Multifunctional connecting rod flexible mechanical arm

Abstract

The invention provides a multifunctional connecting rod flexible mechanical arm and relates to the technical field of mechanical arms, the multifunctional connecting rod flexible mechanical arm comprises a base, a mechanical arm body is arranged on the surface of the base, the output end of the mechanical arm body is connected with a convenient disassembly and assembly assembly, the convenient disassembly and assembly assembly comprises a connecting frame, and the front surface of the connecting frame is electrically connected with a quick plug. Fixing blocks are connected to the bottoms of the two sides of the connecting frame correspondingly, and two first springs are arranged in each fixing block. According to the mechanical arm, when the gripper main body of the mechanical arm main body needs to be replaced, the gripper main body can be quickly disassembled by pulling the handles towards the two sides, and then the gripper main body needing to be replaced is inserted into the bottom of the connecting frame to be quickly mounted and fixed, so that the mounting efficiency of the gripper main body is improved; and the problem that replacement is very inconvenient due to the fact that the gripper body is fixed in a bolt connection mode is solved, and the convenience of replacement of the gripper body is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical arms, and in particular to a multifunctional connecting rod flexible mechanical arm. Background Art

[0002] The technical background of the connecting rod flexible robot arm is profound and constantly evolving. Among them, the two-degree-of-freedom serial flexible robot arm of Canada's Quanser company has made an important contribution to its development.

[0003] As disclosed in publication number CN116442203A, a double-link flexible robotic arm comprises: an energized seat, a limiting block, a No. 1 movable arm, a program module, a No. 2 movable arm, and an access slot, wherein the upper end of the energized seat fits with the lower layer of the limiting block, the No. 1 movable arm is embedded in both sides of the limiting block and is clearance-matched, and the program module is fixed to the side end of the No. 1 movable arm and is electrically connected; the invention is further improved by the limiting block, and an auxiliary mechanism is used to replace the original circular rail, so that the auxiliary mechanism is connected with both sides of the bottom of the No. 1 movable arm according to its own interlaced column and rotating rod, and then when the No. 1 movable arm performs an overall azimuth swing, the interlaced column can be used to drive the rotating rod and the rotating sleeve to rotate inside the load-bearing part, thereby achieving a co-rotation effect, preventing the bottom of the No. 1 movable arm from loosening or falling off due to the speed-up swinging operation caused by the clearance, and further improving the overall swing stability of the No. 1 movable arm.

[0004] This invention can improve the overall swing stability of the No. 1 movable arm, but in practical applications, the current robotic arm faces the problem of inconvenient gripper replacement. In order to meet the needs of different tasks, operators usually need to replace grippers of different models and sizes. However, most existing robotic arms rely on bolt connections to fix the grippers, which is not only cumbersome and time-consuming, but also inefficient. Every time the gripper is replaced, the bolts need to be disassembled and reinstalled, which not only increases the complexity of the operation, but also may cause the bolts to loosen or be damaged due to frequent disassembly and assembly, thereby affecting the stability and precision of the robotic arm. Therefore, we propose a new type of multifunctional connecting rod flexible robotic arm. Summary of the invention

[0005] The purpose of the present invention is to solve the problem of inconvenient gripper replacement faced by current robotic arms in practical applications in the prior art. In order to meet the needs of different tasks, operators usually need to replace grippers of different models and sizes. However, most existing robotic arms rely on bolt connections to fix the grippers, which is not only cumbersome and time-consuming, but also inefficient. Every time the gripper is replaced, the bolts need to be disassembled and reinstalled, which not only increases the complexity of the operation, but also may cause the bolts to loosen or be damaged due to frequent disassembly and assembly, thereby affecting the stability and accuracy of the robotic arm.

[0006] In order to achieve the above-mentioned objectives, the present invention adopts the following technical solutions: a multifunctional connecting rod flexible robotic arm, comprising a base, a robotic arm body is arranged on the surface of the base, a convenient disassembly and assembly component is connected to the output end of the robotic arm body, the convenient disassembly and assembly component comprises a connecting frame, a front surface of the connecting frame is electrically connected to a quick-connect plug, the bottoms of both sides of the connecting frame are connected to fixed blocks, two groups of first springs are arranged inside each group of the fixed blocks, a push rod is inserted inside each group of the first springs, a handle is connected to one end of each two groups of push rods, a push plate is connected to the other end of each two groups of push rods, an insertion block is connected to one side of the push plate, a gripper body is inserted inside the connecting frame, slots are provided on the outer surfaces of both sides of the gripper body, and a quick-connect socket is connected to the front surface of the gripper body.

