A robotic handling arm

Abstract

The application discloses a robot carrying mechanical arm and relates to the technical field of mechanical arms. The robot carrying mechanical arm comprises a base, a support frame fixedly installed on the top of the base, a first motor frame, a turnover adjusting mechanism, a first driving mechanism, a first screw rod and a moving frame. The first motor frame is installed on one side of the top of the support frame, and the first driving mechanism is arranged on the first motor frame. The turnover adjusting mechanism is installed in the support frame, one side of the first driving mechanism is connected with the turnover adjusting mechanism, the turnover adjusting mechanism comprises the first screw rod rotatably connected with the support frame and the moving frame rotatably connected with the first screw rod, and the first driving mechanism drives the first screw rod to rotate. The robot carrying mechanical arm can adjust the angle according to the position of an object, can place and clamp the object at different angles, and effectively improves the applicability and convenience of the robot carrying mechanical arm.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical arm, in particular to a robot carrying mechanical arm. BACKGROUND

[0002] The robot is a machine device that automatically performs work, which can accept human command, run pre-programmed program, and act according to the principles formulated by artificial intelligence technology. Its task is to assist or replace human work, such as production, construction or dangerous work. In the production process, robots are usually used to take and carry objects on the assembly line. The wide application of mechanical arm not only improves the accuracy of operation and the quality of products, but also saves labor and improves the production efficiency of the machine. However, the existing mechanical arm cannot be quickly adjusted according to the angle and height of the object during carrying. The angle of the existing mechanical arm during object placement needs to be manually adjusted by artificial pushing, which leads to low carrying efficiency. Therefore, we propose a robot carrying mechanical arm. SUMMARY

[0003] The robot carrying mechanical arm is proposed to solve the above problems in the prior art.

[0004] In order to achieve the above purpose, the present application adopts the following technical scheme:

[0005] A robot carrying mechanical arm, comprising a base and a support frame fixedly installed on the top of the base, further comprising:

[0006] A first motor frame is installed on one side of the top of the support frame, and a first driving mechanism is arranged on the first motor frame.

[0007] A turnover adjusting mechanism is installed in the interior of the support frame, one side of the first driving mechanism is connected with the turnover adjusting mechanism, the turnover adjusting mechanism comprises a first threaded rod rotatably connected with the interior of the support frame and a moving frame rotatably connected with the first threaded rod, the first driving mechanism drives the first threaded rod to rotate, and the rotation of the first threaded rod drives the moving frame to move.

[0008] A height adjusting mechanism is installed on one side of the support frame, the height adjusting mechanism comprises a connecting plate rotatably connected with the support frame, a second threaded rod threadedly connected with the connecting plate, and an extension driving rod movably sleeved in the second threaded rod.

[0009] The second motor frame is installed at one end of the extension driving rod, and a second driving mechanism is arranged on the second motor frame, and an output end of the second driving mechanism is connected with the height adjusting mechanism.

[0010] The clamping mechanism is installed below the height adjusting mechanism.

[0011] Further, the first driving mechanism comprises a first driving motor fixedly connected with the first motor frame, and a first gear is fixedly connected with an output shaft of the first driving motor.

[0012] Further, the turnover adjusting mechanism further comprises guide plates fixedly connected with two sides of the moving frame respectively, and guide grooves are arranged at two sides of the support frame corresponding to the guide plates, and the two guide plates are movably sleeved in the guide grooves respectively, and a traction plate is rotatably connected to the top of the moving frame, one end of the traction plate is rotatably connected with the second motor frame, a second gear is fixedly connected with one end of the first screw rod corresponding to the first gear, and the second gear is in meshing transmission with the first gear on one side.

[0013] Further, the height adjusting mechanism further comprises an extension sleeve fixedly connected with the bottom of the second motor frame, and a balance plate is rotatably connected with one end of the second screw rod, a guide rod is fixedly connected with the top of the balance plate corresponding to the extension sleeve, and a threaded hole and a guide hole are respectively arranged on the connecting plate, the second screw rod is threadedly sleeved in the threaded hole, and the guide rod is movably penetrated in the guide hole and movably sleeved in the extension sleeve.

