A bionic mechanical arm that is easy to adjust direction

Abstract

The present application relates to the technical field of mechanical automation, and in particular to a bionic mechanical arm that is easy to adjust the direction. The bionic mechanical arm of the present application includes a mounting frame and a rotating seat rotatably arranged on the top of the mounting frame, and a first driving member is also arranged at the bottom of the mounting frame; a first fixed plate is fixedly arranged on the side wall of the rotating seat, and a vertical rotating arm and a second driving member are rotatably arranged on the side wall of the first fixed plate, and the output end of the second driving member is rotatably connected to the vertical rotating arm; a second fixed plate is arranged at one end of the vertical rotating arm away from the rotating seat, and the second fixed plate is rotatably matched with the vertical rotating arm, and a rotating disk is rotatably arranged on the side wall of the second fixed plate away from the vertical rotating arm, and a third driving member is arranged on the side wall of the second fixed plate; an adjusting mechanism is arranged on the side wall of the rotating disk away from the second fixed plate; and a grabbing mechanism is arranged on the end of the adjusting mechanism away from the rotating disk. The direction of the bionic mechanical arm of the present application is easy to adjust and easy to use.

Description

Technical Field

[0001] The present application relates to the technical field of mechanical automation, and in particular to a bionic mechanical arm that is easy to adjust in direction. Background Art

[0002] With the popularization and application of mechanical automation, mechanical drive devices have been widely used. In order to reduce production processes, improve production efficiency, and reduce labor costs during product production, more and more companies have begun to use automated assembly lines for processing operations. In automated assembly line processing, most workstations need to load and unload materials. Because manual labor cannot match the assembly line speed well and there are safety hazards, robots are used in loading, unloading, and material turning or moving in the intermediate process.

[0003] The manufacturing industry often needs to use a mechanical arm to perform grasping actions, transfer or carry small or large workpieces, but the traditional mechanical arm is fixed, and the length of its arm is relatively fixed, and the direction of rotation is also relatively fixed, which makes the action of the mechanical arm have certain limitations, thus seriously affecting the work efficiency. For example, in a Chinese patent with publication number CN212331030U and publication date January 12, 2021, a manipulator for intelligent manufacturing is disclosed, including a base, a connecting arm is provided on the base, and a fixed table is provided at the bottom of the connecting arm, a motor room is provided on the base, and a rotating motor is provided inside the motor room, the connecting arm is located above the motor room, and the connecting arm is connected to the rotating motor inside the motor room through a coupling, a first mechanical arm, a second mechanical arm and a third mechanical arm are provided on the fixed table, and a clamping rod is provided on the first mechanical arm, a fixed table is provided on the fixed table, and a cylinder is provided on the top of the fixed table, and a beam is connected to the lower end of the cylinder, and an air pump and an air pump are provided on the clamping rod.

[0004] Therefore, it would be of great development significance if we could develop a robotic arm that is easy to adjust its direction. Summary of the invention

[0005] In order to facilitate the adjustment of the direction of a robotic arm, the present application provides a bionic robotic arm with an easily adjustable direction.

[0006] The present application provides a bionic mechanical arm that is easy to adjust in direction. When it is necessary to clamp a workpiece, the first driving member drives the rotating seat to rotate, thereby driving the vertical rotating arm, the adjusting mechanism and the grasping mechanism to rotate, so as to achieve the adjustment of the direction in the horizontal direction; the second driving member drives the vertical rotating arm to rotate, so as to achieve the adjustment of the direction in the vertical direction; the third driving member drives the rotating disk to rotate, so as to further achieve the rotation of the grasping mechanism, and improve the convenience of use; the fourth driving member drives the extension rod to slide in the storage groove, so as to achieve the adjustment of the length of the bionic mechanical arm; the fifth driving member drives the grasping mechanism to achieve the grasping of the workpiece. As set above, the direction of the mechanical arm is easy to adjust, the application range of the mechanical arm is expanded, and the convenience of using the mechanical arm is improved.

