CN213320215U

CN213320215U - Arm device of robot

Info

Publication number: CN213320215U
Application number: CN202021170129.4U
Authority: CN
Inventors: 罗浩
Original assignee: Wuhan Lezao Technology Co ltd
Current assignee: Wuhan Lezao Technology Co ltd
Priority date: 2020-06-22
Filing date: 2020-06-22
Publication date: 2021-06-01
Anticipated expiration: 2030-06-22

Abstract

The utility model provides an arm device of robot. The arm device of the robot comprises a base; the two connecting blocks are fixedly arranged on one side of the base; the support arm is rotatably arranged between the two connecting blocks; the connecting block is hinged to the top end of the support arm; the stress rod is fixedly arranged on the connecting block; the operating arm rod is arranged on the stress rod far away from the connecting block; the convex block is fixedly arranged on one side of the base, which is far away from the connecting block; the vertical blocks are fixedly arranged at the tops of the convex blocks; the two long rods are hinged to the vertical block; the spout, the spout is seted up on the support arm. The utility model provides an arm device of robot has convenient operation, has improved robot arm's operating stability, has slowed down the drive pressure of pneumatic cylinder, has made the use of operation armed lever have more the advantage of flexibility.

Description

Arm device of robot

Technical Field

The utility model relates to the technical field of robot, especially, relate to an arm device of robot.

Background

The robot is an intelligent machine capable of working semi-autonomously or fully autonomously, the robot has basic characteristics of perception, decision-making, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, the working efficiency and quality are improved, human life is served, the activity and capacity range of the human beings is enlarged or extended, the robot is required to replace human beings to participate in trial in numerous technical fields and a plurality of works, the throwing-out of human resources is greatly reduced, the overall efficiency is improved, the arms of the robot are operating parts of the robot, the robot has very important use effect, and most of operations of the robot are operated through the arms.

However, in the prior art, when the arm of the robot performs the lifting and rotating motion to transfer and move the object, the mechanical arm is usually pushed by the hydraulic cylinder to move, the mechanical arm of the robot is directly driven by the hydraulic cylinder, so that the pressure applied to the hydraulic cylinder is relatively large, the arm easily shakes a little during the motion, the stability is relatively poor, the angle of the operating arm directly contacting with the object cannot be adjusted, and the robot is not flexible and convenient in the using and operating process.

Therefore, it is necessary to provide a new robot arm device to solve the above technical problems.

SUMMERY OF THE UTILITY MODEL

The technical problem solved by the utility model is to provide an arm device of robot that has convenient operation, improved robot arm's operating stability, slowed down the drive pressure of pneumatic cylinder, made the use of operation armed lever have more the flexibility.

In order to solve the above technical problem, the utility model provides an arm device of robot includes: a base; the two connecting blocks are fixedly arranged on one side of the base; the support arm is rotatably arranged between the two connecting blocks; the connecting block is hinged to the top end of the support arm; the stress rod is fixedly arranged on the connecting block; the operating arm rod is arranged on the stress rod far away from the connecting block; the convex block is fixedly arranged on one side of the base, which is far away from the connecting block; the vertical blocks are fixedly arranged at the tops of the convex blocks; the two long rods are hinged to the vertical block; the sliding groove is formed in the support arm; the sliding rods are slidably mounted in the sliding grooves, and one ends of the two long rods, which are far away from the vertical block, are rotatably connected with the sliding rods; the two rotating blocks are rotatably arranged on two sides of the base; the two hydraulic cylinders are respectively and fixedly arranged on the corresponding rotating blocks; the two pairs of blocks are respectively and fixedly arranged on the output shafts of the corresponding hydraulic cylinders; the two sticking blocks are respectively and fixedly arranged on the corresponding pair of blocks and are respectively and fixedly connected with the corresponding long rod.

Preferably, the operating arm rod is fixedly arranged at one end of the strain rod far away from the connecting block.

Preferably, the both sides of base all fixed mounting have a circle form pole, two on the circle form pole respectively with correspond the commentaries on classics piece rotates and is connected.

Preferably, the reaction rod is provided with a groove, one end of the operation arm rod extends into the groove, the inner wall of the groove is fixedly provided with a switching bearing, and the inner ring of the switching bearing is fixedly sleeved on the operation arm rod.

Preferably, a T-shaped groove is formed in one side of the groove, a matching block is rotatably mounted in the T-shaped groove, and the matching block is fixedly connected with the operating arm rod.

Preferably, it has two lugs to answer one side fixed mounting of pole, it is equipped with the motor to answer one side of pole, two it all with motor fixed connection to answer the pole, all install circular gear, two on the motor and the pole circular gear meshes mutually.

Preferably, one side of the matching block is provided with a plurality of rolling beads, and the rolling beads are in rolling contact with the inner wall of the T groove.

