CN112497268A

CN112497268A - Robot mechanical arm

Info

Publication number: CN112497268A
Application number: CN202011264406.2A
Authority: CN
Inventors: 覃立万
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-11-12
Filing date: 2020-11-12
Publication date: 2021-03-16

Abstract

The application relates to a robot mechanical arm, which relates to the field of commercial robots and comprises a base and a mechanical arm body rotationally connected to the upper surface of the base, the utility model discloses a mechanical arm, including the base upper surface is equipped with the protection casing including the cladding of arm body, the protection casing is the under shed, the high direction after the protection casing contracts along the arm body is cut apart into first cover body and the second cover body, first cover body and the second cover body are located the both sides that the arm body is relative respectively, first cover body is fixed at the base upper surface, be equipped with a plurality ofly between the second cover body and the base and carry out fixed subassembly with protection casing and base, be equipped with a plurality ofly between the second cover body and the base and be used for relieving fixed subassembly and carry out the unblock subassembly that fixes the protection casing, be equipped with between the first cover body and the second cover body and fix the coupling assembling who separates the first cover body and the second cover body, this application has the effect.

Description

Robot mechanical arm

Technical Field

The application relates to the technical field of commercial robots, in particular to a robot mechanical arm.

Background

With the deepening of the intelligent essence of the robot technology, the robot technology is continuously and continuously permeated into various fields of human activities, including business fields; the commercial robot has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the working efficiency and quality, serves human life, and expands or extends the activity and capability range of the human beings; the robot mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling, and the mechanical arm is a complex system and has uncertainties such as parameter perturbation, external interference, unmodeled dynamics and the like, so that the modeling model of the mechanical arm also has uncertainties, and the motion trail of the joint space of the mechanical arm needs to be planned for different tasks.

The prior Chinese patent with reference to publication No. CN107097219B discloses a mechanical arm comprising a base; the first driving mechanism is arranged on the base; one end of the transmission shaft is connected with an output shaft of the first driving mechanism; the first driving mechanism drives the transmission shaft to rotate and drives the curved rod to rotate from a first position to a second position through the linkage mechanism; the grabbing mechanism is connected to one end, far away from the linkage mechanism, of the curved rod, when the curved rod is located at the first position, the grabbing mechanism grabs the workpiece from the first station, and when the curved rod is located at the second position, the grabbing mechanism releases the workpiece to enable the workpiece to be placed at the second station; and a linkage mechanism is arranged between the curved rod and the transmission shaft, so that the workpiece conveying efficiency is high.

In view of the above-mentioned related technologies, the inventor believes that there are defects that a robot arm is easily damaged by collision during transportation or transportation, and is easily deposited with dust after being placed for a long time, which greatly reduces the safety of the robot arm.

Disclosure of Invention

In order to improve the defect of the security greatly reduced of robot arm, this application provides a robot arm.

The application provides a robotic arm adopts following technical scheme:

the utility model provides a robot mechanical arm, connect the arm body at the base upper surface including base and rotation, the base upper surface is equipped with the protection casing including the cladding of arm body, the protection casing is the under shed, the high direction after the protection casing contracts along the arm body is cut apart into the first cover body and the second cover body, the first cover body and the second cover body are located the both sides that the arm body is relative respectively, the first cover body is fixed at the base upper surface, be equipped with a plurality of fixed subassemblies that go on fixing protection casing and base between the second cover body and the base, be equipped with a plurality of unblock subassemblies that are used for relieving fixed subassembly and go on fixing the protection casing between the second cover body and the base, be equipped with between the first cover body and the second cover body and fix the coupling assembling that separates the first cover body and the second cover.

By adopting the technical scheme, when the mechanical arm body is carried and transported or after the mechanical arm body is finished, the mechanical arm body is contracted to reduce the occupied space, the second cover body is fixed on the base through the fixing assembly, the first cover body and the second cover body are combined into the protective cover to cover the mechanical arm body, and the first cover body and the second cover body are fixed through the connecting assembly, so that the safety of the mechanical arm body is better during carrying and transporting, and the dust deposition degree of the mechanical arm body can be greatly reduced; when the mechanical arm body needs to work, the fixing assembly is released from the fixing of the second cover body through the unlocking assembly, the second cover body is taken down after the connecting assembly is opened, the mechanical arm body rotates to one side deviating from the first cover body, the first cover body can still play a certain protection role on the mechanical arm body, and finally the safety of the mechanical arm body is greatly improved.

