CN212825488U

CN212825488U - Use robot arm structure on robot

Info

Publication number: CN212825488U
Application number: CN202021018454.9U
Authority: CN
Inventors: 赵允
Original assignee: Shandong Wanjiada Electronic Technology Co ltd
Current assignee: Shandong Wanjiada Electronic Technology Co ltd
Priority date: 2020-06-05
Filing date: 2020-06-05
Publication date: 2021-03-30
Anticipated expiration: 2030-06-05

Abstract

The utility model discloses an use robot arm structure on robot, belong to arm equipment field, can't adjust to current robot arm structure length, the swing range is great, it is limited to press from both sides the dynamics of getting, can't satisfy the problem of in-service user demand, the following scheme is proposed now, including the installation base, connecting seat and vertical support arm rigid coupling, vertical support arm rigid coupling has the supporting shoe, linear electric motor's output shaft rigid coupling has the telescopic link, the one end rigid coupling of telescopic link has first slider, horizontal support arm one end rigid coupling has telescopic machanism, install horizontal adjustment mechanism on the horizontal support arm, assist drive device all with the horizontal support arm rigid coupling, install first connection cable wire between two fixed blocks, and first connection cable wire lower extreme rigid coupling has the second gripper. The utility model discloses in, can carry out the regulation of length and angle to the arm structure according to actual conditions, strengthen vertical centre gripping dynamics through assist drive device, reduce the amplitude of fluctuation simultaneously, it is more convenient to use.

Description

Use robot arm structure on robot

Technical Field

The utility model belongs to arm equipment field, concretely relates to use robot arm structure on robot.

Background

With the high development of industrialization, the position of the robot in industrial application becomes more and more important, the robot has an irreplaceable effect on replacing human to do some repetitive work, the arm structure is an important part of the robot body, and the mechanical arm can play an incomparable effect in some dangerous occasions such as explosive, toxic, oxygen-poor and other occasions which are not suitable for manual work.

The arm structure of current robot is comparatively complicated, it is comparatively loaded down with trivial details to use, there are multiple problems, one of them, can not adjust the length and the angle of arm structure, consequently when pressing from both sides, be not convenient for control, the flexibility of system is relatively poor, a second of the system, when centre gripping object, the weight scope of the object that can the centre gripping is comparatively limited, in case meet the object that the quality is a little bigger, can't mention after snatching, need to change bigger equipment of snatching, it is comparatively troublesome to use, a third of the same, current robot arm structure is pressing from both sides the in-process of getting, the wobbling range is great, the object of pressing from both sides and getting very easily drops, cause the unnecessary loss.

Disclosure of Invention

An object of the utility model is to provide an use robot arm structure on robot to solve above-mentioned robot arm structure centre gripping object local limitation great, the flexibility is relatively poor, the great problem of amplitude of fluctuation.

In order to achieve the above object, the utility model provides a following technical scheme:

a robot arm structure applied to a robot comprises a mounting base, wherein a fastening nut and a connecting seat are fixedly connected to the upper surface of the mounting base, a fastening bolt with matched threads is mounted above the fastening nut, the upper surface of the connecting seat is fixedly connected with the lower end of a vertical supporting arm, a supporting block is fixedly connected to the upper end of the vertical supporting arm, a linear motor is hinged to one side of the vertical supporting arm, a telescopic rod is fixedly connected to an output shaft of the linear motor, a first sliding block is fixedly connected to one end, away from the linear motor, of the telescopic rod, a rotating shaft is arranged on the supporting block, a horizontal supporting arm is rotatably connected to the rotating shaft, a telescopic mechanism is fixedly connected to one end, away from the linear motor, of the horizontal supporting arm, a first mechanical claw is fixedly connected to one end of the telescopic mechanism, and a first sliding groove matched with, horizontal support arm keeps away from one side upper surface mounting of first spout has horizontal adjustment mechanism, the first motor of horizontal adjustment mechanism lower extreme fixedly connected with, the both sides of first motor all are provided with the assist drive device who installs on horizontal support arm, two assist drive device all with horizontal support arm fixed connection, the first bobbin of output shaft fixedly connected with of first motor, the winding has first connecting cable on the first bobbin, and first connecting cable lower extreme fixedly connected with second gripper.

