on one outer wall of the rotating shaft. A central shaft is rotatably mounted on the inner side of the top of the curved arm, and a roller is rotatably mounted at the middle end of the central shaft. A support base is fixedly connected to one outer wall of the central shaft. The robot shell has two sides near the curved arm. The system comprises a first hydraulic assembly and a second hydraulic assembly. A positioning post 1 is fixedly installed at the end of the crank arm near the first hydraulic assembly. A limit block 1 is fixedly installed on the outer surface of the positioning post 1. A locking bolt 1 is provided on the side of the positioning post 1 away from the crank arm. A fixed seat is fixedly installed at the end of the crank arm near the second hydraulic assembly. A positioning post 2 is fixedly installed at the end of the fixed seat away from the crank arm. A locking bolt 2 is provided on the side of the positioning post 2 away from the fixed seat and threadedly connected to the positioning post 2. An installation rod is fixedly installed on the robot shell between the first hydraulic assembly and the second hydraulic assembly. Guide posts are fixedly installed at both ends of the installation rod.

[0006] Preferably, the first hydraulic assembly includes a first hydraulic rod, a connecting seat is fixedly installed at one end of the first hydraulic rod near the crank arm, a connecting rod is threadedly connected to the end of the connecting seat away from the first hydraulic rod, a positioning groove is provided at the end of the connecting rod away from the connecting seat for insertion and installation with a positioning post, and an installation groove is provided at the end of the first hydraulic rod away from the connecting rod for matching the guide post.

[0007] Through the above technical solution, by opening a positioning groove on the connecting rod to insert into the positioning column, the first hydraulic component and the crank arm can be quickly and accurately positioned, reducing installation errors. By using a threaded connection between the connecting rod and the connecting seat, it is easy to replace the connecting rod separately without disassembling the entire hydraulic component, reducing maintenance costs. Furthermore, by matching the mounting groove with the guide column, the first hydraulic component can be quickly installed onto the robot shell, improving installation efficiency.

[0008] Preferably, the connecting rod is provided in two identical sets, and the two sets of connecting rods are symmetrically distributed on the connecting seat.

[0009] Through the above technical solution, the force exerted by the first hydraulic component on the crank arm is evenly distributed by two sets of symmetrically distributed connecting rods, avoiding structural deformation caused by single-point force, thereby improving the support force on the crank arm and ensuring the stability of the crank arm during movement.

[0010] Preferably, the second hydraulic component includes a second hydraulic rod, with a connecting rod 2 threadedly connected to one end of the second hydraulic rod near the crank arm. The connecting rod 2 has a positioning groove 2 at the end away from the second hydraulic rod, which is inserted and installed with the positioning post 2. The second hydraulic rod has an installation groove 2 adapted to the guide post at the end away from the connecting rod 2.

[0011] Through the above technical solution, the second hydraulic component and the first hydraulic component act on both ends of the curved arm respectively, forming a "two-point support" structure, so that the load is directly transmitted to the robot shell through the hydraulic rod, reducing the bending moment and deformation of the curved arm itself.

[0012] Preferably, the first hydraulic assembly and the second hydraulic assembly are located on both sides of the crank arm in a "triangular" arrangement.

[0013] Through the above technical solution, the first hydraulic component, the second hydraulic component, and the articulated arm form a triangular support structure. By utilizing the "three sides fixed" characteristic of a triangle, the deformation resistance of the support system is significantly improved, and the elastic deformation of the hydraulic system during rapid extension and retraction can be reduced, thereby improving the motion control accuracy of the robot.

[0014] Preferably, the outer end of the guide post is provided with a slot, and one side of the guide post is provided with a limiting pin that is inserted into the slot for installation.

[0015] With the above technical solution, and through the design of the limit pin and slot for plug-in installation, after the guide post is connected to the first hydraulic component and the second hydraulic component, the operator can quickly insert the limit pin into the slot to achieve quick locking of the first hydraulic component and the second hydraulic component without the need for external tools. When disassembling, the operator only needs to pull the upper ring of the limit pin to unlock the locking of the first hydraulic component and the second hydraulic component, thereby improving the disassembly and assembly efficiency of the first hydraulic component and the second hydraulic component.

[0016] Preferably, the first hydraulic assembly and the second hydraulic assembly are provided in four identical groups, and the four groups of the first hydraulic assembly and the second hydraulic assembly are symmetrically distributed on the center line of the robot shell.

[0017] Through the above technical solution, the two ends of the four curved arms can be supported simultaneously by four symmetrically distributed first and second hydraulic components, thereby improving the supporting force of the curved arms and significantly increasing the robot's maximum load-bearing capacity.

