Multi-joint deformable robot mechanical arm
By designing a multi-joint deformable robotic arm, using rotating columns, bevel gears and other components, the clamping and transporting of workpieces during the production line operation is achieved, and the problem of the production line being stopped in the existing technology is solved, and the work efficiency is improved.
Patent Information
- Application Number
- CN202411039240.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-31
- Publication Date
- 2025-03-04
AI Technical Summary
When existing industrial robotic arms clamp and transfer workpieces, the production line needs to be stopped, resulting in cumbersome production processes and reduced work efficiency.
A multi-joint deformable robotic arm is designed to achieve clamping and transporting operations of mechanical claws through the combination of rotating columns, bevel gears, sector gears and elliptical frames, ensuring that the production line does not need to be stopped during operation.
The clamping and transport of workpieces by mechanical claws during continuous operation of the production line is realized, which improves work efficiency and avoids unnecessary stopping of the production line.
Smart Images
Figure CN119550373A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of industrial robots, and in particular to a multi-joint deformable robot arm. Background Art
[0002] An industrial robot is a multi-joint manipulator or multi-degree-of-freedom mechanical device for the industrial field. It can perform work automatically and relies on its own power and control capabilities to achieve various functions. A robotic arm is a mechanical electronic device that anthropomorphizes the functions of an arm, wrist, and hand. It can move any object or tool according to the time-varying requirements of spatial position, thereby completing the operational requirements of a certain industrial production. It can replace manual production and work with greater precision and strength.
[0003] However, the existing robot manipulators still have the following problems during use: when the existing industrial robot manipulators clamp and transfer workpieces on the production line, in order for the mechanical claws on the manipulators to accurately grasp the workpieces, the production line needs to stop running, which makes the operation of the production line cumbersome and reduces work efficiency. Summary of the invention
[0004] The present invention aims to provide a multi-joint deformable robot arm to solve the above problems.
[0005] The present invention is achieved through the following technical solutions: A multi-joint deformable robot mechanical arm comprises a fixed base, a connecting block is fixedly assembled on the fixed base, moving openings are symmetrically arranged on the connecting block, connecting rods are symmetrically fixedly assembled on the moving openings, guide blocks are movably assembled on the two connecting rods, operating rods are fixedly assembled on the lower surface of the guide blocks, clamping blocks are fixedly assembled on one end of the operating rods, vertical blocks are symmetrically fixedly assembled on the connecting block, the vertical blocks are located between the two moving openings, and transverse blocks are fixedly assembled between the vertical blocks, a transmission screw is movably assembled on the transverse block, a limit plate is fixedly assembled on the bottom of the transmission screw, an operating gear is fixedly assembled on the top of the transmission screw, an adjustment block is threadedly assembled on the transmission screw, a first mounting plate is fixedly assembled on the symmetrical sides of the adjustment block, a second mounting plate is fixedly assembled on the top of the guide block, an adjusting rod is movably assembled on the second mounting plate, and the other end of the adjusting rod is movably assembled with the first mounting plate.
[0006] Preferably, an inner cavity is provided inside the fixed base, a traction motor is fixedly installed on the bottom surface of the inner cavity, a rotating column is fixedly installed on the output end of the traction motor, the rotating column movably passes through the fixed base, a first equal-diameter bevel gear is fixedly installed on the rotating column, and the first equal-diameter bevel gear is located in the inner cavity.
[0007] Preferably, a rotating rod is movably mounted on the fixed base, one end of which is fixedly mounted with a second equal-diameter bevel gear, the second equal-diameter bevel gear is toothedly assembled with the first equal-diameter bevel gear, and the other end of the rotating rod is fixedly mounted with a fan gear, which is located on one side of the fixed base.
[0008] Preferably, a fixed frame is fixedly mounted on the surface of the fixed base, the fixed frame is located above the connecting block, the inner wall of the fixed frame is symmetrically fixedly mounted with fixed rods, sliding blocks are movably mounted on the fixed rods, and an elliptical frame is fixedly mounted between the two sliding blocks.
[0009] Preferably, two symmetrical inner walls of the elliptical frame are fixedly mounted with traction racks, the sector gear is located between the two traction racks, and the sector gear is toothed with only one of the traction racks.
[0010] Preferably, a mounting frame is fixedly mounted on the elliptical frame, an assembly block is fixedly mounted on the mounting frame, an operating rack is fixedly mounted on the assembly block, and the operating rack and the operating gear are toothedly assembled.