As a preferred implementation mode, the first gripper includes a second motor, a fixing frame, a first connecting rod, a housing, a second connecting rod, a third connecting rod and a clamp, one end of the second motor is fixedly connected with the telescopic mechanism, and the other end of the second motor is connected with the housing through the fixing frame, the two sides of the first connecting rod are respectively provided with the second connecting rod and the third connecting rod which are distributed in parallel, the second connecting rod is located on one side of the third connecting rod away from the first connecting rod, the two ends of the second connecting rod are respectively hinged with the housing and the clamp, the two ends of the third connecting rod are respectively hinged with the first connecting rod and the clamp, and the center position of the first connecting rod is rotatably installed on an output shaft of the second motor.

As a preferred embodiment, telescopic machanism includes the rectangle framework, the third motor, the swivel nut, the regulating plate, the stopper, adjust the pole, the threaded rod, spacing groove and bearing, fixedly connected with third motor on the one end inner wall of rectangle framework, the other end inner wall passes through the bearing and is connected with the threaded rod rotation, the output of third motor and the one end fixed connection of threaded rod, the swivel nut has been cup jointed to the outer wall screw thread of threaded rod, and the front side outer wall fixedly connected with regulating plate of swivel nut, the stopper is all installed at the both ends of regulating plate, the spacing groove that matches with the stopper is all seted up to the both sides inner wall of rectangle framework, it is two to adjust the pole, be located the both sides of threaded rod respectively, two one end fixed mounting of adjusting the pole are on the regulating plate, the other.

As a preferred embodiment, the power assisting mechanism includes a fourth motor, a second bobbin, a second connecting steel cable, a fixed pulley, a second slider, a second chute and a first fixing plate, wherein the fourth motor and the fixed pulley are both fixedly mounted on the horizontal support arm, the second bobbin is fixedly connected to an output shaft of the fourth motor, the fixed pulley is fixedly connected to the horizontal support arm, the second connecting steel cable is wound on the second bobbin of the second bobbin, the second connecting steel cable is wound around the fixed pulley at one end away from the second bobbin and fixedly connected to the second slider, the first fixing plate is fixedly connected to the second gripper, and the first fixing plate is provided with the second chute engaged with the second slider.

As a preferred embodiment, horizontal adjustment mechanism includes push pedal, pneumatic cylinder, second fixed plate, sliding sleeve, slide bar and recess, the recess has been seted up to horizontal support arm's inside, and the inside fixed mounting of recess has the slide bar, and the outer wall slip of slide bar has cup jointed the sliding sleeve, and the upper end fixedly connected with push pedal of sliding sleeve, horizontal support arm is passed to the bottom of push pedal to with the piston rod rigid coupling of pneumatic cylinder, and one side fixed mounting of pneumatic cylinder has the second fixed plate, and the upper surface rigid coupling of second fixed plate and horizontal support arm.

In a preferred embodiment, the gripping ends of the first gripper and the second gripper are provided with anti-slip pads.

Compared with the prior art, the utility model provides an use robot arm structure on robot includes following beneficial effect at least:

(1) in the utility model, when the arm structure needs to clamp objects in the horizontal direction or in suspension, the device is firstly moved to the position near the objects to be clamped, when the clamping distance of the first mechanical claw is insufficient, the third motor is driven, the output shaft of the third motor rotates to drive the threaded rod to rotate, the threaded rod rotates to drive the threaded sleeve to move, the adjusting plate fixedly connected with the outer wall of the threaded sleeve moves along with the movement of the threaded sleeve, thereby driving the adjusting rod fixed on the adjusting plate to move, further driving the first mechanical claw to move, so as to realize the clamping of the objects, when the clamped objects are not in the horizontal plane, the linear motor is driven at the moment, the linear motor drives the telescopic rod to move up and down, thereby driving the first slide block to move in the first chute, further realizing the adjustment of the angle of the horizontal supporting arm, so as to meet the clamping of, the length and the angle of the arm structure can be adjusted, and the arm structure is more flexible to use.

