JP6617321B2 - Robot arm - Google Patents

Description

The present invention relates to a robot, and more particularly to a robot arm.

With the development of robot technology, robots will be widely applied in daily life. The existing intelligent interactive robots have a narrow range of use, and the functions in the actual use process are monotonous, so that practicality is not desirable, and this equipment effectively solves this problem.

Chinese Patent Application No. 105881548

The present invention provides a robot arm where the necessary technical problem to be solved, which can solve the problems in the above current technology.

The robot arm of the device of the present invention includes a sliding plate installed in an external space, and a stretching lever extending in the left-right symmetry is fixed to the front and rear sides of the sliding plate, and the stretching lever and the sliding plate are slidably connected to each other. An electric machine is fixed on the rear side of the sliding board, the export shaft of the electric machine and the sliding board are screwed and connected, a symmetrical bottom block is fixed to the lower end surface of the sliding board, and an extension block is provided between the bottom blocks. An activity chamber that is fixed and penetrates from side to side in the extension block is fixed, a case and an open case are connected to each other between upper and lower walls of the activity chamber, and slides on the rear end wall of the activity chamber. Grooves are installed symmetrically in communication, a driven pulley is installed between the left and right end walls of the sandwiched casing, a driving electric machine is fixed on the right end wall of the open casing, and the export shaft of the driving electric machine And the open casing A left end wall is engaged by rotation and connected, a driving pulley is fixed to the outer surface of the export shaft of the drive electric machine, and a driven pulley is rotated and installed between the left and right end walls of the sandwiched housing, and the driven pulley And a driving pulley are connected by power through a synchronous belt, a slide connection block is installed in the activity chamber, a vertically symmetric lever is fixed in the slide connection block, and a symmetric mirror is formed on the outer surface of the lever. A roller wheel is rotated and installed, and the roller wheel and the slide groove are rolled and engaged and connected, and a protruding housing that vertically penetrates inside the slide connection block is fixed, and above the protruding housing An elevating housing that is in the slide connection block and that passes through the front and rear is installed, screw bolts that extend to the external space are rotated and installed on the upper and lower end walls of the elevating housing, and a molded body is formed on the outer surface of the screw bolt. Connected and installed, the synchronous belt is engaged with the protruding housing by the molded body, a lumen for opening the slide connection block is fixed, and a swing block is rotated and installed in the lumen. A side block is fixed to the left end surface of the swing block, a rotating electrical machine is fixed to the upper end surface of the extending block, a top rotating block is fixed to the upper end surface of the extending block, and the export shaft of the rotating electrical machine The top rotating block rotates and engages and is connected, a bottom rotating block is fixed to the lower end surface of the extending block, a rotating lever rotates and is installed on the bottom rotating block, and the rotating lever penetrates the side block And fixed to the side block, the rotating lever and the top rotating block are fixed, the export shaft of the rotating electrical machine and the rotating lever are fixed, A penetrating housing penetrating vertically is fixed to the side block, a vertically open side-open housing is connected to the left end wall of the penetrating housing, and a telescopic electric machine is fixed to the right end wall of the penetrating housing. The extension shaft of the extension electric machine and the left end wall of the penetrating housing rotate and engage with each other, and a push slide block is screwed and connected to the outer surface of the export axis of the extension electric machine. The side open casing is slid and connected.

As a further technical plant, a side box is installed on the left side of the side block, and an open casing with the opening facing right is fixed to the side box, and there are three sets of inner walls on the front and rear sides of the open casing. A symmetrical slide groove is connected in the front-rear direction, a slide block is slid and installed in the slide groove, and an arcuate housing with a slight opening is installed in a lower end wall of the slide block. An electric machine is fixed to the rear end wall of the motor, a main gear is fixed to the outer surface of the export shaft of the electric motor, and the right side of the main gear rotates and engages and connects with the front and rear end walls of the open housing. A spring case in which a wheel is engaged and installed, a crown is fixed to a front end surface of the driving wheel, the crown and the arcuate housing are in contact with each other, and the upper end surface of the slide block is symmetrical and has an opening upward. Is fixed, and the spring housing The sandwiching block is slid and installed, the sandwiching block slides through the spring housing and extends to the center line of the slide block, and the storage block is engaged with the sandwiching block, and the sandwiching block and the spring A spring is elastically installed between the end walls of the housing, and a swing lamp device is installed on the upper end surface of the side box.

