CN114633253B - Mechanical arm - Google Patents

Abstract

The invention relates to the technical field of mechanical arms, in particular to a mechanical arm which comprises a supporting seat, a supporting column, a first rotating table, a first rotating rod, a first driving device, a second rotating rod, a second driving device, a second rotating table, a third rotating rod, a fifth driving device, a connecting part, a plurality of clamping parts and a sixth driving device, wherein the fourth driving device straightens the third rotating rod and a driving cylinder body, rotates 180 degrees after finishing, rotates to a specific position and is clamped into an external clamping table, the mechanical arm controls the swinging angle of the clamping parts through five driving devices, the second rotating table is additionally arranged to rotate 180 degrees on a workpiece, the degree of freedom is higher than that of the same mechanical arm, the applicable industry is more and wider, and the technical problem that the moving range of the mechanical arm is smaller when the conventional mechanical arm conveys a certain distance is solved; the effect of increasing the moving distance of the clamping part is achieved.

Description

Mechanical arm

Technical Field

The invention relates to the technical field of mechanical arms.

Background

At present, the chinese patent application No.: CN202122246362.7 discloses a manipulator conveying device, which comprises a base, wherein a manipulator is fixedly connected above the base, the other end of the manipulator is movably connected with a rotating head, the lower end of the rotating head is fixedly connected with a connecting rod, the lower end of the connecting rod is fixedly connected with a first telescopic rod, the lower end of the first telescopic rod is fixedly connected with a clamping box, two groups of clamping rods penetrate through the clamping box, one ends of the two groups of clamping rods are fixedly connected with a fixed plate positioned on the right side of the clamping box, the outer sides of the clamping rods are movably connected with an installation block, the left side of the installation block is fixedly connected with a rotating plate positioned on the right side of the fixed plate, and the manipulator with the existing general structure is disclosed by setting the combined action of the rotating plate and a positioning pin; however, the degree of freedom of the mechanical arm is low, when a workpiece needs to be moved and transferred to an external clamping table for clamping, the degree of freedom of the mechanical arm is limited, and if the conveying table and the clamping table have a certain distance and need to be moved to a specific position of the clamping table, the range of motion of the mechanical arm is limited to a small extent.

Disclosure of Invention

Therefore, the present invention provides a robot arm, which solves the technical problem that the range of motion of the robot arm is small when the existing robot arm transports a certain distance.

In order to achieve the purpose, the invention adopts the following technical scheme: a mechanical arm comprises a supporting seat, a supporting column arranged above the supporting seat, a first rotating platform used for driving the supporting column to rotate, a first rotating rod rotatably arranged at the top end of the supporting column, a first driving device used for driving the first rotating rod to rotate and rotatably arranged on the supporting column, a second rotating rod rotatably arranged at one end, far away from the first driving device, of the first rotating rod, a second driving device arranged on the first rotating rod and used for driving the second rotating rod to rotate, a second rotating platform rotatably arranged at one end, far away from the first rotating rod, of the second rotating rod, a third rotating rod arranged at one end, far away from the second rotating rod, of the second rotating platform, a fourth driving device arranged on the second rotating platform and used for driving the third rotating rod to rotate, a driving cylinder body rotatably arranged at one end, far away from the second rotating platform, a fifth driving device arranged on the third rotating rod and used for controlling the driving cylinder body to rotate, a first rotating rod and a second rotating rod arranged on the supporting column, a second rotating rod arranged on the supporting rod, a second rotating rod arranged on the supporting rod, a second rotating rod, a third rotating rod, a second rotating rod, a third rotating rod, a second rotating rod, a third rotating rod, a second rotating rod, a third rotating rod, a second rotating rod, a third rotating rod, a second rotating rod, a third rotating rod, a second rotating rod, a third rotating rod, a second rotating rod, a, The clamping device comprises a connecting part, a plurality of clamping parts and a sixth driving device, wherein the connecting part is arranged at one end, away from a third rotating rod, of a driving cylinder body, the clamping parts are arranged at one side, away from the driving cylinder body, of the connecting part, the sixth driving device is used for driving the clamping parts to rotate, the top end face of a first rotating platform is connected with a supporting column, one end, away from the first rotating platform, of the first driving device is rotatably connected with the first rotating rod, the second rotating rod comprises a first outer rod rotatably connected with the first rotating rod, a first inner rod fixedly connected with a second rotating platform and a third driving device used for driving the distance between the first outer rod and the first inner rod, the first outer rod is slidably connected with the first inner rod, two ends of the third driving device are respectively hinged with the first outer rod and the first inner rod, and two ends of the fourth driving device are respectively hinged with the second rotating platform and the third rotating rod; the clamping portion comprises at least two first clamping devices and at least two second clamping devices.

