CN215701831U

CN215701831U - Robot arm capable of adjusting grabbing distance and angle

Info

Publication number: CN215701831U
Application number: CN202122107530.4U
Authority: CN
Inventors: 曹峰; 孙学涛; 万旺根; 楼泽鹏; 王瑞; 朱秋煜
Original assignee: Suntech Suzhou Intelligent Manufacturing Research Institute Co ltd
Current assignee: Suntech Suzhou Intelligent Manufacturing Research Institute Co ltd
Priority date: 2021-09-02
Filing date: 2021-09-02
Publication date: 2022-02-01
Anticipated expiration: 2031-09-02

Abstract

The utility model discloses a robot arm capable of adjusting a grabbing distance and an angle, which comprises an angle adjusting device, wherein the upper end of the angle adjusting device is rotatably connected with a length adjusting device, the upper end of the length adjusting device is rotatably connected with a grabbing device, the angle adjusting device comprises a first robot arm, a supporting plate, a bottom plate, a threaded column and a nut, and the bottom plate is arranged at the bottom of the angle adjusting device. According to the utility model, the motor is electrically connected, the motor can drive the gear to rotate, the gear is meshed with the toothed plate, so that the toothed plate can displace, the toothed plate can drive the moving frame to displace, the grabbing device is driven to displace through the connecting block, the length of the device is adjusted, the grabbing distance of the device is changed, the angle of the arm of the first robot can be adjusted by removing the threaded connection of the nut, and the arm is fixedly connected with the threaded column through the nut after the adjustment is finished.

Description

Robot arm capable of adjusting grabbing distance and angle

Technical Field

The utility model relates to the technical field of robot equipment, in particular to a robot arm capable of adjusting a grabbing distance and an angle.

Background

The industrial robot arm is widely applied, can replace a manual automatic device to carry out actions such as product transfer, carrying, production, feeding and discharging, is based on automation, is specially used for realizing automatic unmanned production according to the characteristics of production, has been widely applied in the fields of industrial assembly, safety, explosion prevention and the like due to the unique operation flexibility of the robot arm, cannot adjust the grabbing distance and angle of the existing robot arm, has large limitation, cannot grab far articles and cannot replace the angle to grab, and therefore a device is needed to solve the problems.

SUMMERY OF THE UTILITY MODEL

The present invention is directed to a robot arm capable of adjusting a gripping distance and an angle, so as to solve the problems mentioned in the background art.

In order to achieve the purpose, the utility model provides the following technical scheme: the utility model provides an adjustable robot arm who snatchs distance and angle, includes angle adjusting device, angle adjusting device's upper end is rotated and is connected with length adjusting device, length adjusting device's upper end is rotated and is connected with grabbing device, angle adjusting device includes first robot arm, backup pad, bottom plate, screw thread post and nut, the bottom at angle adjusting device is established to the bottom plate, backup pad symmetry fixed connection is at the up end of bottom plate, the screw thread post all rotates the upper end of connection in the backup pad, the equal threaded connection of nut is on the surface of screw thread post, first robot arm fixed connection is at the interior terminal surface of screw thread post.

Preferably, the length adjusting device comprises a moving frame, a second robot arm, a case, a connecting block, a moving column, a positioning column, a toothed plate, a connecting plate, a first positioning groove, a positioning hole, a second positioning groove, a motor and a gear, the bottom plate is arranged at the bottom of the length adjusting device, the second robot arm is fixedly connected to the upper end face of the connecting plate, the moving frame is slidably connected to the upper end of the second robot arm, the connecting block is fixedly connected to the upper end face of the moving frame, the toothed plate is symmetrically and fixedly connected to the lower end face of the moving frame, the moving column is fixedly connected to the four corners of the lower end face of the connecting block, the positioning columns are fixedly connected to the four corners of the upper end face of the connecting plate, the upper end faces of the positioning columns are all arranged in the first positioning grooves, the second positioning grooves are symmetrically arranged at the two ends of the connecting plate, and the case is fixedly connected to the front end face of the connecting plate, the motor is installed in the case, the gears are symmetrically and fixedly connected to the front end of the motor, and the positioning holes are formed in the lower end of the second robot arm.

Preferably, the supporting plate is provided with a positioning hole matched with the threaded column, and the first robot arm is rotatably connected to the upper end of the supporting plate through the threaded column.

Preferably, the moving column is slidably coupled to the inside of the first positioning groove.

Preferably, the toothed plate is engaged with the rear end of the gear, and the toothed plate is slidably connected inside the second positioning groove.

Preferably, the rotating shaft of the motor is rotatably connected inside the positioning hole.

Preferably, the connecting plate is rotatably connected to the upper end of the first robot arm, and the connecting block is rotatably connected with the gripping device.

