CN216180661U

CN216180661U - Robot mechanical arm structure

Info

Publication number: CN216180661U
Application number: CN202122701197.XU
Authority: CN
Inventors: 李思博; 宋清华; 刘冬琴
Original assignee: Shiyan Anchuan Automation Equipment Co ltd
Current assignee: Shiyan Anchuan Automation Equipment Co ltd
Priority date: 2021-11-06
Filing date: 2021-11-06
Publication date: 2022-04-05
Anticipated expiration: 2031-11-06

Abstract

The utility model provides a robot mechanical arm structure, which relates to the technical field of mechanical arm design and comprises a supporting device, a lifting device, a working device, a moving device and a fixing device, wherein the moving device comprises shaft sleeves, rotating shafts, connecting seats, wheel shafts and rollers, one end of each shaft sleeve is connected with the lower surface of a supporting plate, the rotating shafts are respectively in rotating fit with the shaft sleeves, one end of each connecting seat is respectively connected with the lower surface of the rotating shaft, the wheel shafts are respectively connected with one surface of each connecting seat, and the rollers are respectively in rotating fit with the wheel shafts. The utility model is provided with a moving device, the working structure of the mechanical arm is arranged at the upper end of the supporting plate, the moving mechanism is connected with the supporting plate through the shaft sleeve, the connecting seat can be driven to rotate through the rotating shaft to change the moving direction, and the roller wheel arranged on the wheel shaft drives the whole device to move through rotation, thereby saving the time for installing the mechanical arm and saving a large amount of manpower and material resources.

Description

Robot mechanical arm structure

Technical Field

The utility model relates to the technical field of mechanical arm design, in particular to a robot mechanical arm structure.

Background

The mechanical arm is an automatic mechanical device which is widely applied in the technical field of robots, and the figure of the mechanical arm can be seen in the fields of industrial manufacturing, medical treatment, entertainment service, military, semiconductor manufacturing, space exploration and the like. Although they have different forms, they all have a common feature of being able to receive commands to precisely locate a point in three-dimensional (or two-dimensional) space for work.

The mechanical arm is an important auxiliary tool for modern industrial production, and through operation functions such as efficient carrying and installation of the mechanical arm, the production efficiency and quality of industrial production are greatly improved, for example, a mechanical arm structure disclosed in CN111230910A, the connecting rod is driven by the electric push rod to move, and meanwhile, the connecting rod drives the clamping arm to move, so that the stability of clamping articles and the simple structure of driving the clamping arm are achieved, but some problems still exist, for example, the clamping arm of most mechanical arms is convenient to clamp, but when the whole mechanical arm is transported to a production line, the whole mechanical arm is generally transported to a specified position by manually operating a crane, time and labor are consumed, and the mechanical arm is fixed in a specified area, and is troublesome to detach, so that a new solution is necessary to be provided.

Under the prior art, when the mechanical arm is transported to a designated area, the mechanical arm needs to be transported to a designated position through a forklift or a crane, time and labor are consumed, the mechanical arm is fixed at the designated position, and the mechanical arm is troublesome to disassemble, so that the robot mechanical arm structure is provided.

SUMMERY OF THE UTILITY MODEL

The utility model mainly aims to provide a robot mechanical arm structure which can effectively solve the problems that the time and the labor are consumed when the mechanical arm needs to be conveyed to a specified position through a forklift or a crane when the mechanical arm is conveyed to a specified area, the mechanical arm is fixed at the specified position, the disassembly is troublesome and the like in the background art.

In order to solve the technical problems, the utility model is realized by the following technical scheme:

a robot mechanical arm structure comprises a supporting device, a lifting device, a working device, a moving device and a fixing device, wherein the supporting device comprises a supporting plate, a base and four rotary motors, one end of the base is connected with the upper surface of the supporting plate, one ends of the rotary motors are connected with one surface of the base, the number of the rotary motors is four, the rotary motors are mainly arranged on the base, the lifting device comprises a first hydraulic rod, a lifting hydraulic cylinder and a rotary machine body, the first hydraulic rod is in sliding fit with the lifting hydraulic cylinder, one end of the first hydraulic rod is connected with one surface of the base, one end of the rotary machine body is connected with the upper surface of the lifting hydraulic cylinder, the working device comprises a fixing plate, a horizontal hydraulic cylinder, a second hydraulic rod and an arm body, one end of the horizontal hydraulic cylinder is connected with one end of the rotary machine body through the upper surface and the lower surface of the fixing plate, the second hydraulic rod is in sliding fit with the horizontal hydraulic cylinder, one end of the arm body is connected with one surface of the second hydraulic rod, the moving device comprises four shaft sleeves, rotating shafts, connecting seats, wheel shafts and rollers, one ends of the shaft sleeves are connected with the lower surface of the supporting plate, the rotating shafts are respectively in rotating fit with the shaft sleeves, the shaft sleeves and the rotating shafts are mainly connected with the supporting plate, the rotating shafts are in rotating fit with the shaft sleeves to drive the connecting seats to rotate, one ends of the connecting seats are respectively connected with the lower surfaces of the rotating shafts, the wheel shafts are respectively connected with one surfaces of the connecting seats, the rollers are respectively in rotating fit with the wheel shafts, the connecting seats, the wheel shafts and the rollers are respectively connected with the rotating shafts and the wheel shafts, the rollers rotate on the wheel shafts to form a moving mechanism, the fixing device comprises a column sleeve and a lifting column, and one ends of the column sleeves are connected with the lower surface of the supporting plate, four column sleeves are arranged, the column sleeves are mainly connected with the supporting plate, the lifting columns are respectively in sliding fit with the column sleeves, and the lifting columns are in sliding fit with the column sleeves to play a role in fixing and supporting.

