Crank arm manipulator

Abstract

The invention relates to the technical field of manipulators, and particularly discloses a crank arm manipulator which comprises a rotating mechanism, a fourth driving mechanism and an auxiliary mechanism, and a first crank arm and a dismounting mechanism are arranged on the side wall of the rotating mechanism. The fourth driving mechanism drives the lever to rotate from the end, away from the rotating shaft, of the lever, so that the first crank arm is driven to rotate, the torque needed by the second servo motor for driving the first crank arm to rotate is reduced through the lever principle, the power of the second servo motor does not need to be increased, heavy objects are easily lifted through the second crank arm, and the motor is not prone to being damaged; and a counterweight disc is installed at the tail end of a fixing column through an auxiliary mechanism, so that the weight of a lever load is adjusted, the weight of the lever load and the weight of a first crank arm load are relatively balanced, the torque of a fourth driving mechanism for driving the first crank arm to rotate is reduced, and the application range is wide.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to a retractable arm robotic arm. Background Technology

[0002] Robotic arms are a core component of intelligent manufacturing systems and are widely used in industrial settings. A robotic arm is an automated operating device that can mimic certain movements of a human hand and arm to grasp, move objects, or operate tools according to a fixed program. A curved arm is a mechanical component commonly used in various mechanical systems, such as robots, robotic arms, and machine tools. Curved arms have specific motion characteristics, exhibiting high flexibility and stability, and can achieve precise motion trajectories in space. In practical use, curved arm robots typically use a rotating mechanism to drive the robotic arm to rotate, thereby moving the robotic arm to the object to be grasped. Then, after the robotic arm clamps the object, the rotation of the robotic arm transfers the object to the designated position.

[0003] Chinese invention patent CN110315516A discloses a three-axis articulated linkage robotic arm. The background art raises the following problem: Existing three-axis robotic arms all suffer from complex structures and require a large amount of space for operation. This invention designs the Y-axis to run in a circle on a vertical plane, and links it to the Z-axis to keep the Z-axis assembly always running in the vertical direction. This makes the Y-axis and Z-axis form a foldable structure, and the linkage is achieved through a single drive. This makes the overall structure of the three-axis robotic arm more compact, leaving space for mold hoisting and equipment maintenance of injection molding machines. In summary, the existing technology has the following shortcomings. Existing articulated boom robots require significant torque to lift heavy objects. To meet this demand, the power of the lifting motor is typically increased to enhance torque and thus satisfy practical needs. However, in actual operation, articulated boom robots often require reciprocating motion multiple times over extended periods. Increasing motor power to meet these lifting requirements can easily lead to motor overload, potentially damaging the motor, reducing work efficiency, and increasing costs. To address these issues, a new articulated boom robot is proposed. Summary of the Invention

[0004] To overcome the shortcomings of the prior art, the present invention provides a curved arm manipulator. Based on the lever principle, it uses a mechanical method to reduce the torque output of the motor when the manipulator lifts heavy objects, thus minimizing damage to the motor. Furthermore, by balancing the forces on both sides of the lifting arm, the output torque of the motor during actual lifting is reduced, thereby reducing damage to the lifting motor.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a curved arm manipulator, comprising a base and a first drive mechanism disposed within the base, a first connector disposed on the top of the first drive mechanism, the first drive mechanism being used to drive the first connector to rotate, a rotating mechanism and a fourth drive mechanism disposed on the side wall of the first connector, a first curved arm and a disassembly mechanism disposed on the side wall of the rotating mechanism, and the disassembly mechanism being located on the side of the first curved arm away from the first connector, an adjustment mechanism disposed on the side wall of the disassembly mechanism away from the first curved arm, the fourth drive mechanism being used to drive the adjustment mechanism to rotate, an auxiliary mechanism disposed on the side of the adjustment mechanism away from the disassembly mechanism, the rotating mechanism comprising; A bearing housing is fixedly sleeved on the inner wall of the first connecting member. The inner wall of the bearing housing is rotatably provided with a rotating shaft extending to the outside of the first connecting member. A rotating member is fixedly sleeved on the side wall of the rotating shaft located outside the first connecting member. A mounting shell is fixedly sleeved on the outer wall of the rotating member. The outer wall of the mounting shell is fixedly connected to the first crank arm. The auxiliary mechanism includes: The mounting rod is located on the side of the adjustment mechanism away from the disassembly mechanism and is designed in a bent shape. A screw is fixedly installed on the top of the mounting rod, and a counterweight plate is sleeved on the side wall of the screw. A locking nut is threaded to the side wall of the screw rod and is used to fix the counterweight plate.

