CN211193888U

CN211193888U - Flexible arm of robot

Info

Publication number: CN211193888U
Application number: CN201922005279.3U
Authority: CN
Inventors: 李柏钧
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-11-19
Filing date: 2019-11-19
Publication date: 2020-08-07
Anticipated expiration: 2029-11-19

Abstract

The utility model discloses a nimble arm of robot relates to toy robotic arm, aims at solving the problem that satisfies juvenile's children to the operable demand of robotic arm. The technical scheme is that the flexible arm of the robot comprises a base and a connecting part, wherein one end of the connecting part is connected with the base, the other end of the connecting part is connected with a bearing block, and the bearing block is connected with a pair of clamping heads; the two clamping heads respectively comprise a clamping rod and a clamping end, one end of each of the two clamping rods is rotatably connected with the bearing block, and the other end of each of the two clamping rods is connected with the corresponding clamping end; all seted up the centre gripping on two supporting rods and led to the groove, the contained angle that the groove was led to the centre gripping between the horizontal plane is the acute angle, is provided with two sliding button that pass two centre gripping logical grooves respectively and can follow the horizontal direction removal on the holding block. The effect that the robot arm can grab articles is achieved through the mode of manually operating the clamping head.

Description

Flexible arm of robot

Technical Field

The utility model belongs to the technical field of toy robotic arm's technique and specifically relates to a nimble arm of robot is related to.

Background

At present, the robot arm is applied to various fields, and the robot arm can play the role in industrial production and daily life. For children, the robot arm is often used as a toy, various small articles are clamped by the robot arm, so that the interestingness of the robot arm can be increased, the handling capacity of the children can be exercised, and when the robot arm is used as a toy, the operability and the safety of the robot arm become factors which need to be considered.

The existing Chinese patent with the publication number of CN109176470B discloses a robot arm, which comprises a robot wrist and a robot paw; the robot wrist comprises a small arm, a driving mechanism and a wrist body, wherein the wrist body is driven by the driving mechanism, so that the wrist body has freedom degrees of rotation around two mutually vertical directions, and a paw arranged on the wrist body is driven to move; the driving mechanism adopts a rope driving mode, so that the power output is far away from the wrist body. The hand grab is provided with a driving finger and a driven finger, the tail ends of the driving finger and the driven finger are meshed through a gear and driven by a motor, and the worm and a worm wheel shaft are in transmission control on opening and closing of the driving finger and the driven finger.

The above prior art solutions have the following drawbacks: the robot arm is driven by the motor to open and close the fingers, so that for children, the fingers manually operating the robot arm are more expected to open and close the fingers to clamp articles, and the motor-driven robot arm cannot meet the operability requirement of the children.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a nimble arm of robot, the switching of finger is realized to its accessible manually operation's mode to satisfy children's demand to maneuverability.

The above utility model discloses an above-mentioned utility model purpose can realize through following technical scheme:

a flexible arm of a robot comprises a base and a connecting part, wherein one end of the connecting part is connected with the base, the other end of the connecting part is connected with a bearing block, and a pair of clamping heads is connected to the bearing block; the two clamping heads respectively comprise a clamping rod and a clamping end, one end of each of the two clamping rods is rotatably connected with the bearing block, and the other end of each of the two clamping rods is connected with the corresponding clamping end; two all seted up the centre gripping on the supporting rod and led to the groove, the contained angle that the groove was led to the centre gripping between the groove and the horizontal plane is the acute angle, it passes two centre gripping logical grooves and can follow the slip button that the horizontal direction removed respectively to be provided with two on the holding piece.

Through adopting above-mentioned technical scheme, through the setting that groove was led to holding head, supporting rod, exposed core, centre gripping, can make juvenile's children through following the horizontal direction slip holding head, make the button that slides lead to the inslot at the centre gripping and slide, the button that slides this moment removes along the horizontal direction to drive opening and shutting of holding head, carry out the clamp of article and get and release.

The utility model discloses further set up to: the bearing block comprises a driving block, a sliding rod, a clamping block and a fixed block, one end of the clamping block is connected with the connecting part, and the other end of the clamping block is connected with the fixed block; one end, close to the fixed block, of the clamping block is provided with a sliding through groove along the direction from the connecting part to the fixed block, and the sliding rod is arranged in the sliding through groove in a sliding mode; one end of the sliding rod, which is close to the connecting part, is provided with a limiting block, and the other end of the sliding rod is connected with the driving block; the two clamping rods are rotatably connected with the fixed block, and the sliding button is arranged at one end, far away from the sliding rod, of the driving block.

