Four-axis mechanical arm

Abstract

The invention is suitable for the technical field of industrial mechanical arms, and provides a four-axis mechanical arm which comprises a main base assembly, the inner wall of the main base assembly is movably connected with a first arm plate, the outer wall of the first arm plate is provided with a plurality of regulation and control assemblies, and the regulation and control assemblies are arranged on the outer wall of the first arm plate. The outer wall of the first arm plate is movably connected with a second arm plate through a regulation and control assembly. An upper small hydraulic cylinder is controlled to lift and adjust a micro motor and a clamping frame on a lower connecting disc, when the position of the clamping frame reaches the outer wall of a clamping groove, the micro motor is started and controlled to be used, the micro motor can be rotationally driven to clamp the outer wall of the clamping groove, the upper small hydraulic cylinder is controlled to lift a shaft rod, the shaft rod can be lifted, and an incremental fluted disc is moved away from a toothed chain; at the moment, lubricating oil is added to the shaft rod and the outer wall of the incremental fluted disc, the incremental fluted disc can be driven to rotate by rotating the shaft rod, so that the lubricating oil rotates on the shaft rod to fully infiltrate and wrap the shaft rod, the comprehensive maintenance effect is achieved, and then the upper small hydraulic cylinder is controlled to lower the shaft rod.

Description

Technical Field

[0001] The invention belongs to the technical field of industrial robot arms, and in particular relates to a four-axis robot arm. Background Art

[0002] An industrial robot arm is a mechanical and electronic device with the functions of a human arm, wrist and hand. It can move any object or tool according to the time-varying requirements of spatial position (position and posture) to complete the operation requirements of a certain industrial production. For example, clamping welding tongs or welding guns to perform spot welding or arc welding on the body of a car or motorcycle; carrying die-cast or stamped parts or components; performing laser cutting, spraying, and assembling mechanical parts, etc.; the existing four-axis robotic arms generally have multiple sets of motors and gears and other connecting structure groups at the joint connections to achieve the adjustment and use of adjacent connected arm rods, thereby achieving the corresponding anthropomorphic arm operation, but multiple sets of motors and gears and other connecting structure components require regular maintenance. Simple maintenance operations such as adding lubricating oil require disassembly and installation of the robotic arm group, which is cumbersome and inefficient. After adding lubricating oil, it is necessary to continue to move and rotate the gears and other connecting structure components to achieve full oil infiltration. However, when the gears and other connecting structure components are active, they will inevitably drive the corresponding arm rods and other mechanisms to work together, requiring a certain amount of space to be freed up, and the operation is relatively cumbersome.

[0003] In order to solve the above problems, it is necessary to design a four-axis robot arm that can be easily maintained on a daily basis. Summary of the invention

[0004] The present invention provides a four-axis robotic arm, aiming to solve the problem that the existing four-axis robotic arm generally has multiple groups of motors, gears and other connecting structure groups at the joint connection to achieve the adjustment and use of adjacent connected arm rods, so as to achieve the corresponding anthropomorphic arm operation, but the multiple groups of motors, gears and other connecting structure components require regular maintenance, and simple maintenance operations such as adding lubricating oil require the disassembly and installation of the robotic arm group, which is troublesome and inefficient to operate, and after adding lubricating oil, it is necessary to continue to move and rotate the gears and other connecting structure components to achieve sufficient oil infiltration, but when the gears and other connecting structure components are active, they will inevitably drive the corresponding arm rods and other mechanisms to work together, and a certain space needs to be vacated, which is a relatively cumbersome problem to operate.

[0005] The present invention is implemented as follows: a four-axis robot arm comprises a main seat assembly: the inner wall of the main seat assembly is movably connected with a first arm plate, the outer wall of the first arm plate is provided with a regulating assembly, the number of the regulating assemblies is multiple, the outer wall of the first arm plate is movably connected with a second arm plate through the regulating assembly, the outer wall of the second arm plate is movably connected with a third arm plate through the regulating assembly, and the bottom of the third arm plate is movably connected with a clamping claw assembly through the regulating assembly; through the coordinated use of the first arm plate, the second arm plate, the second arm plate, the clamping claw assembly and the plurality of regulating assemblies, the relative movable operation direction between two adjacent mechanisms between the first arm plate, the second arm plate, the second arm plate and the clamping claw assembly can be flexibly adjusted; Among them, the regulating component includes an upper motor and an outer protective shell fixedly arranged on the first arm plate, the second arm plate and the top of the second arm plate, and the regulating component also includes a driven rotating shaft movably connected to the inner wall of the first arm plate, the second arm plate and the second arm plate.