[0007] The present application provides a bionic mechanical arm that is easy to adjust in direction, which adopts the following technical solution:

[0008] A bionic mechanical arm that is easy to adjust in direction, characterized in that it comprises a mounting frame and a rotating seat rotatably arranged on the top of the mounting frame, and a first driving member for driving the rotating seat to rotate is also arranged at the bottom of the mounting frame;

[0009] A first fixing plate is fixedly provided on the side wall of the rotating seat, a vertical rotating arm and a second driving member for driving the vertical rotating arm to rotate are rotatably provided on the side wall of the first fixing plate, and an output end of the second driving member is rotatably connected to the vertical rotating arm;

[0010] A second fixed plate is disposed at one end of the vertical rotating arm away from the rotating seat, the second fixed plate is rotatably matched with the vertical rotating arm, a rotating disk is rotatably disposed on the side wall of the second fixed plate away from the vertical rotating arm, and a third driving member for driving the rotating disk to rotate is also fixedly disposed on the side wall of the second fixed plate;

[0011] An adjustment mechanism is provided on the side wall of the rotating disk away from the second fixed plate, and the adjustment mechanism is used to increase or decrease the overall length of the bionic robot arm;

[0012] A gripping mechanism is disposed at one end of the adjusting mechanism away from the rotating disk, and the gripping mechanism is used for clamping the workpiece to be picked up.

[0013] Optionally, the adjustment mechanism includes a third fixed plate fixedly arranged on the side wall of the rotating disk and a plurality of telescopic components fixedly arranged on the side wall of the third fixed plate, a fourth fixed plate is also arranged on one end of the telescopic component away from the third fixed plate, and the grabbing mechanism is arranged on the side wall of the fourth fixed plate.

[0014] Optionally, four telescopic components are provided, and the four telescopic components are respectively arranged at four corners of the side wall of the third fixed plate, the telescopic components include a rod 1 fixedly provided on the side wall of the third fixed plate and a rod 2 fixedly provided on the side wall of the fourth fixed plate, the rod 1 and the rod 2 are arranged opposite to each other, and a storage groove is provided at one end of the rod 1 close to the rod 2, an extension rod is slidably arranged in the storage groove, and an end of the extension rod away from the rod 1 is fixedly connected to the end of the rod 2, a first mounting plate is fixedly provided on one side wall of the rods of two adjacent telescopic components, and a fourth driving member for driving the extension rod to slide in the storage groove is fixedly provided on the first mounting plate.

[0015] Optionally, a second mounting plate is fixedly provided on two side walls of the rods of two adjacent telescopic assemblies, a push plate is fixedly provided on the second mounting plate, and the output end of the fourth driving member is fixedly connected to the push plate.

[0016] Optionally, a fifth driving member is fixedly provided on the side wall of the fourth fixed plate, a connecting member is fixedly provided on the output end of the fifth driving member, and the grasping mechanism includes a rod three rotatably provided on the connecting member, an L-shaped plate hinged to the end of the rod three, a fifth fixed plate fixedly provided on the side wall of the L-shaped plate, a clamping arm fixedly provided on the side wall of the fifth fixed plate, and a clamping plate fixedly provided at the end of the clamping arm.

[0017] Optionally, two groups of support plates are arranged at intervals along the horizontal direction on the side wall of the fourth fixed plate, each group of support plates includes two support units, the two support units in the same group are arranged opposite to each other in the vertical direction, and the corner of the L-shaped plate is rotated and arranged between the two support units in the same group.

[0018] Optionally, an elastic pad is fixedly provided on the side wall of the splint, and a plurality of anti-slip grooves are fixedly provided on the surface of the elastic pad.

[0019] In summary, the present application includes at least one of the following beneficial technical effects:

[0020] When it is necessary to clamp a workpiece, the first driving member drives the rotating seat to rotate, thereby driving the vertical rotating arm, the adjustment mechanism and the grasping mechanism to rotate, so as to achieve horizontal direction adjustment; the second driving member drives the vertical rotating arm to rotate, so as to achieve vertical direction adjustment; the third driving member drives the rotating disk to rotate, so as to further achieve the rotation of the grasping mechanism, and improve the convenience of use; the fourth driving member drives the extension rod to slide in the storage slot, so as to achieve the adjustment of the length of the bionic mechanical arm; the fifth driving member drives the grasping mechanism to achieve the grasping of the workpiece. As set above, the direction of the mechanical arm is easy to adjust, the application range of the mechanical arm is expanded, and the convenience of using the mechanical arm is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of a bionic mechanical arm that is easy to adjust in direction in an embodiment of the present application;

[0022] Figure 2 This is a schematic diagram for highlighting the structure of the vertical rotating arm in the embodiment of the present application;

[0023] Figure 3 It is a schematic diagram for highlighting the adjustment mechanism in the embodiment of the present application;

[0024] Figure 4 It is a schematic diagram for highlighting the grabbing mechanism in the embodiment of the present application.