[0011] Preferably, a connecting arm is fixedly installed on the top of the rotating column, a moving opening is provided at one end of the connecting arm, an adjusting arm is installed on the moving opening, an operating motor is fixedly installed on the connecting arm, the output end of the operating motor movably passes through the moving opening, and the output end of the operating motor is fixedly installed with the adjusting arm.
[0012] Preferably, a rotating motor is fixedly mounted on the adjusting arm, the output end of the rotating motor movably passes through the adjusting arm, and the output end of the rotating motor is fixedly mounted with a movable arm, the movable arm is located on one side of the adjusting arm, one end of the movable arm is fixedly mounted with the adjusting motor, the output end of the adjusting motor movably passes through the movable arm, and the output end of the adjusting motor is fixedly mounted with a mechanical claw, the mechanical claw is close to the other end of the movable arm.
[0013] Preferably, when the rotating column rotates 360 degrees, the elliptical frame reciprocates once.
[0014] Compared with the prior art, the present invention has the following advantages and beneficial effects: 1. When the mechanical claw needs to perform a clamping operation, the traction motor is started to rotate the rotating column on the fixed base, the rotating column drives the first equal-diameter bevel gear to rotate, the first equal-diameter bevel gear drives the second equal-diameter bevel gear to rotate, the second equal-diameter bevel gear drives the fan gear to rotate through the rotating rod, the fan gear is only toothed with one of the traction racks, the elliptical frame is reciprocated on the fixed rod through the sliding block, the elliptical frame drives the mounting frame to reciprocate, the mounting frame drives the operating rack on the assembly block to reciprocate, the operating rack repeatedly drives the operating gear to reciprocate, the operating gear drives the transmission screw to rotate, so that the transmission screw is The adjusting block rotates, and under the action of the adjusting rod, the adjusting block moves on the transmission screw rod. The adjusting rod pulls the guide block to move on the connecting rod. The guide block mobilizes the clamping block on the operating rod to move, so that the two clamping blocks can clamp the objects. When the production line is running continuously, the clamped objects cannot be moved. Start the rotating motor to rotate the movable arm, start the adjusting motor to rotate the mechanical claw, so that the mechanical claw can clamp the objects. Start the traction motor again, and the rotating column rotates. At this time, the two clamping blocks move away, and the mechanical claw can transfer the objects on the production line conveniently. The production line does not need to stop running, thereby improving work efficiency.
[0015] 2. In the present invention, when the two clamping blocks clamp the object, the fan gear is ready to switch from meshing with one of the traction racks to meshing with the other traction rack, that is, the elliptical frame moves forward to the farthest point, the clamping block clamps the object, and the elliptical frame moves backward to move the clamping block away from the object. When the rotating column rotates 360 degrees, the elliptical frame reciprocates once, thereby improving the operating effect. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of this application, and do not constitute a limitation of the embodiments of the present invention. In the drawings: Figure 1 It is a schematic diagram of the assembly structure of the multi-joint deformable robot arm and the adjustment mechanism of the present invention; Figure 2 It is a schematic cross-sectional structural diagram of the assembly of the multi-joint deformable robot arm and the adjustment mechanism of the present invention; Figure 3 It is a schematic diagram of the structure of a multi-joint deformable robot arm of the present invention; Figure 4 It is a schematic diagram of the structure of the adjustment mechanism of the present invention; Figure 5 It is a schematic diagram of the guiding mechanism structure of the present invention; Figure 6 It is a side view of the guiding mechanism of the present invention.
[0017] The reference numerals represent: 10. Fixed base; 11. Rotating column; 12. Connecting arm; 13. Adjusting arm; 20. Operating motor; 21. Rotating motor; 22. Movable arm; 23. Adjusting motor; 30. Mechanical claw; 31. Fixed frame; 32. Connecting block; 33. Inner cavity; 40. Traction motor; 41. First equidiameter bevel gear; 42. Rotating rod; 43. Second equidiameter bevel gear; 50. sector gear; 51. moving port; 52. connecting rod; 53. guide block; 60. operating rod; 61. clamping block; 62. vertical block; 63. horizontal block; 70. transmission screw; 71. limit plate; 72. adjustment block; 73. first mounting plate; 80. second mounting plate; 81. adjusting rod; 82. fixing rod; 83. sliding block; 90. Elliptical frame; 91. Traction rack; 92. Mounting frame; 93. Assembly block; 94. Operating rack; 95. Operating gear. DETAILED DESCRIPTION
[0018] In order to make the purpose, technical scheme and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments and drawings. The schematic implementation modes and descriptions of the present invention are only used to explain the present invention and are not intended to limit the present invention. It should be noted that the present invention is already in the actual development and use stage.
