CN210307888U - Arm structure of small robot - Google Patents
Arm structure of small robot Download PDFInfo
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- CN210307888U CN210307888U CN201920843541.9U CN201920843541U CN210307888U CN 210307888 U CN210307888 U CN 210307888U CN 201920843541 U CN201920843541 U CN 201920843541U CN 210307888 U CN210307888 U CN 210307888U
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- 230000003014 reinforcing effect Effects 0.000 claims abstract description 13
- 239000003351 stiffener Substances 0.000 claims abstract description 5
- 230000007246 mechanism Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 abstract 2
- 238000000034 method Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
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Abstract
The utility model discloses a small robot arm structure, which comprises an installation bottom plate, a lifting support column, a lifting plate, a first joint and a second joint, wherein the lifting support column is vertically fixed at one end of the installation bottom plate, and a vertical lifting guide groove is arranged in the lifting support column; one end of the lifting plate is provided with a lifting guide block which is vertically inserted into the lifting guide groove; the bottom of the lifting plate is provided with an integrally connected reinforcing support plate, and the bottom of the first joint is provided with a limiting sliding block which is inserted into the first limiting sliding groove to slide; a rotary driving motor is installed in the lifting plate, a supporting rod is arranged at the bottom of the outer end of the first joint, a supporting sliding block is arranged at the bottom of the supporting rod, and the supporting sliding block is inserted into the second limiting sliding groove to slide; the one end of second joint towards first joint is provided with the spacing stiffener of inserting each flexible spacing inslot, installs electric telescopic handle in the first joint, and electric telescopic handle's output passes flexible guide way and second joint connection.
Description
Technical Field
The utility model relates to the field of mechanical equipment, specifically be a small robot arm structure.
Background
The mechanical arm is a high-precision and high-speed dispensing robot hand, and is a complex system with multiple inputs, multiple outputs, high nonlinearity and strong coupling. Because of its unique operational flexibility, it has been widely used in the fields of industrial assembly, safety and explosion protection. The robot system consists of a vision sensor, a mechanical arm system and a main control computer, wherein the mechanical arm system comprises a modularized mechanical arm and a dexterous hand. In recent years, with the development of robotics, a robot structure applying high speed, high precision and high load-to-weight ratio has been receiving attention in the fields of industry and aerospace.
In the production line, industrial robot has played important role, can greatly increased work efficiency, small-size robot arm among the prior art comprises a plurality of joints, each joint sets gradually the end at last joint, in the course of snatching, its stress point concentrates on joint connection department, it is relatively poor to lead to articular bearing capacity, only be applicable to the transport of little quality article, when heavy load high-speed motion, very easily because structural stability's lack and the shake appears, greatly reduced robotic arm's stability and load capacity.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a small-size robot arm structure to solve the problem that proposes in the above-mentioned background art.
In order to achieve the above object, the utility model provides a following technical scheme: a small robot arm structure comprises a mounting bottom plate, a lifting support column, a lifting plate, a first joint and a second joint, wherein the lifting support column is vertically fixed at one end of the mounting bottom plate, and a vertical lifting guide groove is formed in the lifting support column; the lifting plate is arranged at the same side of the lifting support column and the mounting bottom plate, and one end of the lifting plate is provided with a lifting guide block which is vertically inserted into the lifting guide groove;
the bottom of the lifting plate is provided with an integrally connected reinforcing support plate, the first joint is arranged above the lifting plate, the upper surface of the lifting plate is provided with a through hole, the lifting plate is provided with a first limiting sliding groove, and the bottom of the first joint is provided with a limiting sliding block which is inserted into the first limiting sliding groove to slide; a rotary driving motor is installed in the lifting plate, and an output shaft of the rotary driving motor penetrates through the through hole to be connected with the bottom of the first joint; a supporting rod inclining to the reinforcing supporting plate is arranged at the bottom of the outer end of the first joint, a supporting slide block is arranged at the bottom of the supporting rod, a second limiting slide groove is formed in the position, corresponding to the supporting slide block, of the reinforcing supporting plate, and the supporting slide block is inserted into the second limiting slide groove to slide;
the middle part is provided with the outside flexible guide way of opening in the first joint, be provided with the outside flexible spacing groove of a plurality of openings along the flexible guide way periphery in the first joint, second joint parallel arrangement is in first joint outer end, and its one end towards first joint is provided with the spacing stiffener of inserting each flexible spacing inslot, installs electric telescopic handle in the first joint, and electric telescopic handle's output passes flexible guide way and second articulate.