Optionally, a dismounting assembly for fixing and dismounting the first cover and the base is arranged between the first cover and the base, the dividing directions of the first cover and the second cover are vertically arranged, and the distance from the side wall of the first cover far away from the dividing plane to the dividing plane is smaller than the distance from the side wall of the second cover far away from the dividing plane to the dividing plane.

Through adopting above-mentioned technical scheme, the arm body rotates behind one side that deviates from the first cover body, can possess bigger performance space to can dismantle the first cover body through the dismouting subassembly according to the actual work condition, improve the work flexibility of arm body.

Optionally, the dismounting assembly comprises a dismounting plate and a dismounting bolt, one side of the dismounting plate is fixed to the bottom of the first cover outer side wall, the lower surface of the dismounting plate is attached to the upper surface of the base, and the dismounting bolt vertically penetrates through the dismounting plate and then is in threaded connection with the base.

Through adopting above-mentioned technical scheme, when needs are dismantled first cover body, only need with dismouting bolt screw out the base can, improved the dismouting efficiency of first cover body.

It is optional, the base upper surface is seted up and is supplied the second cover body bottom male constant head tank, fixed subassembly includes fixed spring and fixed block, the constant head tank is kept away from the lateral wall of arm body and has been seted up a plurality of holding tanks, the one end of fixed spring is fixed on the holding tank just to self open-ended lateral wall, fixed spring's the other end and fixed block one end fixed connection, the fixed block slides in the holding tank, the second cover body is located the lateral wall of constant head tank and is seted up the fixed slot that communicates with the holding tank, the position slope in the fixed block upper surface inserts the draw-in groove is towards the arm body, when fixed spring is in natural state, the fixed block is located holding tank and.

Through adopting above-mentioned technical scheme, when carrying out the installation of the second cover body, insert the constant head tank with the bottom of the second cover body in, the fixed block receives the extrusion of the second cover body in the holding tank gets into completely simultaneously, when the draw-in groove removed to holding tank department, fixed spring's resilience force makes in the fixed block inserts the draw-in groove, can take in the holding tank completely with the fixed block through the unblock subassembly in, and then makes the installation of the second cover body very convenient.

Optionally, the unblock subassembly includes unblock pole and pull rod, and a plurality of shifting chutes have been seted up to the base upper surface, all communicates between every shifting chute and the different holding tank to have the unblock hole, and the unblock pole slides along the moving direction of fixed block in the unblock hole, and the one end of unblock pole is fixed with the fixed block in stretching into the holding tank, and the unblock pole other end is located the shifting chute, and the pull rod is vertical to be fixed and is served at the unblock pole that is located the shifting chute.

Through adopting above-mentioned technical scheme, drag the pull rod and make it at the sliding tray internal slipping, in the unblock pole drives the fixed block and slides in the holding tank simultaneously for the dismantlement of the second cover body is very convenient.

Optionally, the base upper surface articulates there are a plurality of limiting plates that cover on the shifting chute, and the articulated axis level of limiting plate sets up, has seted up spacing hole on the limiting plate, and the pull rod when spacing hole supplies the fixed block to be located the holding tank completely inserts, the moving direction of the length direction perpendicular to pull rod in spacing hole.

Through adopting above-mentioned technical scheme, after dragging the pull rod and making the fixed block take in the holding tank completely, rotate the limiting plate for spacing hole on the limiting plate wears to the pull rod, makes the limiting plate can counterbalance fixed spring's resilience force, can remove to drag next pull rod, has saved the manpower and has improved the dismantlement convenience of the second cover body.

Optionally, a reinforcing hole is formed in the limiting plate, the reinforcing hole is used for inserting the pull rod when the fixing spring is in a natural state, and the length direction of the reinforcing hole is perpendicular to the moving direction of the pull rod.