Furthermore, first clamping device and second clamping device are equipped with two respectively, first clamping device and second clamping device are the arc clamping piece, arc clamping piece bottom is equipped with anti-skidding recess.

Further, first clamping device includes the first clamp splice with connecting portion rotatable coupling, be the extension piece that the contained angle set up with first clamp splice, locate first guide block in the first clamp splice, locate the second guide block on the extension piece and slide and locate the first rack in first guide block and the second guide block, first clamp splice and extension piece contact site smooth transition, first clamp splice and extension piece contact site are rotatable to be equipped with first gear, be equipped with the support frame with first gear rotatable coupling on the extension piece, support frame one side is equipped with the first motor that is used for driving first gear rotation, first gear and first rack toothing, first rack is the flexible rack, it is equipped with first supporting component to extend the piece bottom.

Furthermore, the first supporting part comprises a supporting block arranged at the bottom of the extending block and a first supporting cylinder body arranged in the supporting block, the first supporting cylinder body comprises a first cylinder body connected with the supporting block, a second cylinder body arranged in the first cylinder body in a sliding mode and a third cylinder body arranged in the second cylinder body in a sliding mode, a limiting hole communicated with the inner side of the first cylinder body is formed in the second cylinder body, a first air hole is formed in the first cylinder body, a second air hole is formed in the second cylinder body in a direction away from the first cylinder body, and a third air hole is formed in one end, away from the first air hole, of the first cylinder body.

Furthermore, the first supporting part comprises a third guide block arranged on the outer sides of the first clamping block and the extension block, a guide opening is formed in the middle of the third guide block, a second rack is arranged in the third guide block in a sliding connection mode, a second gear meshed with the second rack is rotatably connected to the first clamping block, the second gear is arranged above the top of the first clamping block at intervals, a third gear meshed with the second rack is arranged at the position, located at the guide opening, of the extension block, a synchronous belt connected with the first gear and the second gear is arranged on the first clamping block, and a second motor used for driving the second gear to rotate is arranged on the first clamping block; the first rack is provided with a first tooth surface, the second rack is provided with a second tooth surface, a first soft magnetic strip is arranged on one side of the first rack opposite to the first tooth surface, and a second soft magnetic strip attracted with the first soft magnetic strip is arranged on one side of the second rack opposite to the second tooth surface.

Furthermore, the thickness of one end, far away from the first gear, of the extension block is gradually reduced, an inclined plane which inclines from left to right and from bottom to top is arranged on the extension block, and a separation block which is triangular in shape is arranged on one side, far away from the first clamping block, of the extension block; and a first magnet and a second magnet are respectively arranged at one ends of the first rack and the second rack far away from the first gear, and third magnets attracted with the first magnet and the second magnet are arranged in the first rack and the second rack which are symmetrical at the other side.

Furthermore, the second clamping device comprises a second clamping block connected with the connecting part, a fourth guide block arranged in the second clamping block, a third rack arranged in the fourth guide block in a sliding mode and used for covering the side faces of the two spaced first clamping blocks, a fourth gear arranged on the second clamping block in a rotating mode and meshed with the third rack, a third motor used for driving the fourth gear to rotate and a connecting block arranged on one side of the third rack on the second clamping block relatively, wherein second supporting cylinder bodies are arranged on the left side and the right side in the connecting block respectively, and blocking blocks used for blocking the bottoms of the two transverse sides of the third rack are arranged at the bottom of each second supporting cylinder body.

Furthermore, bending pieces for bending the first rack and the third rack 180 degrees are arranged at the tops of the first clamping block and the second clamping block, and hollow parts for the first rack and the third rack to penetrate through are arranged in the bending pieces.

Furthermore, a plurality of first reinforcing wires which are arranged at intervals in the longitudinal direction are arranged on the inner side of the first rack, a second reinforcing wire which is perpendicular to the first reinforcing wires is arranged at the bottom of the first rack, the thickness of the second reinforcing wire is larger than that of the first reinforcing wire, and a third reinforcing wire which is perpendicular to the first reinforcing wires is arranged in the middle of the first rack.

Further, be equipped with the first iron wire of many vertical settings in the third rack, be equipped with the second iron wire that many intervals set up in the third rack, the second iron wire thickness of bottom is greater than the second iron wire thickness of top in the third rack, is located first iron wire thickness in the middle of the third rack is less than the thickness of the first iron wire of horizontal both sides.