[0019] Embodiment 1, as Figures 1 to 6 As shown, it is a schematic diagram of the structure of a multi-joint deformable robot arm according to a preferred embodiment of the present invention, referring to Figure 1 and Figure 4The multi-joint deformable robot arm includes a fixed base 10, a connecting block 32 is fixedly mounted on the fixed base 10, a moving opening 51 is symmetrically arranged on the connecting block 32, the moving opening 51 is symmetrically fixedly mounted with connecting rods 52, two connecting rods 52 are movably mounted with guide blocks 53 that move on the moving opening 51, the lower part of the surface of the guide block 53 is fixedly mounted with an operating rod 60, one end of the operating rod 60 is fixedly mounted with a clamping block 61, the connecting block 32 is symmetrically fixedly mounted with vertical blocks 62, the vertical block 62 is located between the two moving openings 51, and a horizontal block 63 is fixedly mounted between the vertical blocks 62, a transmission screw 70 is movably mounted on the horizontal block 63, a limit plate 71 is fixedly mounted on the bottom of the transmission screw 70, and an operating gear 95 is fixedly mounted on the top of the transmission screw 70 The transmission screw 70 is threadedly equipped with an adjusting block 72, and the symmetrical sides of the adjusting block 72 are fixedly equipped with a first mounting plate 73, and the top of the guide block 53 is fixedly equipped with a second mounting plate 80, and the second mounting plate 80 is movably equipped with an adjusting rod 81, and the other end of the adjusting rod 81 is movably assembled with the first mounting plate 73, and the operating gear 95 drives the transmission screw 70 to rotate, so that the transmission screw 70 rotates on the adjusting block 72, and under the action of the adjusting rod 81, the adjusting block 72 moves on the transmission screw 70, and the adjusting rod 81 pulls the guide block 53 to move on the connecting rod 52, and the guide block 53 mobilizes the clamping block 61 on the operating rod 60 to move, so that the two clamping blocks 61 clamp the objects, and the clamped objects cannot move when the production line is running continuously.
[0020] Reference Figure 2 and Figure 6The fixed base 10 is provided with an inner cavity 33 inside, a traction motor 40 is fixedly mounted on the bottom surface of the inner cavity 33, a rotating column 11 is fixedly mounted on the output end of the traction motor 40, the rotating column 11 movably penetrates the fixed base 10, a first equal-diameter bevel gear 41 located in the inner cavity 33 is fixedly mounted on the rotating column 11, a rotating rod 42 is movably mounted on the fixed base 10, a second equal-diameter bevel gear 43 which is tooth-patterned with the first equal-diameter bevel gear 41 is fixedly mounted on one end of the rotating rod 42, a sector gear 50 is fixedly mounted on the other end of the rotating rod 42, the sector gear 50 is located on one side of the fixed base 10, a fixed frame 31 is fixedly mounted on the surface of the fixed base 10, the fixed frame 31 is located above the connecting block 32, and a fixed rod 82 is symmetrically fixedly mounted on the inner wall of the fixed frame 31, and a fixed The rods 82 are movably equipped with sliding blocks 83, an elliptical frame 90 is fixedly installed between the two sliding blocks 83, and the two symmetrical inner walls of the elliptical frame 90 are fixedly equipped with traction racks 91. The fan gear 50 is located between the two traction racks 91, and the fan gear 50 is only toothed with one of the traction racks 91. The traction motor 40 is started to rotate the rotating column 11 on the fixed base 10, and the rotating column 11 drives the first equal-diameter bevel gear 41 to rotate, and the first equal-diameter bevel gear 41 drives the second equal-diameter bevel gear 43 to rotate. The second equal-diameter bevel gear 43 drives the fan gear 50 to rotate through the rotating rod 42, and the fan gear 50 is only toothed with one of the traction racks 91, so that the elliptical frame 90 reciprocates on the fixed rod 82 through the sliding block 83.