As a further technical plant, the arcuate shape of the arcuate housing and the end face of the crown are the same.

As a further technical plant, the molded body has an inclined structure, whereby the molded body and the punched housing are more easily brought into close contact with each other.

As a further technical plant, the upper and lower end surfaces of the push slide block and the upper and lower end surfaces of the side block are brought into close contact with each other.

As a further technical plant, the swing lamp device includes a first side base, and a swing electric machine and an engaging block are fixed to an upper end surface of the first side base, and a first is provided on the outer surface of the export shaft of the swing electric machine. A fishing line is fixed, a second side base is fixed to the end face of the first fishing line that is far from the swing electric machine, the first fishing line is rotated and installed on the engagement block, and the first fishing line And the second side base are slidably connected to each other, and a warning light is fixed to the end face of the first fishing handle that is far from the engagement block.

When the device of the present invention is in the initial state, the rotating electric machine, the driving electric machine, the telescopic electric machine, the electric machine on the rear side of the sliding plate and the electric machine in the rear end wall of the open housing are in a stopped state, thereby Is placed in the initial position when it is in the initial state and can be adjusted in subsequent operations, improving the harmony of equipment operations.

When the device is operated, after the personnel operate with the bidirectional interface, the electric machine behind the sliding plate drives the sliding plate to move back and forth to a specified position, and at this time, the personnel moves the storage product with the bidirectional interface. To the designated position, the drive electric machine rotates the main pulley after work, and after the main pulley rotates, the driven pulley is rotationally interlocked. At this time, the outer surfaces of the main pulley and the driven pulley are synchronized. A belt drives the slide connection block up and down to a specified position, whereby the upper end surface of the side block and the upper end surface of the slide block are on the same horizontal plane, and after the slide connection block has moved up and down, The wheel rotates in the slide groove, and the slide connection block is raised and lowered more conveniently and quickly, Drive the push slide block after working the contraction electric machine and move it to the side box to move it closer to the side box, rotate the main drive gear after working the electric machine on the rear end wall of the open housing, At the same time as the driving wheel rotates, the crown gradually moves to the right along with the slide block, and the slide block is placed on the upper end surface of the push slide block. At this time, the telescopic electric machine moves the push slide block to the right. movement was driven, the slide block is completely placed on the upper end surface of the push slide block, when this, if it is intended to put the slide block in the right side of the side box, the rotary electric machine wherein the rotating lever , And the rotating lever is rotated to the right position with the side block. If it is going to be disassembled, the pinch block is pushed away from the center line of the slide block, the stored item and the pinch block are detached from the engaged state, the stored item is removed, After operating with the bi-directional interface, the related structure is moved to the specified position, increasing the convenience of the equipment.

The present invention is simple in structure and convenient to use. This equipment integrates intelligent bidirectional functions into the storage-use equipment, adopts a series of complex structures, and completes the function realization from bidirectional to storage use. Increase the efficiency of equipment that realizes a simple process.

What has been described above is merely a specific implementation method of the present invention, but the protection scope of the present invention is not limited thereto. Changes and replacements that are conceived not through all creative labor are covered by the protection scope of the present invention. Therefore, the protection scope of the present invention is based on the protection scope in which the rights request is limited.

In order to more clearly explain the technical solutions in the embodiments of the present invention and in the existing technology, the following is a brief introduction to the accompanying drawings that need to be used in the description of the embodiments and the existing technology. It should be understood that the accompanying drawings in the following description are only some embodiments of the present invention, and that other engineers based on these appended drawings are assumed based on the assumption that creative labor is not paid to ordinary engineers in this field. Attached figure can be obtained.

It is the whole structure schematic diagram of the robot arm of the present invention. It is the schematic of the AA direction of FIG. FIG. 3 is an enlarged schematic diagram of B in FIG. 1.

All features disclosed in the present invention or all disclosed methods and steps in the process may be combined in any manner other than features or steps that are mutually exclusive.