Through adopting above-mentioned technical scheme, after the installation of the second cover body finishes, rotate the limiting plate and make it wear the pull rod through strengthening the hole on, and then carry out the ascending location of fixed block slip side to the pull rod, improved the stability of the second cover body to the limiting plate can play dirt-proof effect to the groove of sliding.

Optionally, the coupling assembling includes first connecting plate, the second connecting plate, the connecting rod and fix the locking lever at the connecting rod both ends, there is the contained angle length direction of locking lever and connecting rod length direction, first connecting plate is fixed on first cover body lateral wall, the second connecting plate is fixed on second cover body lateral wall, first connecting plate and the mutual butt of second connecting plate, the lockhole that runs through the second connecting plate is seted up to the lateral wall that first connecting plate deviates from the second connecting plate, the lockhole supplies locking lever and connecting rod to insert, when the connecting rod is located the lockhole completely, two locking levers are located one side that first connecting plate deviates from the second connecting plate and one side that the second connecting plate deviates from first connecting plate respectively.

Through adopting above-mentioned technical scheme, when the base is installed to the second cover body, the synthetic protection casing of the first cover body and the second cover body, first connecting plate and the mutual butt of second connecting plate, insert locking lever and connecting rod into the lockhole, until two locking levers are located the both sides that first connecting plate and second connecting plate deviate from respectively, rotate the locking lever again, make locking lever and lockhole take place the dislocation, can accomplish the fixed of coupling assembling to the first cover body and the second cover body, the installation steadiness and the convenience of protection casing have been improved.

Optionally, the lateral wall that the second connecting plate deviates from first connecting plate is fixed with locking spring, and the one end that locking spring kept away from the second connecting plate is fixed with the jam plate, and the connecting rod passes from locking spring is inside, and the connecting rod runs through the jam plate and rotates with the jam plate to be connected, and one of them locking lever is located the one side that the jam plate deviates from locking spring, and when locking spring was in natural state, the connecting rod broke away from the lockhole on first connecting plate, and was located the lockhole that the locking lever that the jam plate was close to locking spring one side was located on the second connecting plate.

By adopting the technical scheme, when the connecting assembly fixes the protective cover, the locking rod abutted against the locking plate is pressed, so that the locking spring is gradually compressed, the locking rod at the other end is inserted into the locking hole in the first connecting plate and extends out of the first connecting plate, then the locking rod is rotated to enable the two locking rods to be respectively positioned at two sides of the first connecting plate and the second connecting plate which are deviated from each other, and the locking rod far away from the locking plate is tightly pressed on the first connecting plate due to the fact that the locking spring is in a compressed state, so that the stabilizing effect of the connecting assembly on the protective cover is improved; when the second cover body is detached, the lock rod which is tightly abutted to the lock plate is rotated, so that the lock rod which is far away from the lock plate is just opposite to the lock hole, the lock rod and the connecting rod can be separated from the first connecting plate, and the dismounting convenience of the second cover body is improved.

Optionally, the magnetic sheets which are mutually attracted are fixedly embedded in the side walls which are mutually attached to the tops of the first cover body and the second cover body.

Through adopting above-mentioned technical scheme, the second cover body is installed on the base after, and the first cover body covers the synthetic protection casing with the second, and two magnetic sheets attract each other laminating simultaneously, have improved the stability of protection casing.

In summary, the present application includes at least one of the following beneficial technical effects:

1. the second cover body is fixed on the base through the fixing assembly, so that the first cover body and the second cover body are combined into the protective cover to cover the mechanical arm body, and then the first cover body and the second cover body are fixed through the connecting assembly, so that the mechanical arm body is better in safety during carrying and transportation, the dust deposition degree of the mechanical arm body can be greatly reduced, and finally the safety of the mechanical arm body is greatly improved;

2. after the pull rod is pulled to enable the fixing block to be completely retracted into the accommodating groove, the limiting plate is rotated to enable the limiting hole in the limiting plate to penetrate through the pull rod, the limiting plate can counter the resilience force of the fixing spring, and then the next pull rod can be pulled, so that manpower is saved, and the convenience in detaching the second cover body is improved;

3. according to the locking lever with the jam plate butt of pressing for when locking spring compressed gradually, the locking lever of the other end inserted in the lockhole on the first connecting plate and stretched out first connecting plate, rotated the locking lever again and made two locking levers be located the both sides that first connecting plate and second connecting plate deviate from respectively, kept away from the locking lever of jam plate and compressed tightly on first connecting plate, improved the firm effect that coupling assembling played the protection casing.