Preferably, the lifting guide block penetrates through the lifting guide groove and is connected with the limiting block.
Preferably, a lifting cylinder is installed at the bottom in the lifting support column, and the output end of the lifting cylinder is upwards vertically connected with the lifting guide block.
Preferably, the first limiting chute is arranged at one side of the through hole close to the lifting support column and is of a semicircular structure taking the through hole as the center of circle; the second limiting sliding groove is of a semicircular structure, and the circle center of the second limiting sliding groove and the circle center of the through hole are located on the same straight line.
Preferably, the outer end of the second joint is provided with a vertically downward hand grip, and a hand grip driving mechanism connected with the hand grip is arranged in the second joint.
Compared with the prior art, the beneficial effects of the utility model are that:
1. the utility model forms a support frame with an L-shaped structure through the mounting bottom plate and the lifting support columns, and the stress is stable; the lifting plate is limited and guided by the lifting guide block and the limiting block, so that the lifting plate is stable in lifting and high in strength.
2. The utility model discloses a bracing piece of spacing slider and slope supports spacingly to the tip and the middle part of first joint to disperse the stress point of first joint, improved the stress intensity of first joint greatly.
3. The utility model discloses a setting inserts a plurality of spacing stiffeners in the first joint with first joint and second joint connection, has increased the coincidence point of first joint and second joint, has improved the intensity of first joint and second joint junction, has improved the bearing capacity of each joint.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic view of a specific structure of a lifting guide groove on a lifting support column of the present invention;
FIG. 3 is a schematic view of the lifting plate and the reinforced supporting plate of the present invention;
fig. 4 is a schematic structural view of an outer end tangent plane of the first joint of the present invention.
In the figure: 1. mounting a bottom plate; 2. a lifting support column; 3. a lifting guide groove; 4. a lifting plate; 5. a lifting guide block; 6. a limiting block; 7. a lifting cylinder; 8. reinforcing the support plate; 9. a first joint; 10. a first limiting chute; 11. a limiting slide block; 12. a through hole; 13. a rotary drive motor; 14. a support bar; 15. a support slide block; 16. a second limiting chute; 17. a telescopic guide groove; 18. a telescopic limiting groove; 19. a second joint; 20. a gripper; 21. a gripper driving mechanism; 22. a limiting reinforcing rod; 23. an electric telescopic rod; 24. and (4) an output end.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
Referring to fig. 1-4, the present invention provides a technical solution: a small robot arm structure comprises a mounting base plate 1, a lifting support column 2, a lifting plate 4, a first joint 9 and a second joint 19, wherein the lifting support column 2 is vertically fixed at one end of the mounting base plate 1, and a vertical lifting guide groove 3 is formed in the lifting support column 2; the lifting plate 4 is arranged at the same side of the lifting support column 2 and the mounting bottom plate 1, and one end of the lifting plate 4 is provided with a lifting guide block 5 which is vertically inserted into the lifting guide groove 3;
the bottom of the lifting plate 4 is provided with an integrally connected reinforced support plate 8, the first joint 9 is arranged above the lifting plate 4, the upper surface of the lifting plate 4 is provided with a through hole 12, the lifting plate 4 is provided with a first limiting sliding groove 10, and the bottom of the first joint 9 is provided with a limiting sliding block 11 inserted into the first limiting sliding groove 10 to slide; a rotary driving motor 13 is arranged in the lifting plate 4, and an output shaft of the rotary driving motor 13 passes through the through hole 12 to be connected with the bottom of the first joint 9; a supporting rod 14 inclined towards the reinforcing supporting plate 8 is arranged at the bottom of the outer end of the first joint 9, a supporting slide block 15 is arranged at the bottom of the supporting rod 14, a second limiting slide groove 16 is arranged on the reinforcing supporting plate 8 at a position corresponding to the supporting slide block 15, and the supporting slide block 15 is inserted into the second limiting slide groove 16 to slide;
the middle part is provided with the outside flexible guide way 17 of opening in the first joint 9, be provided with the outside flexible spacing groove 18 of a plurality of openings along flexible guide way 17 periphery in the first joint 9, second joint 19 parallel arrangement is in first joint 9 outer end, and its one end towards first joint 9 is provided with the spacing stiffener 22 that inserts each flexible spacing inslot 18, installs electric telescopic handle 23 in the first joint 9, and electric telescopic handle 23's output 24 passes flexible guide way 17 and is connected with second joint 19.