(2) The utility model discloses in, when needs carry out the centre gripping to the ascending object of vertical side, use the second gripper to carry out work, at the in-process of work, at first come to adjust vertical arm structure according to the position at object place, the pneumatic cylinder is promoting the push pedal and is removing, the push pedal is promoting the sliding sleeve and is removing on the slide bar, the sliding sleeve is promoting first motor and is removing, thereby make the second gripper remove, helping hand structure on the horizontal support arm moves along with the second gripper simultaneously, at the in-process of centre gripping, exert the helping hand to the second gripper, the solution that can be better can't mention the problem after snatching to heavier object, the application range of this arm structure has been improved greatly.

(3) The utility model discloses in, at the in-process that the second gripper goes up and down, sliding connection between second spout and the second slider in the assist drive device acts on and can reduce the swing range of second gripper at the promotion in-process, has improved the stability of this arm structure, avoids appearing pressing from both sides the back of getting, because the too big problem that leads to article to drop of range of sliding, and the safety in use is high, reduces the wearing and tearing of rope simultaneously, prolongs its life.

Drawings

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

FIG. 2 is a schematic structural view of a first gripper according to the present invention;

FIG. 3 is a schematic view of the cross-sectional structure of the middle telescopic mechanism of the present invention;

fig. 4 is a schematic structural view of the middle power assisting mechanism of the present invention.

In the figure: 1. installing a base; 2. fastening a nut; 3. fastening a bolt; 4. a connecting seat; 5. a vertical support arm; 6. a linear motor; 7. a telescopic rod; 8. a first gripper; 81. a second motor; 82. a fixed mount; 83. a first link; 84. a housing; 85. a second link; 86. a third link; 87. clamping; 9. a telescoping mechanism; 91. a rectangular frame body; 92. a third motor; 93. a threaded sleeve; 94. an adjusting plate; 95. a limiting block; 96. adjusting a rod; 97. a threaded rod; 98. a limiting groove; 99. a bearing; 10. a horizontal support arm; 11. a first chute; 12. a first slider; 13. a support block; 14. a rotating shaft; 15. a power-assisted mechanism; 151. a fourth motor; 152. a second bobbin; 153. a second connecting wire rope; 154. a fixed pulley; 155. a second slider; 156. a second chute; 157. a first fixing plate; 16. a horizontal adjustment mechanism; 161. pushing the plate; 162. a hydraulic cylinder; 163. a second fixing plate; 164. a sliding sleeve; 165. a slide bar; 166. a groove; 17. a first motor; 18. a first bobbin; 19. a first connecting wire rope; 20. and the second mechanical claw.

Detailed Description

The present invention will be further described with reference to the following examples.

The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention. The condition in the embodiment can be further adjusted according to concrete condition the utility model discloses a it is right under the design prerequisite the utility model discloses a simple improvement of method all belongs to the utility model discloses the scope of claiming.

Referring to fig. 1-4, the utility model provides an arm structure of a robot applied on a robot, comprising a mounting base 1, a fastening nut 2 and a connecting seat 4 are fixedly connected on the upper surface of the mounting base 1, a fastening bolt 3 with matched thread is mounted above the fastening nut 2, the upper surface of the connecting seat 4 is fixedly connected with the lower end of a vertical supporting arm 5, a supporting block 13 is fixedly connected with the upper end of the vertical supporting arm 5, a linear motor 6 is hinged on one side of the vertical supporting arm 5, an output shaft of the linear motor 6 is fixedly connected with a telescopic rod 7, a first slider 12 is fixedly connected with one end of the telescopic rod 7 far away from the linear motor 6, a rotating shaft 14 is arranged on the supporting block 13, the rotating shaft 14 is rotatably connected with a horizontal supporting arm 10, a telescopic mechanism 9 is fixedly connected with one end of the horizontal supporting arm 10 far away from the linear motor 6, offer along length direction on the horizontal support arm 10 with first slider 12 matched with first spout 11, horizontal support arm 10 keeps away from one side surface mounting of first spout 11 has horizontal adjustment mechanism 16, the first motor 17 of 16 lower extreme fixedly connected with of horizontal adjustment mechanism, the both sides of first motor 17 all are provided with assist drive device 15 of installing on horizontal support arm 10, two assist drive device 15 all with horizontal support arm 10 fixed connection, the first bobbin 18 of output shaft fixedly connected with of first motor 17, the winding has first connecting cable 19 on the first bobbin 18, and 19 lower extreme fixedly connected with second gripper 20 of first connecting cable.