[0018] Compared with the prior art, this utility model provides a stable robotic mechanical support arm, which has the following beneficial effects: 1. The stabilized robot mechanical support arm forms a triangular support structure by setting a second hydraulic component and a first hydraulic component to act on both ends of the curved arm respectively. By utilizing the "three sides fixed" characteristic of a triangle, the deformation resistance of the support system is significantly improved, and the elastic deformation of the hydraulic system during rapid extension and retraction can be reduced, thereby improving the motion control accuracy of the robot. 2. The stable robot mechanical support arm can achieve rapid and accurate positioning of the first hydraulic component and the curved arm by opening a positioning groove on the connecting rod to insert the positioning column, thereby reducing installation errors. The connecting rod and the connecting seat are connected by threads, which makes it easy to replace the connecting rod separately without disassembling the entire hydraulic component, thus reducing maintenance costs. Furthermore, the matching of the mounting groove and the guide column can enable the first hydraulic component to be quickly installed on the robot shell, thereby improving installation efficiency. 3. The stable robot mechanical support arm is designed for plug-in installation via limit pins and slots. After the guide column is connected to the first and second hydraulic components, the operator can quickly insert the limit pin into the slot to lock the first and second hydraulic components without the need for external tools. When disassembling, the operator only needs to pull the upper ring of the limit pin to unlock the first and second hydraulic components. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 2 ; Figure 3 This is a schematic diagram of the installation structure of the robot shell and the curved arm of this utility model; Figure 4 This is a schematic diagram of the installation structure of the first hydraulic component and the second hydraulic component of this utility model; Figure 5 This is a schematic diagram showing the disassembled structure of the hydraulic component of this utility model; Figure 6 This is a schematic diagram showing the disassembled structure of the second hydraulic component and the crank arm of this utility model; Figure 7 This is a three-dimensional structural diagram of the first hydraulic component of this utility model.

[0020] The components are as follows: 1. Robot shell; 2. Moving wheels; 3. Gear motor; 4. Drive wheel; 5. Crank arm; 6. Driven wheel; 7. Rotating shaft; 8. Central shaft; 9. Roller; 10. Support base; 11. First hydraulic assembly; 1101. First hydraulic rod; 1102. Connecting seat; 1103. Connecting rod one; 1104. Positioning groove one; 1105. Mounting groove one; 12. Second hydraulic assembly; 1201. Second hydraulic rod; 1202. Connecting rod two; 1203. Positioning groove two; 1204. Mounting groove two; 13. Positioning post one; 14. Limiting block one; 15. Locking bolt one; 16. Fixed seat; 17. Positioning post two; 18. Locking bolt two; 19. Mounting rod; 20. Guide post; 21. Slot; 22. Limiting pin. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] Example 1: As Figure 1-7 As shown, the stable robot mechanical support arm provided by this utility model includes a robot shell 1 and a movable wheel 2 located at the bottom of the robot shell 1. A reduction motor 3 is fixedly connected to one outer wall of the robot shell 1. A drive wheel 4 is fixedly connected to the output shaft of the reduction motor 3. A driven wheel 6 is meshed with one outer wall of the drive wheel 4. A rotating shaft 7 is rotatably connected to the inner wall of the driven wheel 6. A curved arm 5 is rotatably mounted on one outer wall of the rotating shaft 7. A central shaft 8 is rotatably mounted on the inner side of the top of the curved arm 5. A roller 9 is rotatably mounted on the middle end of the central shaft 8. A support base 10 is fixedly connected to one outer wall of the central shaft 8. A first hydraulic assembly 11 and a second hydraulic assembly 11 are provided on both sides of the robot shell 1 near the curved arm 5. Component 12, the end of the crank arm 5 near the first hydraulic component 11 is fixedly installed with a positioning post 13, the outer surface of the positioning post 13 is fixedly installed with a limit block 14, the side of the positioning post 13 away from the crank arm 5 is provided with a locking bolt 15, the end of the crank arm 5 near the second hydraulic component 12 is fixedly installed with a fixed seat 16, the end of the fixed seat 16 away from the crank arm 5 is fixedly installed with a positioning post 27, the side of the positioning post 27 away from the fixed seat 16 is provided with a locking bolt 28 threadedly connected to the positioning post 27, the robot shell 1 is located between the first hydraulic component 11 and the second hydraulic component 12 and is fixedly installed with an installation rod 19, both ends of the installation rod 19 are fixedly installed with guide posts 20.