All features disclosed in this document (including any appended claims, abstracts, and drawings) may be replaced with other equivalent features having equivalent or similar purposes unless otherwise specified. That is, unless otherwise stated, all features are just one example in a series of equivalent or similar features.

As shown in FIGS. 1 to 3, the robot arm of the present invention includes a sliding plate 116 installed in an external space, and a stretching lever 115 extending in the front-rear direction symmetrically to the front and rear sides of the sliding plate 116 is fixed. 115 and the sliding plate 116 are slidably connected to each other, an electric machine is fixed to the rear side of the sliding plate 116, the export shaft of the electric machine and the sliding plate 116 are screwed and connected, and symmetrical to the lower end surface of the sliding plate 116. A bottom block 117 is fixed, an extension block 120 is fixed between the bottom blocks 117, and an activity chamber 132 penetrating in the right and left is fixed in the extension block 120. A pinch case 113 and an open case 128 are provided in communication, and a slide groove 124 is provided in the rear end wall of the activity chamber 132 in a symmetrical manner. 3, the driven pulley 112 is rotated and installed between the left and right end walls, a drive electric machine 129 is fixed to the right end wall of the open casing 128, the export shaft of the drive electric machine 129 and the left end wall of the open casing 128 Are engaged and connected by rotation, and a driving pulley 130 is fixed to the outer surface of the export shaft of the driving electric machine 129, and a driven pulley 112 is rotated and installed between the left and right end walls of the sandwiching housing 113, The driven pulley 112 and the main pulley 130 are connected by power through a synchronous belt, a slide connection block 111 is installed in the activity chamber 132, and a vertically symmetrical lever 121 is fixed in the slide connection block 111. A symmetric rolling wheel 123 is rotated and installed on the outer surface of the lever 121, and the rolling wheel 123 and the slide groove 124 are rolled and engaged and connected. A protruding housing 200 penetrating vertically is fixedly installed in the ride connecting block 111, and an elevating housing 202 in the slide connecting block 111 and penetrating in the front-rear direction is installed above the projecting housing 200. Screw bolts 203 extending to an external space are rotated and installed on the upper and lower walls of the body 202, and a molded body 201 is screwed onto and connected to the outer surface of the screw bolt 203. A lumen 122 that is engaged with the housing 200 and has an opening in the slide connection block 111 is fixed, a swing block 125 is rotated and installed in the lumen 122, and a side block 126 is installed on the left end surface of the swing block 125. Is fixed, and a rotating electrical machine 119 is fixed to the upper end surface of the extending block 120. A rotating block 118 is fixed, an export shaft of the rotating electrical machine 119 and the top rotating block 118 are rotated and engaged, and a bottom rotating block 131 is fixed to a lower end surface of the extending block 120 to rotate the bottom. A rotation lever 114 is rotated and installed on the block 131, the rotation lever 114 passes through the side block 126 and is fixed to the side block 126, and the rotation lever 114 and the top rotation block 118 are fixed. The export shaft of 119 and the rotary lever 114 are fixed, and a penetrating housing 110 penetrating vertically is fixed to the side block 126, and a vertically symmetrical side open housing 108 communicates with the left end wall of the penetrating housing 110. The telescopic electric machine 127 is fixed to the right end wall of the penetrating housing 110, and the telescopic electric machine 127 is installed. The export shaft and the left end wall of the through housing 110 are rotated and engaged and connected, and a push slide block 109 is screwed and connected to the outer surface of the export shaft of the telescopic electric machine 127. The side open casing 108 is slid and connected.