[0014] Further, a moving hole is arranged in the second screw rod, and a moving groove is symmetrically arranged in the moving hole, a first bevel gear is fixedly connected with one end of the extension driving rod, and a linkage limiting block is fixedly connected with the other end of the extension driving rod corresponding to the moving groove, the extension driving rod is movably sleeved in the moving hole, and the linkage limiting block is movably sleeved in the moving groove.

[0015] Further, the second driving mechanism comprises a second driving motor fixedly connected with the top of the second motor frame, and a second bevel gear is fixedly connected with an output shaft of the second driving motor, and the second bevel gear is in meshing transmission with the first bevel gear on one side.

[0016] Further, the clamping mechanism comprises a fixed plate fixedly connected to the bottom of the balance plate, a first linkage gear and a second linkage gear are symmetrically connected to one side of the fixed plate, the first linkage gear is in meshing transmission with the second linkage gear on one side, a linkage arm is fixedly connected to one side of the first linkage gear and the second linkage gear respectively, a first guide ring is fixedly connected to one side of each of the two linkage arms, a second guide ring is fixedly connected to the fixed plate corresponding to the two first guide rings, one side of the first guide ring abuts against one side of the second guide ring, a restraint clamping plate is hingedly connected to the opposite side of each of the two linkage arms, an eccentric plate is fixedly connected to the other side of the second linkage gear, a swing frame is rotatably connected to the other side of the fixed plate, a push rod motor is fixedly connected to one side of the swing frame, and the output end of the push rod motor is rotatably connected to the eccentric plate.

[0017] Further, a plurality of mounting holes are formed in the base.

[0018] Compared with the prior art, the present application has the following advantages:

[0019] The first driving mechanism drives the rotation of the first threaded rod through the starting of the first driving motor, the first threaded rod drives the synchronous movement of the moving frame, and the movement of the moving frame drives the angle flipping of the traction arm.

[0020] The second driving mechanism drives the rotation of the extension driving rod through the starting of the second driving motor, the rotation of the extension driving rod synchronously drives the rotation of the second threaded rod, and the rotation of the second threaded rod drives the synchronous height adjustment of the balance plate and the fixed plate.

[0021] The clamping mechanism is installed to quickly clamp and fix the object to be carried and unload and relax the object.

[0022] In summary, the device is novel in design and easy to operate. The device can not only adjust the angle according to the position of the object, but also can place and clamp the swinging object at different angles, effectively improving the applicability and convenience of the robot carrying mechanical arm. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 An overall top view of the robot carrying mechanical arm is shown in the figure;

[0024] Figure 2A top view of the angle adjusting mechanism, height adjusting mechanism and clamping mechanism of the robot carrying mechanical arm according to the present application is shown in the figure;

[0025] Figure 3 A bottom view of the height adjusting mechanism and clamping mechanism of the robot carrying mechanical arm according to the present application is shown in the figure;

[0026] Figure 4 A bottom view of the robot carrying mechanical arm according to the present application is shown in the figure;

[0027] Figure 5 A top view of the angle adjusting mechanism of the robot carrying mechanical arm according to the present application is shown in the figure;

[0028] Figure 6 A top view of the clamping mechanism of the robot carrying mechanical arm according to the present application is shown in the figure;

[0029] Figure 7 A sectional front view of the height adjusting mechanism and second driving mechanism of the robot carrying mechanical arm according to the present application is shown in the figure;

[0030] Figure 8 A sectional top view of the second threaded rod of the robot carrying mechanical arm according to the present application is shown in the figure;

[0031] Figure 9 A top view of the second driving mechanism, extension sleeve and extension driving rod of the robot carrying mechanical arm according to the present application is shown in the figure.

[0032] Explanation of reference signs:

[0033] 1, base; 2, support frame; 3, first driving motor; 4, first gear; 5, first threaded rod; 6, second gear; 7, moving frame; 8, traction plate; 9, connecting plate; 10, second motor frame; 11, second threaded rod; 12, extension driving rod; 13, second driving motor; 14, second bevel gear; 15, first bevel gear; 16, extension sleeve; 17, balancing plate; 18, guide rod; 19, fixed plate; 20, first linkage gear; 21, second linkage gear; 22, linkage arm; 23, constraint clamping plate; 24, eccentric plate; 25, swinging frame; 26, push rod motor. DETAILED DESCRIPTION

[0034] With reference to the accompanying drawings, the technical solutions in the embodiments of the present application will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0035] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0036] In addition, the terms "first", "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise explicitly and specifically limited. In addition, the terms "mounting", "connecting", "connecting" should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances, and the present application will be further described in detail with reference to the accompanying drawings.