Preferably, the supporting device further comprises four first socket head cap screws, and the base is connected with the supporting plate through the first socket head cap screws.

Preferably, elevating gear still includes the hex bolts, lifting hydraulic cylinder and gyration fuselage pass through a plurality of hex bolts and are connected, and wherein, the hex bolts has four, and the hex bolts plays and is connected fixed effect with lifting hydraulic cylinder and gyration fuselage.

Preferably, the working device further comprises a push-pull hydraulic cylinder and a push-pull rod, one end of the push-pull hydraulic cylinder is connected with one surface of the arm body, the push-pull rod is in sliding fit with the push-pull hydraulic cylinder, and the push-pull hydraulic cylinder pushes and pulls the push-pull rod through hydraulic pressure.

Preferably, the working device further comprises two claws, a plurality of sliding grooves are formed in one surface of the push-pull rod, and the claws are respectively in rotating fit with the sliding grooves, and the claws are mainly connected with the push-pull rod to capture objects.

Preferably, the moving device further comprises a plurality of second socket head cap screws, the shaft sleeves are connected with the supporting plate through the plurality of second socket head cap screws, the number of the second socket head cap screws is sixteen, and the second socket head cap screws play a role in fixing the shaft sleeves.

Preferably, fixing device still includes the firm pole, and a plurality of firm pole one end all is connected with the backup pad lower surface, and wherein, firm pole has two, and firm pole mainly is connected with the backup pad, plays the effect of consolidating the backup pad.

The utility model has the following beneficial effects:

1. the utility model is provided with a moving device, the working structure of the mechanical arm is arranged at the upper end of a supporting plate, the lower end of the supporting plate is provided with the moving device, a moving mechanism is connected with the supporting plate through a shaft sleeve, a connecting seat can be driven to rotate through a rotating shaft to change the moving direction, and a roller wheel arranged on a wheel shaft drives the whole device to move through rotation, so that the aims of conveying the mechanical arm to a specified position without using a crane or a forklift, saving the time for installing the mechanical arm and saving a large amount of manpower and material resources are achieved;

2. the position of the mechanical arm is fixed by the fixing device, when the mechanical arm is conveyed to a designated position, the hydraulic machine arranged in the column sleeve pushes the lifting column, the lifting column supports the whole device in a designated area to complete the fixation of the device, when the mechanical arm needs to be disassembled and conveyed to a repair shop for maintenance, the lifting column is directly lowered, and the mechanical arm is conveyed to a maintenance position for maintenance through the moving device, so that the purposes of convenient disassembly, maintenance and maintenance are achieved.

Of course, it is not necessary for any product in which the utility model is practiced to achieve all of the above-described advantages at the same time.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic overall structure diagram of a robot manipulator structure according to the present invention;

FIG. 2 is an enlarged view of a portion of the utility model at A in FIG. 1;

FIG. 3 is an enlarged partial view of the utility model at B of FIG. 1;

fig. 4 is a bottom view of a robot arm structure according to the present invention;

FIG. 5 is an enlarged view of a portion of the utility model at C of FIG. 4;

fig. 6 is a right side view of a robot arm structure according to the present invention.