Compared with the prior art, the utility model provides an arm device of robot has following beneficial effect:

the utility model provides an arm device of robot thereby adjusts the position of two stocks through the drive of two pneumatic cylinders, and two stocks can provide the holding power for the support arm, can drive the slide bar simultaneously and move, adjust the position of support arm when providing the holding power for the support arm, have slowed down the pressure that the pneumatic cylinder drove, and the operating arm pole that can carry out the rotation state will be more nimble at the in-process that uses, satisfies more demands.

Drawings

Fig. 1 is a front view structural diagram of an arm device of a robot according to a first embodiment of the present invention;

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

fig. 3 is a schematic front view of an arm device of a robot according to a second embodiment of the present invention;

fig. 4 is an enlarged schematic structural view of a portion a in fig. 3 according to the present invention;

reference numbers in the figures: 1. a base; 2. connecting blocks; 3. a support arm; 4. connecting blocks; 5. a rod is used; 6. an operating arm lever; 7. a bump; 8. erecting a block; 9. a long rod; 10. a chute; 11. a slide bar; 12. rotating the block; 13. a hydraulic cylinder; 14. matching blocks; 15. sticking blocks; 16. entering a groove; 17. a T groove; 18. Preparing blocks; 19. welding blocks; 20. a motor; 21. a circular gear.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and embodiments.

The first embodiment:

please refer to fig. 1 and fig. 2 in combination. The arm device of the robot comprises: a base 1; the two connecting blocks 2 are fixedly arranged on one side of the base 1; the support arm 3 is rotatably arranged between the two connecting blocks 2; the connecting block 4 is hinged to the top end of the support arm 3; the reaction rod 5, the reaction rod 5 is fixedly arranged on the connecting block 4; the operating arm rod 6 is arranged on the corresponding rod 5 far away from the connecting block 4; the bump 7 is fixedly arranged on one side of the base 1 far away from the connecting block 2; the vertical blocks 8 are fixedly arranged at the tops of the convex blocks 7; the two long rods 9 are hinged to the vertical block 8; the sliding groove 10 is formed in the support arm 3, and the sliding groove 10 is formed in the support arm 3; the sliding rod 11 is slidably mounted in the sliding groove 10, and one ends of the two long rods 9 far away from the vertical block 8 are rotatably connected with the sliding rod 11; the two rotating blocks 12 are rotatably arranged on two sides of the base 1; the two hydraulic cylinders 13 are respectively and fixedly arranged on the corresponding rotating blocks 12; the two pairs of blocks 14 are respectively and fixedly arranged on the output shafts of the corresponding hydraulic cylinders 13; two sticky pieces 15, two sticky pieces 15 respectively fixed mounting on corresponding to piece 14, two sticky pieces 15 respectively with correspond stock 9 fixed connection.

The operating arm lever 6 is fixedly arranged at one end of the reaction rod 5 far away from the connecting block 4.

The equal fixed mounting in both sides of base 1 has the circle form pole, two on the circle form pole respectively with correspond change piece 12 rotates and is connected.

In this embodiment:

when the support arm 3 needs to be adjusted so as to enable the arm to perform daily operation movement, the two hydraulic cylinders 13 are started at the same time, the output shafts of the two hydraulic cylinders 13 output outwards synchronously, and the output shafts of the two hydraulic cylinders 13 drive the corresponding counter blocks 14 to move synchronously;

two will promote the sticky piece 15 that corresponds to piece 14, under the pushing action in two sticky pieces 15, will make two stock 9 all rotate as the centre of a circle with founding piece 8, will drive slide bar 11 simultaneously when two stock 9 movements, make slide bar 11 carry out sliding movement in spout 10, use through stock 9 and slide bar 11's cooperation, make support arm 3 rotate between two even pieces 2, can close two pneumatic cylinders 13 after 3 movements of support arm to predetermined position.

the utility model provides an arm device of robot thereby adjusts two stock 9's position through two pneumatic cylinder 13's drive, and two stock 9 can provide the holding power for support arm 3, can drive slide bar 11 simultaneously and move, adjust the position of support arm 3 when providing the holding power for support arm 3, have slowed down the pressure that pneumatic cylinder 13 drove.

Second embodiment:

based on the arm device of the robot provided in the first embodiment of the present application, a second embodiment of the present application provides another arm device of the robot. The second embodiment is merely a preferred way of the first embodiment, and the implementation of the second embodiment does not affect the implementation of the first embodiment alone.

The second embodiment of the present invention will be further explained with reference to the drawings and the embodiments.