[0006] Furthermore, the rotating mechanism also includes; The flange is rotatably mounted on the side wall of the shaft and located on the side where the first connecting member and the rotating member are close to each other. The flange is fixedly connected to the side where the first connecting member is close to each other and rotatably connected to the side where the rotating member is close to each other. It is used to limit the rotation of the rotating member, the mounting shell and the first crank arm.

[0007] Furthermore, the disassembly mechanism includes; An annular groove is formed on the side wall of the rotating shaft, located on the side of the rotating component away from the first connecting member. An annular slider is placed inside the annular groove, and an installation sleeve is fixedly fitted on the outer wall of the annular slider. The installation sleeve rotates as the annular slider slides within the annular groove. A second connecting member is fixedly fitted on the outer wall of the installation sleeve. A fixing ring is fixedly fitted on the side of the installation sleeve away from the rotating component, and the inner wall of the fixing ring is fitted onto the side wall of the rotating shaft. The outer wall of the fixing ring has an annular array of through holes. The side wall of the rotating shaft, located outside the first groove, has an annular array of screw holes. The screw holes are adapted to the through holes, allowing bolts to pass through the through holes and then be screwed into the screw holes to fix the fixing ring, the installation sleeve, and the second connecting member.

[0008] Furthermore, the adjustment mechanism includes; The lever is fixedly located on the side of the second connector away from the first crank arm, and the side of the lever away from the second connector is hollow. The inner wall of the lever is rotatably provided with a threaded rod, and the side wall of the threaded rod is threadedly connected with a threaded sleeve. The outer wall of the threaded sleeve is fixedly provided with a ring array of limiting sliders, and the limiting sliders are located on the side of the threaded sleeve close to the second connector. The end of the threaded sleeve away from the second connector is fixedly provided with a fixing post extending outside the lever, and the end located outside the lever is fixedly connected to the bottom of the mounting rod. Limiting grooves are arranged in a ring array on the inner wall of the lever, and limiting sliders are placed in the limiting grooves to limit the movement of the threaded sleeve.

[0009] Furthermore, the adjustment mechanism also includes; The first servo motor is fixedly mounted on the outer wall of the lever. The output shaft of the first servo motor is fixedly mounted on the first rotating rod via a coupling. The side wall of the first rotating rod is fixedly fitted with the first gear. The second gear is fixedly sleeved on the side wall of the threaded rod and inside the lever. The second gear meshes with the first gear and is used to drive the threaded rod to rotate through the output shaft of the first servo motor.

[0010] Furthermore, a first protective shell is fixedly provided on the outer wall of the lever, the first servo motor is fixedly provided inside the first protective shell, the side wall of the first rotating rod is rotatably connected to the inner wall of the first protective shell, and a through groove for sleeved first gear and second gear is provided on the side of the first protective shell and the lever that are close to each other, so as to provide space for the first gear and second gear to mesh. The outer wall of the threaded sleeve fits against the inner wall of the lever to limit the movement of the threaded sleeve.

[0011] Furthermore, the fourth drive mechanism includes; A fixed sleeve is fixedly sleeved on the side wall of the fixed column, and a first limiting plate is fixedly sleeved on the outer wall of the fixed sleeve; The second limiting plate is sleeved on the side wall of the first limiting plate. The side of the second limiting plate closest to the first limiting plate has a limiting groove for sleeved on the first limiting plate. The first limiting plate moves within the first limiting plate through the limiting groove, and the inner wall of the limiting groove is in contact with the side wall of the second limiting plate.