[0021] Reference Figure 1 and Figure 5 as well as Figure 6 The elliptical frame 90 is fixedly equipped with a mounting frame 92, the mounting frame 92 is fixedly equipped with an assembly block 93, the assembly block 93 is fixedly equipped with an operating rack 94 that is toothed and assembled with an operating gear 95, the elliptical frame 90 drives the mounting frame 92 to move back and forth, the mounting frame 92 drives the operating rack 94 on the assembly block 93 to move back and forth, and the operating rack 94 repeatedly drives the operating gear 95 to rotate back and forth.
[0022] Reference Figure 1 and Figure 3A connecting arm 12 is fixedly mounted on the top of the rotating column 11, a moving opening 51 is provided at one end of the connecting arm 12, an adjusting arm 13 is mounted on the moving opening 51, an operating motor 20 is fixedly mounted on the connecting arm 12, an output end of the operating motor 20 is movably penetrated into the moving opening 51, and the output end of the operating motor 20 is fixedly mounted with the adjusting arm 13, a rotating motor 21 is fixedly mounted on the adjusting arm 13, an output end of the rotating motor 21 is movably penetrated through the adjusting arm 13, and a movable arm 22 is fixedly mounted on the output end of the rotating motor 21, the movable arm 22 is located on one side of the adjusting arm 13, an adjusting motor 23 is fixedly mounted on one end of the movable arm 22, and an output end of the adjusting motor 23 is movably penetrated through the movable arm 22, and the output end of the adjusting motor 23 is fixedly equipped with a mechanical claw 30, and the mechanical claw 30 is close to the other end of the movable arm 22. When the mechanical claw 30 needs to perform a clamping operation, the two clamping blocks 61 clamp the object, start the operating motor 20, so that the adjusting arm 13 rotates on the moving mouth 51, start the rotating motor 21, so that the movable arm 22 rotates, start the adjusting motor 23, so that the mechanical claw 30 rotates, so that the mechanical claw 30 can clamp the object conveniently, and start the traction motor 40 again. At this time, the rotating column 11 rotates, and the two clamping blocks 61 move away from each other. The mechanical claw 30 is convenient for transferring objects on the production line, and the production line does not need to stop running, thereby improving work efficiency.
[0023] Working principle: When the mechanical claw 30 needs to perform a clamping operation, the traction motor 40 is started, so that the rotating column 11 rotates on the fixed base 10, the rotating column 11 drives the first equal-diameter bevel gear 41 to rotate, the first equal-diameter bevel gear 41 drives the second equal-diameter bevel gear 43 to rotate, the second equal-diameter bevel gear 43 drives the fan gear 50 to rotate through the rotating rod 42, and the fan gear 50 is only toothed with one of the traction racks 91, so that the elliptical frame 90 is reciprocated on the fixed rod 82 through the sliding block 83, the elliptical frame 90 drives the mounting frame 92 to reciprocate, the mounting frame 92 drives the operating rack 94 on the assembly block 93 to reciprocate, the operating rack 94 repeatedly drives the operating gear 95 to reciprocate, and the operating gear 95 drives the transmission screw 70 to rotate, so that the transmission screw 70 rotates on the adjusting block 72, and under the action of the adjusting rod 81, the adjusting block 72 is moved on the transmission screw The rod 70 moves, the adjusting rod 81 pulls the guide block 53 to move on the connecting rod 52, and the guide block 53 mobilizes the clamping block 61 on the operating rod 60 to move, so that the two clamping blocks 61 can clamp the objects. When the production line is running continuously, the clamped objects cannot be moved, and the rotating motor 21 is started to rotate the movable arm 22, and the adjusting motor 23 is started to rotate the mechanical claw 30, so that the mechanical claw 30 can clamp the objects. The traction motor 40 is started again, and the rotating column 11 rotates at this time. At this time, the two clamping blocks 61 move away, and the mechanical claw 30 is convenient for transferring the objects on the production line. The production line does not need to stop running, which improves work efficiency. When the rotating column 11 rotates 360 degrees, the elliptical frame 90 reciprocates once, and the elliptical frame 90 moves forward to the farthest point, and the clamping block 61 clamps the objects. The elliptical frame 90 moves backward, and the clamping block 61 moves away from the objects. The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.