Compared with the prior art, the utility model has the following beneficial effects:

according to the utility model, the motor is electrically connected, the motor can drive the gear to rotate, the gear is meshed with the toothed plate, so that the toothed plate can displace, the toothed plate can drive the moving frame to displace, the grabbing device is driven to displace through the connecting block, the length of the device is adjusted, the grabbing distance of the device is changed, the angle of the arm of the first robot can be adjusted by removing the threaded connection of the nut, and the arm is fixedly connected with the threaded column through the nut after the adjustment is finished.

Drawings

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

FIG. 2 is a schematic view of an angle adjustment apparatus according to the present invention;

FIG. 3 is a schematic view of the length adjustment device of the present invention;

FIG. 4 is a schematic structural diagram of a second robot arm in the length adjustment device according to the present invention;

fig. 5 is a schematic structural view of the movable frame in the length adjustment device of the present invention.

In the figure: the robot comprises an angle adjusting device 1, a length adjusting device 2, a gripping device 3, a first robot arm 4, a supporting plate 5, a bottom plate 6, a threaded column 7, a nut 8, a moving frame 9, a second robot arm 10, a case 11, a connecting block 12, a moving column 13, a positioning column 14, a toothed plate 15, a connecting plate 16, a first positioning groove 17, a positioning hole 18, a positioning groove 19, a second positioning groove 20, a motor 21 and a gear.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-5, an embodiment of the present invention is shown: a robot arm capable of adjusting a grabbing distance and an angle comprises an angle adjusting device 1, wherein the upper end of the angle adjusting device 1 is rotatably connected with a length adjusting device 2, the upper end of the length adjusting device 2 is rotatably connected with a grabbing device 3, the angle adjusting device 1 comprises a first robot arm 4, a supporting plate 5, a bottom plate 6, a threaded column 7 and a nut 8, the bottom plate 6 is arranged at the bottom of the angle adjusting device 1, the supporting plate 5 is symmetrically and fixedly connected to the upper end face of the bottom plate 6, the threaded column 7 is rotatably connected to the upper end of the supporting plate 5, the nut 8 is in threaded connection with the surface of the threaded column 7, the first robot arm 4 is fixedly connected to the inner end face of the threaded column 7, the device can be fixedly connected with external equipment through a mechanism inside the angle adjusting device 1, subsequent grabbing work can be smoothly facilitated, and the angle adjusting device 1 and the mechanisms inside the adjusting device 2 are matched with each other, can realize carrying out length and angle to this device and adjust, make this device can snatch more extensive thing.

The length adjusting device 2 comprises a moving frame 9, a second robot arm 10, a case 11, a connecting block 12, a moving column 13, a positioning column 14, a toothed plate 15, a connecting plate 16, a first positioning groove 17, a positioning hole 18, a second positioning groove 19, a motor 20 and a gear 21, wherein the bottom plate 6 is arranged at the bottom of the length adjusting device 2, the second robot arm 10 is fixedly connected with the upper end surface of the connecting plate 16, the moving frame 9 is slidably connected with the upper end of the second robot arm 10, the connecting block 12 is fixedly connected with the upper end surface of the moving frame 9, the toothed plate 15 is symmetrically and fixedly connected with the lower end surface of the moving frame 9, the moving column 13 is fixedly connected with the four corners of the lower end surface of the connecting block 12, the positioning columns 14 are fixedly connected with the four corners of the upper end surface of the connecting plate 16, the first positioning grooves 17 are respectively arranged on the upper end surfaces of the positioning columns 14, the second positioning grooves 19 are symmetrically arranged at the two ends of the connecting plate 16, the case 11 is fixedly connected to the front end of the upper end face of the connecting plate 16, the motor 20 is installed inside the case 11, the gear 21 is symmetrically and fixedly connected to the front end of the motor 20, the positioning hole 18 is formed in the lower end of the second robot arm 10, the supporting plate 5 is provided with a positioning hole matched with the threaded column 7, the first robot arm 4 is rotatably connected to the upper end of the supporting plate 5 through the threaded column 7, so that the angle of the first robot arm 4 can be adjusted, the moving column 13 is slidably connected to the inside of the first positioning groove 17, the toothed plate 15 is engaged with the rear end of the gear 21, the toothed plate 15 is slidably connected to the inside of the second positioning groove 19, so that the gear 15 can be slidably displaced through rotation of the gear 21, the rotating shaft of the motor 20 is rotatably connected to the inside the positioning hole 18, so that the motor 20 can drive the gear 21 to rotate at two ends of the second robot arm 10, the connecting plate 16 is rotatably connected to the upper end of the first robot arm 4, the connecting block 12 is rotatably connected with the gripping device 3 to realize the integral connection of the device.