Beneficially, a side box 103 is installed on the left side of the side block 126, and an open casing 100 with an opening facing right is fixed to the side box 103, and the front and rear inner walls of the open casing 100 are fixed. Are installed so that symmetrical slide grooves 102 communicate with each other in three sets, and a slide block 101 is slid and installed in the slide groove 102, and a small opening is opened in the lower end wall of the slide block 101. An arcuate casing 107 is installed, an electric machine is fixed to the rear end wall of the open casing 100, a main driving gear 106 is fixed to the outer surface of the export shaft of the electric motor, and the open casing is placed on the right side of the main driving gear 106. A driving wheel 104 that is rotated and engaged with and connected to the front and rear end walls of the body 100 is engaged and installed, and a crown 105 is fixed to the front end surface of the driving wheel 104. A bow housing 107 is brought into contact, and a spring housing 301 that is symmetrical and open upward is fixed to the upper end surface of the slide block 101, and the sandwiching block 300 is slid and installed on the spring housing 301. The block 300 slides and penetrates the spring housing 301 and extends to the center line of the slide block 101, and the stored item 140 is engaged with the sandwiching block 300, and the ends of the sandwiching block 300 and the spring housing 301 are connected. A spring is elastically installed between the walls, and a swing lamp device is installed on the upper end surface of the side box 103.

Beneficially, the arcuate degree of the arcuate shape of the arcuate housing 107 and the end face of the crown 105 is the same.

Beneficially, the molded body 201 has a sloped structure therein, whereby the molded body 201 and the punching housing 200 are more easily brought into close contact with each other.

Beneficially, the upper and lower end surfaces of the push slide block 109 and the upper and lower end surfaces of the side block 126 are in close contact with each other.

Beneficially, the swing lamp device includes a first side base 800, and a swing electric machine 801 and an engaging block 806 are fixed to an upper end surface of the first side base 800, and the swing electric machine 801 is exported. A first fishing handle 802 is fixed to the outer surface of the shaft, and a second side base 803 is fixed to an end surface of the first fishing handle 802 far from the swing electric machine 801, and the first fishing pole is attached to the engagement block 806. A handle 805 is rotated and installed, the first fishing handle 805 and the second side base 803 are slidably connected to each other, and a warning light 804 is fixed to the end face of the first fishing handle 805 that is far from the engagement block 806. Established.

When the device of the present invention is in the initial state, the rotating electrical machine 119, the driving electrical machine 129, the telescopic electrical machine 127, the electrical machine on the rear side of the sliding plate 116, and the electrical machine in the rear end wall of the open casing 100 are in a stopped state. This allows the structure to be positioned in the initial position when it is in the initial state and can be adjusted in subsequent operations, increasing the harmony of the work of the equipment.

When the device is operated, after the personnel operate with the bidirectional interface, the electric machine on the rear side of the sliding plate 116 drives the sliding plate 116 to move back and forth to a designated position. The stored item 140 is taken out to a designated position, the driving electric machine 129 rotates the main pulley 130 after the operation, and the main driving pulley 130 rotates after the main driving pulley 130 rotates. At this time, the main driving pulley 130 is driven. And the synchronous belt on the outer surface of the driven pulley 112 causes the slide connection block 111 to move up and down to a specified position so that the upper end surface of the side block 126 and the upper end surface of the slide block 101 are on the same horizontal plane, After the slide connection block 111 moves up and down, the wheel 123 moves into the slide groove 124. The slide connection block 111 is raised and lowered more conveniently and quickly. At this time, after the telescopic electric machine 127 is operated, the push slide block 109 is driven to move outward and the side box 103 is moved. The main driving gear 106 is rotated after the electric machine on the rear end wall of the open casing 100 is operated, and the driving wheel 104 rotates . At the same time , the crown 105 gradually moves with the slide block 101. The slide block 101 is moved to the right and placed on the upper end surface of the push slide block 109. At this time, the telescopic electric machine 127 moves the push slide block 109 to the right and the slide block 101 is moved to the push slide block. 109 is completely placed on the top surface of the If trying to put the id block 101 in the right of the side box 103, the rotary electric machine 119 rotates driving the rotating lever 114, turning to the right position the rotary lever 114 is brought the side blocks 126 At this time, if the storage item 140 is to be disassembled, the pinch block 300 is thrust to move away from the center line of the slide block 101 and the storage item 140 and the pinch block 300 are engaged. And the storage 140 is removed, so that after the personnel operate with the two-way interface, the associated structure is moved to the designated position, increasing the convenience of the facility.

