Angle-adjustable mechanical arm electric drive device

Abstract

The utility model provides adjustable angle's mechanical arm electrical drive arrangement relates to mechanical arm drive control field, including drive base, the top end surface of drive base is hinged with two groups of deflection control cylinder in rectangular array, the top middle part of drive base is hinged with the deflection seat, and the left and right sides symmetry of deflection seat are connected with control pull rod, and the top end surface middle part of deflection seat is fixedly installed with drive motor, and the top end surface of deflection seat is rotationally connected with three transmission gears in ring array, and the top of deflection seat is rotationally connected with mechanical arm, this adjustable angle's mechanical arm electrical drive arrangement drive base and the relevant structure of deflection seat are supported to the stability of deflection shaft through support rod, and the deflection groove is reserved for deflection control cylinder telescopic space, and spherical connector and connecting rod cooperate and prevent part jamming, guarantee the stability and the smoothness of mechanical arm up and down angle regulation, solve the existing mechanical arm electrical drive angle and easily sway, interference jam, fine adjustment difference, only one -way problem.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm drive control technology, and in particular to an adjustable-angle robotic arm electrical drive device. Background Technology

[0002] In the field of industrial automation, robotic arms are widely used in assembly, handling, and processing due to their flexible operation capabilities. As the core component for adjusting the angle of the robotic arm, the performance of the electric drive device directly determines the operation accuracy and efficiency of the robotic arm. When existing robotic arm electric drive devices achieve angle adjustment, the deflection component of the robotic arm lacks a stable support structure, which makes the deflection easy to wobble and the adjustment not smooth. The extension and retraction of the deflection control cylinder is prone to spatial interference with the drive base, and the component connection is rigid and prone to jamming. In addition, the lack of an initial working position fine-tuning structure leads to low positioning accuracy. Most devices have not built a multi-dimensional adjustment overall support and power frame, and can only adjust in a single direction. Utility Model Content

[0003] This utility model relates to an adjustable-angle electric drive device for robotic arms, in order to solve the problems mentioned in the background art, such as the lack of stable support for the deflection component when adjusting the angle, resulting in deflection swaying and poor adjustment; the tendency of the deflection control cylinder to interfere with the drive base during extension and retraction, and the rigid connection of the components making them prone to jamming; the lack of an initial fine-tuning structure leading to low positioning accuracy; and the fact that most of them do not have multi-dimensional adjustment support and power frame, and only allow for single-direction adjustment.

[0004] This utility model provides an adjustable-angle robotic arm electrical drive device, specifically including: a drive base; two sets of deflection control cylinders are hinged in a rectangular array on the top end face of the drive base; a deflection seat is hinged at the top middle of the drive base; control rods are symmetrically connected to the left and right sides of the deflection seat; a drive motor is fixedly installed at the middle of the top end face of the deflection seat; three transmission gears are rotatably connected in a circular array on the top end face of the deflection seat; and a robotic arm is rotatably connected to the top of the deflection seat.

[0005] Furthermore, support rods are symmetrically installed at the middle of the front and rear sides of the top of the drive base, and four deflection slots are formed in a rectangular array on the top end face of the drive base. Hinges are provided on the front and rear sides of the deflection slots on the same side of the top of the drive base.

[0006] Furthermore, a deflection shaft is installed at the top center of the deflection seat, and the front and rear ends of the deflection shaft are rotatably connected between two support rods at the top of the drive base. The front and rear ends of the control rods connected to the left and right sides of the deflection seat are each connected to two adjusting nuts. The two adjusting nuts are located on the control rods on the upper and lower sides of the deflection seat, respectively. Two spherical connectors are symmetrically installed on the lower side of the control rods.

[0007] Furthermore, each of the two sets of deflection control cylinders is connected to a connecting rod between the two deflection control cylinders. The connecting rod is rotatably connected to the hinge seat at the top of the drive base, and the telescopic end at the top of the deflection control cylinder is rotatably connected to the connecting head of the control rod.

[0008] Furthermore, a drive gear is fixedly connected to the top of the drive shaft of the drive motor, and three transmission gears are meshed around the outer wall of the drive gear in a circumferential manner. The transmission gears are rotatably connected to the shaft column in the groove at the top of the deflection seat.

[0009] Furthermore, a rotating gear ring is fixedly connected to the middle of the bottom of the robotic arm, and the inner wall of the rotating gear ring is meshed with the outer side of the transmission gear.