By adopting the technical scheme, the invention has the beneficial effects that:

the mechanical arm is arranged, when articles on a conveying belt need to be clamped, a clamping part is rotated to the position above the conveying belt through a first rotating table, a second driving device drives a first rotating rod and a second rotating rod to expand after the clamping is finished, a fourth driving device drives a driving cylinder body to swing downwards after the clamping is finished, the clamping part at the bottom of the driving cylinder body is vertical downwards, the driving cylinder body drives a connecting part to move downwards, a sixth driving device drives the clamping part to clamp the articles on the conveying belt, the clamping part is driven by the driving cylinder body to move upwards to leave the conveying belt after the clamping is finished, the second driving device and the fourth driving device adjust the corresponding vertical lifting of the mechanical arm, the clamping part is rotated to the position above a required tool platform through the first rotating table after the clamping is finished, and when the distance is insufficient, the third driving device drives a first outer rod and a first inner rod to be separated, the moving distance of the clamping part is increased, meanwhile, the moving distance of the clamping part can be further increased by driving the cylinder body, the clamping distance of the mechanical arm is larger, and the application range is wider; the setting of second revolving stage, if clamping part centre gripping article need overturn 180 degrees in the time, straighten third bull stick and drive cylinder body earlier through fourth drive arrangement, it is 180 degrees to rotate after the completion, it goes into in the outside clamping platform to rotate specific position card again, this robotic arm passes through five drive arrangement control clamping part swing angle, and it realizes 180 degrees rotations to the work piece to increase the second revolving stage, the degree of freedom is compared the same robotic arm higher, it is more wider more to be suitable for the trade, current robotic arm when carrying the certain distance has been solved, the less technical problem of robotic arm home range.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic plan view of the structure of the present invention;

FIG. 3 is a schematic view of a partial structure of the present invention;

FIG. 4 is a front view of the clamping portion of the present invention;

FIG. 5 is a schematic front view of a partial structure of a clamping portion of the present invention;

FIG. 6 is an internal view of a partial structure of a first clamping device of the present invention;

FIG. 7 is an internal view of a portion of the structure of the first clamping device and the second rack of the present invention in use;

FIG. 8 is a schematic view of the first support cylinder of the present invention;

FIG. 9 is a plan view of a portion of the second clamping device of the present invention;

fig. 10 is a plan view of a first rack structure of the present invention;

fig. 11 is a schematic view of a third rack structure of the present invention.

Reference numbers in the figures: 1. a supporting seat; 2. a support pillar; 3. a first rotating table; 4. a first rotating lever; 5. a first driving device; 6. a second rotating rod; 7. a second driving device; 8. a second rotating table; 9. a third rotating rod; 10. a fourth drive device; 11. a drive cylinder; 12. a fifth driving device; 13. a connecting portion; 14. a clamping portion; 15. a sixth driving device; 6a, a first outer rod; 6b, a first inner rod; 6c, a third driving device; 141. a first holding device; 142. a second holding device; 301. a first clamping block; 302. an extension block; 303. a first guide block; 304. a second guide block; 305. a first rack; 306. a first gear; 307. a support frame; 308. a first motor; 3a, a first support member; 309. a support block; 310. a first support cylinder; 3b, a first cylinder; 3c, a second cylinder body; 3d, a third cylinder body; 3e, limiting holes; 3f, a first air hole; 3g of second pores; 3h, a third air hole; 3k, a first supporting sleeve; 3L and a second support sleeve; 3m, a third support sleeve; 3n, a support sheet; 311. a third guide block; 312. a guide port; 313. a second rack; 314. a second gear; 315. a third gear; 316. a synchronous belt; 317. a second motor; 318. a bevel; 319. separating the blocks; 320. a first soft magnetic strip; 321. a second soft magnetic strip; 16. a bending member; 16a, a partition plate; 03a and a first iron wire; 03b and a second iron wire; 322. a first magnet; 323. a second magnet; 324. a third magnet; a. an external pressing device; a1, a first tooth surface; a2, second tooth face; 401. a second clamping block; 402. a fourth guide block; 403. a third rack; 404. a fourth gear; 405. a third motor; 406. connecting blocks; 407. a second support cylinder; 408. a stop block is shielded; 05a, a first reinforcing wire; 05b, a second reinforcing wire; 05c, a third reinforcing wire.

Detailed Description

The invention will now be further described with reference to the accompanying drawings and detailed description.

