Mechanical arm capable of steering flexibly

Abstract

The utility model relates to the technical field of manipulators, and discloses a flexible steering mechanical arm which comprises a base and a transmission belt, a connecting arm is arranged on the upper side of the base, a machine head is fixedly connected to the top of the rear side of the connecting arm, a hollow column is fixedly connected to the output end of the machine head, and a mounting rod is arranged on the outer side of the left end of the hollow column. A movable rod is rotationally connected to the front side of the hollow column, the rear end of the movable rod penetrates through the hollow column, a bidirectional screw rod is rotationally connected to the left side of the interior of the hollow column, belt wheels are fixedly connected to the middles of the outer sides of the bidirectional screw rod and the movable rod, and the two belt wheels are in transmission connection through the transmission belt. According to the mechanical arm, the belt wheel can be driven to rotate by rotating the movable rod, the two-way lead screw can rotate along with the movable rod, at the moment, the movable block can drive the L-shaped rod to move towards the middle, so that limiting and fixing of the mounting rod can be relieved, and at the moment, different mechanical arms can be replaced according to different working procedures.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to a mechanical arm which can be flexibly turned. Background Art

[0002] A robotic arm is a mechanical device used to simulate the movement and operation of a human arm. It is usually connected by multiple joints, each of which can rotate or move within a certain range to achieve complex movements and operations. Because of its own advantages, robotic arms are widely used in industrial automation, assembly lines and medical surgery to complete repetitive, delicate or dangerous tasks.

[0003] Most of the existing robotic arms on the market are not convenient to replace different robotic arms according to different processes during use, which reduces the practicality of the device and cannot meet the needs of users. Therefore, a flexibly steerable robotic arm is proposed to solve the above problem. Utility Model Content

[0004] In order to make up for the above shortcomings, the utility model provides a flexibly steerable mechanical arm, aiming to improve the problem in the prior art that it is inconvenient to replace different mechanical arms according to different processes during actual use.

[0005] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a flexibly steerable mechanical arm, including a base and a transmission belt, a connecting arm is arranged on the upper side of the base, the rear top of the connecting arm is fixedly connected to a machine head, the output end of the machine head is fixedly connected to a hollow column, a mounting rod is arranged on the outer side of the left end of the hollow column, the front side of the hollow column is rotatably connected to a movable rod, the rear end of the movable rod passes through the hollow column, the inner left side of the hollow column is rotatably connected to a two-way screw rod, the middle part of the outer side of the two-way screw rod and the movable rod is fixedly connected to a pulley, the two pulleys are connected by the transmission belt, the front and rear sides of the outer wall of the two-way screw rod are threadedly connected to a movable block, the left side of the movable block is fixedly connected to an L-shaped rod, the ends away from the two L-shaped rods respectively pass through the front and rear sides of the hollow column and the mounting rod in sequence, and an adjustment mechanism is arranged on the top of the base.

[0006] As a further description of the above technical solution:

[0007] The adjusting mechanism includes a rotating rod, which is rotatably connected to the middle part of the top end of the base, a worm gear is fixedly connected to the outer side of the rotating rod, a servo motor is fixedly connected to the top right side of the base, a worm is fixedly connected to the output end of the servo motor, the worm is meshingly connected to the worm gear, the top end of the rotating rod is fixedly connected to a connecting seat, the front side of the connecting seat is fixedly connected to the servo motor, a transmission bin is provided in the middle and upper part of the left side of the front end of the connecting seat, the rear side of the transmission bin is rotatably connected to a rotating shaft, and the bottom of the connecting arm is rotatably connected to the outer side of the rotating shaft.

[0008] As a further description of the above technical solution:

[0009] The upper and lower sides of the two movable blocks are fixedly connected with sliders, the upper and lower ends of the inner left side of the hollow column are fixedly connected with limit rods, and the two sliders are respectively slidably connected with the outer sides of the corresponding limit rods.

[0010] As a further description of the above technical solution:

[0011] A controller is fixedly connected to the right side of the front end of the connecting seat, and the controller is electrically connected to the servo motor, the servo motor and the machine head respectively.