Through adopting above-mentioned technical scheme, the setting that drive block, slide bar, slip led to the groove for the slide bar can drive the drive block and slide in the horizontal direction, and the drive block is connected with the slide button, alright realize that the drive block that slides drives opening and shutting of supporting head, realizes that the clamp of article gets and releases.

The utility model discloses further set up to: two the tip in opposite directions all is provided with a plurality of archs.

Through adopting above-mentioned technical scheme, bellied setting can make things convenient for the clamp of article to get for article clamp is got and is difficult for dropping after accomplishing.

The utility model discloses further set up to: the base comprises a first bearing and a fixing seat, wherein the axis of the first bearing is arranged along the vertical direction, the fixing seat is sleeved on the outer ring of the first bearing, the inner ring of the first bearing is coaxially connected with a vertical arm, and the vertical arm is connected with the connecting portion.

Through adopting above-mentioned technical scheme, through the setting of first bearing, can realize that the three hundred sixty degrees of robot arm rotate, but the vertical arm of direct rotation connection on first bearing rotates when the article of centre gripping equidirectional not gets to get and gets.

The utility model discloses further set up to: the connecting part comprises a connecting piece and a driving piece, the driving piece comprises a rack and a sliding gear meshed with the rack, the rack is connected with the vertical arm in a sliding mode, and the sliding gear is connected with the vertical arm in a rotating mode; one end of the connecting piece is fixedly connected with the sliding gear, and the other end of the connecting piece is connected with the bearing block.

Through adopting above-mentioned technical scheme, rack and sliding gear meshing make sliding gear can slide on the rack to drive sliding gear and rotate, the connected mode of meshing makes to connect inseparabler, and only needs to remove along the fore-and-aft direction and can realize sliding gear's rotation, and is more convenient when the operation

The utility model discloses further set up to: the connecting piece comprises a first movable rod, one end of the first movable rod is fixedly connected with the sliding gear, and the other end of the first movable rod is fixedly connected with a first movable gear; the first movable gear is connected with a second movable gear in a meshing manner, a fixing piece which ensures the meshing of the first movable gear and the second movable gear is connected between the first movable gear and the second movable gear, and the first movable gear and the second movable gear are both rotationally connected with the fixing piece through a rotating shaft; and a second movable rod is fixedly connected to the second movable gear, and one end, far away from the second movable gear, of the second movable rod is connected with the bearing block.

Through adopting above-mentioned technical scheme, through the connection of first loose gear, second loose gear, first movable rod and second movable rod, can realize robot arm's flexible, can stretch out when using and open and press from both sides the operation of getting article, can contract the arm when not using, play the effect of accomodating.

The utility model discloses further set up to: the side wall of the driving block is connected with a handle, and the side wall of the rack is connected with a driving shaft.

By adopting the technical scheme, the opening and closing of the clamping heads and the opening and closing of the connecting parts can be realized by driving the handles on the sliding rods and the driving shafts on the side walls of the racks, so that the clamping operation can be completed

The utility model discloses further set up to: all the sliding gear, the rack, the first movable gear and the second movable gear are sleeved with protective covers.

Through adopting above-mentioned technical scheme, because sliding gear, rack, first loose gear, second loose gear all have hard sawtooth, can play the effect of protection user's personal safety after the safety cover is established to the cover.

To sum up, the utility model discloses a beneficial technological effect does:

1. through the arrangement of the first bearing, the sliding gear, the rack, the first movable rod, the second movable rod, the first movable gear and the second movable gear, the robot arm can rotate by three hundred sixty degrees and can move forwards and backwards;

2. through the arrangement of the clamping block, the clamping head, the clamping rod, the clamping end and the sliding button, the robot arm can clamp and release articles.

Drawings

FIG. 1 is a partial schematic structural diagram of a flexible arm of a robot according to an embodiment;

FIG. 2 is an exploded view of a flexible arm of a robot according to an exemplary embodiment;

FIG. 3 is an exploded view of a receiving block according to an embodiment;

FIG. 4 is a schematic diagram of the overall structure of a flexible arm of a robot according to an embodiment;

fig. 5 is another overall structural diagram of the flexible arm of the robot according to the embodiment.