The working principle is as follows: the user carries out fixed connection with this device and outside apparatus through bottom plate 6 earlier, help going on smoothly of subsequent work, later will install and carry out electric connection at the inside motor 20 of quick-witted case 11, the axis of rotation of motor 20 can rotate in the inside of locating hole 18, later motor 20 can drive gear 21 and rotate, thereby realize that gear 21 and pinion rack 15 advance the meshing, because gear 21 is connected with pinion rack 15 is the meshing, so pinion rack 15 can shift when gear 21 rotates, pinion rack 15 can be at the inside sliding displacement of second constant head tank 19, and then realize that pinion rack 15 drives moving frame 9 and carries out the hakuai displacement, moving frame 9 can be at the upper end sliding displacement of second robot arm 10, later moving frame 9 can drive moving post 13 and connecting block 12 and carry out the sliding displacement, moving post 13 can be at the inside sliding displacement of first constant head tank 17, the mobile column 13 and the positioning column 14 will support the mobile frame 9, the connecting block 12 will drive the gripping device 3 to perform sliding displacement, thereby realizing the adjustment of the length of the device, changing the grabbing distance of the grabbing device 3 by adjusting the length, realizing the adjustment of the grabbing distance of the device, then releasing the threaded connection between the nut 8 and the threaded column 7, thereby realizing that the first robot arm 4 is not extruded and fixed between the supporting plates 5 by the nut 8, then the first robot arm 4 is pulled to rotate, the first robot arm 4 can rotate at the upper end of the supporting plate 5 through the threaded column 7, and then realize the regulation to the angle, adjust to suitable angle, through with

nut

8 and 7 threaded connection of screw post, realize squeezing the first robot arm 4 after the regulation fixed, accomplish the regulation of this device angle.

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 utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides an adjustable robot arm who snatchs distance and angle, includes angle adjusting device (1), its characterized in that: the upper end of angle adjusting device (1) is rotated and is connected with length adjusting device (2), the upper end of length adjusting device (2) is rotated and is connected with grabbing device (3), angle adjusting device (1) includes first robot arm (4), backup pad (5), bottom plate (6), screw thread post (7) and nut (8), establish the bottom at angle adjusting device (1) bottom plate (6), backup pad (5) symmetry fixed connection is at the up end of bottom plate (6), screw thread post (7) are all rotated and are connected in the upper end of backup pad (5), the equal threaded connection of nut (8) is on the surface of screw thread post (7), first robot arm (4) fixed connection is at the interior terminal surface of screw thread post (7).

2. A robot arm with adjustable gripping distance and angle according to claim 1, characterized in that: the length adjusting device (2) comprises a moving frame (9), a second robot arm (10), a case (11), a connecting block (12), a moving column (13), a positioning column (14), a toothed plate (15), a connecting plate (16), a first positioning groove (17), a positioning hole (18), a second positioning groove (19), a motor (20) and a gear (21), wherein the bottom plate (6) is arranged at the bottom of the length adjusting device (2), the second robot arm (10) is fixedly connected to the upper end face of the connecting plate (16), the moving frame (9) is slidably connected to the upper end of the second robot arm (10), the connecting block (12) is fixedly connected to the upper end face of the moving frame (9), the toothed plate (15) is symmetrically and fixedly connected to the lower end face of the moving frame (9), the moving column (13) is fixedly connected to four corners of the lower end face of the connecting block (12), the positioning columns (14) are fixedly connected to four corners of the upper end face of the connecting plate (16), the first positioning grooves (17) are formed in the upper end face of each positioning column (14), the second positioning grooves (19) are symmetrically formed in two ends of the connecting plate (16), the case (11) is fixedly connected to the front end of the upper end face of the connecting plate (16), the motor (20) is installed inside the case (11), the gears (21) are symmetrically and fixedly connected to the front end of the motor (20), and the positioning holes (18) are formed in the lower end of the second robot arm (10).

3. A robot arm with adjustable gripping distance and angle according to claim 2, characterized in that: the supporting plate (5) is provided with a positioning hole matched with the threaded column (7), and the first robot arm (4) is rotatably connected to the upper end of the supporting plate (5) through the threaded column (7).

4. A robot arm with adjustable gripping distance and angle according to claim 3, characterized in that: the moving column (13) is connected inside the first positioning groove (17) in a sliding mode.

5. A robot arm capable of adjusting a gripping distance and an angle according to claim 4, wherein: the toothed plate (15) is connected to the rear end of the gear (21) in a meshed mode, and the toothed plate (15) is connected to the inside of the second positioning groove (19) in a sliding mode.

6. A robot arm with adjustable grabbing distance and angle according to claim 5, characterized in that: the rotating shaft of the motor (20) is rotatably connected inside the positioning hole (18).

7. A robot arm with adjustable grabbing distance and angle according to claim 6, characterized in that: connecting plate (16) rotate to be connected in the upper end of first robot arm (4), connecting block (12) rotate mutually with grabbing device (3) and are connected.