[0010] This utility model provides an adjustable-angle electric drive device for a robotic arm, which has the following advantages: 1. The drive base and deflection seat related structures provide stable support for the deflection shaft through the support rod, the deflection groove reserves extension space for the deflection control cylinder, and the ball joint and connecting rod cooperate to prevent the components from jamming. This not only ensures the stability and smoothness of the robot arm's up and down angle adjustment, but also allows for fine adjustment of the initial angle of the deflection seat through the adjusting nut to improve the initial positioning accuracy of the robot arm. It also lays the foundation for the power transmission of the subsequent horizontal rotation of the robot arm, thus constructing an installation and power support framework for the multi-dimensional angle adjustment of the robot arm.

[0011] 2. The drive motor and gear transmission structure transmit power evenly to the rotating gear ring through the meshing of three ring-shaped transmission gears. This not only ensures the stability and angular accuracy of the robot arm's horizontal rotation by leveraging the high efficiency and precise transmission ratio of gear meshing to meet the requirements of high-precision operations, but also reduces the load on the drive motor through indirect transmission to protect core components and extend service life. Furthermore, it is linked with the vertical angle adjustment function to enable the robot arm to have multi-directional adjustment capabilities, thereby expanding the working range and improving the practicality and adaptability of the device in different scenarios. Attached Figure Description

[0012] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings of the embodiments will be briefly described below.

[0013] The accompanying drawings described below are only related to some embodiments of the present invention and are not intended to limit the scope of the present invention.

[0014] In the attached diagram: Figure 1 This is a schematic diagram of the right front side axial view structure of this utility model; Figure 2 This is a bottom-view structural diagram of the present invention; Figure 3 This is a schematic diagram of the overall disassembled structure of this utility model; Figure 4 This is a top view of the deflection seat structure of this utility model; Figure 5 This is a cross-sectional view of the deflection seat of this utility model; Figure 6 This is a cross-sectional structural diagram of the drive base of this utility model.

[0015] In the diagram, the correspondence between component names and drawing numbers is as follows: 1. Drive base; 101. Support rod; 102. Deflection groove; 103. Hinge seat; 2. Deflection seat; 201. Deflection shaft; 3. Control rod; 301. Adjusting nut; 302. Connector; 4. Deflection control cylinder; 401. Connecting rod; 5. Drive motor; 501. Drive gear; 6. Transmission gear; 7. Robotic arm; 701. Rotary gear ring. Detailed Implementation

[0016] 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. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the described embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0017] Example 1: As shown in the attached document Figure 1 To be continued Figure 6 As shown: This utility model provides an adjustable-angle robotic arm electrical drive device, comprising: a drive base 1, two sets of deflection control cylinders 4 hinged in a rectangular array on the top end face of the drive base 1, a deflection seat 2 hinged at the middle of the top of the drive base 1, control rods 3 symmetrically connected to the left and right sides of the deflection seat 2, a drive motor 5 fixedly installed at the middle of the top end face of the deflection seat 2, three transmission gears 6 rotatably connected in a circular array on the top end face of the deflection seat 2, a robotic arm 7 rotatably connected to the top of the deflection seat 2, support rods 101 symmetrically installed at the middle of the front and rear sides of the top of the drive base 1, four deflection slots 102 formed in a rectangular array on the top end face of the drive base 1, and the front and rear sides of the deflection slots 102 on the same side of the top of the drive base 1... Each component is equipped with a hinge seat 103. Specifically, the support rod 101 provides stable rotational support for the deflection shaft 201 of the deflection seat 2, laying the foundation for the installation of the deflection seat 2. The deflection groove 102 reserves space for the extension and retraction of the deflection control cylinder 4, preventing it from interfering with the drive base 1. The hinge seat 103 realizes a stable hinge between the deflection control cylinder 4 and the drive base 1. With the two sets of deflection control cylinders 4, the deflection seat 2 can be driven to deflect around the deflection shaft 201 by controlling the pull rod 3, thereby driving the robotic arm 7 to achieve angle adjustment in the up and down direction. At the same time, the drive motor 5 and the transmission gear 6 provide the power transmission foundation for the subsequent rotational movement of the robotic arm 7. The whole structure constitutes the installation and power support framework for the multi-dimensional angle adjustment of the robotic arm 7.