In the drawings, the components represented by the respective reference numerals are listed below:

100. a support device; 200. a lifting device; 300. a working device; 400. a mobile device; 500. a fixing device; 110. A support plate; 120. a base; 130. a rotary motor; 140. a first socket head cap screw; 210. a first hydraulic lever; 220. A lifting hydraulic cylinder; 230. a revolving body; 240. a hexagon bolt; 310. a fixing plate; 320. a horizontal hydraulic cylinder; 330. A second hydraulic rod; 340. an arm body; 350. a push-pull hydraulic cylinder; 360. a push-pull rod; 370. a paw; 410. a shaft sleeve; 420. A rotating shaft; 430. a connecting seat; 440. a wheel axle; 450. a roller; 460. a second socket head cap screw; 510. a stabilizing rod; 520. a column sleeve; 530. and (4) lifting the column.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the utility model easy to understand, the utility model is further described with the specific embodiments.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1-6, to solve the above technical problem, the present invention is implemented by the following technical solutions: a robot arm structure comprises a supporting device 100, a lifting device 200, a working device 300, a moving device 400 and a fixing device 500, wherein the supporting device 100 comprises a supporting plate 110, a base 120 and a rotary motor 130, one end of the base 120 is connected with the upper surface of the supporting plate 110, one ends of a plurality of rotary motors 130 are connected with one surface of the base 120, four rotary motors 130 are arranged, the rotary motor 130 is mainly arranged on the base 120, the lifting device 200 comprises a first hydraulic rod 210, a lifting hydraulic cylinder 220 and a rotary machine body 230, the first hydraulic rod 210 is in sliding fit with the lifting hydraulic cylinder 220, one end of the first hydraulic rod 210 is connected with one surface of the base 120, one end of the rotary machine body 230 is connected with the upper surface of the lifting hydraulic cylinder 220, the working device 300 comprises a fixing plate 310, a horizontal hydraulic cylinder 320, a second hydraulic rod 330 and a arm body 340, one end of the horizontal hydraulic cylinder 320 is connected with one end of the rotary machine body 230 through the upper and lower surfaces of the fixing plate 310, the second hydraulic rod 330 is slidably engaged with the horizontal hydraulic cylinder 320, one end of the arm body 340 is connected with one surface of the second hydraulic rod 330, the moving device 400 includes four shaft sleeves 410, rotating shafts 420, connecting seats 430, wheel shafts 440 and rollers 450, one end of each of the shaft sleeves 410 is connected with the lower surface of the support plate 110, the rotating shafts 420 are respectively rotatably engaged with the shaft sleeves 410, the number of the shaft sleeves 410 and the rotating shafts 420 are four, the shaft sleeves 410 are mainly connected with the support plate 110, the rotating shafts 420 are rotatably engaged with the shaft sleeves 410 to drive the connecting seats 430 to rotate, one end of each of the connecting seats 430 is respectively connected with the lower surfaces of the rotating shafts 420, the wheel shafts 440 are respectively connected with one surface of each of the connecting seats 430, the rollers 450 are respectively rotatably engaged with the wheel shafts 440, the connecting seats 430, the wheel shafts 440 are four, the connecting seats 430 are connected with the rotating shafts 420 and the wheel shafts 440, and the rollers 450 rotate on the wheel shafts 440, the fixing device 500 comprises four column sleeves 520 and four lifting columns 530, one ends of the column sleeves 520 are connected with the lower surface of the support plate 110, the column sleeves 520 are mainly connected with the support plate 110, the lifting columns 530 are respectively in sliding fit with the column sleeves 520, and the lifting columns 530 are in sliding fit with the column sleeves 520 to play a role in fixing and supporting.

Referring to fig. 3, the supporting device 100 further includes a first socket head cap screw 140, and the base 120 is connected to the supporting plate 110 by a plurality of first socket head cap screws 140, wherein there are four first socket head cap screws 140, and the first socket head cap screws 140 serve to fixedly connect the base 120 and the supporting plate 110 together.

Referring to fig. 6, the lifting device 200 further includes six hex bolts 240, and the lifting hydraulic cylinder 220 is connected to the rotary body 230 through the plurality of hex bolts 240, wherein there are four hex bolts 240, and the hex bolts 240 serve to connect and fix the lifting hydraulic cylinder 220 to the rotary body 230.

Referring to fig. 2, the working device 300 further includes a push-pull hydraulic cylinder 350 and a push-pull rod 360, one end of the push-pull hydraulic cylinder 350 is connected to a surface of the arm body 340, the push-pull rod 360 is slidably engaged with the push-pull hydraulic cylinder 350, and the push-pull hydraulic cylinder 350 pushes and pulls the push-pull rod 360 by hydraulic pressure.

Referring to fig. 2, the working device 300 further includes two claws 370, a plurality of sliding grooves are formed on a surface of the push-pull rod 360, and the plurality of claws 370 are respectively rotatably engaged with the plurality of sliding grooves, and the claws 370 are mainly connected to the push-pull rod 360 to grip an object.

Referring to fig. 5, the moving device 400 further includes a second socket head cap screw 460, and the plurality of shaft sleeves 410 are connected to the supporting plate 110 by the plurality of second socket head cap screws 460, wherein the number of the second socket head cap screws 460 is sixteen, and the second socket head cap screws 460 play a role in fixing the shaft sleeves 410.