[0012] Furthermore, the fourth drive mechanism also includes; The second servo motor is fixedly mounted on the side wall of the first connector. The output shaft of the second servo motor is fixedly mounted on the second rotating rod via a coupling. The side of the second limiting plate away from the first limiting plate is fixedly sleeved on the side wall of the second rotating rod, so that the output shaft of the second servo motor drives the second limiting plate and the first limiting plate to rotate, thereby driving the threaded sleeve and the lever to rotate. The side wall of the first connector is fixedly mounted on the second protective shell. The second servo motor is fixedly mounted inside the second protective shell, and the inner wall of the second protective shell is rotatably connected to the side wall of the second rotating rod.

[0013] Furthermore, the bearing housing has a bearing installed on its inner wall, the outer ring of the bearing is fixedly connected to the inner wall of the bearing housing, and the inner ring of the bearing is fixedly connected to the side wall of the rotating shaft. The outer diameter of the locking nut is larger than the inner diameter of the counterweight plate. The top of the mounting rod is fixedly connected to the screw rod through a fixing flange, and the outer diameter of the fixing flange is larger than the inner diameter of the counterweight plate, which is used to press against the counterweight plate to fix it.

[0014] Furthermore, a second drive mechanism is provided on the side of the first curved arm away from the rotating mechanism, and a second curved arm is provided on the side wall of the second drive mechanism. The second drive mechanism is used to drive the second curved arm to rotate. A third drive mechanism is provided on the side of the second curved arm away from the first curved arm, and a mechanical claw for gripping is provided at the bottom of the third drive mechanism. The third drive mechanism is used to drive the mechanical claw to rotate.

[0015] This invention provides a retractable arm robotic arm. Compared with the prior art, it has the following advantages: 1. This invention uses a rotating mechanism to make the lever and the first crank arm rotate coaxially, and a fourth driving mechanism drives the lever to rotate from the end away from the rotating shaft, thereby driving the first crank arm to rotate. By utilizing the lever principle, the torque required for the second servo motor to drive the first crank arm to rotate is reduced, without increasing the power of the second servo motor. This makes it easier to lift heavy objects with the second crank arm, and it is less likely to damage the motor, thus improving the motor's service life. By installing a counterweight plate at the end of the fixed column through an auxiliary mechanism, the weight of the lever load is adjusted to be relatively balanced with the weight of the first crank arm load, thereby reducing the torque required for the fourth driving mechanism to drive the first crank arm to rotate. This invention has a wide range of applications.

[0016] 2. This invention uses an adjustment mechanism to move the threaded sleeve and the fixed column, thereby moving the fixed sleeve and the first limiting plate along the second limiting plate to adjust the length of the power arm, thereby reducing the torque required to rotate the first crank arm. This makes it easier to adjust according to the weight of the object and facilitates practical use. Furthermore, by having the first limiting plate of the fourth drive mechanism fitted inside the second limiting plate, it ensures that after the adjustment mechanism is adjusted, the fourth drive mechanism can normally drive the lever and other components to rotate, thus avoiding any impact on use.

[0017] 3. The present invention adjusts the angle of the lever through the disassembly mechanism, which makes it easy to adjust the extension length of the threaded sleeve according to the actual situation through the adjustment mechanism to adapt to different working environments. Since the first limiting plate is fitted inside the second limiting plate, it does not affect the actual adjustment and use. After adjustment, the lever and the first crank arm still rotate coaxially along the rotating shaft to ensure normal use.

[0018] 4. This invention uses an auxiliary mechanism to install a counterweight plate at the end of the fixed column, thereby adjusting the weight of the lever load to balance the weight of the first crank arm load. This reduces the torque required for the fourth drive mechanism to rotate the first crank arm, making it widely applicable. Furthermore, by designing the mounting rod in a bent shape, it avoids excessive rotation space of the counterweight plate when the lever rotates, thus preventing it from affecting normal use. The counterweight plate is also secured by tightening the nut, allowing for easy selection of the number or size of the counterweight plates based on actual conditions, facilitating practical use.