[0012] As a further description of the above technical solution:

[0013] A protective cover is arranged on the outer side of the controller, and one side of the protective cover is rotatably connected to the front side of the connecting seat.

[0014] As a further description of the above technical solution:

[0015] A plurality of hollow frames are fixedly connected to the outer side of the base at equal intervals, and a plurality of bolts are threadedly connected to the inner bottoms of the plurality of hollow frames.

[0016] As a further description of the above technical solution:

[0017] The adjusting mechanism also includes a fixing plate, which is fixedly connected to the rear end of the top right side of the base, and the rear end of the worm is rotatably connected to the front side of the fixing plate.

[0018] As a further description of the above technical solution:

[0019] The left end of the mounting rod is fixedly connected with a U-shaped frame, and an operating hand is arranged inside the U-shaped frame.

[0020] The utility model has the following beneficial effects:

[0021] 1. In the utility model, rotating the movable rod can drive the pulley on its outer side to rotate, and the pulley on the outer side of the bidirectional screw rod will also rotate through the transmission belt, thereby driving the bidirectional screw rod to rotate, and the movable block on the outer side of the bidirectional screw rod will drive the L-shaped rod to move toward the middle, thereby releasing the limit fixation of the mounting rod. At this time, different manipulators can be replaced according to different processes to meet the needs of users.

[0022] 2. In the utility model, the servo motor can drive the worm to rotate, and the worm wheel will rotate accordingly, thereby driving the connecting seat to rotate, and then the servo motor can drive the rotating shaft to rotate. At this time, the use angle of the manipulator can be adjusted, thereby improving the practicality of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A three-dimensional diagram of a flexibly steerable mechanical arm proposed by the utility model;

[0024] Figure 2 This is a cross-sectional view of a hollow column structure of a flexibly steerable mechanical arm proposed by the utility model;

[0025] Figure 3 The utility model is a schematic diagram of the local structure of a flexibly steerable mechanical arm.

[0026] Legend:

[0027] 1. Base; 2. Adjustment mechanism; 201. Rotating rod; 202. Worm gear; 203. Servo motor; 204. Worm; 205. Fixed plate; 206. Connecting seat; 207. Servo motor; 208. Transmission bin; 209. Rotating shaft; 3. Connecting arm; 4. Machine head; 5. Hollow column; 6. Mounting rod; 7. Movable rod; 8. Bidirectional screw rod; 9. Pulley; 10. Transmission belt; 11. Movable block; 12. L-shaped rod; 13. Slider; 14. Limit rod; 15. U-shaped frame; 16. Operator; 17. Controller; 18. Protective cover; 19. Hollow frame; 20. Bolt. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0029] Reference Figure 1 and Figure 2The utility model provides an embodiment: a flexibly steerable mechanical arm, including a base 1 and a transmission belt 10, a connecting arm 3 is arranged on the upper side of the base 1, a machine head 4 is fixedly connected to the top of the rear side of the connecting arm 3, a hollow column 5 is fixedly connected to the output end of the machine head 4, a mounting rod 6 is arranged on the left outer side of the hollow column 5, a movable rod 7 is rotatably connected to the front side of the hollow column 5, the rear end of the movable rod 7 passes through the hollow column 5, a bidirectional screw rod 8 is rotatably connected to the left side of the inside of the hollow column 5, and a pulley 9 is fixedly connected to the middle part of the outer side of the bidirectional screw rod 8 and the movable rod 7, and the transmission belt 10 is used to transmit power between the two pulleys 9. The movable block 11 is threadedly connected to the front and rear sides of the outer wall of the bidirectional screw rod 8, and the left side of the movable block 11 is fixedly connected to an L-shaped rod 12. The ends of the two L-shaped rods 12 that are far away from each other respectively penetrate the front and rear sides of the hollow column 5 and the mounting rod 6 in sequence. The top of the base 1 is provided with an adjustment mechanism 2, and the left end of the mounting rod 6 is fixedly connected to a U-shaped frame 15, and an operating hand 16 is provided inside the U-shaped frame 15. The upper and lower sides of the two movable blocks 11 are fixedly connected to sliders 13, and the upper and lower ends of the inner left side of the hollow column 5 are fixedly connected to limit rods 14, and the two sliders 13 are respectively slidably connected to the outer sides of the corresponding limit rods 14;