The beneficial effect of the present invention is: When the apparatus of the present invention is in the initial state, the rotating electric machine, the driving electric machine, the telescopic electric machine, the electric machine on the rear side of the sliding plate and the electric machine in the rear end wall of the open housing are in a stopped state. Thus, the structure is positioned at the initial position when it is in the initial state, and can be adjusted in the subsequent work, thereby improving the harmony of the work of the equipment.

When the device is operated, after the personnel operate with the bidirectional interface, the electric machine behind the sliding plate drives the sliding plate to move back and forth to a specified position, and at this time, the personnel moves the storage product with the bidirectional interface. To the designated position, the drive electric machine rotates the main pulley after work, and after the main pulley rotates, the driven pulley is rotationally interlocked. At this time, the outer surfaces of the main pulley and the driven pulley are synchronized. A belt drives the slide connection block up and down to a specified position, whereby the upper end surface of the side block and the upper end surface of the slide block are in the same horizontal plane, and the slide connection block moves up and down The wheel rotates in the slide groove, and the slide connection block is raised and lowered more conveniently and quickly, Drive the push slide block after working the contraction electric machine and move it to the side box to move it closer to the side box, rotate the main drive gear after working the electric machine on the rear end wall of the open housing, At the same time as the driving wheel rotates, the crown gradually moves to the right along with the slide block, and the slide block is placed on the upper end surface of the push slide block. At this time, the telescopic electric machine moves the push slide block to the right. movement was driven, the slide block is completely placed on the upper end surface of the push slide block, when this, if it is intended to put the slide block in the right side of the side box, the rotary electric machine wherein the rotating lever , And the rotating lever is rotated to the right position with the side block. If it is going to disassemble, the said pinch block is pushed away from the centerline of the said slide block, the said stored goods and the said pinch block are made to detach | leave from the state engaged, The stored goods are removed, therefore, personnel After operating with the bi-directional interface, the related structure is moved to the specified position, increasing the convenience of the equipment.

The present invention is simple in structure and convenient to use. This equipment integrates intelligent bidirectional functions into the storage-use equipment, adopts a series of complex structures, and completes the function realization from bidirectional to storage use. Increase the efficiency of equipment that realizes a simple process.

What has been described above is merely a specific implementation method of the present invention, but the protection scope of the present invention is not limited thereto. Changes and replacements that are conceived not through all creative labor are covered by the protection scope of the present invention. Therefore, the protection scope of the present invention is based on the protection scope in which the rights request is limited.

Claims (1)