The first gripper 8 includes a second motor 81, a fixing frame 82, a first connecting rod 83, a housing 84, a second connecting rod 85, a third connecting rod 86 and a clamp 87, one end of the second motor 81 is fixedly connected with the telescopic mechanism 9, and the other end of the second motor is connected with the housing 84 through the fixing frame 82, the two sides of the first connecting rod 83 are respectively provided with the second connecting rod 85 and the third connecting rod 86 which are distributed in parallel, the second connecting rod 85 is located on one side of the third connecting rod 86 far away from the first connecting rod 83, two ends of the second connecting rod 85 are respectively hinged with the housing 84 and the clamp 87, two ends of the third connecting rod 86 are respectively hinged with the first connecting rod 83 and the clamp 87, and the center position of the first connecting rod 83 is rotatably installed on an output shaft of the second motor 81, so that the clamping force of the clamp 86 is greatly increased, and the stability of the arm structure is improved.

The telescoping mechanism 9 comprises a rectangular frame 91, a third motor 92, a threaded sleeve 93, an adjusting plate 94, a limiting block 95, an adjusting rod 96, a threaded rod 97, a limiting groove 98 and a bearing 99, wherein the third motor 92 is fixedly connected to the inner wall of one end of the rectangular frame 91, the inner wall of the other end is rotatably connected with the threaded rod 97 through the bearing 99, the output end of the third motor 92 is fixedly connected with one end of the threaded rod 97, the threaded sleeve 93 is sleeved on the outer wall of the threaded rod 97 in a threaded manner, the adjusting plate 94 is fixedly connected to the outer wall of the front side of the threaded sleeve 93, the limiting blocks 95 are respectively installed at the two ends of the adjusting plate 94, the limiting grooves 98 matched with the limiting blocks 95 are respectively formed in the inner walls of the two sides of the rectangular frame 91, the two adjusting rods 96 are respectively located at the two sides of the threaded rod 97, one end of the two adjusting rods 96 is fixedly installed on, the threaded rod 97 rotates to drive the threaded sleeve 93 to move, and at the moment, the adjusting plate 94 fixedly connected with the outer wall of the threaded sleeve 93 moves along with the movement of the threaded sleeve 93, so that the adjusting rod 96 fixed on the adjusting plate 94 is driven to move, the length of the horizontal supporting arm 10 is adjusted, and the application range is expanded.

The assisting mechanism 15 includes a fourth motor 151, a second bobbin 152, a second connecting cable 153, a fixed pulley 154, a second slider 155, a second sliding slot 156 and a first fixing plate 157, the fourth motor 151 and the fixed pulley 154 are both fixedly mounted on the horizontal support arm 10, the second bobbin 152 is fixedly connected to an output shaft of the fourth motor 151, the fixed pulley 154 is fixedly connected to the horizontal support arm 10, the second connecting cable 153 is wound on the second bobbin of the second bobbin 152, one end of the second connecting cable 153 wound from the second bobbin 152 passes around the fixed pulley 154 and is fixedly connected to the second slider 155, the first fixing plate 157 is fixedly connected to the second gripper 20, a second sliding slot 156 engaged with the second slider 155 is formed in the first fixing plate 157, the assisting mechanism 15 applies assisting force to the vertical direction through the action of the fixed pulley 154 and the fourth motor 151, and the sliding connection between the second sliding slot 156 and the second slider 155 in the assisting mechanism 15 can reduce the swing of the second gripper 20 in the lifting process The moving amplitude is increased, so that the application range of the arm structure is expanded, and the swing amplitude in the clamping process is reduced.