[0006] Preferably, the output shaft of the upper motor is fixedly connected to the driving shaft through a coupling, the outer wall of the driving shaft is fixedly connected to a gear, the outer wall of the gear is meshingly connected to a toothed chain, and the outer wall of the gear is transmission-connected to the outer wall of the driven rotating shaft through the toothed chain; through the coordinated use of the driving shaft, the toothed chain, the upper motor and the driven rotating shaft, during use, by controlling the use of the upper motor, the driving shaft can be driven to rotate, thereby driving the first arm plate, the second arm plate, the second arm plate and the clamping jaw assembly that are fitted and connected to the driven rotating shaft to operate.

[0007] Preferably, the driven rotating shaft member comprises a shaft rod inserted into the second arm plate, the second arm plate and the inner wall of the clamping jaw assembly, and the outer wall of the shaft rod is fixedly connected with a plurality of incremental toothed discs, and the diameters and the number of teeth of the plurality of incremental toothed discs are increased from top to bottom in sequence; by setting a plurality of incremental toothed discs, by replacing the engagement connection between different incremental toothed discs and the tooth chain, the transmission speed of the incremental toothed disc can be adjusted under the same rotation number of the upper motor, so as to achieve the purpose of speed adjustment of the shaft rod; The bottom ring of the shaft rod is provided with several limit bars, and the bottom of the shaft rod is slidably connected with the second arm plate, the second arm plate and the inner wall of the clamping jaw assembly through the several limit bars; through the arrangement of the several limit bars fittingly connected with the second arm plate, the second arm plate and the inner wall of the clamping jaw assembly, the purpose of driving the second arm plate, the second arm plate and the clamping jaw assembly to rotate is achieved by rotating the shaft rod.

[0008] Preferably, a slot is provided at the top of the shaft, and an upper extraction mechanism is connected to the inner wall of the slot; The upper extraction mechanism comprises an upper connecting seat fixed to the top of the inner wall of the outer protective shell, the top of the upper connecting seat is provided with a fixing hole, the bottom of the upper connecting seat is fixedly connected to an upper small hydraulic cylinder, the bottom of the upper small hydraulic cylinder is fixedly connected to a lower connecting plate, the bottom of the lower connecting plate is fixedly connected to a micro motor, the bottom of the lower connecting plate is movably connected to a card frame, the output shaft of the micro motor is fixedly connected to a rotating pin through a coupling, the outer wall of the rotating pin is fixedly connected to the inner wall of the card frame; the micro motor and the card frame on the lower connecting plate are lifted and adjusted by controlling the use of the upper small hydraulic cylinder, and when the position of the card frame reaches the outer wall of the card slot, the control of using the micro motor is started, and the micro motor can be The rotation drives the micro motor to engage the outer wall of the slot, and controls the upper small hydraulic cylinder to lift the shaft rod, which can move the shaft rod up and move the incremental gear disc away from the tooth chain. At this time, add lubricating oil to the shaft rod and the outer wall of the incremental gear disc, and rotate the shaft rod to drive the incremental gear disc to rotate, so that the lubricating oil rotates on the shaft rod and fully infiltrates and wraps it, thereby achieving a more comprehensive maintenance effect. Then control the upper small hydraulic cylinder to lower the shaft rod, so that the incremental gear disc engages with the inner wall of the tooth chain. When the robotic arm is used again, the upper motor drives the gear to rotate, which can be transmitted through the tooth chain, so that the gear and the tooth chain are evenly coated with and absorbed by the lubricating oil, thereby achieving a more comprehensive maintenance effect.

[0009] Preferably, the regulating assembly further comprises a limiter and a replacement inner support member fixedly arranged on the first upper arm plate, the second upper arm plate and the second upper arm plate; The inner wall of the limiting member is in close contact with the upper and lower sides of the toothed chain; by setting the limiting member, the use height position of the toothed chain can be limited; The number of the replacement inner support members is three, and the three replacement inner support members are arranged in a ring at the bottom of the incremental toothed disk and are arranged in a ring with the outer diameter of the bottom incremental toothed disk as a reference; the replacement inner support members include a small lifting hydraulic rod fixedly arranged on the first arm plate, the second arm plate and the second arm plate, and a support plate at the top of the small lifting hydraulic rod; through the ring arrangement of the three replacement inner support members, when the upper extraction mechanism extracts the driven rotating shaft member upward and the driven rotating shaft member is away from the tooth chain, the small lifting hydraulic rod is controlled at the same time to lift the support plate, and the three support plates are used to lift the replacement incremental toothed disk from the bottom, so that the tooth chain maintains its original open shape, so that it can be connected to the incremental toothed disk again later.