[0025] Figure numerals: 1, mounting frame; 101, circular base; 102, supporting leg; 2, rotating seat; 3, first driving member; 4, first fixed plate; 5, vertical rotating arm; 6, second driving member; 7, first ear plate; 8, first rotating shaft; 9, second ear plate; 10, second rotating shaft; 11, connecting seat; 1101, supporting plate; 12, third ear plate; 13, third rotating shaft; 14, second fixed plate; 15, fourth ear plate; 16, fourth rotating shaft; 17, rotating disk; 18, third driving member; 19, adjusting mechanism; 1901, third fixed plate; 1902, telescopic assembly; 19021, rod one; 19022, rod two; 19023, storage slot; 19024, extension rod; 1903, fourth fixing plate; 1904, first mounting plate; 1905, second mounting plate; 1906, push plate; 20, grabbing mechanism; 2001, rod three; 2002, L-shaped plate; 2003, fifth fixing plate; 2004, clamping arm; 2005, clamping plate; 21, fifth driving member; 22, connecting member; 23, anti-slip groove; 24, support plate; 2401, support unit; 25, elastic pad. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical scheme and technical effect of the embodiment of the present application clearer, the technical scheme of the embodiment of the present application will be clearly and completely described below. It is worth noting that the described embodiments are only some embodiments of the present application, not all embodiments. Based on the described embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0027] Unless otherwise defined, the technical terms or scientific terms used herein shall have the common meanings understood by persons with ordinary skills in the field to which this application belongs. The words "one" or "an" and the like used in the patent application specification and claims of this application do not indicate a quantity limitation, but indicate the existence of at least one.

[0028] The present application embodiment discloses a bionic mechanical arm that is easy to adjust the direction. Figure 1 The bionic mechanical arm that is easy to adjust the direction includes a mounting frame 1, which includes a circular base 101 and a plurality of legs 102 fixedly arranged at the bottom of the circular base 101. In this embodiment, there are five legs 102, and the five legs 102 are distributed in a circular array at the bottom of the circular base 101. A rotating seat 2 is rotatably arranged on the top of the circular base 101. There is no special limitation on the rotational connection form between the rotating seat 2 and the circular base 101. In this embodiment, the rotating seat 2 is rotatably connected to the circular base 101 through a bearing structure. A first driving member 3 for driving the rotating seat 2 to rotate is arranged at the bottom of the circular base 101. In this embodiment, the first driving member 3 is a motor.

[0029] Reference Figure 1 and Figure 2 A first fixed plate 4 is fixedly arranged on the side wall of the rotating seat 2. A vertical rotating arm 5 and a second driving member 6 for driving the vertical rotating arm 5 to rotate are rotatably arranged on the side wall of the first fixed plate 4 away from the rotating seat 2. In this embodiment, the second driving member 6 is a cylinder. Two first ear plates 7 are arranged oppositely on the first fixed plate 4. A first rotating shaft 8 is fixedly arranged between the two first ear plates 7. The vertical rotating arm 5 is rotatably arranged on the first rotating shaft. Two second ear plates 9 are arranged oppositely on the first fixed plate 4. A second rotating shaft 10 is fixedly arranged between the two second ear plates 9. The base of the second driving member 6 is rotatably arranged on the second rotating shaft 10. The piston rod end of the second driving member 6 is rotatably connected to the vertical rotating arm 5 via a connecting seat 11. The connecting seat 11 includes two support plates 1101 relatively arranged on both sides of the vertical rotating arm 5. The two support plates 1101 are fixedly connected by a connecting rod. Two third ear plates 12 are relatively arranged on the side of one of the plates 1101 away from the vertical rotating arm 5. A third rotating shaft 13 is fixedly arranged between the two third ear plates 12. The piston rod end of the second driving member 6 is rotatably connected to the third rotating shaft 13.

[0030] Reference Figure 1 and Figure 2 A second fixed plate 14 is provided at one end of the vertical rotating arm 5 away from the rotating seat 2, two fourth ear plates 15 are relatively provided on the side wall of the second fixed plate 14 close to the vertical rotating arm 5, a fourth rotating shaft 16 is fixedly provided between the two fourth ear plates 15, and the end of the vertical rotating arm 5 is rotatably provided on the fourth rotating shaft 16. A rotating disk 17 is rotatably provided on the side wall of the second fixed plate 14 away from the vertical rotating arm 5. In this embodiment, the rotating disk 17 is rotatably connected to the second fixed plate 14 through a bearing structure. A third driving member 18 is also fixedly provided on the side of the second fixed plate 14 close to the vertical rotating arm 5. In this embodiment, the third driving member 18 is a motor, and the output end of the third driving member 18 passes through the second fixed plate 14 and is fixedly connected to the rotating disk 17, so as to drive the rotating disk 17 to rotate.