The horizontal adjusting mechanism 16 comprises a push plate 161, a hydraulic cylinder 162, a second fixing plate 163, a sliding sleeve 164, a sliding rod 165 and a groove 166, the groove 166 is formed in the horizontal supporting arm 10, the sliding rod 165 is fixedly installed in the groove 166, the sliding sleeve 164 is slidably sleeved on the outer wall of the sliding rod 165, the push plate 161 is fixedly connected to the upper end of the sliding sleeve 164, the bottom end of the push plate 161 penetrates through the horizontal supporting arm 10 and is fixedly connected with a piston rod of the hydraulic cylinder 162, the second fixing plate 163 is fixedly installed on one side of the hydraulic cylinder 162, and the second fixing plate 163 is fixedly connected with the upper surface of the horizontal supporting arm 10.

The grabbing ends of the first mechanical claw 8 and the second mechanical claw 20 are provided with anti-slip pads, so that the friction force in the clamping process is greatly increased, the clamping is firmer, and the stability of the arm structure clamping is improved.

When the robot is used, the arm structure of the robot is moved to a required position according to actual needs, then the arm required to work is selected according to the actual needs, when the arm structure needs to clamp an object in the horizontal direction or placed in the air, the device is firstly moved to the position near the object required to be clamped, when the clamping distance of the first mechanical claw is not enough, the third motor is driven, the output shaft of the third motor rotates to drive the threaded rod to rotate, the threaded rod rotates to drive the threaded sleeve to move, at the moment, the adjusting plate fixedly connected with the outer wall of the threaded sleeve moves along with the movement of the threaded sleeve, so that the adjusting rod fixed on the adjusting plate is driven to move, the first mechanical claw is driven to move, the object is clamped, when the clamped object is not in the horizontal plane, the linear motor is driven at the moment, the linear motor drives the telescopic rod to move up and down, so that the, if want the ascending object of centre gripping vertical side, at first adjust vertical arm structure according to the position at object place, the pneumatic cylinder promotes the push pedal and removes, the push pedal promotes the sliding sleeve and removes on the slide bar, the sliding sleeve promotes first motor and removes, thereby make the second gripper remove, helping hand structure on the horizontal support arm moves along with the second gripper simultaneously, at the in-process of centre gripping, helping hand mechanism exerts the helping hand to the second gripper, the centre gripping is easier, the application scope of this arm structure has been improved greatly, it is more nimble convenient to use.

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

1. The arm structure of the robot applied to the robot comprises a mounting base (1) and is characterized in that a fastening nut (2) and a connecting seat (4) are fixedly connected to the upper surface of the mounting base (1), a fastening bolt (3) matched with threads is mounted above the fastening nut (2), the upper surface of the connecting seat (4) is fixedly connected with the lower end of a vertical supporting arm (5), a supporting block (13) is fixedly connected to the upper end of the vertical supporting arm (5), a linear motor (6) is hinged to one side of the vertical supporting arm (5), an output shaft of the linear motor (6) is fixedly connected with a telescopic rod (7), a first sliding block (12) is fixedly connected to one end, far away from the linear motor (6), of the telescopic rod (7), a rotating shaft (14) is arranged on the supporting block (13), and the rotating shaft (14) is rotatably connected with a horizontal supporting arm (10, the end, far away from the linear motor (6), of the horizontal supporting arm (10) is fixedly connected with a telescopic mechanism (9), one end of the telescopic mechanism (9) is fixedly connected with a first mechanical claw (8), a first sliding chute (11) matched with a first sliding block (12) is formed in the horizontal supporting arm (10) along the length direction, a horizontal adjusting mechanism (16) is installed on the upper surface of one side, far away from the first sliding chute (11), of the horizontal supporting arm (10), a first motor (17) is fixedly connected to the lower end of the horizontal adjusting mechanism (16), boosting mechanisms (15) installed on the horizontal supporting arm (10) are arranged on two sides of the first motor (17), the two boosting mechanisms (15) are fixedly connected with the horizontal supporting arm (10), a first wire barrel (18) is fixedly connected to an output shaft of the first motor (17), and a first connecting steel cable (19) is wound on the first wire barrel (18), and the lower end of the first connecting steel cable (19) is fixedly connected with a second mechanical claw (20).