Referring to fig. 1 to 11, this embodiment provides a robot arm, which includes a supporting base 1, a supporting post 2 disposed above the supporting base 1, a first rotating platform 3 for driving the supporting post 2 to rotate, a first rotating rod 4 rotatably disposed at a top end of the supporting post 2, a first driving device 5 for driving the first rotating rod 4 to rotate and rotatably disposed on the supporting post 2, a second rotating rod 6 rotatably disposed at an end of the first rotating rod 4 far from the first driving device 5, a second driving device 7 disposed on the first rotating rod 4 and for driving the second rotating rod 6 to rotate, a second rotating platform 8 rotatably disposed at an end of the second rotating rod 6 far from the first rotating rod 4, a third rotating rod 9 disposed at an end of the second rotating platform 8 far from the second rotating rod 6, a fourth driving device 10 disposed on the second rotating platform 8 and for driving the third rotating rod 9 to rotate, a driving cylinder 11 rotatably disposed at an end of the third rotating rod 9 far from the second rotating platform 8, a driving cylinder 11, A fifth driving device 12 which is arranged on the third rotating rod 9 and controls the rotation of the driving cylinder 11, a connecting part 13 which is arranged on the driving cylinder 11 and is far away from one end of the third rotating rod 9, a plurality of clamping parts 14 which are arranged on one side of the connecting part 13 and are far away from the driving cylinder 11, and a sixth driving device 15 which is used for driving the clamping parts 14 to rotate, wherein the top end surface of the first rotating platform 3 is connected with the supporting column 2, one end of the first driving device 5 which is far away from the first rotating platform 3 is rotatably connected with the first rotating rod 4, the second rotating rod 6 comprises a first outer rod 6a which is rotatably connected with the first rotating platform 4, a first inner rod 6b which is fixedly connected with the second rotating platform 8, and a third driving device 6c which is used for driving the distance between the first outer rod 6a and the first inner rod 6b, the first outer rod 6a is slidably connected with the first inner rod 6b, and two ends of the third driving device 6c are respectively hinged with the first outer rod 6a and the first inner rod 6b, two ends of the fourth driving device 10 are respectively hinged with the second rotating platform 8 and the third rotating rod 9; the clamping portion comprises at least two first clamping means 141 and at least two second clamping means 142; the drive cylinder and the drive means are preferably pneumatic cylinders or are replaced by hydraulic cylinders or other means which perform an equivalent function.

The first driving device, the second driving device, the third driving device, the fourth driving device, the fifth driving device, the sixth driving device, the first rotating platform and the second rotating platform are commercially available products, and the structures thereof are well known, and corresponding models can be selectively purchased according to production requirements, which is not described herein.

The first clamping device and the second clamping device are respectively provided with two clamping pieces, the first clamping device and the second clamping device are arc-shaped clamping pieces, and anti-skidding grooves are formed in the bottoms of the arc-shaped clamping pieces; the clamping device can clamp the clamped object front, back, left and right, and is more stable in clamping.

First clamping device includes that it is the extension piece 302 that the contained angle set up, locate first guide block 303 in first clamp block, locate second guide block 304 on the extension piece and slide and locate first rack 305 in first guide block and the second guide block with connecting portion rotatable coupling's first clamp block 301, with first clamp block, locate first clamp block and extension piece contact segment smooth transition, first clamp block rotationally is equipped with first gear 306 with extension piece contact segment, be equipped with on the extension piece with first gear rotatable coupling's support frame 307, support frame one side is equipped with and is used for driving the rotatory first motor 308 of first gear, first gear and first rack toothing, first rack is flexible rack, it is equipped with first supporting part 3a to extend the piece bottom.

In the process of clamping a toy by using a traditional clamping device, the toy is easily damaged due to over-tight clamping, and the toy is easily dropped from a clamping block due to over-loose clamping; through the arrangement of the first clamping device, the external jacking device a jacks the toy upwards firstly, after the completion, the first motor drives the first gear to rotate, the first gear rotates to drive the first rack to move towards the center of the first clamping device, when the first racks in the directions of two sides move to the lower part of the toy, the external jacking device withdraws downwards, the toy is placed on the first rack, the first supporting part supports the position between the two first racks, the toy is prevented from falling downwards from the position between the two first racks due to overweight, compared with the traditional clamping mode, the clamping mode is that the toy is clamped by two clamping blocks under stress, and the toy is supported by the two first racks, so that the defect that the toy is damaged when the traditional clamping blocks clamp and clamp the toy under stress can be avoided; preferably, the first clamping block and the extension block are arranged at an included angle of 90 degrees, or at an included angle of other angles; when the first motor drives the first gear to rotate, the first rack is driven to slide from a position between the first guide block and the first clamping block, the first rack is bent by 90 degrees and moves to the central position of the first clamping device, the volumes of the extension block and the first gear can be reduced properly according to actual use conditions, and the size of the extension block and the first gear is not limited to the size shown in the attached drawing; although the prior art has the toy directly to inhale in the little packing through the sucking disc, the special heterotypic toy of shape is difficult to the high accuracy location in specific adsorption point position to the required pneumatic controller subassembly cost of pneumatic adsorption component of higher accuracy is also high, and this scheme cost is lower, does not have the higher precision of needs and fixes a position.