[0031] Reference Figure 1 , Figure 2 and Figure 3 , an adjustment mechanism 19 for increasing or decreasing the overall length of the bionic robot arm is provided on the side wall of the rotating disk 17 away from the second fixed plate 14. The adjustment mechanism 19 includes a third fixed plate 1901 fixedly provided on the side wall of the rotating disk 17 and a plurality of telescopic components 1902 fixedly provided on the side wall of the third fixed plate 1901, and a fourth fixed plate 1903 is also provided on one end of the telescopic components 1902 away from the third fixed plate 1901. There are four telescopic components 1902, and the four telescopic components 1902 are respectively provided on the four corners of the side wall of the third fixed plate 1901. The telescopic components 1902 include a rod 1 19021 fixedly provided on the side wall of the third fixed plate 1901 and a rod 2 19022 fixedly provided on the side wall of the fourth fixed plate 1903. The rod 1 19021 and the rod 2 19022 are arranged opposite to each other, and a storage groove 19023 is provided on one end of the rod 1 19021 close to the rod 2 19022. An extension rod 19024 is slidably disposed in the storage groove 19023, and one end of the extension rod 19024 away from the rod 1 19021 is fixedly connected to the end of the rod 2 19022. A first mounting plate 1904 is fixedly disposed on the side wall of the rod 1 19021 of the two adjacent telescopic assemblies 1902, and a fourth driving member for driving the extension rod 19024 to slide in the storage groove 19023 is fixedly disposed on the first mounting plate 1904. In this embodiment, the fourth driving member is a cylinder. Further, a second mounting plate 1905 is fixedly disposed on the side wall of the rod 2 19022 of the two adjacent telescopic assemblies 1902, and a push plate 1906 is fixedly disposed on the second mounting plate 1905, and the piston rod of the fourth driving member is fixedly connected to the push plate 1906.

[0032] Reference Figure 1 , Figure 3 and Figure 4 The end of the adjusting mechanism 19 away from the rotating disk 17 is provided with a gripping mechanism 20, and the gripping mechanism 20 is used to clamp the workpiece to be picked up. The side wall of the fourth fixed plate 1903 is fixedly provided with a fifth driving member 21, and the output end of the fifth driving member 21 is fixedly provided with a connecting member 22. The gripping mechanism 20 includes a rod 3 2001 rotatably provided on the connecting member 22, an L-shaped plate 2002 hinged to the end of the rod 3 2001, a fifth fixed plate 2003 fixedly provided on the side wall of the L-shaped plate 2002, a clamping arm 2004 fixedly provided on the side wall of the fifth fixed plate 2003, and a clamping plate 2005 fixedly provided at the end of the clamping arm 2004.

[0033] Reference Figure 4Two groups of support plates 24 are arranged at intervals along the horizontal direction on the side wall of the fourth fixed plate 1903, and each group of support plates 24 includes two support units 2401. The two support units 2401 in the same group are arranged opposite to each other in the vertical direction, and the corner of the L-shaped plate 2002 is rotated and arranged between the two support units 2401 in the same group.

[0034] Reference Figure 4 In order to improve the stability of the grasping mechanism 20 in grasping the workpiece, an elastic pad 25 is fixedly provided on the side wall of the clamping plate 2005, and a plurality of anti-slip grooves 23 are fixedly provided on the surface of the elastic pad 25.

[0035] The implementation principle of a bionic mechanical arm that is easy to adjust the direction of the embodiment of the present application is as follows: when it is necessary to clamp a workpiece, the first driving member 3 drives the rotating seat 2 to rotate, thereby driving the vertical rotating arm 5, the adjusting mechanism 19 and the grasping mechanism 20 to rotate, and realizing the adjustment of the direction in the horizontal direction; the second driving member 6 drives the vertical rotating arm 5 to rotate, thereby realizing the adjustment of the direction in the vertical direction; the third driving member 18 drives the rotating disk 17 to rotate, further realizing the rotation of the grasping mechanism 20, and improving the convenience of use; the fourth driving member drives the extension rod 19024 to slide in the storage groove 19023, thereby realizing the adjustment of the length of the bionic mechanical arm; the fifth driving member 21 drives the grasping mechanism 20 to grasp the workpiece. As set above, the direction of the mechanical arm is easy to adjust, the application range of the mechanical arm is expanded, and the convenience of using the mechanical arm is improved.