2. The robot arm structure applied to the robot as claimed in claim 1, wherein the first gripper (8) comprises a second motor (81), a fixed frame (82), a first connecting rod (83), a housing (84), a second connecting rod (85), a third connecting rod (86) and a clamp (87), one end of the second motor (81) is fixedly connected with the telescoping mechanism (9), and the other end of the second motor is connected with the housing (84) through the fixed frame (82), the two sides of the first connecting rod (83) are respectively provided with the second connecting rod (85) and the third connecting rod (86) which are distributed in parallel, the second connecting rod (85) is located on the side of the third connecting rod (86) far away from the first connecting rod (83), the two ends of the second connecting rod (85) are respectively hinged with the housing (84) and the clamp (87), the two ends of the third connecting rod (86) are respectively hinged with the first connecting rod (83) and the clamp (87), and the central position of the first connecting rod (83) is rotatably arranged on the output shaft of the second motor (81).

3. The arm structure of the robot applied to the robot as claimed in claim 1, wherein the telescoping mechanism (9) comprises a rectangular frame (91), a third motor (92), a threaded sleeve (93), an adjusting plate (94), a limiting block (95), an adjusting rod (96), a threaded rod (97), a limiting groove (98) and a bearing (99), the third motor (92) is fixedly connected to the inner wall of one end of the rectangular frame (91), the inner wall of the other end is rotatably connected to the threaded rod (97) through the bearing (99), the output end of the third motor (92) is fixedly connected to one end of the threaded rod (97), the threaded sleeve (93) is sleeved on the outer wall of the front side of the threaded sleeve (93), the adjusting plate (94) is provided with the limiting block (95) at both ends thereof, the inner walls of both sides of the rectangular frame (91) are provided with the limiting groove (98) matched with the limiting block (95), the two adjusting rods (96) are respectively positioned at two sides of the threaded rod (97), one ends of the two adjusting rods (96) are fixedly installed on the adjusting plate (94), and the other ends of the two adjusting rods penetrate through the rectangular frame body (91) and are fixedly connected with the second motor (81).

4. The arm structure of a robot applied to a robot according to claim 1, wherein the power assisting mechanism (15) comprises a fourth motor (151), a second bobbin (152), a second connecting cable (153), a fixed pulley (154), a second sliding block (155), a second sliding slot (156) and a first fixing plate (157), the fourth motor (151) and the fixed pulley (154) are both fixedly mounted on the horizontal supporting arm (10), the second bobbin (152) is fixedly connected to an output shaft of the fourth motor (151), the fixed pulley (154) is fixedly connected to the horizontal supporting arm (10), the second connecting cable (153) is wound on the second bobbin of the second bobbin (152), one end of the second connecting cable (153) wound off the second bobbin (152) is wound around the fixed pulley (154) and fixedly connected to the second sliding block (155), the first fixing plate (157) is fixedly connected to the second gripper (20), and the first fixing plate (157) is provided with a second sliding groove (156) matched with the second sliding block (155).

5. The arm structure of the robot applied to the robot of claim 1, wherein the horizontal adjusting mechanism (16) comprises a push plate (161), a hydraulic cylinder (162), a second fixing plate (163), a sliding sleeve (164), a sliding rod (165) and a groove (166), the groove (166) is formed in the horizontal supporting arm (10), the sliding rod (165) is fixedly installed in the groove (166), the sliding sleeve (164) is slidably sleeved on the outer wall of the sliding rod (165), the push plate (161) is fixedly connected to the upper end of the sliding sleeve (164), the bottom end of the push plate (161) penetrates through the horizontal supporting arm (10) and is fixedly connected with the piston rod of the hydraulic cylinder (162), the second fixing plate (163) is fixedly installed on one side of the hydraulic cylinder (162), and the second fixing plate (163) is fixedly connected with the upper surface of the horizontal supporting arm (10).

6. Robot arm construction for use on a robot according to claim 1, characterized in that the gripping ends of the first gripper (8) and the second gripper (20) are provided with non-slip pads.