Drawings

FIG. 1 is a schematic structural diagram of an embodiment of the present application;

FIG. 2 is a schematic view showing the structure of the robot arm body when it is retracted;

FIG. 3 is a partial cross-sectional view showing the securing assembly;

FIG. 4 is a schematic view showing the structure of the limiting hole;

FIG. 5 is a schematic view showing the construction of the connecting assembly;

fig. 6 is a partial sectional view showing a magnetic sheet.

In the figure, 1, a base; 11. positioning a groove; 2. a mechanical arm body; 21. a rotating part; 22. a first bent portion; 23. a second bent portion; 24. a third bent portion; 3. a protective cover; 31. a first cover body; 311. a magnetic sheet; 32. a second cover body; 4. a fixing assembly; 41. fixing the spring; 411. accommodating grooves; 412. a card slot; 42. a fixed block; 5. an unlocking assembly; 51. an unlocking lever; 511. unlocking the hole; 512. a moving groove; 52. a pull rod; 6. a connecting assembly; 61. a first connecting plate; 611. a lock hole; 62. a second connecting plate; 63. a connecting rod; 64. a lock lever; 7. disassembling and assembling the components; 71. disassembling the plate; 72. disassembling and assembling the bolt; 8. a limiting plate; 81. a limiting hole; 82. a reinforcement hole; 9. a locking spring; 91. and (6) locking the plate.

Detailed Description

The present application is described in further detail below with reference to figures 1-6.

The embodiment of the application discloses robot mechanical arm.

Referring to fig. 1 and 2, a robot mechanical arm includes a base 1 and a mechanical arm body 2 disposed on the base 1, the mechanical arm body 2 includes a rotating portion 21 rotatably connected to the base 1, a first bent portion 22 hinged to a top of the rotating portion 21, a second bent portion 23 hinged to a top end of the first bent portion 22, and a third bent portion 24 hinged to an end of the second bent portion 23 away from the first bent portion 22, a rotation axis of the rotating portion 21 is vertically disposed, and hinge axes of the first bent portion 22, the second bent portion 23, and the third bent portion 24 are all horizontal and parallel to each other;

as shown in fig. 1 and 3, a protective cover 3 which covers the mechanical arm body 2 and is a lower opening is arranged on the base 1, the protective cover 3 is vertically divided into a first cover 31 and a second cover 32, the first cover 31 is detachably connected to the base 1, the distance from the side wall of the first cover 31 far away from the dividing plane to the dividing plane is smaller than the distance from the side wall of the second cover 32 far away from the dividing plane to the dividing plane, a plurality of fixing components 4 which fix the second cover 32 and the base 1 are arranged between the second cover 32 and the base 1, a plurality of unlocking components 5 which release the fixing of the fixing components 4 to the second cover 32 are arranged between the second cover 32 and the base 1, and a plurality of connecting components 6 which mutually fix the first cover 31 and the second cover 32 are arranged between the first cover 31 and the second cover 32;

when carrying, transporting or after finishing the operation of the mechanical arm body 2 in the commercial robot, firstly, the mechanical arm body 2 is contracted by rotating the first bending part 22 and the second bending part 23 to reduce the occupied space, then the first cover body 31 is fixed on the base 1 through the dismounting assembly 7, the second cover body 32 is fixed on the base 1 through the fixing assembly 4, and the first cover body 31 and the second cover body 32 are fixed through the connecting assembly 6 to form the protective cover 3, so that the safety of the mechanical arm body 2 is better when carrying and transporting, and the dust accumulation degree of the mechanical arm body 2 can be greatly reduced; when the mechanical arm body 2 needs to work, the first cover body 31 and the second cover body 32 are fixed by the dismounting assembly 7, the second cover body 32 is removed by the fixing assembly 4 through the unlocking assembly 5, the second cover body 32 can be taken down, the first cover body 31 can be dismounted from the base 1 selectively according to the actual working space of the mechanical arm body 2, and the working flexibility of the mechanical arm body 2 in the commercial robot is further improved.