[0019] 5. The adjustment mechanism of the present invention drives the fixed column and the first limiting plate to move by means of threaded transmission. It has a self-locking function in the moving direction of the fixed column and the first limiting plate, which improves the stability of adjustment. Furthermore, by using the transmission of the first gear and the second gear, it is convenient to install the first servo motor on the outer wall of the lever, avoiding occupying the internal space of the lever, increasing the moving length of the threaded sleeve, and improving the adjustment range. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall front view structure of the present invention applicable to a curved arm manipulator; Figure 2 This is a schematic diagram of the overall rear view structure of the present invention; Figure 3 This is a cross-sectional view of the first connector and mounting shell of the present invention; Figure 4 This is an exploded view of the rotating mechanism of the present invention; Figure 5 This is an exploded view of the disassembly mechanism of the present invention; Figure 6 This is a schematic diagram of the mounting sleeve and the second connecting member of the present invention; Figure 7 This is a schematic diagram of the adjustment mechanism, auxiliary mechanism, and fourth drive mechanism of the present invention; Figure 8 This is a schematic diagram of the cross-sectional structure of the lever of the present invention; Figure 9 This is a schematic diagram of the fixing column and fixing sleeve structure of the present invention; Figure 10 This is a schematic cross-sectional view of the second limiting plate of the present invention; Figure 11 This is a schematic diagram of the exploded structure of the auxiliary mechanism of the present invention.

[0021] The reference numerals in the above figures are as follows: 1. Base; 2. First drive mechanism; 3. First connector; 4. Mechanical claw; 5. Third drive mechanism; 6. Second crank arm; 7. Second drive mechanism; 8. First crank arm; 9. Rotation mechanism; 10. Fourth drive mechanism; 11. Disassembly mechanism; 12. Adjustment mechanism; 13. Auxiliary mechanism; 91. Shaft; 92. Mounting housing; 93. Bearing housing; 94. Rotating component; 95. Flange; 101. Second servo motor; 102. Second limiting plate; 103. First limiting plate; 104. Fixing sleeve; 111. Installation sleeve; 112. Retaining ring; 113. Second connecting piece; 114. Annular slider; 115. Annular groove; 121. Lever; 122. Second gear; 123. First gear; 124. Threaded rod; 125. First servo motor; 126. Threaded sleeve; 127. Limiting groove; 128. Fixed column; 131. Mounting rod; 132. Screw; 133. Counterweight plate; 134. Locking nut. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] Example 1; please refer to Figure 1 and Figure 2 A curved arm manipulator includes a base 1 and a first drive mechanism 2 disposed within the base 1. A first connector 3 is disposed on the top of the first drive mechanism 2. The first drive mechanism 2 is used to drive the first connector 3 to rotate. A rotating mechanism 9 and a fourth drive mechanism 10 are disposed on the side wall of the first connector 3. A first curved arm 8 and a disassembly mechanism 11 are disposed on the side wall of the rotating mechanism 9. The disassembly mechanism 11 is located on the side of the first curved arm 8 away from the first connector 3. An adjustment mechanism 12 is disposed on the side wall of the disassembly mechanism 11 away from the first curved arm 8. The fourth drive mechanism 10 is used to drive the adjustment mechanism 12 to rotate. An auxiliary mechanism 13 is disposed on the side of the adjustment mechanism 12 away from the disassembly mechanism 11.

[0024] A second drive mechanism 7 is provided on the side of the first curved arm 8 away from the rotating mechanism 9. A second curved arm 6 is provided on the side wall of the second drive mechanism 7. The second drive mechanism 7 is used to drive the second curved arm 6 to rotate. A third drive mechanism 5 is provided on the side of the second curved arm 6 away from the first curved arm 8. A mechanical claw 4 for gripping is provided at the bottom of the third drive mechanism 5. The third drive mechanism 5 is used to drive the mechanical claw 4 to rotate.