Referring to fig. 3 and 4, the arm device of the robot further includes a slot 16, the slot 16 is formed on the handle bar 5, one end of the operating arm bar 6 extends into the slot 16, a transfer bearing is fixedly mounted on the inner wall of the slot 16, and an inner ring of the transfer bearing is fixedly sleeved on the operating arm bar 6.

A T-shaped groove 17 is formed in one side of the groove 16, a matching block 18 is rotatably mounted in the T-shaped groove 17, and the matching block 18 is fixedly connected with the operating arm lever 6.

It has two lugs 19 to answer one side fixed mounting of pole 5, it is equipped with motor 20 to answer one side of pole 5, two it all with motor 20 fixed connection to answer pole 5, all install circular gear 21, two on motor 20 and the pole 5 circular gear 21 meshes mutually.

A plurality of rolling beads are arranged on one side of the matching block 18 and are in rolling contact with the inner wall of the T-shaped groove 17.

In this embodiment:

in the using process of the robot arm, the operated materials are required to be adjusted and rotated at different positions sometimes, the operation arm rod 6 cannot be rotated by pushing of the existing hydraulic cylinder, and in order to improve the practicability of the whole robot arm, the operation arm rod 6 needs to be rotated;

when the operation arm lever 6 is required to perform rotary motion, the motor 20 is started, the output shaft of the motor 20 drives the corresponding circular gear 21, under the mutual matching use of the two circular gears 21, the other operation arm lever 6 performs rotary motion in the groove 16, and the operation arm lever 6 drives the matching block 18 to perform synchronous motion while rotating, so that the matching block 18 performs rotary motion in the T-shaped groove 17.

the utility model provides an arm device of robot, thereby the power drive through motor 20 drives operation arm lever 6 and carries out rotary motion in answering the income groove 16 on pole 5, and the operation arm lever 6 of rotation state will satisfy more demands in the in-process more nimble of using.

It should be noted that the device structure and the accompanying drawings of the present invention mainly describe the principle of the present invention, and in the technology of this design principle, the settings of the power mechanism, the power supply system, the control system, etc. of the device are not completely described, and the details of the power mechanism, the power supply system, and the control system can be clearly known on the premise that those skilled in the art understand the principle of the present invention.

The above only is the embodiment of the present invention, not limiting the scope of the present invention, all the equivalent structures or equivalent processes of the present invention are used in the specification and the attached drawings, or directly or indirectly applied to other related technical fields, and the same principle is included in the protection scope of the present invention.

Claims

1. An arm device of a robot, comprising:

a base;

the two connecting blocks are fixedly arranged on one side of the base;

the support arm is rotatably arranged between the two connecting blocks;

the connecting block is hinged to the top end of the support arm;

the stress rod is fixedly arranged on the connecting block;

the operating arm rod is arranged on the stress rod far away from the connecting block;

the convex block is fixedly arranged on one side of the base, which is far away from the connecting block;

the vertical blocks are fixedly arranged at the tops of the convex blocks;

the two long rods are hinged to the vertical block;

the sliding groove is formed in the support arm;

the sliding rods are slidably mounted in the sliding grooves, and one ends of the two long rods, which are far away from the vertical block, are rotatably connected with the sliding rods;

the two rotating blocks are rotatably arranged on two sides of the base;

the two hydraulic cylinders are respectively and fixedly arranged on the corresponding rotating blocks;

the two pairs of blocks are respectively and fixedly arranged on the output shafts of the corresponding hydraulic cylinders;

the two sticking blocks are respectively and fixedly arranged on the corresponding pair of blocks and are respectively and fixedly connected with the corresponding long rod.

2. The robot arm device according to claim 1, wherein the operation arm lever is fixedly attached to an end of the arm lever remote from the joint block.

3. The arm device of a robot as claimed in claim 1, wherein a circular rod is fixedly mounted on each of two sides of the base, and the two circular rods are rotatably connected to the corresponding rotating blocks respectively.

4. The arm device of the robot as claimed in claim 1, wherein the handle bar is provided with a slot, one end of the handle bar extends into the slot, the inner wall of the slot is fixedly provided with a transfer bearing, and the inner ring of the transfer bearing is fixedly sleeved on the handle bar.

5. The arm device of the robot as claimed in claim 4, wherein a T-shaped slot is formed in one side of the slot, a matching block is rotatably mounted in the T-shaped slot, and the matching block is fixedly connected with the operating arm rod.

6. The arm device of the robot as claimed in claim 4, wherein two welding blocks are fixedly mounted on one side of the corresponding rod, a motor is arranged on one side of the corresponding rod, the two corresponding rods are fixedly connected with the motor, circular gears are mounted on the motor and the corresponding rods, and the two circular gears are meshed with each other.

7. The robot hand device according to claim 5, wherein a plurality of rolling beads are provided on one side of the fitting block, and are in rolling contact with an inner wall of the T-shaped groove.