[0023] Specifically, the first hydraulic assembly 11 includes a first hydraulic rod 1101. A connecting seat 1102 is fixedly installed at one end of the first hydraulic rod 1101 near the crank arm 5. A connecting rod 1103 is threadedly connected to the end of the connecting seat 1102 away from the first hydraulic rod 1101. A positioning groove 1104 is provided at the end of the connecting rod 1103 away from the connecting seat 1102 for insertion and installation with the positioning post 13. An installation groove 1105 is provided at the end of the first hydraulic rod 1101 away from the connecting rod 1103 to match the guide post 20. The advantages are that by opening a positioning groove 1104 on the connecting rod 1103 to insert into the positioning post 13, the first hydraulic component 11 and the crank arm 5 can be quickly and accurately positioned, reducing installation errors. By using a threaded connection between the connecting rod 1103 and the connecting seat 1102, it is easy to replace the connecting rod separately without disassembling the entire hydraulic component, reducing maintenance costs. Furthermore, by matching the mounting groove 1105 with the guide post 20, the first hydraulic component 11 can be quickly installed onto the robot shell 1 as a whole, improving installation efficiency.

[0024] Specifically, two identical sets of connecting rods 1103 are provided, and the two sets of connecting rods 1103 are symmetrically distributed on the connecting seat 1102. The advantage is that by using two sets of symmetrically distributed connecting rods 1103, the force exerted by the first hydraulic component 11 on the crank arm 5 is evenly distributed, avoiding structural deformation caused by single-point force, thereby improving the support force on the crank arm 5 and ensuring the stability of the crank arm 5 during movement.

[0025] Specifically, the second hydraulic assembly 12 includes a second hydraulic rod 1201. A connecting rod 1202 is threadedly connected to the end of the second hydraulic rod 1201 near the crank arm 5. A positioning groove 1203 is provided at the end of the connecting rod 1202 away from the second hydraulic rod 1201 for insertion and installation with the positioning post 17. An installation groove 1204 is provided at the end of the second hydraulic rod 1201 away from the connecting rod 1202, which is adapted to the guide post 20. The advantage is that the second hydraulic assembly 12 and the first hydraulic assembly 11 act on both ends of the crank arm 5, forming a "two-point support" structure, allowing the load to be directly transmitted to the robot shell 1 through the hydraulic rod, reducing the bending moment and deformation of the crank arm 5 itself.

[0026] Example 2: Figure 2-7 As shown, this is an improvement on the previous embodiment.

[0027] Specifically, the first hydraulic assembly 11 and the second hydraulic assembly 12 are located on both sides of the crank arm 5 in a triangular arrangement. The advantage is that the first hydraulic assembly 11, the second hydraulic assembly 12 and the crank arm 5 form a triangular support structure. By utilizing the "three sides fixed" characteristic of a triangle, the deformation resistance of the support system is significantly improved, and the elastic deformation of the hydraulic system during rapid extension and retraction can be reduced, thereby improving the motion control accuracy of the robot.

[0028] Specifically, a slot 21 is provided on the outer end of the guide post 20, and a limiting pin 22 is provided on one side of the guide post 20 to be inserted into the slot 21. The advantage is that, by designing the limiting pin 22 to be inserted into the slot 21, after the guide post 20 is connected to the first hydraulic component 11 and the second hydraulic component 12, the operator can quickly insert the limiting pin 22 into the slot 21 to achieve quick locking of the first hydraulic component 11 and the second hydraulic component 12 without the need for external tools. During disassembly, the operator only needs to pull the upper ring of the limiting pin 22 to unlock the locking of the first hydraulic component 11 and the second hydraulic component 12, thereby improving the efficiency of disassembly and assembly of the first hydraulic component 11 and the second hydraulic component 12.

[0029] Specifically, the first hydraulic assembly 11 and the second hydraulic assembly 12 are provided in four identical sets, and the four sets of the first hydraulic assembly 11 and the second hydraulic assembly 12 are symmetrically distributed along the center line of the robot shell 1. The advantage is that by using the four symmetrically distributed sets of the first hydraulic assembly 11 and the second hydraulic assembly 12, both ends of the four curved arms 5 can be supported simultaneously, thereby increasing the supporting force of the curved arms 5 and significantly improving the robot's maximum load-bearing capacity.