[0030] Specifically, rotating the movable rod 7 can drive the pulley 9 on the outside thereof to rotate. At this time, the pulley 9 on the outside of the bidirectional screw rod 8 will also rotate accordingly through the transmission of the transmission belt 10, thereby driving the bidirectional screw rod 8 to rotate. At this time, the movable block 11 on the outside thereof pushes the L-shaped rod 12 to move toward the middle. This action effectively releases the limit fixation of the mounting rod 6. At this time, different manipulators can be replaced according to the requirements of different processes. This design not only improves the adaptability and flexibility of the equipment, but also meets the diverse needs of users.

[0031] Reference Figure 1 and Figure 3 The adjusting mechanism 2 includes a rotating rod 201, which is rotatably connected to the middle part of the top of the base 1, and a worm gear 202 is fixedly connected to the outer side of the rotating rod 201. A servo motor 203 is fixedly connected to the right side of the top of the base 1, and a worm 204 is fixedly connected to the output end of the servo motor 203. The worm 204 is meshed with the worm gear 202. A connecting seat 206 is fixedly connected to the top of the rotating rod 201, and a servo motor 207 is fixedly connected to the front side of the connecting seat 206. A transmission bin 208 is provided in the middle and upper part of the left side of the front end of the connecting seat 206, and a rotating shaft 209 is rotatably connected to the rear side of the transmission bin 208. The bottom of the connecting arm 3 is rotatably connected to the outer side of the rotating shaft 209. The adjusting mechanism 2 also includes a fixed plate 205, which is fixedly connected to the rear end of the right side of the top of the base 1, and the rear end of the worm 204 is rotatably connected to the front side of the fixed plate 205;

[0032] Specifically, the servo motor 203 can drive the worm 204 to rotate, and the meshing relationship between the worm 204 and the worm wheel 202 makes the worm wheel 202 rotate accordingly when the worm 204 rotates, and the connecting seat 206 rotates accordingly, thereby realizing the adjustment of the lateral use angle of the operating hand 16. The servo motor 207 can then drive the rotating shaft 209 to rotate, so as to realize the adjustment of the vertical use angle of the operating hand 16. This design not only improves the practicability of the device, but also makes the operation more convenient and efficient.

[0033] Reference Figure 1 The right side of the front end of the connection seat 206 is fixedly connected with a controller 17, and the controller 17 is electrically connected to the servo motor 203, the servo motor 207 and the head 4 respectively. A protective cover 18 is arranged on the outside of the controller 17, and one side of the protective cover 18 is rotatably connected to the front side of the connection seat 206;

[0034] Specifically, the operations of the servo motor 203, the servo motor 207 and the machine head 4 can be controlled by the controller 17, and the protective cover 18 can protect the controller 17 from being damaged by external factors.

[0035] Reference Figure 1 and Figure 3 A plurality of hollow frames 19 are equidistantly fixedly connected to the outer side of the base 1, and a plurality of bolts 20 are threadedly connected to the inner bottom of the plurality of hollow frames 19;

[0036] Specifically, the hollow frame 19 can be conveniently connected to external equipment through the bolts 20, thereby improving the overall stability of the device.

[0037] Working principle: when it is necessary to replace a different operating hand 16, at this time, the movable rod 7 is first rotated to drive the pulley 9 on the outside thereof to rotate, and the pulley 9 on the outside of the bidirectional screw rod 8 will also rotate through the transmission belt 10, thereby driving the bidirectional screw rod 8 to rotate. At this time, the movable block 11 on the outside of the bidirectional screw rod 8 will drive the L-shaped rod 12 to move toward the middle, thereby releasing the limit fixation of the mounting rod 6, and then the mounting rod 6 is removed from the hollow column 5 to complete the disassembly work, thereby meeting the needs of the user, and when using the operating hand 16, the servo motor 203 can drive the worm 204 to rotate, and the worm wheel 202 will also rotate due to the engagement with the worm 204, thereby driving the connecting seat 206 to rotate, at this time, the lateral use angle of the operating hand 16 can be adjusted, and then the servo motor 207 can drive the rotating shaft 209 to rotate, at this time, the vertical use angle of the operating hand 16 can be adjusted, and it is relatively simple to adjust the angle of the operating hand 16, thereby improving the practicality of the device.