[0037] Embodiment: Reference Figures 1-9 A robot handling mechanical arm, comprising a base 1 and a support frame 2 fixedly installed on the top of the base 1, further comprising a first motor frame, the first motor frame is installed on one side of the top of the support frame 2, and the first motor frame is provided with a first driving mechanism, the first driving mechanism comprises a first driving motor 3 fixedly connected with the first motor frame, a first gear 4 fixedly connected with the output shaft of the first driving motor 3, and the first driving motor 3 drives the first gear 4 to rotate synchronously through the output shaft;

[0038] The tilting adjustment mechanism is installed inside the support frame 2. One side of the first drive mechanism is connected to the tilting adjustment mechanism. The tilting adjustment mechanism includes a first threaded rod 5 rotatably connected to the inside of the support frame 2 and a movable frame 7 rotatably connected to the first threaded rod 5. The first drive mechanism drives the first threaded rod 5 to rotate, and the rotation of the first threaded rod 5 drives the movable frame 7 to move. The tilting adjustment mechanism also includes guide plates fixedly connected to both sides of the movable frame 7. Guide grooves are opened on both sides of the support frame 2 corresponding to the guide plates. The two guide plates are movably fitted inside the guide grooves. A traction plate 8 is rotatably connected to the top of the movable frame 7. One end of the traction plate 8 is rotatably connected to the second motor frame 10. A second gear 6 is fixedly connected to one end of the first threaded rod 5 corresponding to the first gear 4. One side of the second gear 6 meshes with the first gear 4 for transmission. The rotation of the first gear 4 drives the second gear 6 to rotate synchronously, and at the same time drives the first threaded rod 5 to rotate synchronously.

[0039] The height adjustment mechanism is installed on one side of the support frame 2. The height adjustment mechanism includes a connecting plate 9 rotatably connected to the support frame 2, a second threaded rod 11 threadedly connected to the connecting plate 9, and an extension drive rod 12 movably sleeved inside the second threaded rod 11. The rotation of the extension drive rod 12 drives the second threaded rod 11 to rotate synchronously.

[0040] The second motor frame 10 is mounted on one end of the extension drive rod 12. The second motor frame 10 is equipped with a second drive mechanism. The output end of the second drive mechanism is connected to the height adjustment mechanism. The second drive mechanism drives the extension drive rod 12 to rotate and simultaneously drives the second threaded rod 11 to rotate. The rotation of the second threaded rod 11 is processed by the connecting plate 9 to move up and down.

[0041] A clamping mechanism is installed below the height adjustment mechanism. The clamping mechanism includes a fixed plate 19 fixedly connected to the bottom of the balance plate 17. A first connecting gear 20 and a second connecting gear 21 are symmetrically rotatably connected to one side of the fixed plate 19. One side of the first connecting gear 20 meshes with the second connecting gear 21. Connecting arms 22 are fixedly connected to one side of each of the first and second connecting gears 20 and 21, respectively. First guide rings are fixedly connected to one side of each of the two connecting arms 22. The fixed plate 19 corresponds to... Two first guide rings are fixedly connected to two second guide rings respectively. One side of the first guide ring abuts against one side of the second guide ring. The base 1 is fixedly installed in the designated position through the mounting hole. Two linkage arms 22 are respectively hinged to the opposite side of the constraint clamps 23. An eccentric plate 24 is fixedly connected to the other side of the second linkage gear plate 21. A swing frame 25 is rotatably connected to the other side of the fixed plate 19. A push rod motor 26 is fixedly connected to one side of the swing frame 25. The output end of the push rod motor 26 is rotatably connected to the eccentric plate 24.