As shown in fig. 1, a dismounting assembly 7 for fixing and dismounting the first cover 31 and the base 1 is arranged between the first cover 31 and the base 1, the dismounting assembly 7 includes a dismounting plate 71 and a dismounting bolt 72, the dismounting plate 71 is fixed at the bottom of the outer side wall of the first cover 31 away from the second cover 32, the dismounting bolt 72 penetrates through the dismounting plate 71 and then is connected to the base 1 by screw threads, and the lower surface of the dismounting plate 71 abuts against the upper surface of the base 1; by screwing and unscrewing the disassembly and assembly bolt 72, the first cover 31 can be easily assembled and disassembled.

As shown in fig. 3, the upper surface of the base 1 is provided with a positioning groove 11 for inserting the bottom end of the second cover body 32, the inner side wall of the positioning groove 11 far away from the robot arm body 2 is horizontally provided with a plurality of accommodating grooves 411, the fixing component 4 comprises a horizontally arranged fixing spring 41 and a fixing block 42, one end of the fixing spring 41 is fixed with the inner side wall of the accommodating groove 411 just opposite to the opening of the fixing groove, the other end of the fixing spring 41 is fixed with one end of the fixing block 42, the fixing block 42 horizontally slides in the accommodating groove 411, the position of the bottom of the outer side wall of the second cover body 32 in the positioning groove 11 is provided with a plurality of clamping grooves 412 communicated with the accommodating grooves 411, the displacement of the upper surface of, the fixed block 42 is positioned in the accommodating groove 411 and the clamping groove 412 at the same time, and the unlocking assembly 5 is used for completely accommodating the fixed block 42 into the accommodating groove 411; when the installation of the second cover body 32 is carried out, insert the bottom of the second cover body 32 in the constant head tank 11, the inclined plane of fixed block 42 receives the extrusion simultaneously and makes in its complete income holding tank 411, lets behind draw-in groove 412 and holding tank 411 intercommunication, fixed spring 41's resilience force makes in fixed block 42 inserts draw-in groove 412 for the installation of the second cover body 32 is very convenient.

As shown in fig. 3, the unlocking assembly 5 includes an unlocking rod 51 and a pull rod 52, the upper surface of the base 1 is provided with a plurality of elongated moving grooves 512, the pull rod 52 moves in the moving grooves 512 along the sliding direction of the fixed block 42, the top end of the pull rod 52 extends out of the moving grooves 512, the bottom end of the pull rod 52 is fixed with the unlocking rod 51, horizontally arranged unlocking holes 511 are communicated between the moving grooves 512 and the accommodating grooves 411, one end of the unlocking rod 51, which is far away from the pull rod 52, extends into the fixed spring 41 and is fixedly connected with the fixed block 42, and the unlocking rod 51 moves in the unlocking holes 511 along the sliding direction of the fixed block 42; when the second cover 32 needs to be detached, the pull rod 52 is pulled, so that the unlocking rod 51 drives the fixing block 42 and the fixing block 42 completely enters the accommodating groove 411, the fixing of the second cover 32 can be released, and the detachment convenience of the second cover 32 is improved.