[0010] Preferably, an operating door is provided on the outer wall of the outer protective shell, and an operating door member is provided on the inner wall of the operating door; The operating door component includes a telescopic door slidably arranged on the inner wall of the operating door and a small side hydraulic cylinder fixedly arranged on the inner wall of the outer protective shell, one end of the small side hydraulic cylinder is fixedly connected to the outer wall of the telescopic door; by controlling the use of the small side hydraulic cylinder, the telescopic door can be pulled horizontally, thereby opening the operating door and performing simple maintenance operations on the transmission mechanism of the internal control component.

[0011] Preferably, the clamping jaw assembly comprises a motor seat arranged at the bottom of the shaft, the bottom of the motor seat is fixedly connected with a claw plate, and the inner wall of the claw plate is movably connected with a plurality of clamping jaws; The motor seat comprises a motor housing, the inner wall of which is provided with a lower motor, the output shaft of which is fixedly connected to the top of the claw plate through a coupling; through the arrangement of the clamping jaw assembly, the purpose of anthropomorphic picking operation can be achieved in use, and through the arrangement of the motor seat, the claw plate can be rotated to adjust the use direction of the clamping jaws, so as to achieve the purpose of precise operation; A transverse mounting hole is provided on the bottom outer wall of the shaft rod, and the shaft rod and the motor seat are fixedly connected via the transverse mounting hole and bolts. By setting the transverse mounting hole and the bolt fixed connection between the shaft rod and the motor seat, it is possible to install and disassemble the clamping jaw assembly while facilitating the installation of other tools, such as welding equipment.

[0012] Preferably, the bottom of the claw plate is movably connected to several inclined hydraulic cylinders, one end of the inclined hydraulic cylinder is provided with a connecting ball, the outer wall of the connecting ball is fitted and movably connected with a spherical sleeve, and the outer wall of the spherical sleeve is fixedly connected to the outer wall of the clamping jaw; through the setting of the inclined hydraulic cylinder, in use, the clamping jaw can be movably pulled by controlling the use of the inclined hydraulic cylinder to achieve the purpose of clamping operation through the clamping jaw.

[0013] Preferably, the main seat assembly includes two end plates, and a movable seat is movably connected between the two end plates, a side seat is fixedly connected between the two end plates, and a built-in limit frame is fixedly connected between the two end plates. The outer wall of the end plate is fixedly connected to a main hydraulic cylinder, one end of the main hydraulic cylinder is fixedly connected to the bottom of the first arm plate, and two main limit blocks are fixedly connected to the two sides of the first arm plate, and the outer walls of the main limit blocks are fitted and slidably connected with the inner walls of the built-in limit frame; by controlling the use of the main hydraulic cylinder, the first arm plate and the external connecting part of the first arm plate can be longitudinally moved along the central axis direction of the main hydraulic cylinder. The setting of the outer wall of the main limit block fittingly and slidingly connected with the inner wall of the built-in limit frame can achieve an auxiliary limiting effect.