In the figure, 1, a first bearing; 11. a vertical arm; 111. a sliding groove; 112. a placement groove; 113. a groove; 12. a base; 13. a fixed seat; 2. A sliding gear; 21. a rack; 211. a drive shaft; 212. a slider; 22. a first movable bar; 23. a first connecting rod; 24. a second connecting rod; 25. a first parallel bar; 26. a first rotating shaft; 27. a second rotating shaft; 28. a third rotating shaft; 3. a first movable gear; 31. a second movable gear; 32. a third connecting rod; 33. a second movable bar; 34. a second parallel bar; 35. a fourth connecting rod; 36. fixing the rod; 37. a fixing member; 4. a clamping block; 41. a sliding through groove; 42. a fixed block; 43. a slide bar; 431. a vertical connecting block; 432. a limiting block; 433. a horizontal connecting block; 434. a handle; 44. a drive block; 5. a clamping head; 51. a clamping rod; 52. a clamping end; 53. clamping the through groove; 54. a slide button; 55. a protrusion; 6. a first protective cover; 61. a drive slot; 62. a first rotating groove; 63. a second rotating groove; 7. a second protective cover.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

Referring to fig. 1, for the utility model discloses a nimble arm of robot, including base 12 and connecting portion, connecting portion one end is connected with base 12, and the other end is connected with the bearing piece. The base 12 comprises a first bearing 1 and a fixing seat 13, wherein the axis of the first bearing 1 is arranged in the vertical direction, the fixing seat 13 is sleeved on the outer ring of the first bearing 1, the inner ring of the first bearing 1 is coaxially connected with a vertical arm 11, the base 12 is a cylinder and used for bearing the weight of the whole flexible arm of the robot, the base is made of metal, and other parts of the flexible arm of the robot are made of plastic. The top end of the vertical arm 11 is provided with a placing groove 112, and the placing groove 112 extends to the side wall of the vertical arm 11.

Referring to fig. 1, the connecting portion includes a connecting member and a driving member, the driving member includes a rack 21 slidably disposed on the bottom wall of the placement groove 112 in the horizontal direction and a sliding gear 2 engaged with the rack 21, and a driving shaft 211 is connected to a side wall of the rack 21. The sliding gear 2 is rotatably arranged on the side wall of the placing groove 112 through the first rotating shaft 26, a first movable rod 22 is fixedly connected to one side of the sliding gear 2, a first movable gear 3 is fixedly connected to one end, far away from the sliding gear 2, of the first movable rod 22, a second movable gear 31 is connected to the first movable gear 3 in a meshed mode, a second movable rod 33 is fixedly connected to the second movable gear 31, and one end, far away from the second movable gear 31, of the second movable rod 33 is connected with the bearing block. A fixing piece 37 which ensures that the first movable gear 3 and the second movable gear 31 are meshed with each other is connected between the first movable gear 3 and the second movable gear 31, and the first movable gear 3 and the second movable gear 31 are rotatably connected with the fixing piece 37 through rotating shafts.

Referring to fig. 1 and 2, a sliding groove 111 for sliding the rack 21 is formed on a bottom wall of the placing groove 112, and a groove 113 is formed on a side wall of the placing groove 112. One end of the rack 21 far away from the sawtooth is connected with a sliding block 212, and the outer side wall of the sliding block 212 is tightly attached to and slides on the inner side wall of the sliding groove 111. A first rotating shaft 26 is fixedly arranged at the axis of the sliding gear 2, and one end of the first rotating shaft 26 far away from the sliding gear 2 is connected with the inner wall of the groove 113 through a bearing. The first movable bar 22 is fixedly connected to the first rotating shaft 26, and when the sliding gear 2 rotates, the first rotating shaft 26 rotates to drive the first movable bar 22 to rotate.