[0042] In the application, the second threaded rod 11 is internally provided with a moving hole, the inside of the moving hole is symmetrically provided with a moving groove, one end of the extension driving rod 12 is fixedly connected with a first bevel gear 15, the other end of the extension driving rod 12 is fixedly connected with a linkage limiting block corresponding to the moving groove, the extension driving rod 12 is movably sleeved in the moving hole, the linkage limiting block is movably sleeved in the moving groove, the rotation of the extension driving rod 12 drives the second threaded rod 11 to rotate through the linkage limiting block, and the second threaded rod 11 moves along the linkage limiting block synchronously.

[0043] In the application, the second driving mechanism comprises a second driving motor 13 fixedly connected with the top of the second motor frame 10, the output shaft of the second driving motor 13 is fixedly connected with a second bevel gear 14, one side of the second bevel gear 14 is meshed and driven with the first bevel gear 15, the rotation of the second driving motor 13 drives the rotation of the second bevel gear 14 through the output shaft, and the first bevel gear 15 is driven to rotate synchronously.

[0044] In the application, a plurality of mounting holes are arrayed on the base 1.

[0045] Working principle: when used, the base 1 is fixedly installed at a specified position through the plurality of mounting holes, the second driving motor 13 is started to drive the rotation of the second bevel gear 14, the rotation of the second bevel gear 14 is meshed and driven with the first bevel gear 15 to drive the rotation of the extension driving rod 12, the rotation of the extension driving rod 12 drives the rotation of the second threaded rod 11 through the linkage limiting block, the rotation of the second threaded rod 11 moves up and down along the connecting plate 9, the up and down movement of the second threaded rod 11 drives the balance plate 17 to move along the extension sleeve 16 synchronously through the guide rod 18, the movement of the balance plate 17 drives the fixed plate 19 and the clamping mechanism to move synchronously;

[0046] When the clamping mechanism moves to the position of the object to be clamped, the second driving motor 13 stops working, at this time, the eccentric plate 24 is swung through the starting of the push rod motor 26, the swing of the eccentric plate 24 drives the rotation of the second linkage gear plate 21, the rotation of the second linkage gear plate 21 is meshed and driven with the first linkage gear plate 20 to drive the two linkage arms 22 to swing in opposite directions, the swing of the two linkage arms 22 drives the constraint clamping plate 23 to move, and the object is clamped and fixed and unloaded and relaxed through the movement of the constraint clamping plate 23;

[0047] When the object to be carried needs to be placed horizontally, the first driving motor 3 is started, the starting of the first driving motor 3 drives the rotation of the first gear 4, the rotation of the first gear 4 drives the rotation of the second gear 6, the rotation of the second gear 6 drives the rotation of the first threaded rod 5, the rotation of the first threaded rod 5 drives the stable movement of the moving frame 7 along the guide groove through the guide plate, the movement of the moving frame 7 drives the swinging of the traction plate 8, the swinging of the traction plate 8 drives the overturning of the second motor frame 10, and simultaneously drives the overturning of the connecting plate 9 along the support frame 2, the overturning of the connecting plate 9 synchronously drives the synchronous overturning of the balance plate 17 and the fixed plate 19, the synchronous overturning of the fixed plate 19 drives the overturning of the linkage arm 22 and the constraint clamping plate 23, the overturning of the constraint clamping plate 23 adjusts the angle of the object to be carried to be placed horizontally, and simultaneously, the re-starting of the second driving motor 13 drives the rotation and movement of the second threaded rod 11, the movement of the second threaded rod 11 drives the movement of the balance plate 17, the movement of the balance plate 17 pushes the object to the placed position, and the constraint clamping plate 23 is controlled to unload by the push rod motor 26.

[0048] The above is only the preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this, any skilled person in the art, according to the technical scheme and the inventive concept of the present application, makes equivalent replacement or change within the technical range disclosed by the present application, should be covered within the protection scope of the present application.