[0014] Compared with the prior art, the embodiments of the present application have the following beneficial effects: The micro motor and the bracket on the lower connecting disk are raised and lowered by controlling the upper small hydraulic cylinder. When the bracket reaches the outer wall of the slot, the micro motor is started to rotate and drive the micro motor to engage with the outer wall of the slot. The upper small hydraulic cylinder is controlled to lift the shaft rod, which can be moved upward so that the incremental gear disc is moved away from the toothed chain. At this time, lubricating oil is added to the shaft rod and the outer wall of the incremental gear disc, and the shaft rod is rotated to drive the incremental gear disc to rotate, so that the lubricating oil rotates on the shaft rod and fully infiltrates and wraps it, thereby achieving a more comprehensive maintenance effect. The upper small hydraulic cylinder is then controlled to lower the shaft rod so that the incremental gear disc engages with the inner wall of the toothed chain. When the mechanical arm is used again, the upper motor drives the gear to rotate, which can be transmitted through the toothed chain, so that the gear and the toothed chain are evenly coated with and absorb the lubricating oil, thereby achieving a more comprehensive maintenance effect. By controlling the small hydraulic cylinder on the user side, the telescopic door can be pulled horizontally, thereby opening the operating door and performing simple maintenance operations on the transmission mechanism of the internal control components; By setting the shaft and the motor seat to be fixedly connected through the transverse mounting hole and the bolt, it is possible to install and disassemble the clamping jaw assembly while facilitating the installation of other tools, such as welding equipment; Through the ring arrangement of three replacement inner support members, when the upper extraction mechanism extracts the driven rotating shaft member upwards and the driven rotating shaft member is away from the toothed chain, the small lifting hydraulic rod is controlled at the same time to lift the support plate, and the three support plates are used to lift and replace the incremental toothed plate from the bottom, so that the toothed chain maintains the original open state, so as to be connected with the incremental toothed plate again later; Through the setting of the clamping claw assembly, the purpose of anthropomorphic picking operation can be achieved during use; By controlling the use of the main hydraulic cylinder, the first arm plate and the use height of the external connecting part of the first arm plate can be longitudinally moved along the central axis direction of the main hydraulic cylinder. The outer wall of the main limit block and the inner wall of the built-in limit frame are slidably connected to achieve an auxiliary limiting effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a front view of the present invention; Figure 2 is a schematic diagram of the internal structure of the control component of the present invention; Figure 3 It is a schematic diagram of the connection structure between the upper extraction mechanism and the driven rotating shaft member of the present invention; Figure 4 It is a schematic diagram of the external structure of the regulating component and the operating door structure of the present invention; Figure 5 It is a schematic diagram of the connection structure between the main hydraulic cylinder and the first arm plate of the present invention; Figure 6 It is a schematic diagram of the connection structure between the shaft rod and the third arm plate and the second arm plate of the present invention; Figure 7 It is a schematic diagram of the structure of the clamping jaw assembly of the present invention; Figure 8 It is a schematic diagram of the structure of the main seat assembly of the present invention.

[0016] In the figure: 1, first arm plate; 2, regulating assembly; 201, outer protective shell; 202, upper extraction mechanism; 2021, upper connecting seat; 2022, upper small hydraulic cylinder; 2023, lower connecting plate; 2024, micro motor; 2025, bracket; 203, driven shaft; 2031, shaft; 2032, incremental toothed disc; 204, limiter; 205, driving shaft; 206, upper motor; 207, toothed chain ; 208, operating door parts; 2081, telescopic door; 2082, small side hydraulic cylinder; 209, replacement of inner support parts; 3, second arm plate; 4, third arm plate; 5, clamping jaw assembly; 501, motor seat; 502, claw plate; 503, clamping jaw; 504, inclined hydraulic cylinder; 6, main seat assembly; 601, end plate; 602, side seat; 603, movable seat; 7, built-in limit frame; 8, main hydraulic cylinder; 9, main limit block. DETAILED DESCRIPTION

[0017] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by technicians in the technical field of this application; the terms used in the specification of the application herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, not to describe a specific order.