Referring to fig. 2 and 3, the first rotating shaft 26 is rotatably connected to a first connecting rod 23. One end of the first connecting rod 23, which is far away from the first rotating shaft 26, is rotatably connected with a first parallel rod 25 through a second rotating shaft 27, one end of the second rotating shaft 27 is fixed with the first connecting rod 23, and the other end of the second rotating shaft 27 is fixed with the side wall of the placing groove 112. The fixing member 37 includes a second connecting rod 24, a third connecting rod 32 and a fixing rod 36 fixedly connecting the two, the second connecting rod 24 is located between the first movable gear 3 and the fixing rod 36, the third connecting rod 32 is located between the second movable gear 31 and the fixing rod 36, one end of the first parallel rod 25 far away from the first connecting rod 23 is rotatably connected with the second connecting rod 24 through a rotating shaft, and one end of the second connecting rod 24 far away from the first parallel rod 25 is rotatably connected with the first movable rod 22 through a rotating shaft of the first movable gear 3. Third connecting rod 32 rotates with second loose gear 31 through the pivot of second loose gear 31 to be connected, the one end that second loose gear 31 was kept away from to third connecting rod 32 rotates through the pivot and is connected with second parallel rod 34, the one end that third connecting rod 32 was kept away from to second parallel rod 34 rotates through the pivot and is connected with fourth connecting rod 35, the one end that second parallel rod 34 was kept away from to fourth connecting rod 35 rotates with second loose rod 33 through the pivot to be connected, fourth connecting rod 35 with accept a piece fixed connection.

Referring to fig. 1 and 3, the receiving block includes a driving block 44, a sliding rod 43, a clamping block 4 and a fixing block 42, one end of the clamping block 4 is fixedly connected to the fourth connecting rod 35, the other end of the clamping block is fixedly connected to the fixing block 42, and a sliding through groove 41 is formed in one end of the clamping block 4 close to the fixing block 42. The driving block 44 includes a vertical connecting block 431 and two horizontal connecting blocks 433, the two horizontal connecting blocks 433 are respectively located at two ends of the vertical connecting block 431 along the vertical direction, a sliding rod 43 is slidably connected in the sliding through groove 41, one end of the sliding rod 43 close to the fixing block 42 is connected with the vertical connecting block 431, and the other end is connected with a limiting block 432 for preventing the sliding rod 43 from being separated from the sliding through groove 41. The vertical connecting block 431 is connected with a handle 434, and the two horizontal connecting blocks 433 slide along the side wall of the fixing block 42 and are connected with clamping heads 5 at one ends far away from the sliding rod 43.

Referring to fig. 3, two holding heads 5 all include holding rod 51 and exposed core 52, the third axis of rotation 28 is worn to be equipped with jointly by the one end that two holding rod 51 are close to slide bar 43, the one end and the fixed block 42 fixed connection of third axis of rotation 28, two holding rod 51 rotate with fixed block 42 through third axis of rotation 28 and are connected, the one end that third axis of rotation 28 was kept away from to two holding rod 51 all is connected with the exposed core 52 that corresponds, all be provided with the centre gripping through groove 53 of rectangular shape to the direction of exposed core 52 along third axis of rotation 28 on holding rod 51, two centre gripping through grooves 53 are the acute angle with the level, the one end that slide bar 43 was kept away from to two horizontal connecting block 433 all is connected with and can stretch into corresponding centre gripping through inslot 53 and can lead to gliding slide button 54 in groove 53 at the centre gripping, slide button 54 slides and sets up in the groove 53. The opposite sides of the two clamping ends 52 are provided with a plurality of anti-skid protrusions 55.

Referring to fig. 4 and 5, protective covers are respectively sleeved on the sliding gear 2, the rack 21, the first movable gear 3 and the second movable gear 31, and specifically, the protective covers are divided into a first protective cover 6 and a second protective cover 7. The first protection cover 6 is a square cover covering the sliding gear 2 and the rack 21, a driving groove 61 for the driving shaft 211 to extend out is formed on the first protection cover 6, the driving groove 61 is a long-strip-shaped groove along the moving direction of the driving shaft 211, and a first rotating groove 62 for the first connecting rod 23 to rotate and a second rotating groove 63 for the first movable rod 22 to rotate are further formed on the first protection cover 6. The second protective cover 7 is a square cover covering the first movable gear 3 and the second movable gear 31, and the second protective cover 7 is fixedly connected to the second connecting rod 24 and the third connecting rod 32.

The implementation principle of the embodiment is as follows:

initially, the angle between the first movable rod 22 and the second movable rod 33 is the smallest, and the angle between the two supporting heads is the smallest.

When an object needs to be gripped, the driving shaft 211 is pushed towards the direction close to the base 12, the driving shaft 211 drives the sliding gear 2 to rotate, the sliding gear 2 drives the first movable rod 22 and the first parallel rod 25 to rotate towards the direction close to the supporting head 5, the first movable gear 3 is fixedly connected with the first movable rod 22, the first movable gear 3 and the second movable gear 31 rotate relatively to drive the second movable rod 33 and the second parallel rod 34 to rotate towards the direction close to the supporting head 5, so that the flexible arm of the robot is extended, then the handle 434 is pushed towards the direction close to the base 12, so that the sliding button 54 slides in the clamping through groove 53 towards the direction of the supporting head 5, and at this time, the clamping end 52 is opened.