As shown in fig. 3 and 4, the upper surface of the base 1 is hinged with a plurality of limiting plates 8 covering each moving groove 512, the hinge axis of each limiting plate 8 is horizontally arranged, each limiting plate 8 is provided with a long-strip-shaped limiting hole 81 and a reinforcing hole 82, the length directions of the limiting holes 81 and the reinforcing holes 82 are perpendicular to the length direction of the moving grooves 512, the fixing block 42 is completely positioned in the accommodating groove 411, and the limiting plates 8 drive the limiting holes 81 to be inserted into the pull rod 52; when the fixing block 42 is inserted into the slot 412, the limiting plate 8 drives the reinforcing hole 82 to be inserted onto the pull rod 52; when the pull rod 52 is located in the limiting hole 81, the fixing block 42 can be kept completely located in the accommodating groove 411, so that the labor for detaching the second cover body 32 is saved, and the detachment convenience of the second cover body 32 is improved; when the pull rod 52 is located in the reinforcing hole 82, the fixing of the second cover 32 can be guaranteed, so that the stability of the second cover 32 is enhanced, and after the limiting plate 8 covers the moving groove 512, the dustproof effect can be achieved on the moving groove 512.

As shown in fig. 5, the connecting assembly 6 includes a first connecting plate 61 fixed on the outer side wall of the first housing 31, a second connecting plate 62 fixed on the outer side wall of the second housing 32, a connecting rod 63 connected with the first connecting plate 61 and the second connecting plate 62 in a sliding manner, and locking rods 64 fixed at two ends of the connecting rod 63, the first connecting plate 61 and the second connecting plate 62 are both located in the middle of the height direction of the shield 3 and are abutted against each other, a locking hole 611 penetrating the second connecting plate 62 is formed in the side wall of the first connecting plate 61 away from the second connecting plate 62, the vertical section of the locking hole 611 is vertically long, the connecting rod 63 drives the locking rod 64 to horizontally move in the locking hole 611, the length direction of the locking rod 64 is perpendicular to the length direction of the connecting rod 63, the two locking rods 64 are parallel to each other, the length of the connecting rod 63 is not less than the depth of the locking, the two lock levers 64 are respectively positioned at two sides of the first connecting plate 61 and the second connecting plate 62 which are away from each other; one of the lock levers 64 is inserted in alignment with the lock hole 611, and after the lock lever 64 completely passes through the lock hole 611, the connecting rod 63 is rotated, so that the lock lever 64 is dislocated from the lock hole 611, and the fixing of the connecting assembly 6 to the first cover 31 and the second cover 32 can be completed, so that the fixing of the first cover 31 and the second cover 32 is more stable and convenient.

As shown in fig. 5, a locking spring 9 is fixedly connected to a side wall of the second connecting plate 62 away from the first connecting plate 61, a telescopic direction of the locking spring 9 is consistent with a sliding direction of the connecting rod 63, the locking spring 9 is sleeved on the connecting rod 63, a vertically arranged locking plate 91 is fixed to one end of the locking spring 9 away from the second connecting plate 62, two locking rods 64 are respectively located at two sides of the locking plate 91 close to and away from the first connecting plate 61, the locking plate 91 is penetrated and rotatably connected with the connecting rod 63 by the connecting rod 63, and when the locking spring 9 is in a natural state, the locking rod 64 located at one side of the locking plate 91 close to the first connecting plate 61 is located in a locking hole 611 on the second; pressing the locking plate 91 makes the connecting rod 63 drive the locking rod 64 located on one side of the locking plate 91 close to the first connecting plate 61 to enter the locking hole 611 on the first connecting plate 61, after the locking rod 64 passes through the locking hole 611, rotating the locking rod 64 to make the locking rod 64 dislocate with the locking hole 611, at this moment, the locking spring 9 is in a compressed state, make the locking rod 64 located on one side of the locking plate 91 close to the first connecting plate 61 and the side wall of the first connecting plate 61 away from the locking plate 91 abut tightly, the stabilizing effect between the first cover body 31 and the second cover body 32 is improved, and reduce the probability that the locking rod 64 and the connecting rod 63 break away from the second connecting plate 62 to cause loss, make the use of the connecting.

As shown in fig. 6, magnetic pieces 311 which attract each other are fixedly embedded in the side walls of the first cover 31 and the second cover 32 which are abutted against each other at the top; after the bottom end of the first cover 31 is inserted into the positioning slot 11, the magnetic sheets 311 on the top of the first cover 31 and the second cover 32 are tightly attracted to each other, so that the stability of the shield 3 is improved.