A stretching lever including a sliding plate installed in an external space and extending symmetrically in front and rear is fixed to the front and rear sides of the sliding plate, the extending lever and the sliding plate are fitted and connected, and an electric machine is fixed to the rear side of the sliding plate. The export shaft of the electric machine and the sliding plate are screwed and connected, a symmetrical bottom block is fixed to the lower end surface of the sliding plate, an extension block is fixed between the bottom blocks, and the extension block An activity chamber that penetrates from side to side is fixed inside, and a case and an open case are placed in communication between the upper and lower walls of the activity chamber, and a slide groove is placed symmetrically in the rear end wall of the activity chamber. A driven pulley is rotated and installed between the left and right end walls of the sandwiched casing, a drive electric machine is fixed to the right end wall of the open casing, the export shaft of the drive electric machine and the left end wall of the open casing Is engaged by rotation and connected A driving pulley is fixed on the outer surface of the export shaft of the drive electric machine, a driven pulley is rotated and installed between the left and right end walls of the sandwiched casing, and the driven pulley and the driving pulley are connected by power through a synchronous belt. A slide connection block is installed in the activity chamber, a vertically symmetric lever is fixed in the slide connection block, and a symmetric rolling wheel is rotated and installed on the outer surface of the lever. The slide groove is rolled and engaged and connected, and a protruding housing that penetrates vertically is fixed in the slide connection block, and the slide connection block is located above the protruding housing and the front and rear penetrates vertically. A casing is installed, screw bolts extending to the external space are rotated and installed on upper and lower end walls of the elevating casing, a molded body is screwed and connected to the outer surface of the screw bolt, and the molding is performed. The synchronizing belt is engaged with the protruding housing, a lumen for opening the slide connection block is fixed, a swing block is rotated and installed in the lumen, and a side block is provided on the left end surface of the swing block. A rotating electric machine is fixed to the upper end surface of the extending block, a top rotating block is fixed to the upper end surface of the extending block, and the export shaft of the rotating electric machine and the top rotating block are rotated and engaged. A bottom rotary block is fixed to a lower end surface of the extension block, a rotary lever is rotated and installed on the bottom rotary block, the rotary lever penetrates the side block and is fixed to the side block, The rotating lever and the top rotating block are fixed, the export shaft of the rotating electrical machine and the rotating lever are fixed, and penetrates the side block vertically. A penetrating housing is fixed, a vertically open side-open casing is connected to the left end wall of the penetrating housing, a telescopic electric machine is fixed to the right end wall of the penetrating housing, and the export of the telescopic electric machine is The shaft and the left end wall of the penetrating housing are rotated and engaged and connected, and a push slide block is screwed and connected to the outer surface of the export shaft of the telescopic electric machine, and the push slide block and the side open housing are connected A side box is installed on the left side of the side block, and an open housing with the opening facing right is fixed to the side box, and there are three sets of front and rear inner walls in the open housing Are installed in such a way that a symmetric slide groove communicates with each other, a slide block is slid and installed in the slide groove, and an arcuate housing having a slight opening is installed in a lower end wall of the slide block. An electric machine is fixed to the rear end wall of the motor, a main gear is fixed to the outer surface of the export shaft of the electric motor, and the right side of the main gear rotates and engages and connects with the front and rear end walls of the open housing. A spring case in which a wheel is engaged and installed, a crown is fixed to a front end surface of the drive wheel, the crown and the arcuate housing are in contact, and a left and right symmetrical opening is directed to the upper end surface of the slide block The clip block is slid and installed in the spring housing, the clip block slides through the spring housing and extends to the center line of the slide block, and the stored product is associated with the clip block. A spring is elastically installed between the pinch block and the end wall of the spring housing, a swing lamp device is installed on the upper end surface of the side box, and the arcuate shape of the bow-shaped housing and the end face of the crown The degree of arc is the same, and the molded body In the slope-type structure, the molded body and the protruding housing are more easily brought into close contact with each other, the upper and lower end surfaces of the push slide block and the upper and lower end surfaces of the side block are brought into close contact, and the swing lamp device includes a first side base, The swing electric machine and the engaging block are fixed to the upper end surface of the first side base, the first fishing line is fixed to the outer surface of the export shaft of the swing electric machine, and the first fishing line is separated from the swing electric machine. A second side base is fixed to the end face, a first fishing handle is rotated and installed on the engaging block, the first fishing handle and the second side stand are slidably connected and separated from the engaging block. A warning light is fixed to the end face of the first fishing handle,
When the robot arm of the present invention is operated, after a person operates with a bidirectional interface, an electric machine behind the sliding plate drives the sliding plate to move back and forth to a specified position. The stored product is taken out to a designated position, and the driving electric machine rotates the main pulley after work, and after the main driving pulley rotates, the driven pulley is rotated and interlocked. At this time, the main pulley and the driven pulley An outer surface synchronization belt drives the slide connection block up and down to a specified position, whereby the upper end surface of the side block and the upper end surface of the slide block are on the same horizontal plane, and the slide connection block moves up and down. After that, the wheel rotates in the slide groove so that the slide connection block can be raised and lowered more conveniently and quickly. At this time, after the telescopic electric machine is operated, the push slide block is driven to move outward to approach the side box, and after the electric machine on the rear end wall of the open casing is operated, the main gear is At the same time as the driving wheel rotates, the crown gradually moves to the right along with the slide block, and the slide block is placed on the upper end surface of the push slide block. slide block right to exercised driven, the slide block is fully placed on the upper end surface of the push slide block, at this time, if you if to put the slide block in the right side of the side box, said rotating The electric machine drives the rotary lever to rotate, and the rotary lever moves to the right position with the side block. If the storage product is to be disassembled, the pinch block is thrust to move away from the center line of the slide block, and the storage item and the pinch block are separated from the engaged state, A robot arm characterized in that it removes and therefore moves the associated structure to a specified position after personnel operate with a bidirectional interface, increasing the convenience of the equipment.

Images