[0036] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A bionic mechanical arm that is easy to adjust direction, characterized in that: It comprises a mounting frame (1) and a rotating seat (2) rotatably arranged on the top of the mounting frame (1); a first driving member (3) for driving the rotating seat (2) to rotate is also arranged at the bottom of the mounting frame (1); A first fixing plate (4) is fixedly arranged on the side wall of the rotating seat (2); a vertical rotating arm (5) and a second driving member (6) for driving the vertical rotating arm (5) to rotate are rotatably arranged on the side wall of the first fixing plate (4); an output end of the second driving member (6) is rotatably connected to the vertical rotating arm (5); A second fixing plate (14) is arranged at one end of the vertical rotating arm (5) away from the rotating seat (2), the second fixing plate (14) is rotatably matched with the vertical rotating arm (5), a rotating disk (17) is rotatably arranged on the side wall of the second fixing plate (14) away from the vertical rotating arm (5), and a third driving member (18) for driving the rotating disk (17) to rotate is also fixedly arranged on the side wall of the second fixing plate (14); An adjusting mechanism (19) is provided on a side wall of the rotating disk (17) away from the second fixing plate (14), and the adjusting mechanism (19) is used to increase or decrease the overall length of the bionic mechanical arm; A gripping mechanism (20) is provided at one end of the adjusting mechanism (19) away from the rotating disk (17), and the gripping mechanism (20) is used to clamp a workpiece to be picked up.

2. The bionic mechanical arm that is easy to adjust direction according to claim 1, characterized in that: The adjusting mechanism (19) comprises a third fixing plate (1901) fixedly arranged on the side wall of the rotating disk (17) and a plurality of telescopic components (1902) fixedly arranged on the side wall of the third fixing plate (1901); a fourth fixing plate (1903) is also arranged at one end of the telescopic component (1902) away from the third fixing plate (1901); and the grasping mechanism (20) is arranged on the side wall of the fourth fixing plate (1903).

3. The bionic mechanical arm that is easy to adjust direction according to claim 2, characterized in that: The telescopic components (1902) are provided in four numbers, and the four telescopic components (1902) are respectively provided at the four corners of the side wall of the third fixed plate (1901). The telescopic components (1902) include a rod 1 (19021) fixedly provided on the side wall of the third fixed plate (1901) and a rod 2 (19022) fixedly provided on the side wall of the fourth fixed plate (1903). The rod 1 (19021) and the rod 2 (19022) are provided opposite to each other, and one end of the rod 1 (19021) close to the rod 2 (19022) is opened. A storage groove (19023) is provided, and an extension rod (19024) is slidably arranged in the storage groove (19023), and one end of the extension rod (19024) away from the rod one (19021) is fixedly connected to the end of the rod two (19022), and a first mounting plate (1904) is fixedly arranged on the side wall of the rod one (19021) of the two adjacent telescopic components (1902), and a fourth driving member for driving the extension rod (19024) to slide in the storage groove (19023) is fixedly arranged on the first mounting plate (1904).

4. The bionic mechanical arm that is easy to adjust direction according to claim 3, characterized in that: A second mounting plate (1905) is fixedly provided on the side wall of the second rod (19022) of the two adjacent telescopic assemblies (1902), a push plate (1906) is fixedly provided on the second mounting plate (1905), and the output end of the fourth driving member is fixedly connected to the push plate (1906).

5. The bionic mechanical arm that is easy to adjust direction according to claim 1, characterized in that: A fifth driving member (21) is fixedly arranged on the side wall of the fourth fixed plate (1903), a connecting member (22) is fixedly arranged on the output end of the fifth driving member (21), and the grasping mechanism (20) comprises a rod three (2001) rotatably arranged on the connecting member (22), an L-shaped plate (2002) hinged to the end of the rod three (2001), a fifth fixed plate (2003) fixedly arranged on the side wall of the L-shaped plate (2002), a clamping arm (2004) fixedly arranged on the side wall of the fifth fixed plate (2003), and a clamping plate (2005) fixedly arranged at the end of the clamping arm (2004).

6. The bionic mechanical arm that is easy to adjust direction according to claim 5, characterized in that: Two groups of support plates (24) are arranged at intervals along the horizontal direction on the side wall of the fourth fixed plate (1903), and each group of the support plates (24) includes two support units (2401). The two support units (2401) in the same group are arranged opposite to each other in the vertical direction, and the corner of the L-shaped plate (2002) is rotated and arranged between the two support units (2401) in the same group.

7. The bionic mechanical arm that is easy to adjust direction according to claim 5, characterized in that: An elastic pad (25) is fixedly provided on the side wall of the clamping plate (2005), and a plurality of anti-slip grooves (26) are fixedly provided on the surface of the elastic pad (25).

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