The implementation principle of a robot mechanical arm in the embodiment of the application is as follows: before carrying and transporting the mechanical arm body 2 or after finishing the work, firstly, the mechanical arm body 2 is contracted by rotating the first bending part 22 and the second bending part 23 to reduce the occupied space, then the dismounting plate 71 is fixed on the base 1 by the dismounting bolt 72, so that the first cover body 31 is fixed on the base 1, then the bottom end of the second cover body 32 is vertically inserted into the positioning groove 11, meanwhile, the inclined plane of the fixing block 42 is extruded to be completely accommodated into the accommodating groove 411, after the clamping groove 412 is communicated with the accommodating groove 411, the fixing block 42 is inserted into the clamping groove 412 by the resilience of the fixing spring 41, the two magnetic sheets 311 are mutually sucked tightly, then the limiting plate 8 is rotated, so that the limiting plate 8 drives the reinforcing hole 82 to be inserted into the pull rod 52, then the locking plate 91 is pressed, so that the connecting rod 63 drives the locking rod 64 positioned at one side of the locking plate 91 close to the first connecting plate 61 to enter the 611 locking hole on the, after the lock rod 64 passes through the lock hole 611, the lock rod 64 is rotated to enable the lock rod 64 to be dislocated with the lock hole 611, at the moment, the locking spring 9 is in a compression state, the lock rod 64 located on one side, close to the first connecting plate 61, of the lock plate 91 is abutted against the side wall, far away from the lock plate 91, of the first connecting plate 61, the first cover body 31 and the second cover body 32 are fixed to each other to form the protective cover 3, the safety of the mechanical arm body 2 for the commercial robot in carrying and transporting is improved, and the dust deposition degree of the mechanical arm body 2 for the commercial robot can be greatly reduced.

The embodiments of the present invention are preferred embodiments of the present application, and the scope of protection of the present application is not limited by the embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims

1. The utility model provides a robotic arm, includes base (1) and rotates arm body (2) of connection at base (1) upper surface, its characterized in that: the upper surface of the base (1) is provided with a protective cover (3) which covers the mechanical arm body (2), the protective cover (3) is a lower opening, the protective cover (3) is divided into a first cover body (31) and a second cover body (32) along the height direction after the mechanical arm body (2) contracts, the first cover body (31) and the second cover body (32) are respectively positioned at two opposite sides of the mechanical arm body (2), the first cover body (31) is fixed on the upper surface of the base (1), a plurality of fixing components (4) which fix the protective cover (3) and the base (1) are arranged between the second cover body (32) and the base (1), a plurality of unlocking components (5) which are used for releasing the fixing components (4) to fix the protective cover (3) are arranged between the second cover body (32) and the base (1), a connecting component (6) for fixing and separating the first cover body (31) and the second cover body (32) is arranged between the first cover body (31) and the second cover body (32).

2. A robotic manipulator as claimed in claim 1, wherein: the detachable type LED lamp is characterized in that a disassembling and assembling assembly (7) for fixing and disassembling the first cover body (31) and the base (1) is arranged between the first cover body (31) and the base (1), the dividing directions of the first cover body (31) and the second cover body (32) are vertically arranged, and the distance from the side wall of the first cover body (31) far away from the dividing plane to the dividing plane is smaller than the distance from the side wall of the second cover body (32) far away from the dividing plane to the dividing plane.

3. A robotic manipulator as claimed in claim 2, wherein: dismouting subassembly (7) are including dismouting board (71) and dismouting bolt (72), and dismouting board (71) one side is fixed with the bottom of first cover body (31) lateral wall, and dismouting board (71) lower surface and the laminating of base (1) upper surface, and dismouting bolt (72) are vertical to run through behind dismouting board (71) threaded connection in base (1).