[0018] The deflection base 2 has a deflection shaft 201 installed at the top center. The front and rear ends of the deflection shaft 201 are rotatably connected between two support rods 101 on the top of the drive base 1. The control rods 3 connected to the left and right sides of the deflection base 2 have two adjusting nuts 301 connected to their front and rear ends, respectively located on the upper and lower control rods 3 of the deflection base 2. Two spherical connectors 302 are symmetrically installed on the lower side of the control rods 3. A connecting rod 401 connects each pair of deflection control cylinders 4. The connecting rod 401 is rotatably connected to the hinge seat 103 on the top of the drive base 1. The telescopic end of the top of the deflection control cylinder 4 is rotatably connected to the connector 302 of the control rod 3. Specifically, the rotational engagement between the deflection shaft 201 and the support rods 101 ensures… The deflection seat 2 can deflect stably around a fixed axis, providing a precise rotation trajectory for the angle adjustment of the robotic arm 7. The up-and-down adjusting nut 301 on the control rod 3 can be turned to change the effective length of the control rod 3, thereby achieving fine adjustment of the initial angle of the deflection seat 2 and ensuring the accuracy of the initial working position of the robotic arm 7. The ball joint 302 allows the extension end of the deflection control cylinder 4 to rotate flexibly within a multi-angle range. Combined with the rotational connection between the connecting rod 401 and the hinge seat 103, it avoids jamming between components during the deflection of the deflection seat 2, ensuring that the deflection control cylinder 4 can smoothly drive the control rod 3, causing the deflection seat 2 to deflect stably. Ultimately, it achieves smooth and precise adjustment of the up-and-down angle of the robotic arm 7, forming a linkage with the component layout of the front drive base 1, refining the realization path and stability guarantee of angle adjustment.

[0019] The drive motor 5 has a drive gear 501 fixedly connected to the top of its drive shaft. Three transmission gears 6 are meshed around the outer wall of the drive gear 501. The transmission gears 6 are rotatably connected to a shaft in the groove at the top of the deflection seat 2. A rotating gear ring 701 is fixedly connected to the middle of the bottom of the robotic arm 7. The inner wall of the rotating gear ring 701 meshes with the outer side of the transmission gears 6. Specifically, after the drive motor 5 drives the drive gear 501 to rotate, the power is evenly transmitted to the rotating gear ring 701 through the meshing of the drive gear 501 and the three transmission gears 6. The three ring-shaped transmission gears 6 can form a uniform circumferential force on the rotating gear ring 701, preventing the robotic arm 7 from rotating due to [unclear text - possibly a continuation of the previous sentence]. Uneven force distribution can cause wobbling or jamming. To ensure rotational stability, the gear meshing transmission method features high transmission efficiency and precise transmission ratio, which can accurately control the rotational speed and angle of the robotic arm 7, meeting the requirements for the rotational accuracy of the robotic arm 7 in different working scenarios. At the same time, this transmission structure indirectly transmits the power of the drive motor 5 to the robotic arm 7, which can reduce the load directly driven by the drive motor 5, protect the drive motor 5 and extend its service life. Corresponding to the installation position of the drive motor 5 and transmission gear 6 in the front section, it realizes the horizontal rotation function of the robotic arm 7. Combined with the vertical angle adjustment function, it enables the robotic arm 7 to have multi-directional angle adjustment capability, expand its working range and improve the practicality of the device.

[0020] The specific usage and function of this embodiment are as follows: When using the adjustable-angle robotic arm electrical drive device, the effective length of the control rod 3 can be changed by turning the up and down adjusting nuts 301 on both sides of the deflection seat 2 control rod 3, thereby achieving a fine adjustment of the initial angle of the deflection seat 2 and ensuring the accurate initial working position of the robotic arm 7. When adjusting the angle in the up and down direction, the two sets of deflection control cylinders 4 are activated by relying on the stable support of the deflection shaft 201 of the deflection seat 2 by the support rod 101 on the drive base 1. The telescopic ends of the cylinders drive the control rod 3 through the ball joint 302. The deflection control cylinders 4 are connected to the drive base 1 hinge seat 103 through the connecting rod 401. Next, the deflection seat 2 is driven to deflect smoothly around the deflection shaft 201, thereby driving the top robotic arm 7 to complete the vertical angle adjustment. When horizontal rotation adjustment is required, the drive motor 5 on the top of the deflection seat 2 is started. The drive motor 5 drives the drive gear 501 to rotate. Through the meshing transmission of the drive gear 501 and the three ring array transmission gears 6, the power is evenly transmitted to the rotating gear ring 701 at the bottom of the robotic arm 7, so that the robotic arm 7 can achieve stable and precise horizontal rotation. The overall combination of vertical angle adjustment and horizontal rotation adjustment meets the multi-dimensional angle adjustment needs of the robotic arm 7 and adapts to different working scenarios.