[0018] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0019] The embodiment of the present invention provides a four-axis robot arm, including a main seat assembly 6: the inner wall of the main seat assembly 6 is movably connected to a first arm plate 1, the outer wall of the first arm plate 1 is provided with a regulating assembly 2, the number of the regulating assembly 2 is multiple, the outer wall of the first arm plate 1 is movably connected to a second arm plate 3 through the regulating assembly 2, the outer wall of the second arm plate 3 is movably connected to a third arm plate 4 through the regulating assembly 2, and the bottom of the third arm plate 4 is movably connected to a clamping claw assembly 5 through the regulating assembly 2; The regulating component 2 includes an upper motor 206 and an outer protective shell 201 fixedly arranged on the first arm plate 1, the second arm plate 3, and the top of the second arm plate 3, and the regulating component 2 also includes a driven rotating shaft 203 movably connected to the first arm plate 1, the second arm plate 3, and the inner wall of the second arm plate 3; The output shaft of the upper motor 206 is fixedly connected to the driving shaft 205 through a coupling, the outer wall of the driving shaft 205 is fixedly connected to a gear, the outer wall of the gear is meshedly connected to a toothed chain 207, and the outer wall of the gear is transmission-connected to the outer wall of the driven rotating shaft 203 through the toothed chain 207; The driven rotating shaft 203 includes a shaft 2031 inserted into the second arm plate 3, the second arm plate 3 and the inner wall of the clamping jaw assembly 5, and the outer wall of the shaft 2031 is fixedly connected with a plurality of incremental toothed discs 2032, and the diameters and the number of teeth of the plurality of incremental toothed discs 2032 increase from top to bottom; The bottom of the shaft rod 2031 is provided with a plurality of limit bars in a ring array, and the bottom of the shaft rod 2031 is slidably connected with the second arm plate 3, the second arm plate 3 and the inner wall of the clamping jaw assembly 5 through the plurality of limit bars; A slot is formed at the top of the shaft 2031, and the inner wall of the slot is connected with the upper extraction mechanism 202; The upper extraction mechanism 202 includes an upper connecting seat 2021 fixed to the top of the inner wall of the outer protective shell 201, a fixing hole is opened on the top of the upper connecting seat 2021, an upper small hydraulic cylinder 2022 is fixedly connected to the bottom of the upper connecting seat 2021, a lower connecting plate 2023 is fixedly connected to the bottom of the upper small hydraulic cylinder 2022, a micro motor 2024 is fixedly connected to the bottom of the lower connecting plate 2023, a bracket 2025 is movably connected to the bottom of the lower connecting plate 2023, and the output shaft of the micro motor 2024 is fixedly connected to a rotating pin through a coupling, and the outer wall of the rotating pin is fixedly connected to the inner wall of the bracket 2025; The regulating assembly 2 also includes a stopper 204 and a replacement inner support member 209 fixedly arranged on the upper first arm plate 1, the second arm plate 3 and the second arm plate 3; The inner wall of the limiter 204 is in close contact with the upper and lower sides of the toothed chain 207; The number of the replacement inner support members 209 is three, and the three replacement inner support members 209 are arranged in a ring at the bottom of the incremental toothed disc 2032 and are arranged in a ring with the outer diameter of the bottom incremental toothed disc 2032 as a reference; the replacement inner support member 209 includes a small lifting hydraulic rod fixedly arranged on the first arm plate 1, the second arm plate 3, and the second arm plate 3, and a support plate at the top of the small lifting hydraulic rod; An operating door is provided on the outer wall of the outer protective shell 201, and an operating door member 208 is provided on the inner wall of the operating door; The operating door member 208 includes a telescopic door 2081 slidably arranged on the inner wall of the operating door and a small side hydraulic cylinder 2082 fixedly arranged on the inner wall of the outer protective shell 201 , and one end of the small side hydraulic cylinder 2082 is fixedly connected to the outer wall of the telescopic door 2081 .