Furthermore, the lifting guide block 5 penetrates out of the lifting guide groove 3 and is connected with the limiting block 6.
Furthermore, a lifting cylinder 7 is installed at the bottom in the lifting support column 2, and the output end of the lifting cylinder 7 is vertically connected with the lifting guide block 5 upwards.
Further, the first limiting chute 10 is arranged at one side of the through hole 12 close to the lifting support column 2, and is of a semicircular structure with the through hole 12 as a circle center; the second limiting sliding groove 16 is of a semicircular structure, and the circle center of the second limiting sliding groove is located on the same straight line with the circle center of the through hole 12.
Further, a vertically downward gripper 20 is installed at the outer end of the second joint 19, and a gripper driving mechanism 21 connected with the gripper 20 is arranged in the second joint 19.
The working principle is as follows: in the scheme, all driving structures of the whole robot system are connected with a main control computer of the robot system, and the lifting height of the lifting plate 4 is controlled by controlling the extension and retraction of the lifting cylinder 7, so that the lifting position of each joint is adjusted; the lifter plate 4 reciprocates the in-process, and the lift guide block 5 of its tip slides along the lift guide way 3 of lift support post 2, and stopper 6 supports spacingly to lifter plate 4 simultaneously, has guaranteed the stability and the support intensity that lifter plate 4 reciprocated. The rotation angle of the first joint 9 and the second joint 19 is controlled by controlling the rotation of the rotary driving motor 13, the limiting slide block 11 slides along the first limiting slide groove 10 arranged on the lifting plate 4 in the rotation process of the first joint 9, the supporting rod 14 at the bottom of the first joint 9 supports the first joint 9 and slides along the second limiting slide groove 16 arranged on the reinforcing supporting plate 8, the stress points of the first joint 9 are dispersed by utilizing the limiting slide block 11 and the supporting rod 14, and the stress intensity of the first joint 9 is greatly improved. The telescopic stroke of the second joint 19 is controlled by controlling the telescopic action of the electric telescopic rod 23, and the limit reinforcing rods 22 inserted into the telescopic limit grooves 18 are arranged at one end of the second joint 19 facing the first joint 9, so that the coincidence points of the first joint 9 and the second joint 19 are increased, the strength of the joint of the first joint 9 and the second joint 19 is improved, and the bearing capacity of each joint is improved.