[0007] Furthermore, an oblique opening is provided on the surface of the plug block, and the position and size of the plug block match the position and size of the slot, so that a plug-in connection is formed between the plug block and the slot.

[0008] Furthermore, a plug-in connection is formed between the quick-connect plug and the quick-connect socket, an elastic structure is formed between the push plate and the first spring, and a fixed connection is formed between the push rod and the handle.

[0009] Furthermore, a convenient maintenance component is provided at the rear end of the base, and the convenient maintenance component includes a hinge, and a rotating plate is connected to the surface of the hinge, holes are provided on the inner walls on both sides of the base close to the rotating plate, a bidirectional screw is inserted into the interior of the rotating plate, and moving blocks are provided on both side surfaces of the bidirectional screw, and threaded holes are provided in the interior of the moving block, a first gear is connected to the center position of the surface of the bidirectional screw, a second gear is connected to the surface of the first gear, and a handle is connected to the front surface of the second gear.

[0010] Furthermore, the bidirectional screw is threadedly connected to the moving block through the threaded hole, the size of the moving block matches the size of the hole, and the rotating plate is rotatably connected to the hinge.

[0011] Furthermore, the position and size of the first gear match the position and size of the second gear, the first gear and the second gear are in meshing connection, and the handle and the second gear are in fixed connection.

[0012] Furthermore, a shock-absorbing protection component is connected to the bottom of the base, and the shock-absorbing protection component includes a support plate, dampers are connected at the four corners of the surface of the support plate, two groups of support rods are symmetrically inserted at the center position of the surface of the support plate, second springs are sleeved on both side surfaces of the two groups of support rods, sliders are provided on the surfaces of the support rods close to the two groups of second springs, the surface of each group of sliders is connected to a first rotating shaft, the surface of the first rotating shaft is connected to a connecting rod, and one side surface of the connecting rod is connected to the second rotating shaft.

[0013] Furthermore, the inner wall of the slider is in contact with the outer surface of the support rod, a sliding connection is formed between the slider and the support rod, and an elastic structure is formed between the slider and the second spring.

[0014] Furthermore, the slider is rotationally connected to the connecting rod via the first rotating shaft, and the connecting rod is rotationally connected to the second rotating shaft.

[0015] Furthermore, a fixed connection is formed between the top of the second rotating shaft and the bottom of the base, and the sizes of the four groups of dampers are matched.

[0016] Compared with the prior art, the advantages and positive effects of the present invention are:

[0017] 1. In the present invention, when the gripper body of the robot arm body needs to be replaced, the gripper body can be quickly disassembled by pulling the handles to both sides, and then the gripper body to be replaced can be inserted into the bottom of the connecting frame for quick installation and fixation, thereby improving the installation efficiency of the gripper body, avoiding the problem of fixing the gripper body by bolt connection, which is very inconvenient during replacement, and improving the convenience of replacing the gripper body.

[0018] 2. In the present invention, when the electronic components in the base need to be repaired, the handle can be turned to drive the moving block to retract inward at the same time, and then the rotating plate can be opened by rotating the hinge, avoiding the tedious process of disassembling a large number of parts in the traditional repair method, thereby saving repair time.

[0019] 3. In the present invention, in some complex working environments, such as a factory workshop with strong vibration, the vibration will cause the robot arm body and the base to move downward. At this time, the slider will squeeze the second spring to play a role in buffering and shock absorption, thereby reducing the vibration damage to the inside of the robot arm body, avoiding the problem of loosening of the internal parts of the robot arm body due to vibration, and improving the service life of the robot arm body. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A three-dimensional structural schematic diagram of a multifunctional connecting rod flexible mechanical arm is proposed for the present invention;

[0021] Figure 2 Another perspective schematic diagram of the three-dimensional structure of a multifunctional connecting rod flexible mechanical arm proposed by the present invention;

[0022] Figure 3 The present invention proposes a schematic diagram of the explosion structure of a connecting frame of a multifunctional connecting rod flexible mechanical arm;

[0023] Figure 4 The present invention provides a schematic cross-sectional structure diagram of a fixing block of a multifunctional connecting rod flexible mechanical arm;

[0024] Figure 5 The present invention provides a schematic diagram of a rotating plate opening structure of a multifunctional connecting rod flexible mechanical arm;

[0025] Figure 6 The present invention provides a schematic cross-sectional structure diagram of a rotating plate of a multifunctional connecting rod flexible mechanical arm;

[0026] Figure 7 The present invention provides a schematic diagram of the explosion structure of a support plate of a multifunctional connecting rod flexible mechanical arm.