[0020] In a further preferred embodiment of the present invention, the micro motor 2024 and the bracket 2025 on the lower connecting plate 2023 are raised and lowered by controlling the upper small hydraulic cylinder 2022. When the bracket 2025 reaches the outer wall of the slot, the micro motor 2024 is started and controlled to rotate and drive the micro motor 2024 to engage with the outer wall of the slot. The upper small hydraulic cylinder 2022 is controlled to raise the shaft 2031, and the shaft 2031 can be raised and moved so that the incremental toothed disc 2032 is moved away from the toothed chain 207. At this time, the shaft 2031 and the outer wall of the incremental toothed disc 2032 are moved. Add lubricating oil and rotate the shaft 2031 to drive the incremental toothed disc 2032 to rotate, so that the lubricating oil rotates on the shaft 2031 and fully infiltrates and wraps it, thereby achieving a more comprehensive maintenance effect. Then control the upper small hydraulic cylinder 2022 to lower the shaft 2031, so that the incremental toothed disc 2032 is engaged with the inner wall of the toothed chain 207. When the robot arm is used again, the upper motor 206 drives the gear to rotate, which can be transmitted through the toothed chain 207, so that the gear and the toothed chain 207 are evenly coated with and absorbed by the lubricating oil, thereby achieving a more comprehensive maintenance effect. In a further preferred embodiment of the present invention, by using the first arm plate 1, the second arm plate 3, the second arm plate 3, the clamping jaw assembly 5 and the plurality of regulating and controlling components 2 in coordination, the relative movement operation direction between two adjacent mechanisms between the first arm plate 1, the second arm plate 3, the second arm plate 3 and the clamping jaw assembly 5 can be flexibly adjusted; In a further preferred embodiment of the present invention, through the coordinated use of the driving shaft 205, the toothed chain 207, the upper motor 206 and the driven rotating shaft 203, in use, by controlling the use of the upper motor 206, the driving shaft 205 can be driven to rotate, thereby driving the first arm plate 1, the second arm plate 3, the second arm plate 3 and the clamping jaw assembly 5 that are connected to the driven rotating shaft 203 to move and operate; In a further preferred embodiment of the present invention, by setting a plurality of incremental toothed discs 2032, by changing the engagement connection between different incremental toothed discs 2032 and the toothed chain 207, the transmission speed of the incremental toothed disc 2032 can be adjusted under the same rotation number of the upper motor 206, so as to achieve the purpose of speed adjustment of the shaft 2031; In a further preferred embodiment of the present invention, a plurality of limit bars are arranged to fit and connect with the inner wall of the second arm plate 3, the second arm plate 3 and the clamping jaw assembly 5, so as to achieve the purpose of driving the second arm plate 3, the second arm plate 3 and the clamping jaw assembly 5 to rotate by rotating the shaft rod 2031; In a further preferred embodiment of the present invention, the use height position of the toothed chain 207 can be limited by setting the limiting member 204; In a further preferred embodiment of the present invention, three replacement inner support members 209 are arranged in a ring, when the upper extraction mechanism 202 extracts the driven rotating shaft member 203 upwards and the driven rotating shaft member 203 is away from the toothed chain 207, the small lifting hydraulic rod is controlled at the same time to raise the support plate, and the three support plates are used to raise and replace the incremental toothed plate 2032 from the bottom, so that the toothed chain 207 maintains the original open state, so as to be connected with the incremental toothed plate 2032 again later; In a further preferred embodiment of the present invention, by controlling the use of the side small hydraulic cylinder 2082, the telescopic door 2081 can be pulled horizontally, thereby opening the operating door and performing simple maintenance operations on the transmission mechanism of the internal control component 2.

[0021] It should be noted that, since the existing four-axis robotic arms generally have multiple groups of motors and gears and other connecting structure groups at the joint connections to achieve the adjustment and use of adjacent connected arm rods, thereby achieving the corresponding anthropomorphic arm operation, multiple groups of motors and gears and other connecting structure components require regular maintenance. Simple maintenance operations such as adding lubricating oil require the disassembly and installation of the robotic arm group, which is cumbersome and inefficient. After adding lubricating oil, it is necessary to continue to move and rotate the gears and other connecting structure components to achieve full oil infiltration. However, when the gears and other connecting structure components are active, they will inevitably drive the corresponding arm rods and other mechanisms to work together, requiring a certain amount of space to be freed up, and the operation is relatively cumbersome.

[0022] Specifically, in this embodiment, this scheme is mainly through the setting and coordinated use of the first arm plate 1, the second arm plate 3, the second arm plate 3, the clamping jaw assembly 5 and several regulating components 2. During use, first, the robot arm is installed and fixed by the main seat assembly 6, and the use direction of the bottom arm plate or the clamping jaw assembly 5 of the two adjacent connected arm plates is driven and adjusted by controlling the use of the regulating component 2: the upper motor 206 is controlled to drive the driving shaft 205 and the gear to rotate, and through the gear chain 207, the driven rotating shaft 203 and the arm plate and the clamping jaw assembly 5 connected to the bottom of the driven rotating shaft 203 are driven to rotate; in addition, the main hydraulic cylinder 8 is controlled to realize the longitudinal movement of the first arm plate 1 and the use height of the external connecting parts of the first arm plate 1 along the central axis direction of the main hydraulic cylinder 8.

[0023] In a further preferred embodiment of the present invention, the clamping jaw assembly 5 includes a motor base 501 disposed at the bottom of the shaft 2031, a claw plate 502 is fixedly connected to the bottom of the motor base 501, and a plurality of clamping jaws 503 are movably connected to the inner wall of the claw plate 502; The motor base 501 includes a motor housing, the inner wall of which is provided with a lower motor, and the output shaft of the lower motor is fixedly connected to the top of the claw plate 502 through a coupling; A transverse mounting hole is provided on the bottom outer wall of the shaft rod 2031, and the shaft rod 2031 and the motor seat 501 are fixedly connected via the transverse mounting hole and bolts; The bottom of the claw plate 502 is movably connected to a plurality of inclined hydraulic cylinders 504 , one end of the inclined hydraulic cylinder 504 is provided with a connecting ball, the outer wall of the connecting ball is movably connected to a spherical sleeve, and the outer wall of the spherical sleeve is fixedly connected to the outer wall of the clamping claw 503 .