4. A robotic manipulator as claimed in claim 1, wherein: the upper surface of the base (1) is provided with a positioning groove (11) for inserting the bottom end of the second cover body (32), the fixing component (4) comprises a fixing spring (41) and a fixing block (42), the side wall of the positioning groove (11) far away from the mechanical arm body (2) is provided with a plurality of accommodating grooves (411), one end of the fixing spring (41) is fixed on the side wall of the accommodating groove (411) just opposite to the opening of the fixing spring, the other end of the fixing spring (41) is fixedly connected with one end of the fixing block (42), the fixing block (42) slides in the accommodating groove (411), the outer side wall of the second cover body (32) in the positioning groove (11) is provided with a fixing groove communicated with the accommodating groove (411), the position of the upper surface of the fixing block (42) inserted into the clamping groove (412) inclines towards the mechanical arm body (2), when the fixing spring (41) is in a natural state, the unlocking assembly (5) is used for completely accommodating the fixed block (42) into the accommodating groove (411).

5. A robotic manipulator according to claim 4, wherein: unblock subassembly (5) are including unblock pole (51) and pull rod (52), a plurality of shifting chutes (512) have been seted up to base (1) upper surface, all communicate between every shifting chute (512) and different holding tank (411) unblock hole (511), unblock pole (51) slide along the moving direction of fixed block (42) in unblock hole (511), the one end of unblock pole (51) is fixed with fixed block (42) in stretching into holding tank (411), unblock pole (51) other end is located shifting chute (512), pull rod (52) vertical the fixing is served in unblock pole (51) one that is located shifting chute (512).

6. A robotic manipulator as claimed in claim 5, wherein: the upper surface of the base (1) is hinged with a plurality of limiting plates (8) covering the moving groove (512), the hinge axis of each limiting plate (8) is horizontally arranged, limiting holes (81) are formed in the limiting plates (8), the fixing blocks (42) are inserted into the pull rods (52) when the limiting holes (81) are completely located in the accommodating grooves (411), and the length direction of each limiting hole (81) is perpendicular to the moving direction of each pull rod (52).

7. A robotic manipulator according to claim 6, wherein: the limiting plate (8) is provided with a reinforcing hole (82), the reinforcing hole (82) is used for inserting the pull rod (52) when the fixing spring (41) is in a natural state, and the length direction of the reinforcing hole (82) is perpendicular to the moving direction of the pull rod (52).

8. A robotic manipulator as claimed in claim 1, wherein: the connecting assembly (6) comprises a first connecting plate (61), a second connecting plate (62), a connecting rod (63) and locking rods (64) fixed at two ends of the connecting rod (63), an included angle exists between the length direction of the locking rods (64) and the length direction of the connecting rod (63), the first connecting plate (61) is fixed on the outer side wall of the first cover body (31), the second connecting plate (62) is fixed on the outer side wall of the second cover body (32), the first connecting plate (61) and the second connecting plate (62) are mutually abutted, a lock hole (611) penetrating through the second connecting plate (62) is formed in the side wall of the first connecting plate (61) deviating from the second connecting plate (62), the lock hole (611) is used for inserting the locking rods (64) and the connecting rod (63), and when the connecting rod (63) is completely positioned in the lock hole, the two lock rods (64) are respectively positioned on one side of the first connecting plate (61) departing from the second connecting plate (62) and one side of the second connecting plate (62) departing from the first connecting plate (61).

9. A robotic manipulator as claimed in claim 8, wherein: the lateral wall that second connecting plate (62) deviates from first connecting plate (61) is fixed with locking spring (9), the one end that second connecting plate (62) was kept away from in locking spring (9) is fixed with jam plate (91), connecting rod (63) are passed from locking spring (9) are inside, connecting rod (63) run through jam plate (91) and rotate with jam plate (91) and be connected, one of them locking lever (64) are located one side that jam plate (91) deviate from locking spring (9), when locking spring (9) are in natural state, connecting rod (63) break away from lockhole (611) on first connecting plate (61), and locking lever (64) that are located jam plate (91) and are close to locking spring (9) one side are in lockhole (611) on second connecting plate (62).

10. A robotic manipulator as claimed in claim 1, wherein: the magnetic sheets (311) which are mutually attracted are fixedly embedded in the side walls which are mutually attached at the tops of the first cover body (31) and the second cover body (32).