The first supporting component 3a is in a first use state and comprises a supporting block 309 arranged at the bottom of the extending block and a first supporting cylinder body 310 arranged in the supporting block, the first supporting cylinder body comprises a first cylinder body 3b connected with the supporting block, a second cylinder body 3c arranged in the first cylinder body 3b in a sliding mode and a third cylinder body 3d arranged in the second cylinder body 3c in a sliding mode, a limiting hole 3e communicated with the inner side of the first cylinder body 3b is formed in the second cylinder body 3c, a first air hole 3f is formed in the first cylinder body 3b, a second air hole 3g is formed in the second cylinder body 3c in the direction far away from the first cylinder body, and a third air hole 3h is formed in one end, far away from the first air hole 3f, of the first cylinder body 3 b.

Through the arrangement of the first supporting component, the first air hole and the third air hole are connected with an external pneumatic system, after the third cylinder body is driven to move, the first air hole is ventilated through the external pneumatic system, the second cylinder body moves forwards, air in the first cylinder body is discharged from the third air hole, after the third cylinder body is completed, the first air hole is continuously ventilated, the third cylinder body continues to move forwards, air in the second cylinder body is discharged from the second air hole and then is discharged through the third air hole, and compared with a two-section type pushing cylinder, the three-section type pushing cylinder has the advantages that the pushing distance of the cylinder body in the same contraction state is longer, the space occupied by the first cylinder body is reduced, the cylinder body is more convenient to stretch in a small space, and the use is facilitated; first cylinder body, second cylinder body and third cylinder body outside overlap respectively and be equipped with first supporting sleeve 3k, second supporting sleeve 3L and third supporting sleeve 3m, first supporting sleeve, second supporting sleeve and third supporting sleeve top face all are equipped with backing sheet 3n, and are three backing sheet top face is located same plane, supports first rack bottom end face, and when three cylinder body expansion back, the backing sheet of top end face can support the first rack on top, compares single cylinder at the bottom sprag, and the supporting effect is better to with the cooperation of three cylinder body, the strong point is more, does not influence cylinder body stroke distance.

The first supporting part 3a comprises a third guide block 311 arranged outside the first clamping block and the extension block in a second using state, the third guide block is provided with a guide port 312 in the middle of the extension block, a second rack 313 is arranged in the third guide block in a sliding connection manner, a second gear 314 meshed with the second rack is rotatably connected to the first clamping block, the second gear is arranged above the top of the first clamping block at intervals, a third gear 315 meshed with the second rack is arranged at the guide port of the extension block, a synchronous belt 316 connected with the first gear and the second gear is arranged on the first clamping block, and a second motor 317 used for driving the second gear to rotate is arranged on the first clamping block; the first rack 305 has a first tooth surface a1, the second rack 313 has a second tooth surface a2,

a first soft magnetic strip 320 is arranged on one side of the first rack 305, which is opposite to the first tooth surface a1, and a second soft magnetic strip 321 attracted with the first soft magnetic strip 320 is arranged on one side of the second rack 313, which is opposite to the second tooth surface a 2; the synchronous belt is not needed, a built-in motor is directly arranged to drive the third gear to rotate, or other forms are adopted, and the function can be realized; if the second rack contains an iron wire, the third gear is not arranged, and the second rack is directly driven by the second gear to move up and down; although the first rack is a narrow strip in name, referring to fig. 5 to 7, the rack may be embodied as a flexible rack plate.

Through the arrangement of the first supporting part, compared with the mode that the bottom end face of the first rack is supported by an air cylinder, the bottom end face of the first rack is influenced by an air cylinder structure, even if a multi-section contraction air cylinder is used, the air cylinder occupies a certain space in a final contraction state because of the long-distance stroke required by the air cylinder; wherein when the first rack and the second rack need to move to the middle position, the first motor drives the first gear to drive the first rack to move, the second motor drives the second gear to rotate at the same time, the second gear rotates to drive the second rack to move downwards and is output from the bottom through the bending of the third guide block, meanwhile, the third gear drives the second rack to move to one side, the moving speed of the second rack is controlled to be the same as the moving speed of the first rack, the first rack and the second rack are simultaneously output from the extension block to move to the middle position, the first soft magnetic rack on the output first rack and the second soft magnetic rack on the output second rack are attracted, and after the moving to the middle position, the upper rack and the lower rack are attracted through the soft magnetic racks, the first rack and the second rack have better hardness, the first rack and the second rack have good support performance, are more difficult to be stressed to bend and deform, and are convenient for supporting heavier toys, the first supporting part improves the structure, and has the advantage of small occupied space while maintaining the supporting performance; the defect that a certain space is occupied when the cylinder is in a contraction state is avoided; the second gear is located the hold-in range top, because the second gear is located the hold-in range top, first clamp splice bottom insert outside packing can, the top second gear does not insert, this mode of setting has the less benefit of occupation space.