It is worth noting that: the whole device is controlled by the master control button, and the equipment matched with the control button is common equipment, so that the device belongs to the existing well-known technology, and the electrical connection relation and the specific circuit structure of the device are not repeated.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. A small robot arm structure is characterized by comprising a mounting base plate (1), a lifting support column (2), a lifting plate (4), a first joint (9) and a second joint (19), wherein the lifting support column (2) is vertically fixed at one end of the mounting base plate (1), and a vertical lifting guide groove (3) is formed in the lifting support column (2); the lifting plate (4) is arranged at the same side of the lifting support column (2) and the mounting bottom plate (1), and one end of the lifting plate (4) is provided with a lifting guide block (5) which is vertically inserted into the lifting guide groove (3);
the bottom of the lifting plate (4) is provided with an integrally connected reinforcing support plate (8), the first joint (9) is arranged above the lifting plate (4), the upper surface of the lifting plate (4) is provided with a through hole (12), the lifting plate (4) is provided with a first limiting sliding groove (10), and the bottom of the first joint (9) is provided with a limiting sliding block (11) which is inserted into the first limiting sliding groove (10) to slide; a rotary driving motor (13) is installed in the lifting plate (4), and an output shaft of the rotary driving motor (13) penetrates through the through hole (12) to be connected with the bottom of the first joint (9); a supporting rod (14) inclined towards the reinforcing supporting plate (8) is arranged at the bottom of the outer end of the first joint (9), a supporting slide block (15) is arranged at the bottom of the supporting rod (14), a second limiting slide groove (16) is arranged on the reinforcing supporting plate (8) at a position corresponding to the supporting slide block (15), and the supporting slide block (15) is inserted into the second limiting slide groove (16) to slide;
the middle part is provided with outside flexible guide way (17) of opening in first joint (9), follow flexible guide way (17) periphery in first joint (9) and be provided with a plurality of outside flexible spacing grooves (18) of opening, second joint (19) parallel arrangement is in first joint (9) outer end, and its one end towards first joint (9) is provided with spacing stiffener (22) that insert in each flexible spacing groove (18), installs electric telescopic handle (23) in first joint (9), and electric telescopic handle's (23) output (24) pass flexible guide way (17) and are connected with second joint (19).
2. The structure of an arm of a small robot as claimed in claim 1, wherein: the lifting guide block (5) penetrates out of the lifting guide groove (3) and is connected with a limiting block (6).
3. The structure of an arm of a small robot as claimed in claim 1, wherein: lifting cylinder (7) are installed to the bottom in lift support column (2), and the output of lifting cylinder (7) upwards is connected with lift guide block (5) perpendicularly.
4. The structure of an arm of a small robot as claimed in claim 1, wherein: the first limiting sliding groove (10) is arranged on one side, close to the lifting support column (2), of the through hole (12) and is of a semicircular structure with the through hole (12) as the center of a circle; the second limiting sliding groove (16) is of a semicircular structure, and the circle center of the second limiting sliding groove and the circle center of the through hole (12) are located on the same straight line.
5. The structure of an arm of a small robot as claimed in claim 1, wherein: the outer end of the second joint (19) is provided with a vertically downward gripper (20), and a gripper driving mechanism (21) connected with the gripper (20) is arranged in the second joint (19).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920843541.9U CN210307888U (en) | 2019-06-05 | 2019-06-05 | Arm structure of small robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920843541.9U CN210307888U (en) | 2019-06-05 | 2019-06-05 | Arm structure of small robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210307888U true CN210307888U (en) | 2020-04-14 |
Family
ID=70142242
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920843541.9U Active CN210307888U (en) | 2019-06-05 | 2019-06-05 | Arm structure of small robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210307888U (en) |
-
2019
- 2019-06-05 CN CN201920843541.9U patent/CN210307888U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: A small robot arm structure Effective date of registration: 20220817 Granted publication date: 20200414 Pledgee: China Co. truction Bank Corp Huaibei branch Pledgor: Huaibei West Trade Co.,Ltd. Registration number: Y2022980012907 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Granted publication date: 20200414 Pledgee: China Co. truction Bank Corp Huaibei branch Pledgor: Huaibei West Trade Co.,Ltd. Registration number: Y2022980012907 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: A Small Robot Arm Structure Granted publication date: 20200414 Pledgee: China Co. truction Bank Corp Huaibei branch Pledgor: Huaibei West Trade Co.,Ltd. Registration number: Y2024980010338 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right |