[0027] Legend: 1. Base; 2. Robot arm body; 3. Convenient disassembly and assembly components; 301. Connecting frame; 302. Quick-connect plug; 303. Fixed block; 304. First spring; 305. Push rod; 306. Handle; 307. Push plate; 308. Insert block; 309. Grip body; 310. Slot; 311. Quick-connect socket; 4. Convenient maintenance components; 401. Hinge; 402. Rotating plate; 403. Hole; 404. Bidirectional screw; 405. Moving block; 406. Threaded hole; 407. First gear; 408. Handle; 409. Second gear; 5. Shock-absorbing protection components; 501. Support plate; 502. Damper; 503. Support rod; 504. Second spring; 505. Slider; 506. First rotating shaft; 507. Connecting rod; 508. Second rotating shaft. DETAILED DESCRIPTION

[0028] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described below in conjunction with the accompanying drawings and embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0029] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways than those described herein. Therefore, the present invention is not limited to the specific embodiments of the following disclosure.

[0030] Embodiment 1, as Figure 1 - Figure 4 As shown, the present invention provides a multifunctional connecting rod flexible mechanical arm, including a base 1, a mechanical arm body 2 is arranged on the surface of the base 1, and a convenient disassembly assembly component 3 is connected to the output end of the mechanical arm body 2, and the convenient disassembly assembly component 3 includes a connecting frame 301, and a quick-connect plug 302 is electrically connected to the front surface of the connecting frame 301, and the bottoms of both sides of the connecting frame 301 are connected to fixed blocks 303, and two groups of first springs 304 are arranged inside each group of fixed blocks 303, and push rods 305 are inserted inside each group of first springs 304, and one end of each two groups of push rods 305 is connected to a handle 306, and the other end of each two groups of push rods 305 is connected to a push plate 30 7. A plug block 308 is connected to one side of the push plate 307, a gripper body 309 is plugged into the interior of the connecting frame 301, slots 310 are provided on the outer surfaces of both sides of the gripper body 309, a quick-connect socket 311 is connected to the front surface of the gripper body 309, an oblique opening is provided on the surface of the plug block 308, the position and size of the plug block 308 match the position and size of the slot 310, a plug-in connection is formed between the plug block 308 and the slot 310, a plug-in connection is formed between the quick-connect plug 302 and the quick-connect socket 311, an elastic structure is formed between the push plate 307 and the first spring 304, and a fixed connection is formed between the push rod 305 and the handle 306.

[0031] The effect achieved by the entire embodiment 1 is that when the gripper body 309 of the robot arm body 2 needs to be replaced, the two sets of handles 306 can be pulled to both sides at the same time, so that the two sets of handles 306 can drive the push rod 305 to retract to both sides at the same time, so that the push rod 305 can drive the push plate 307 to squeeze the first spring 304, and drive the plug block 308 to be pulled out from the slot 310, and then the quick-connect plug 302 is pulled out from the quick-connect socket 311, and then the gripper body 309 is removed from the bottom of the connecting frame 301 to complete the quick disassembly. When installing the new gripper body 309, the gripper body 309 can be directly pulled to the connecting frame 301. When the gripper body 309 is pushed in the connecting frame 301, when the gripper body 309 squeezes the oblique position of the plug block 308, the two groups of plug blocks 308 will automatically shrink. When the gripper body 309 is fully inserted into the connecting frame 301, the first spring 304 will push the push plate 307 through its own elastic force to drive the plug block 308 to be inserted into the slot 310 for fixation, and then the quick-connect plug 302 can be inserted into the quick-connect socket 311 of the gripper body 309, thereby avoiding the problem that the existing gripper body 309 is fixed by bolt connection, which is very inconvenient during replacement, and improving the convenience of replacing the gripper body 309.

[0032] Embodiment 2, as Figure 5 and Figure 6As shown, a convenient maintenance component 4 is provided at the rear end of the base 1, and the convenient maintenance component 4 includes a hinge 401, and a rotating plate 402 is connected to the surface of the hinge 401. Holes 403 are provided on the inner walls of both sides of the base 1 near the rotating plate 402, and a bidirectional screw 404 is inserted into the interior of the rotating plate 402. Moving blocks 405 are provided on both sides of the bidirectional screw 404, and threaded holes 406 are provided in the interior of the moving block 405. A first gear 407 is connected to the center of the surface of the bidirectional screw 404, and the surface of the first gear 407 is connected to The second gear 409, the front surface of the second gear 409 is connected with a handle 408, the bidirectional screw 404 is threadedly connected with the moving block 405 through the threaded hole 406, the size of the moving block 405 matches the size of the hole 403, the rotating plate 402 and the hinge 401 are rotatingly connected, the position and size of the first gear 407 match the position and size of the second gear 409, the first gear 407 and the second gear 409 are meshed, and the handle 408 and the second gear 409 are fixedly connected.