Claims
1. A multi-joint deformable robot arm, comprising a fixed base (10), characterized in that: The fixed base (10) is fixedly equipped with a connecting block (32), and the connecting block (32) is symmetrically provided with a moving opening (51), and the moving opening (51) is symmetrically fixedly equipped with a connecting rod (52), and the two connecting rods (52) are movably equipped with a guide block (53), and the lower part of the surface of the guide block (53) is fixedly equipped with an operating rod (60), and one end of the operating rod (60) is fixedly equipped with a clamping block (61), and the connecting block (32) is symmetrically fixedly equipped with a vertical block (62), and the vertical block (62) is located between the two moving openings (51), and a horizontal block (61) is fixedly equipped between the vertical blocks (62). 3), a transmission screw (70) is movably mounted on the transverse block (63), a limit plate (71) is fixedly mounted on the bottom of the transmission screw (70), an operating gear (95) is fixedly mounted on the top of the transmission screw (70), an adjustment block (72) is threadedly mounted on the transmission screw (70), first mounting plates (73) are fixedly mounted on both symmetrical side surfaces of the adjustment block (72), a second mounting plate (80) is fixedly mounted on the top of the guide block (53), an adjustment rod (81) is movably mounted on the second mounting plate (80), and the other end of the adjustment rod (81) is movably mounted corresponding to the first mounting plate (73).
2. The multi-joint deformable robot arm according to claim 1, characterized in that: An inner cavity (33) is provided inside the fixed base (10); a traction motor (40) is fixedly mounted on the bottom surface of the inner cavity (33); a rotating column (11) is fixedly mounted on the output end of the traction motor (40); the rotating column (11) movably penetrates the fixed base (10); a first equi-diameter bevel gear (41) is fixedly mounted on the rotating column (11); and the first equi-diameter bevel gear (41) is located in the inner cavity (33).
3. The multi-joint deformable robot arm according to claim 2, characterized in that: A rotating rod (42) is movably mounted on the fixed base (10); a second miter bevel gear (43) is fixedly mounted on one end of the rotating rod (42); the second miter bevel gear (43) is toothedly mounted with the first miter bevel gear (41); a fan gear (50) is fixedly mounted on the other end of the rotating rod (42); the fan gear (50) is located on one side of the fixed base (10).
4. The multi-joint deformable robot arm according to claim 3, characterized in that: A fixed frame (31) is fixedly mounted on the surface of the fixed base (10), the fixed frame (31) is located above the connecting block (32), and fixed rods (82) are symmetrically fixedly mounted on the inner wall of the fixed frame (31), sliding blocks (83) are movably mounted on the fixed rods (82), and an elliptical frame (90) is fixedly mounted between the two sliding blocks (83).
5. The multi-joint deformable robot arm according to claim 4, characterized in that: The two symmetrical inner walls of the elliptical frame (90) are both fixedly mounted with traction racks (91), the sector gear (50) is located between the two traction racks (91), and the sector gear (50) is toothedly mounted on only one of the traction racks (91).
6. The multi-joint deformable robot arm according to claim 5, characterized in that: The elliptical frame (90) is fixedly mounted with a mounting frame (92), the mounting frame (92) is fixedly mounted with an assembly block (93), the assembly block (93) is fixedly mounted with an operating rack (94), and the operating rack (94) and the operating gear (95) are toothedly assembled.
7. The multi-joint deformable robot arm according to claim 2, characterized in that: A connecting arm (12) is fixedly mounted on the top of the rotating column (11); a moving opening (51) is provided at one end of the connecting arm (12); an adjusting arm (13) is mounted on the moving opening (51); an operating motor (20) is fixedly mounted on the connecting arm (12); an output end of the operating motor (20) movably penetrates the moving opening (51), and the output end of the operating motor (20) is fixedly mounted on the adjusting arm (13).
8. The multi-joint deformable robot arm according to claim 7, characterized in that: The adjusting arm (13) is fixedly equipped with a rotating motor (21), the output end of the rotating motor (21) movably penetrates the adjusting arm (13), and the output end of the rotating motor (21) is fixedly equipped with a movable arm (22), the movable arm (22) is located on one side of the adjusting arm (13), one end of the movable arm (22) is fixedly equipped with the adjusting motor (23), the output end of the adjusting motor (23) movably penetrates the movable arm (22), and the output end of the adjusting motor (23) is fixedly equipped with a mechanical claw (30), the mechanical claw (30) is close to the other end of the movable arm (22).
9. The multi-joint deformable robot arm according to claim 7, characterized in that: When the rotating column (11) rotates (360) degrees, the elliptical frame (90) reciprocates once.