[0021] Example 2: A buffer spring is fitted on the outside of the telescopic end of each deflection control cylinder 4. One end of the buffer spring is fixed to the outer wall of the cylinder barrel of the deflection control cylinder 4, and the other end abuts against the side wall of the connector 302 of the control rod 3. At the same time, elastic limit blocks are fixedly installed at both ends along the telescopic direction of the deflection control cylinder 4 in the deflection groove 102 at the top of the drive base 1. The limit blocks are made of polyurethane elastic material and their height is lower than the depth of the deflection groove 102. The buffer spring can absorb the impact load when the deflection control cylinder 4 is rapidly telescopic, avoid rigid collision between the telescopic end and the connector 302, reduce component fatigue damage, and at the same time reduce the start and stop impact when the robotic arm 7 adjusts the up and down angle, improve the smoothness of the adjustment process. The elastic limit block can play a physical limit role when the deflection control cylinder 4 is over-telescopic due to malfunction, prevent it from exceeding the range of the deflection groove 102 and rigidly colliding with the drive base 1, and protect the piston rod of the deflection control cylinder 4 from damage. In conjunction with the original drive structure of the deflection control cylinder 4, a double protection of "buffering + limit" is formed, which improves the structural safety and service life of the device under extreme working conditions.

Claims

1. An adjustable-angle robotic arm electrical drive device, characterized in that, Includes a drive base (1); two sets of deflection control cylinders (4) are hinged in a rectangular array on the top end face of the drive base (1), a deflection seat (2) is hinged at the middle of the top of the drive base (1), control levers (3) are symmetrically connected on the left and right sides of the deflection seat (2), a drive motor (5) is fixedly installed at the middle of the top end face of the deflection seat (2), three transmission gears (6) are rotatably connected in a ring array on the top end face of the deflection seat (2), and a mechanical arm (7) is rotatably connected to the top of the deflection seat (2).

2. The adjustable-angle robotic arm electrical drive device according to claim 1, characterized in that, Support rods (101) are symmetrically installed at the middle of the front and rear sides of the top of the drive base (1). Four deflection slots (102) are formed in a rectangular array on the top end face of the drive base (1). Hinges (103) are provided on the front and rear sides of the deflection slots (102) on the same side of the top of the drive base (1).

3. The adjustable-angle robotic arm electrical drive device according to claim 1, characterized in that, A deflection shaft (201) is installed at the top center of the deflection seat (2). The front and rear ends of the deflection shaft (201) are rotatably connected between two support rods (101) at the top of the drive base (1). The control rods (3) connected to the left and right sides of the deflection seat (2) are connected to two adjusting nuts (301) at both ends. The two adjusting nuts (301) are located on the control rods (3) on the upper and lower sides of the deflection seat (2) respectively. Two spherical connectors (302) are symmetrically installed on the lower side of the control rods (3).

4. The adjustable-angle robotic arm electrical drive device according to claim 1, characterized in that, Each of the two sets of deflection control cylinders (4) is connected by a connecting rod (401). The connecting rod (401) is rotatably connected to the hinge seat (103) at the top of the drive base (1). The telescopic end at the top of the deflection control cylinder (4) is rotatably connected to the connector (302) of the control rod (3).

5. The adjustable-angle robotic arm electrical drive device according to claim 1, characterized in that, The drive shaft of the drive motor (5) is fixedly connected to a drive gear (501). The outer side wall of the drive gear (501) is meshed with three transmission gears (6) in a ring shape. The transmission gears (6) are rotatably connected to the shaft column in the groove at the top of the deflection seat (2).

6. The adjustable-angle robotic arm electrical drive device according to claim 1, characterized in that, A rotating gear ring (701) is fixedly connected to the middle of the bottom of the robotic arm (7), and the inner wall of the rotating gear ring (701) is meshed with the outer side of the transmission gear (6).

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