Claims

1. A robotic handling arm, comprising a base (1) and a support frame (2) fixedly mounted on the top of the base (1), characterized in that, Also includes; The first motor frame is installed on the top side of the support frame (2), and the first motor frame is provided with a first drive mechanism; A flip adjustment mechanism is installed inside the support frame (2). One side of the first drive mechanism is connected to the flip adjustment mechanism. The flip adjustment mechanism includes a first threaded rod (5) rotatably connected to the inside of the support frame (2) and a movable frame (7) rotatably connected to the first threaded rod (5). The first drive mechanism drives the first threaded rod (5) to rotate, and the rotation of the first threaded rod (5) drives the movable frame (7) to move. The height adjustment mechanism is installed on one side of the support frame (2). The height adjustment mechanism includes a connecting plate (9) rotatably connected to the support frame (2), a second threaded rod (11) threadedly connected to the connecting plate (9), and an extension drive rod (12) movably sleeved inside the second threaded rod (11). The second motor frame (10) is installed at one end of the extension drive rod (12). The second motor frame (10) is provided with a second drive mechanism. The output end of the second drive mechanism is connected to the height adjustment mechanism. The second drive mechanism drives the extension drive rod (12) to rotate and simultaneously drives the second threaded rod (11) to rotate. A clamping mechanism, which is mounted below the height adjustment mechanism; The base (1) has multiple mounting holes arranged in an array.

2. The robotic handling arm according to claim 1, characterized in that, The first drive mechanism includes a first drive motor (3) fixedly connected to a first motor frame, and the output shaft of the first drive motor (3) is fixedly connected to a first gear (4).

3. The robotic handling arm according to claim 1, characterized in that, The flipping adjustment mechanism also includes guide plates that are fixedly connected to both sides of the movable frame (7). The support frame (2) has guide grooves on both sides corresponding to the guide plates. The two guide plates are movably sleeved inside the guide grooves. The top of the movable frame (7) is rotatably connected to a traction plate (8). One end of the traction plate (8) is rotatably connected to the second motor frame (10). One end of the first threaded rod (5) is fixedly connected to a second gear (6) corresponding to the first gear (4). One side of the second gear (6) meshes with the first gear (4) for transmission.

4. The robotic handling arm according to claim 1, characterized in that, The height adjustment mechanism also includes an extension sleeve (16) fixedly connected to the bottom of the second motor frame (10). One end of the second threaded rod (11) is rotatably connected to a balance plate (17). The top of the balance plate (17) is fixedly connected to a guide rod (18) corresponding to the extension sleeve (16). The connecting plate (9) is provided with a threaded hole and a guide hole respectively. The second threaded rod (11) is threaded inside the threaded hole. The guide rod (18) moves through the inside of the guide hole and is moved inside the extension sleeve (16).

5. A robotic handling arm according to claim 1, characterized in that, The second threaded rod (11) has a movable hole inside, and a movable groove is symmetrically provided inside the movable hole. One end of the extended drive rod (12) is fixedly connected to a first bevel gear (15), and the other end of the extended drive rod (12) is fixedly connected to a linkage limiting block at the location corresponding to the movable groove. The extended drive rod (12) is movably sleeved inside the movable hole, and the linkage limiting block is movably sleeved inside the movable groove.

6. A robotic handling arm according to claim 1, characterized in that, The second drive mechanism includes a second drive motor (13) fixedly connected to the top of the second motor frame (10). The output shaft of the second drive motor (13) is fixedly connected to a second bevel gear (14). One side of the second bevel gear (14) meshes with the first bevel gear (15) for transmission.

7. A robotic handling arm according to claim 1, characterized in that, The clamping mechanism includes a fixed plate (19) fixedly connected to the bottom of the balance plate (17). A first linkage gear (20) and a second linkage gear (21) are symmetrically rotatably connected to one side of the fixed plate (19). One side of the first linkage gear (20) meshes with the second linkage gear (21). A linkage arm (22) is fixedly connected to one side of the first linkage gear (20) and the second linkage gear (21), respectively. A first guide ring is fixedly connected to one side of each of the two linkage arms (22). The fixed plate (19) is used to... Two first guide rings are fixedly connected to each other. One side of the first guide ring abuts against one side of the second guide ring. Two connecting arms (22) are hinged to opposite sides with constraint plates (23). An eccentric plate (24) is fixedly connected to the other side of the second connecting gear plate (21). A swing frame (25) is rotatably connected to the other side of the fixed plate (19). A push rod motor (26) is fixedly connected to one side of the swing frame (25). The output end of the push rod motor (26) is rotatably connected to the eccentric plate (24).

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