The thickness of one end, far away from the first gear, of the extension block is gradually reduced, an inclined plane 318 which is inclined from left to right and from bottom to top is arranged on the extension block, and a separation block 319 which is triangular in shape is arranged on one side, far away from the first clamping block 301, of the extension block 302; a first magnet 322 and a second magnet 323 are respectively arranged at one end of the first rack and the second rack far away from the first gear, and a third magnet 324 attracted with the first magnet and the second magnet is arranged in the first rack and the second rack which are symmetrical at the other side.

The extension block is arranged in an inclined plane, and due to the fact that the extension block has a certain thickness, if the extension block is thin, the friction force generated when the first rack and the second rack slide is increased due to the fact that the first soft magnetic strip and the second soft magnetic strip are spaced by magnetic force, and when the extension block is arranged in an overlarge thickness, the first soft magnetic strip and the second soft magnetic strip are not easy to attract up and down and are large in separation instant resistance, and the extension block is not convenient to use; through the arrangement of the inclined plane, when the first soft magnetic strip and the second soft magnetic strip leave the extension block, the spacing distance is gradually reduced, the first soft magnetic strip and the second soft magnetic strip are slowly attracted and adsorbed together, the problems that when the thickness is too large, the first soft magnetic strip and the second soft magnetic strip are not easy to attract up and down, and the instant resistance of separation is large, so that the use is inconvenient are solved, and the separation block is arranged on one side of the extension block, so that the first soft magnetic strip and the second soft magnetic strip which are attracted together are convenient to separate, the separation resistance is smaller, and the first soft magnetic strip and the second soft magnetic strip are favorably matched for use; the first magnet and the second magnet are arranged, when the first rack and the second rack on the left side and the right side move towards the middle part and are attracted, the first magnet and the second magnet can be attracted, and the problem that articles drop from the butt joint of the first rack and the second rack on the left side and the right side when the first rack and the second rack on the left side and the right side move towards the middle part and are closed is solved.

The second clamping device comprises a second clamping block 401 connected with the connecting portion, a fourth guide block 402 arranged in the second clamping block, a third rack 403 arranged in the fourth guide block in a sliding mode and used for covering the side faces of the two spaced first clamping blocks, a fourth gear 404 arranged on the second clamping block in a rotating mode and meshed with the third rack, a third motor 405 used for driving the fourth gear to rotate, and a connecting block 406 arranged on the second clamping block 401 and opposite to one side of the third rack 403, wherein a second supporting cylinder 407 is respectively arranged on the left side and the right side in the connecting block in the transverse direction, and a shielding block 408 used for shielding the bottoms of the two sides of the third rack in the transverse direction is arranged at the bottom of the second supporting cylinder. The fourth gear can be equipped with two, is located both ends about the third rack respectively, also can be equipped with one, adjusts according to actual use condition.

The second clamping device is arranged, after two first racks in the first clamping device are attached to the middle, the third motor drives the fourth gear to rotate, the fourth gear rotates to drive the third rack to move downwards, one side of the first racks is covered in the downward movement process of the third rack, and the first rack and the third rack surround and clamp a clamped object, so that the defect that the clamped object falls out from the front and rear empty surfaces of the first racks can be avoided; the setting of second support cylinder body, wherein the second support cylinder body can drive hides the dog and move down, hide the dog and can shelter from the third rack that is located the horizontal both sides of second clamp splice, because the third rack in-process that slides down, it leads to having certain space to curl up with first rack laminating position, it is fashionable to cover the third rack to shelter from the piece, can suppress third rack perk part, the third rack will tightly laminate with first rack, avoided third rack and the easy perk problem that produces the clearance of first rack laminating in-process, sealed effect is better to the holder, the holder is more difficult to fall out from the space that first rack and third rack surround.

Bending pieces 16 for bending the first rack and the third rack 180 degrees are arranged at the tops of the first clamping block and the second clamping block, hollow portions for the first rack and the third rack to penetrate through are formed in the bending pieces, partition plates 16a are arranged in the middle of the hollow portions, and the bending pieces are in an oval shape which is inclined from left to right and from bottom to top; through the arrangement of the bending piece, when the length of the first rack is too long, the first rack is driven by the first gear to move upwards, the first rack passes through the hollow part in the bending piece, and because the bending piece is in an oval shape with an inclination from left to right and from bottom to top, the first rack bends 180 degrees through the bending piece and is guided downwards through the bending piece to be output; the longitudinal axis position of the partition plate in the second clamping device and the fourth guide block are arranged at intervals, so that the bent part of the third rack can be prevented from contacting with the tooth surface of the third rack in the downward moving process.