Referring to fig. 4, the fixing device 500 further includes two stabilizing rods 510, and one end of each of the stabilizing rods 510 is connected to the lower surface of the support plate 110, and the two stabilizing rods 510 are mainly connected to the support plate 110 to reinforce the support plate 110.

When a person uses the device, firstly, the robot arm is driven to move by the rotation of the roller 450 and the wheel shaft 440, the moving direction of the rotating shaft 420 connected to the connecting base 430 is controlled by the rotation, the robot arm is transported to a designated area, then, the hydraulic machine in the column sleeve 520 pushes the lifting column 530, the lifting column 530 jacks up the whole device and is fixed in the designated area, the lifting hydraulic cylinder 220 pushes the first hydraulic rod 210 out by hydraulic pressure, after the first hydraulic rod 210 lifts the revolving body 230 to a proper height, the revolving motor 130 converts electric energy into mechanical energy, so as to drive the first hydraulic rod 210 to rotate and adjust the angle of the arm body 340, meanwhile, the horizontal hydraulic cylinder 320 pushes and pulls the second hydraulic rod 330 by hydraulic pressure, so as to adjust the working position of the paw 370 connected to the arm body 340, and finally, the telescopic action of the push-pull rod 360 is adjusted by pushing and pulling the hydraulic cylinder 350, the gripper 370, which is rotatably engaged with the push-pull rod 360, retracts by the rotating action to grip the item.

The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the utility model as claimed. The scope of the utility model is defined by the appended claims and equivalents thereof.

Claims

1. A robot arm structure, including strutting arrangement (100), elevating gear (200), equipment (300), mobile device (400) and fixing device (500), its characterized in that: the supporting device (100) comprises a supporting plate (110), a base (120) and a rotary motor (130), one end of the base (120) is connected with the upper surface of the supporting plate (110), one end of the rotary motor (130) is connected with one surface of the base (120), the lifting device (200) comprises a first hydraulic rod (210), a lifting hydraulic cylinder (220) and a rotary machine body (230), the first hydraulic rod (210) is in sliding fit with the lifting hydraulic cylinder (220), one end of the first hydraulic rod (210) is connected with one surface of the base (120), one end of the rotary machine body (230) is connected with the upper surface of the lifting hydraulic cylinder (220), the working device (300) comprises a fixing plate (310), a horizontal hydraulic cylinder (320), a second hydraulic rod (330) and a arm body (340), one end of the horizontal hydraulic cylinder (320) is connected with one end of the rotary machine body (230) through the upper surface and the lower surface of the fixing plate (310), the second hydraulic rod (330) is in sliding fit with the horizontal hydraulic cylinder (320), one end of the arm body (340) is connected with one surface of the second hydraulic rod (330), the moving device (400) comprises shaft sleeves (410), rotating shafts (420), connecting seats (430), wheel shafts (440) and rollers (450), one ends of the shaft sleeves (410) are connected with the lower surface of the supporting plate (110), the rotating shafts (420) are respectively in rotating fit with the shaft sleeves (410), one ends of the connecting seats (430) are respectively connected with the lower surfaces of the rotating shafts (420), the wheel shafts (440) are respectively connected with one surface of the connecting seats (430), the rollers (450) are respectively in rotating fit with the wheel shafts (440), the fixing device (500) comprises column sleeves (520) and lifting columns (530), one ends of the column sleeves (520) are respectively connected with the lower surface of the supporting plate (110), the lifting columns (530) are respectively matched with the column sleeves (520) in a sliding mode.

2. A robot hand structure according to claim 1, wherein: the supporting device (100) further comprises a first inner hexagon screw (140), and the base (120) is connected with the supporting plate (110) through a plurality of first inner hexagon screws (140).

3. A robot hand structure according to claim 1, wherein: the lifting device (200) further comprises a hexagon bolt (240), and the lifting hydraulic cylinder (220) is connected with the rotary machine body (230) through the hexagon bolts (240).

4. A robot hand structure according to claim 1, wherein: the working device (300) further comprises a push-pull hydraulic cylinder (350) and a push-pull rod (360), one end of the push-pull hydraulic cylinder (350) is connected with one surface of the arm body (340), and the push-pull rod (360) is in sliding fit with the push-pull hydraulic cylinder (350).

5. A robot arm structure according to claim 4, characterized in that: the working device (300) further comprises a paw (370), a plurality of sliding grooves are formed in one surface of the push-pull rod (360), and the paw (370) is in rotating fit with the sliding grooves respectively.

6. A robot hand structure according to claim 1, wherein: the moving device (400) further comprises second socket head cap screws (460), and the plurality of shaft sleeves (410) are connected with the support plate (110) through the plurality of second socket head cap screws (460).

7. A robot hand structure according to claim 1, wherein: the fixing device (500) further comprises a plurality of stabilizing rods (510), and one ends of the stabilizing rods (510) are connected with the lower surface of the supporting plate (110).