At this time, the article to be gripped can be placed between the protrusions 55, then the handle 434 is pushed in the opposite direction, so that the sliding button 54 slides out of the clamping through slot 53 to close the clamping end 52 until the article is clamped between the protrusions 55, finally, the driving shaft 211 is pushed in the opposite direction, the robot can retract the arm flexibly, and the whole process can achieve gripping of the article.

The embodiment of this specific implementation mode is the preferred embodiment of the present invention, not limit according to this the utility model discloses a protection scope, so: all equivalent changes made according to the structure, shape and principle of the utility model are covered within the protection scope of the utility model.

Claims

1. A flexible arm of a robot is characterized in that: the clamping device comprises a base (12) and a connecting part, wherein one end of the connecting part is connected with the base (12), the other end of the connecting part is connected with a bearing block, and the bearing block is connected with a pair of clamping heads (5); the two clamping heads (5) respectively comprise a clamping rod (51) and a clamping end (52), one end of each of the two clamping rods (51) is rotatably connected with the bearing block, and the other end of each of the two clamping rods (51) is connected with the corresponding clamping end (52); two all seted up the centre gripping on supporting rod (51) and led to groove (53), the contained angle that the centre gripping led to between groove (53) and the horizontal plane is the acute angle, it passes two centre gripping logical groove (53) and can follow the slip button (54) that the horizontal direction removed respectively to be provided with two on the bearing block.

2. The robotic flexible arm of claim 1, wherein: the bearing block comprises a driving block (44), a sliding rod (43), a clamping block (4) and a fixing block (42), one end of the clamping block (4) is connected with the connecting part, and the other end of the clamping block is connected with the fixing block (42); one end, close to the fixed block (42), of the clamping block (4) is provided with a sliding through groove (41) along the direction from the connecting part to the fixed block (42), and the sliding rod (43) is arranged in the sliding through groove (41) in a sliding mode; one end of the sliding rod (43) close to the connecting part is provided with a limiting block (432), and the other end of the sliding rod is connected with the driving block (44); the two clamping rods (51) are rotatably connected with the fixed block (42), and the sliding button (54) is arranged at one end, far away from the sliding rod (43), of the driving block (44).

3. The robotic flexible arm of claim 2, wherein: and a plurality of bulges (55) are arranged at the opposite ends of the two clamping ends (52).

4. The robotic flexible arm of claim 2, wherein: the base (12) include that the axis sets up along vertical direction first bearing (1) and cover establish fixing base (13) at first bearing (1) outer lane, the inner circle coaxial coupling of first bearing (1) has vertical arm (11), vertical arm (11) are connected with connecting portion.

5. The robotic flexible arm of claim 4, wherein: the connecting part comprises a connecting piece and a driving piece, the driving piece comprises a rack (21) and a sliding gear (2) meshed with the rack (21), the rack (21) is connected with the vertical arm (11) in a sliding mode, and the sliding gear (2) is connected with the vertical arm (11) in a rotating mode; one end of the connecting piece is fixedly connected with the sliding gear (2), and the other end of the connecting piece is connected with the bearing block.

6. The robotic flexible arm of claim 5, wherein: the connecting piece comprises a first movable rod (22), one end of the first movable rod (22) is fixedly connected with the sliding gear (2), and the other end of the first movable rod is fixedly connected with a first movable gear (3); a second movable gear (31) is connected to the first movable gear (3) in a meshing manner, a fixing piece (37) for ensuring the first movable gear (3) and the second movable gear (31) to be meshed with each other is connected between the first movable gear and the second movable gear (31), and the first movable gear (3) and the second movable gear (31) are both rotationally connected with the fixing piece (37) through a rotating shaft; and a second movable rod (33) is fixedly connected to the second movable gear (31), and one end, far away from the second movable gear (31), of the second movable rod (33) is connected with the bearing block.

7. The robotic flexible arm of claim 6, wherein: the side wall of the driving block (44) is connected with a handle (434), and the side wall of the rack (21) is connected with a driving shaft (211).

8. The robotic flexible arm of claim 5, wherein: all the sliding gear (2), the rack (21), the first movable gear (3) and the second movable gear (31) are sleeved with protective covers.