A plurality of first reinforcing wires 05a arranged at intervals longitudinally are arranged on the inner side of the first rack 305, second reinforcing wires 05b arranged perpendicular to the first reinforcing wires 05a are arranged at the bottom of the first rack, the thickness of the second reinforcing wires 05b is larger than that of the first reinforcing wires 05a, and third reinforcing wires 05c arranged perpendicular to the first reinforcing wires 05a are arranged in the middle of the first rack; through the arrangement of the first reinforcing wire, after the first rack is bent through the first guide block and the second guide block, the first rack is made of soft materials, the supporting performance is weak, the toughness of the first rack can be enhanced through injection molding of the reinforcing wire to form the first rack, and the supporting performance of a clamping object is better in use; the thickness of the second reinforcing wire is larger than that of the first reinforcing wire, the second reinforcing wire is mainly used for supporting clamped objects, the bearing force is larger, the bearing performance of the reinforcing wire after the thickness is good, and the first rack is not influenced to be wound through the first gear due to the fact that the reinforcing wire does not need to be bent through the first gear and is thicker; the third reinforcing wire sets up littleer than second reinforcing wire thickness, when avoiding through the rolling of first gear, and thickness is thick is difficult for the shortcoming of buckling.

Be equipped with the first iron wire 03a of many vertical settings in the third rack, be equipped with the second iron wire 03b that many intervals set up in the third rack, the second iron wire thickness of bottom is greater than the second iron wire thickness at top in the third rack, is located first iron wire thickness in the middle of the third rack is less than the thickness of the first iron wire of horizontal both sides.

Through the arrangement of the first iron wire, the third rack does not need to be bent through a gear and generally vertically moves up and down, so that the first iron wire can be increased in order to increase the shielding performance of the third rack and prevent deformation, the thickness of the second iron wire at the bottom in the third rack is larger than that at the top in the third rack, certain bending performance is needed when the top of the third rack passes through a bending piece, the top is thinner, and the winding is more convenient; the thickness of the first iron wire positioned in the middle of the third rack is smaller than the thickness of the first iron wires on two transverse sides, so that the defect that the tooth surface strength of the third rack is influenced because the tooth surface of the third rack is positioned in the middle and the thickness of the tooth surface of the third rack is reduced if the thickness of the first iron wire in the middle is thicker is avoided; the second support cylinder is identical in structure to the first support cylinder.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; they may be directly connected or indirectly connected through intervening media, or may be connected through the use of two elements or the interaction of two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

While the invention has been particularly shown and described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (8)

1. A mechanical arm is characterized by comprising a supporting seat, a supporting column arranged above the supporting seat, a first rotating platform used for driving the supporting column to rotate, a first rotating rod rotatably arranged at the top end of the supporting column, a first driving device used for driving the first rotating rod to rotate and rotatably arranged on the supporting column, a second rotating rod rotatably arranged at one end, far away from the first driving device, of the first rotating rod, a second driving device arranged on the first rotating rod and used for driving the second rotating rod to rotate, a second rotating platform rotatably arranged at one end, far away from the first rotating rod, of the second rotating rod, a third rotating rod arranged at one end, far away from the second rotating rod, of the second rotating platform, a fourth driving device arranged on the second rotating platform and used for driving the third rotating rod to rotate, a driving cylinder body rotatably arranged at one end, far away from the second rotating platform, and a fifth driving device arranged on the third rotating rod and used for controlling the driving cylinder body to rotate, The clamping device comprises a connecting part, a plurality of clamping parts and a sixth driving device, wherein the connecting part is arranged at one end, away from a third rotating rod, of a driving cylinder body, the clamping parts are arranged at one side, away from the driving cylinder body, of the connecting part, the sixth driving device is used for driving the clamping parts to rotate, the top end face of a first rotating platform is connected with a supporting column, one end, away from the first rotating platform, of the first driving device is rotatably connected with the first rotating rod, the second rotating rod comprises a first outer rod rotatably connected with the first rotating rod, a first inner rod fixedly connected with a second rotating platform and a third driving device used for driving the distance between the first outer rod and the first inner rod, the first outer rod is slidably connected with the first inner rod, two ends of the third driving device are respectively hinged with the first outer rod and the first inner rod, and two ends of the fourth driving device are respectively hinged with the second rotating platform and the third rotating rod; the clamping part comprises at least two first clamping devices and at least two second clamping devices; first clamping device includes the first clamp splice with connecting portion rotatable coupling, is the extension piece that the contained angle set up with first clamp splice, locates the first guide block in the first clamp splice, locates the second guide block on the extension piece and slides and locate the first rack in first guide block and the second guide block, first clamp splice and extension piece contact site smooth transition, first clamp splice and extension piece contact site are rotatable to be equipped with first gear, be equipped with the support frame with first gear rotatable coupling on the extension piece, support frame one side is equipped with and is used for driving the rotatory first motor of first gear, first gear and first rack toothing, first rack is flexible rack, it is equipped with first supporting component to extend the piece bottom.