[0025] In specific implementation, the first drive mechanism 2, the second drive mechanism 7, and the third drive mechanism 5 have the same structure, respectively driving the first connecting member 3, the second crank arm 6, and the mechanical claw 4 to rotate. The first drive mechanism 2, the second drive mechanism 7, and the third drive mechanism 5 may include a drive motor and a rotating shaft fixedly connected to the output shaft of the drive motor through a coupling. The drive motor of the first drive mechanism 2 is fixed inside the base 1, and its rotating shaft is fixedly connected to the bottom of the first connecting member 3 to drive the first connecting member 3 to rotate. The drive motor of the second drive mechanism 7 is fixed to the side wall of the first crank arm 8, and its rotating shaft is fixedly connected to the second crank arm 6 to drive the second crank arm 6 to rotate. The drive motor of the third drive mechanism 5 is fixed to the side wall of the second crank arm 6, and its rotating shaft is fixedly connected to the mechanical claw 4 to drive the mechanical claw 4 to rotate, so as to satisfy the rotation of the first crank arm 8, the second crank arm 6, and the mechanical claw 4. This is the prior art, not shown in the figure, and will not be described in detail here.

[0026] Please see Figure 3 and Figure 4 The rotating mechanism 9 includes; The bearing housing 93 is fixedly sleeved on the inner wall of the first connecting member 3. The inner wall of the bearing housing 93 is rotatably provided with a rotating shaft 91 extending outside the first connecting member 3. A rotating member 94 is fixedly sleeved on the side wall of the end of the rotating shaft 91 outside the first connecting member 3. A mounting shell 92 is fixedly sleeved on the outer wall of the rotating member 94. The outer wall of the mounting shell 92 is fixedly connected to the first crank arm 8. The rotating mechanism 9 also includes; The flange 95 is rotatably mounted on the side wall of the rotating shaft 91 and located on the side where the first connecting member 3 and the rotating member 94 are close to each other. The flange 95 is fixedly connected to the side where the first connecting member 3 is close to each other, and the flange 95 is rotatably connected to the side where the rotating member 94 is close to each other. It is used to limit the rotation of the rotating member 94, the mounting shell 92 and the first crank arm 8.

[0027] The bearing housing 93 has a bearing installed on its inner wall. The outer wall of the bearing's outer ring is fixedly connected to the inner wall of the bearing housing 93, and the inner wall of the bearing's inner ring is fixedly connected to the side wall of the rotating shaft 91.

[0028] In practical implementation, the rotating shaft 91 is rotatably mounted on the side wall of the first connecting member 3 through the bearing seat 93 and the bearing. The first crank arm 8 is connected to the rotating shaft 91 through the rotating member 94 and the mounting shell 92 to satisfy the rotation of the first crank arm 8. The lever 121 is connected to the rotating shaft 91 through the disassembly mechanism 11 so that the lever 121 and the first crank arm 8 rotate coaxially. This facilitates the subsequent adjustment of the torque driving the first crank arm 8 to rotate according to the principle of the lever 121, which is convenient for practical use.

[0029] The rotational stability of the rotating component 94 and the first crank arm 8 is improved by limiting the rotation of the flange 95.

[0030] Please see Figure 7 , Figure 8 , Figure 9 and Figure 10 The fourth drive mechanism 10 includes; A fixing sleeve 104 is fixedly sleeved on the side wall of the fixing post 128, and a first limiting plate 103 is fixedly sleeved on the outer wall of the fixing sleeve 104. The second limiting plate 102 is sleeved on the side wall of the first limiting plate 103. The second limiting plate 102 has a limiting groove for sleeved on the side of the first limiting plate 103 near the first limiting plate 103. The first limiting plate 103 moves within the first limiting plate 103 through the limiting groove, and the inner wall of the limiting groove is in contact with the side wall of the second limiting plate 102.

[0031] The fourth drive mechanism 10 also includes; The second servo motor 101 is fixedly mounted on the side wall of the first connecting member 3. The output shaft of the second servo motor 101 is fixedly mounted on the second rotating rod via a coupling. The side of the second limiting plate 102 away from the first limiting plate 103 is fixedly sleeved on the side wall of the second rotating rod, so that the output shaft of the second servo motor 101 drives the second limiting plate 102 and the first limiting plate 103 to rotate, thereby driving the threaded sleeve 126 and the lever 121 to rotate. The side wall of the first connecting member 3 is fixedly mounted on the second protective shell. The second servo motor 101 is fixedly mounted inside the second protective shell, and the inner wall of the second protective shell is rotatably connected to the side wall of the second rotating rod.