[0024] In this embodiment, by setting the clamping claw assembly 5, the purpose of anthropomorphic picking operation can be achieved in use, and by setting the motor base 501, the rotation adjustment of the claw plate 502 and the clamping direction of the plurality of clamping claws 503 can be achieved to achieve the purpose of precise operation; In this embodiment, by setting the shaft 2031 and the motor seat 501 to be fixedly connected through the transverse mounting hole and the bolt, it is possible to install and disassemble the clamping jaw assembly 5 while facilitating the installation of other tools, such as welding equipment; In this embodiment, by providing the inclined hydraulic cylinder 504 , during use, the movable pulling of the clamping jaw 503 is achieved by controlling the use of the inclined hydraulic cylinder 504 , so as to achieve the purpose of clamping operation through the clamping jaw 503 .

[0025] In a further preferred embodiment of the present invention, the main seat assembly 6 includes an end plate 601, the number of the end plates 601 is two, and a movable seat 603 is movably connected between the two end plates 601, a side seat 602 is fixedly connected between the two end plates 601, a built-in limit frame 7 is fixedly connected between the two end plates 601, a main hydraulic cylinder 8 is fixedly connected to the outer wall of the end plate 601, one end of the main hydraulic cylinder 8 is fixedly connected to the bottom of the first arm plate 1, two main limit blocks 9 are fixedly connected to both sides of the first arm plate 1, and the outer walls of the main limit blocks 9 are slidably connected to the inner wall of the built-in limit frame 7.

[0026] In this embodiment, by controlling the use of the main hydraulic cylinder 8, the first arm plate 1 and the use height of the external connecting parts of the first arm plate 1 can be longitudinally moved along the central axis direction of the main hydraulic cylinder 8, wherein the outer wall of the main limit block 9 and the inner wall of the built-in limit frame 7 are slidably connected to each other, thereby achieving an auxiliary limit effect.

[0027] It should be noted that, for the above-mentioned embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described order of actions, because according to the present invention, some steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0028] In the several embodiments provided in the present application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are merely schematic, such as the division of the above-mentioned units. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be in the form of telecommunication or other forms.

[0029] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0030] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the scope of protection of the invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on these embodiments, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in this field can still combine, add, delete or make other adjustments to the features in the various embodiments of the present invention according to the circumstances without conflict, without making creative work, so as to obtain different other technical solutions that do not deviate from the concept of the present invention in essence, and these technical solutions also belong to the scope of protection of the present invention.

Claims

1. A four-axis robotic arm, characterized in that: The invention comprises a main seat component (6): the inner wall of the main seat component (6) is movably connected to a first arm plate (1); the outer wall of the first arm plate (1) is provided with a regulating component (2); the number of the regulating components (2) is plural; the outer wall of the first arm plate (1) is movably connected to a second arm plate (3) via the regulating component (2); the outer wall of the second arm plate (3) is movably connected to a third arm plate (4) via the regulating component (2); the bottom of the third arm plate (4) is movably connected to a clamping claw component (5) via the regulating component (2); The regulating component (2) comprises an upper motor (206) and an outer protective shell (201) fixedly arranged on the first arm plate (1), the second arm plate (3) and the top of the second arm plate (3); the regulating component (2) further comprises a driven rotating shaft (203) movably connected to the first arm plate (1), the second arm plate (3) and the inner wall of the second arm plate (3).

2. A four-axis robotic arm as claimed in claim 1, characterized in that: The output shaft of the upper motor (206) is fixedly connected to the driving shaft (205) via a coupling, the outer wall of the driving shaft (205) is fixedly connected to a gear, the outer wall of the gear is meshingly connected to a toothed chain (207), and the outer wall of the gear is transmission-connected to the outer wall of the driven rotating shaft (203) via the toothed chain (207).

3. A four-axis robotic arm as claimed in claim 2, characterized in that: The driven rotating shaft (203) comprises a shaft (2031) inserted into the second arm plate (3), the second arm plate (3) and the inner wall of the clamping jaw assembly (5); the outer wall of the shaft (2031) is fixedly connected with a plurality of incremental toothed discs (2032); the diameters and the number of teeth of the plurality of incremental toothed discs (2032) increase in sequence from top to bottom; The bottom of the shaft rod (2031) is provided with a plurality of limit bars in a ring array, and the bottom of the shaft rod (2031) is fitted and slidably connected with the second arm plate (3), the second arm plate (3) and the inner wall of the clamping jaw assembly (5) through the plurality of limit bars.