2. A robot arm as claimed in claim 1, wherein: the first supporting part comprises a supporting block arranged at the bottom of the extending block and a first supporting cylinder body arranged in the supporting block, the first supporting cylinder body comprises a first cylinder body connected with the supporting block, a second cylinder body arranged in the first cylinder body in a sliding mode and a third cylinder body arranged in the second cylinder body in a sliding mode, a limiting hole communicated with the inner side of the first cylinder body is formed in the second cylinder body, a first air hole is formed in the first cylinder body, a second air hole is formed in the second cylinder body in a direction of being far away from the first cylinder body, and a third air hole is formed in one end, far away from the first air hole, of the first cylinder body.

3. A robot arm as claimed in claim 1, wherein: the first supporting part comprises a third guide block arranged on the outer side of the first clamping block and the extension block, a guide port is formed in the middle position of the third guide block, a second rack is arranged in the third guide block in a sliding connection mode, a second gear meshed with the second rack is rotatably connected to the first clamping block, the second gear is arranged above the top of the first clamping block at intervals, a third gear meshed with the second rack is arranged at the position, located at the guide port, of the extension block, a synchronous belt connected with the first gear and the second gear is arranged on the first clamping block, and a second motor used for driving the second gear to rotate is arranged on the first clamping block; the first rack is provided with a first tooth surface, the second rack is provided with a second tooth surface, a first soft magnetic strip is arranged on one side of the first rack opposite to the first tooth surface, and a second soft magnetic strip attracted with the first soft magnetic strip is arranged on one side of the second rack opposite to the second tooth surface.

4. A robot arm as claimed in claim 3, wherein: the thickness of one end, far away from the first gear, of the extension block is gradually reduced, an inclined plane which is inclined from left to right and from bottom to top is arranged on the extension block, and a separation block which is triangular is arranged on one side, far away from the first clamping block, of the extension block; one ends of the first rack and the second rack, which are far away from the first gear, are respectively provided with a first magnet and a second magnet, and the other ends of the first rack and the second rack are symmetrical, and third magnets which are attracted with the first magnet and the second magnet are arranged in the first rack and the second rack.

5. A robot arm as claimed in claim 3, wherein: the second clamping device comprises a second clamping block connected with the connecting part, a fourth guide block arranged in the second clamping block, a third rack which is arranged in the fourth guide block in a sliding mode and used for covering the side faces of the two spaced first clamping blocks, a fourth gear which is rotatably arranged on the second clamping block and meshed with the third rack, a third motor used for driving the fourth gear to rotate, and a connecting block which is arranged on the surface of one side of the third rack on the second clamping block relatively, wherein a second supporting cylinder body is respectively arranged on the left side and the right side in the connecting block transversely, and a blocking block used for blocking the bottoms of the two sides transversely of the third rack is arranged at the bottom of the second supporting cylinder body.

6. A robot arm as claimed in claim 5, wherein: the tops of the first clamping block and the second clamping block are respectively provided with a bending piece for bending the first rack and the third rack 180 degrees, and a hollow part for the first rack and the third rack to penetrate through is arranged in the bending piece.

7. A robot arm as claimed in claim 5, wherein: the inner side of the first rack is provided with a plurality of first reinforcing wires which are arranged at intervals in the longitudinal direction, the bottom of the first rack is provided with a second reinforcing wire which is perpendicular to the first reinforcing wires, the thickness of the second reinforcing wire is larger than that of the first reinforcing wire, and the middle of the first rack is provided with a third reinforcing wire which is perpendicular to the first reinforcing wires.

8. A robot arm as claimed in claim 5, wherein: be equipped with the first iron wire of many vertical settings in the third rack, be equipped with the second iron wire that many intervals set up in the third rack, the second iron wire thickness of bottom is greater than the second iron wire thickness at top in the third rack, is located first iron wire thickness in the middle of the third rack is less than the thickness of the first iron wire of horizontal both sides.

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