[0033] The effect achieved by the entire embodiment 2 is that when the electronic components in the base 1 fail and need to be disassembled for maintenance, the handle 408 can be turned forward to drive the second gear 409 to rotate forward, and while the second gear 409 rotates forward, it will rotate forward with the first gear 407, thereby driving the bidirectional screw 404 to rotate forward, and while the bidirectional screw 404 rotates forward, it will also rotate forward with the two sets of moving blocks 405 through the threaded holes 406, so that the two sets of moving blocks 405 are simultaneously retracted into the rotating plate 402 and move out of the holes 406. 03, and then the rotating plate 402 can be opened by turning the hinge 401 to carry out internal maintenance. After the maintenance is completed, the rotating plate 402 can be turned closed by the hinge 401, and the handle 408 is turned in the opposite direction to drive the second gear 409 to rotate in the opposite direction, thereby driving the bidirectional screw 404 to rotate in the opposite direction through the first gear 407, and then the two sets of moving blocks 405 are moved to both sides by thread rotation, and are inserted into the hole 403 for fixation, thereby avoiding the tedious process of disassembling a large number of parts in the traditional maintenance method, thereby saving maintenance time.

[0034] Embodiment 3, as Figure 1 and Figure 7As shown, the bottom of the base 1 is connected to a shock-absorbing protection component 5, which includes a support plate 501, and dampers 502 are connected to the four corners of the surface of the support plate 501. Two groups of support rods 503 are symmetrically inserted at the center of the surface of the support plate 501. Second springs 504 are sleeved on both side surfaces of the two groups of support rods 503. Slide blocks 505 are arranged on the surfaces of the support rods 503 close to the two groups of second springs 504. The surface of each group of slide blocks 505 is connected to a first rotating shaft 506, and the surface of the first rotating shaft 506 is connected to a connecting rod 507. , a second rotating shaft 508 is connected to one side surface of the connecting rod 507, the inner wall of the slider 505 is in contact with the outer surface of the support rod 503, the slider 505 and the support rod 503 form a sliding connection, the slider 505 and the second spring 504 form an elastic structure, the slider 505 is rotatably connected to the connecting rod 507 through the first rotating shaft 506, the connecting rod 507 and the second rotating shaft 508 form a rotatable connection, the top of the second rotating shaft 508 and the bottom of the base 1 form a fixed connection, and the sizes of the four groups of dampers 502 are matched

[0035] The effect achieved by the entire embodiment 3 is that when the ground vibrates, the vibration force will cause the robot arm body 2 to move downward, and when the robot arm body 2 moves downward, it will rotate with the connecting rod 507 through the second rotating shaft 508, so that the connecting rod 507 can rotate with the connecting rod 507, and then the connecting rod 507 can push the slider 505 to slide on the surface of the support rod 503 and squeeze the second spring 504 to achieve a buffering effect, and the four groups of dampers 502 can improve the shock absorption effect, thereby realizing the protection of the base 1 and the robot arm body 2, and improving the service life of the base 1 and the robot arm body 2.

[0036] Working principle: When the gripper body 309 of the robot arm body 2 needs to be replaced, the gripper body 309 can be quickly disassembled by pulling the handle 306 to both sides, and then the gripper body 309 to be replaced can be inserted into the bottom of the connecting frame 301 for quick installation and fixation, which improves the installation efficiency of the gripper body 309 and avoids the problem of fixing the gripper body 309 by bolt connection, which is very inconvenient when replacing. It improves the convenience of replacing the gripper body 309. When the electronic components in the base 1 need to be fixed and repaired, the handle 408 can be turned to drive the moving block 4 05 and shrink inward at the same time, and then the rotating plate 402 can be opened by rotating the hinge 401, which avoids the tedious process of disassembling a large number of parts in the traditional maintenance method, thereby saving maintenance time. In some complex working environments, such as a factory workshop with strong vibration, the vibration will cause the robot arm body 2 and the base 1 to move downward. At this time, the slider 505 will squeeze the second spring 504 to play a role in buffering and shock absorption, thereby reducing the vibration damage to the inside of the robot arm body 2, so as to avoid the problem of loosening of the internal parts of the robot arm body 2 due to vibration, thereby increasing the service life of the robot arm body 2.