[0030] Working Principle: During use, by creating a positioning groove 1104 on the connecting rod 1103 to connect with the positioning post 13, the first hydraulic component 11 and the crank arm 5 can be quickly and accurately positioned, reducing installation errors. The threaded connection between the connecting rod 1103 and the connecting seat 1102 allows for individual replacement of the connecting rod without disassembling the entire hydraulic component, reducing maintenance costs. The matching of the mounting groove 1105 with the guide post 20 allows for the rapid installation of the first hydraulic component 11 onto the robot shell 1, improving installation efficiency. The insertion design of the limiting pin 22 and the slot 21 allows for quick insertion of the limiting pin 22 into the slot 21 after the guide post 20 is connected to the first hydraulic component 11 and the second hydraulic component 12, thus enabling the connection of the first hydraulic component 11 and the second hydraulic component 12. The quick-lock mechanism of component 12 allows for disassembly without the need for external tools. During disassembly, the operator only needs to pull the upper ring of the limit pin 22 to unlock the locking of the first hydraulic component 11 and the second hydraulic component 12, improving the efficiency of disassembly and assembly of the first hydraulic component 11 and the second hydraulic component 12. Through two sets of symmetrically distributed connecting rods 1103, the force exerted by the first hydraulic component 11 on the curved arm 5 is evenly distributed, avoiding structural deformation caused by single-point force, thereby improving the support force on the curved arm 5 and ensuring the stability of the curved arm 5 during movement. The second hydraulic component 12 and the first hydraulic component 11 act on the two ends of the curved arm 5 respectively, forming a triangular support structure. Utilizing the "three-sided fixed" characteristic of a triangle, the deformation resistance of the support system is significantly improved, which can reduce the elastic deformation of the hydraulic system during rapid extension and retraction, thereby improving the motion control accuracy of the robot.

[0031] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A stable robot mechanical support arm, comprising a robot housing (1) and a movable wheel (2) located at the bottom of the robot housing (1), characterized in that: A geared motor (3) is fixedly connected to one side of the outer wall of the robot shell (1). A drive wheel (4) is fixedly connected to the output shaft of the geared motor (3). A driven wheel (6) is meshed with one side of the outer wall of the drive wheel (4). A rotating shaft (7) is rotatably connected to the inner wall of the driven wheel (6). A crank arm (5) is rotatably mounted on one side of the outer wall of the rotating shaft (7). A central shaft (8) is rotatably mounted on the inner side of the top of the crank arm (5). A roller (9) is rotatably mounted on the middle end of the central shaft (8). A support base (10) is fixedly connected to one side of the outer wall of the central shaft (8). A first hydraulic assembly (11) and a second hydraulic assembly (12) are provided on both sides of the robot shell (1) near the crank arm (5). One end of the crank arm (5) near the first hydraulic assembly (11) is fixedly connected to the second hydraulic assembly (12). A positioning post (13) is fixedly installed, and a limit block (14) is fixedly installed on the outer surface of the positioning post (13). A locking bolt (15) is provided on the side of the positioning post (13) away from the crank arm (5). A fixed seat (16) is fixedly installed on the end of the crank arm (5) near the second hydraulic component (12). A positioning post (17) is fixedly installed on the end of the fixed seat (16) away from the crank arm (5). A locking bolt (18) threadedly connected to the positioning post (17) is provided on the side of the positioning post (17) away from the fixed seat (16). An installation rod (19) is fixedly installed on the robot shell (1) between the first hydraulic component (11) and the second hydraulic component (12). Guide posts (20) are fixedly installed on both ends of the installation rod (19).

2. The stabilized robot mechanical support arm according to claim 1, characterized in that: The first hydraulic assembly (11) includes a first hydraulic rod (1101). A connecting seat (1102) is fixedly installed at one end of the first hydraulic rod (1101) near the crank arm (5). A connecting rod (1103) is threadedly connected to the end of the connecting seat (1102) away from the first hydraulic rod (1101). A positioning groove (1104) is provided at the end of the connecting rod (1103) away from the connecting seat (1102) for insertion and installation with the positioning post (13). An installation groove (1105) is provided at the end of the first hydraulic rod (1101) away from the connecting rod (1103) for matching with the guide post (20).

3. The stable robot mechanical support arm according to claim 2, characterized in that: The connecting rod (1103) is provided in two identical sets, and the two sets of connecting rods (1103) are symmetrically distributed on the connecting seat (1102).

4. The stabilized robot mechanical support arm according to claim 1, characterized in that: The second hydraulic assembly (12) includes a second hydraulic rod (1201), and a connecting rod (1202) is threadedly connected to one end of the second hydraulic rod (1201) near the crank arm (5). The connecting rod (1202) away from the second hydraulic rod (1201) has a positioning groove (1203) for insertion and installation with the positioning post (17). The second hydraulic rod (1201) away from the connecting rod (1202) has an installation groove (1204) adapted to the guide post (20).

5. The stable robot mechanical support arm according to claim 1, characterized in that: The first hydraulic component (11) and the second hydraulic component (12) are located on both sides of the crank arm (5) in a "triangular" arrangement.

6. The stabilized robot mechanical support arm according to claim 1, characterized in that: The guide post (20) has a slot (21) at its outer end, and a limiting pin (22) is provided on one side of the guide post (20) to be inserted into the slot (21).

7. The stable robot mechanical support arm according to claim 1, characterized in that: The first hydraulic component (11) and the second hydraulic component (12) are provided in four identical groups, and the four groups of the first hydraulic component (11) and the second hydraulic component (12) are symmetrically distributed on the center line of the robot shell (1).

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