[0038] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A flexibly steerable mechanical arm, comprising a base (1) and a transmission belt (10), characterized in that: A connecting arm (3) is provided on the upper side of the base (1), a machine head (4) is fixedly connected to the top of the rear side of the connecting arm (3), a hollow column (5) is fixedly connected to the output end of the machine head (4), a mounting rod (6) is provided on the outer side of the left end of the hollow column (5), a movable rod (7) is rotatably connected to the front side of the hollow column (5), a rear end of the movable rod (7) passes through the hollow column (5), a bidirectional screw rod (8) is rotatably connected to the left side of the interior of the hollow column (5), and the bidirectional screw rod (8) A pulley (9) is fixedly connected to the middle part of the outer side of the movable rod (7), and the two pulleys (9) are connected to each other by the transmission belt (10). The front and rear sides of the outer wall of the bidirectional screw rod (8) are threadedly connected to movable blocks (11), and the left side of the movable block (11) is fixedly connected to an L-shaped rod (12). The ends of the two L-shaped rods (12) that are far away from each other respectively penetrate the front and rear sides of the hollow column (5) and the mounting rod (6) in sequence. The top of the base (1) is provided with an adjustment mechanism (2).

2. The flexibly steerable robotic arm according to claim 1, characterized in that: The adjusting mechanism (2) comprises a rotating rod (201), the rotating rod (201) being rotatably connected to the middle part of the top end of the base (1), a worm wheel (202) being fixedly connected to the outer side of the rotating rod (201), a servo motor (203) being fixedly connected to the right side of the top of the base (1), an output end of the servo motor (203) being fixedly connected to a worm gear (204), the worm gear (204) being meshingly connected to the worm gear (202), a connecting seat (206) being fixedly connected to the top end of the rotating rod (201), a servo motor (207) being fixedly connected to the front side of the connecting seat (206), a transmission chamber (208) being arranged at the middle and upper part of the left side of the front end of the connecting seat (206), a rotating shaft (209) being rotatably connected to the rear side of the transmission chamber (208), and a bottom of the connecting arm (3) being rotatably connected to the outer side of the rotating shaft (209).

3. The flexibly steerable robotic arm according to claim 1, characterized in that: The upper and lower sides of the two movable blocks (11) are fixedly connected with sliders (13), the upper and lower ends of the inner left side of the hollow column (5) are fixedly connected with limit rods (14), and the two sliders (13) are respectively slidably connected to the outer sides of the corresponding limit rods (14).

4. The flexibly steerable robotic arm according to claim 2, characterized in that: A controller (17) is fixedly connected to the right side of the front end of the connection seat (206), and the controller (17) is electrically connected to the servo motor (203), the servo motor (207) and the machine head (4) respectively.

5. The flexibly steerable robotic arm according to claim 4, characterized in that: A protective cover (18) is provided on the outside of the controller (17), and one side of the protective cover (18) is rotatably connected to the front side of the connecting seat (206).

6. The flexibly steerable robotic arm according to claim 1, characterized in that: A plurality of hollow frames (19) are fixedly connected at equal intervals around the outer side of the base (1), and a plurality of bolts (20) are threadedly connected to the inner bottoms of the plurality of hollow frames (19).

7. The flexibly steerable robotic arm according to claim 2, characterized in that: The adjustment mechanism (2) further comprises a fixing plate (205), wherein the fixing plate (205) is fixedly connected to the rear end of the top right side of the base (1), and the rear end of the worm (204) is rotatably connected to the front side of the fixing plate (205).

8. The flexibly steerable robotic arm according to claim 1, characterized in that: The left end of the installation rod (6) is fixedly connected to a U-shaped frame (15), and an operating hand (16) is arranged inside the U-shaped frame (15).

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