4. A four-axis robotic arm as claimed in claim 3, characterized in that: A slot is formed at the top of the shaft rod (2031), and an upper extraction mechanism (202) is snap-connected to the inner wall of the slot; The upper extraction mechanism (202) comprises an upper connecting seat (2021) fixed to the top of the inner wall of the outer protective shell (201); a fixing hole is provided at the top of the upper connecting seat (2021); an upper small hydraulic cylinder (2022) is fixedly connected to the bottom of the upper connecting seat (2021); a lower connecting plate (2023) is fixedly connected to the bottom of the upper small hydraulic cylinder (2022); a micro motor (2024) is fixedly connected to the bottom of the lower connecting plate (2023); a bracket (2025) is movably connected to the bottom of the lower connecting plate (2023); an output shaft of the micro motor (2024) is fixedly connected to a rotating pin via a coupling; and an outer wall of the rotating pin is fixedly connected to an inner wall of the bracket (2025).

5. A four-axis robotic arm as claimed in claim 3, characterized in that: The regulating assembly (2) further comprises a stopper (204) and a replacement inner support member (209) fixedly arranged on the first upper arm plate (1), the second arm plate (3) and the second arm plate (3); The inner wall of the limiting member (204) is fitted and connected to the upper and lower sides of the toothed chain (207); The number of the replaceable inner support members (209) is three, and the three replaceable inner support members (209) are arranged in a ring at the bottom of the incremental toothed disc (2032) and are arranged in a ring with the outer diameter of the bottom incremental toothed disc (2032) as a reference; the replaceable inner support member (209) comprises a small lifting hydraulic rod fixedly arranged on the first arm plate (1), the second arm plate (3) and the second arm plate (3), and a support plate at the top end of the small lifting hydraulic rod.

6. A four-axis robotic arm as claimed in claim 1, characterized in that: An operating door is provided on the outer wall of the outer protective shell (201), and an operating door member (208) is provided on the inner wall of the operating door; The operating door member (208) comprises a telescopic door (2081) slidably arranged on the inner wall of the operating door and a side small hydraulic cylinder (2082) fixedly arranged on the inner wall of the outer protective shell (201); one end of the side small hydraulic cylinder (2082) is fixedly connected to the outer wall of the telescopic door (2081).

7. A four-axis robotic arm as claimed in claim 1, characterized in that: The clamping jaw assembly (5) comprises a motor seat (501) arranged at the bottom of the shaft (2031), a clamping jaw plate (502) is fixedly connected to the bottom of the motor seat (501), and a plurality of clamping jaws (503) are movably connected to the inner wall of the clamping jaw plate (502); The motor seat (501) comprises a motor housing, the inner wall of which is provided with a lower motor, and the output shaft of the lower motor is fixedly connected to the top of the claw plate (502) via a coupling; A transverse mounting hole is provided on the bottom outer wall of the shaft rod (2031), and the shaft rod (2031) and the motor seat (501) are fixedly connected via the transverse mounting hole and bolts.

8. A four-axis robotic arm as claimed in claim 7, characterized in that: The bottom of the claw plate (502) is movably connected to a plurality of inclined hydraulic cylinders (504), one end of the inclined hydraulic cylinder (504) is provided with a connecting ball, the outer wall of the connecting ball is movably connected to a spherical sleeve, and the outer wall of the spherical sleeve is fixedly connected to the outer wall of the clamping claw (503).

9. A four-axis robotic arm as claimed in claim 1, characterized in that: The main seat assembly (6) comprises an end plate (601), the number of the end plates (601) is two, and a movable seat (603) is movably connected between the two end plates (601), a side seat (602) is fixedly connected between the two end plates (601), and a built-in limit frame (7) is fixedly connected between the two end plates (601), and the outer wall of the end plate (601) is fixedly connected to a main hydraulic cylinder (8), one end of the main hydraulic cylinder (8) is fixedly connected to the bottom of the first arm plate (1), and two main limit blocks (9) are fixedly connected to the two sides of the first arm plate (1), and the outer wall of the main limit block (9) is fitted and slidably connected to the inner wall of the built-in limit frame (7).

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