[0037] The above are only preferred embodiments of the present invention and are not intended to limit the present invention in other forms. Any technician familiar with the profession may use the technical contents disclosed above to change or modify them into equivalent embodiments with equivalent changes and apply them to other fields. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the technical solution of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. A multifunctional connecting rod flexible mechanical arm, comprising a base (1), characterized in that: A mechanical arm body (2) is disposed on the surface of the base (1), and a convenient disassembly and assembly component (3) is connected to the output end of the mechanical arm body (2); The convenient disassembly and assembly component (3) comprises a connecting frame (301), the front surface of the connecting frame (301) is electrically connected to a quick-connect plug (302), the bottoms of both sides of the connecting frame (301) are connected to fixed blocks (303), each group of the fixed blocks (303) is provided with two groups of first springs (304), each group of the first springs (304) is plugged with a push rod (305), one end of each two groups of the push rods (305) is connected to a handle (306), the other end of each two groups of the push rods (305) is connected to a push plate (307), one side of the push plate (307) is connected to an insert block (308), a gripper body (309) is plugged into the connecting frame (301), both sides of the outer surfaces of the gripper body (309) are provided with slots (310), and the front surface of the gripper body (309) is connected to a quick-connect socket (311).

2. The multifunctional connecting rod flexible mechanical arm according to claim 1, characterized in that: The surface of the insert block (308) is provided with an oblique opening, the position and size of the insert block (308) match the position and size of the slot (310), and a plug-in connection is formed between the insert block (308) and the slot (310).

3. The multifunctional connecting rod flexible mechanical arm according to claim 2, characterized in that: The quick-connect plug (302) and the quick-connect socket (311) form a plug-in connection, the push plate (307) and the first spring (304) form an elastic structure, and the push rod (305) and the handle (306) form a fixed connection.

4. The multifunctional connecting rod flexible mechanical arm according to claim 1, characterized in that: A convenient maintenance component (4) is arranged at the rear end of the base (1), and the convenient maintenance component (4) comprises a hinge (401), and a rotating plate (402) is connected to the surface of the hinge (401), and holes (403) are provided on the inner walls of both sides of the base (1) close to the rotating plate (402), and a bidirectional screw (404) is inserted into the interior of the rotating plate (402), and moving blocks (405) are arranged on both side surfaces of the bidirectional screw (404), and a threaded hole (406) is provided in the interior of the moving block (405), and a first gear (407) is connected to the center position of the surface of the bidirectional screw (404), and a second gear (409) is connected to the surface of the first gear (407), and a handle (408) is connected to the front surface of the second gear (409).

5. The multifunctional connecting rod flexible mechanical arm according to claim 4, characterized in that: The bidirectional screw (404) is threadedly connected to the moving block (405) through the threaded hole (406); the size of the moving block (405) matches the size of the hole (403); and the rotating plate (402) is rotatably connected to the hinge (401).

6. The multifunctional connecting rod flexible mechanical arm according to claim 5, characterized in that: The position and size of the first gear (407) match the position and size of the second gear (409), the first gear (407) and the second gear (409) are in meshing connection, and the handle (408) and the second gear (409) are in fixed connection.

7. The multifunctional connecting rod flexible mechanical arm according to claim 1, characterized in that: The bottom of the base (1) is connected to a shock absorbing protection component (5), and the shock absorbing protection component (5) comprises a support plate (501), and dampers (502) are connected to the four corners of the surface of the support plate (501), and two groups of support rods (503) are symmetrically inserted at the center position of the surface of the support plate (501), and the two side surfaces of the two groups of support rods (503) are sleeved with second springs (504), and the surfaces of the support rods (503) close to the two groups of second springs (504) are provided with sliders (505), and the surface of each group of sliders (505) is connected to a first rotating shaft (506), and the surface of the first rotating shaft (506) is connected to a connecting rod (507), and the surface of one side of the connecting rod (507) is connected to a second rotating shaft (508).

8. The multifunctional connecting rod flexible mechanical arm according to claim 7, characterized in that: The inner wall of the slider (505) is in contact with the outer surface of the support rod (503), a sliding connection is formed between the slider (505) and the support rod (503), and an elastic structure is formed between the slider (505) and the second spring (504).

9. The multifunctional connecting rod flexible mechanical arm according to claim 8, characterized in that: The slider (505) is rotationally connected to the connecting rod (507) via the first rotating shaft (506), and the connecting rod (507) is rotationally connected to the second rotating shaft (508).

10. The multifunctional connecting rod flexible mechanical arm according to claim 9, characterized in that: The top of the second rotating shaft (508) is fixedly connected to the bottom of the base (1), and the sizes of the four groups of dampers (502) are matched.

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