[0032] In specific implementation, the second servo motor 101 is started. The output shaft of the second servo motor 101 drives the second rotating rod to rotate through the coupling. The second rotating rod drives the second limiting plate 102, the first limiting plate 103 and the fixed sleeve 104 to rotate. Since the fixed sleeve 104 is fixedly sleeved on the side wall of the fixed column 128, it drives the threaded sleeve 126 and the lever 121 to rotate. Since the lever 121 and the first crank arm 8 rotate coaxially, that is, the first crank arm 8 is driven to rotate from the end of the lever 121 away from the rotating shaft 91, reducing the torque required for the second servo motor 101 to drive the first crank arm 8 to rotate.

[0033] By fitting the first limiting plate 103 inside the second limiting plate 102, the first limiting plate 103 can move within the second limiting plate 102. This facilitates subsequent adjustment of the length of the threaded sleeve 126 extending out of the lever 121 according to the adjustment mechanism 12, thereby driving the lever 121 to rotate. This is convenient for practical use. Furthermore, the side wall of the first limiting plate 103 fits snugly against the inner wall of the limiting groove, preventing looseness during the rotation of the first limiting plate 103 and the second limiting plate 102, thus improving stability.

[0034] Please see Figure 7 , Figure 8 and Figure 9 The regulating mechanism 12 includes; Lever 121 is fixedly disposed on the side of the second connector 113 away from the first crank arm 8, and the side of lever 121 away from the second connector 113 is hollow. The inner wall of lever 121 is rotatably provided with a threaded rod 124. The side wall of threaded rod 124 is threadedly connected with a threaded sleeve 126. The outer wall of threaded sleeve 126 is fixedly provided with a limiting slider arranged in a ring array, and the limiting slider is located on the side of threaded sleeve 126 close to the second connector 113. The end of threaded sleeve 126 away from the second connector 113 is fixedly provided with a fixing post 128 extending to the outside of lever 121, and the end located outside the lever 121 is fixedly connected to the bottom of mounting rod 131. Limiting grooves 127 are arranged in a ring array on the inner wall of lever 121. Limiting sliders are placed in the limiting grooves 127 to limit the movement of threaded sleeve 126.

[0035] The regulating mechanism 12 also includes; The first servo motor 125 is fixedly mounted on the outer wall of the lever 121. The output shaft of the first servo motor 125 is fixedly mounted on the first rotating rod through a coupling. The side wall of the first rotating rod is fixedly fitted with the first gear 123. The second gear 122 is fixedly sleeved on the side wall of the threaded rod 124 and sleeved inside the lever 121. The second gear 122 meshes with the first gear 123 and is used to drive the threaded rod 124 to rotate by the output shaft of the first servo motor 125.

[0036] In practical implementation, when it is necessary to lengthen the power arm to reduce the torque required for the second servo motor 101 to drive the first crank arm 8 to rotate, the second servo motor 101 is started. The output shaft of the second servo motor 101 drives the first rotating rod and the first gear 123 to rotate through the coupling. The first gear 123 meshes with the second gear 122, thereby driving the second gear 122 and the threaded rod 124 to rotate. When the threaded rod 124 rotates, under the limitation of the limiting slide groove 127 and the limiting slider, it drives the threaded sleeve 126 and the fixed column 128 to move, thereby driving the fixed sleeve 104 and the first limiting plate 103 to move along the second limiting plate 102 to adjust the length of the power arm, thereby reducing the torque required to drive the first crank arm 8 to rotate, which is convenient for practical use.

[0037] By using a threaded transmission method to move the fixed column 128 and the first limiting plate 103, a self-locking function is provided in the moving direction of the fixed column 128 and the first limiting plate 103, thereby improving the stability of the adjustment.

[0038] By making the first gear 123 and the second gear 122 drive each other, the first servo motor 125 can be installed on the outer wall of the lever 121, avoiding occupying the internal space of the lever 121, increasing the moving length of the threaded sleeve 126, and increasing the adjustment range.

[0039] A first protective shell is fixedly provided on the outer wall of the lever 121. The first servo motor 125 is fixedly provided inside the first protective shell. The side wall of the first rotating rod is rotatably connected to the inner wall of the first protective shell, which facilitates the installation of the first servo motor 125 and the first rotating shaft 91. A through groove is provided on the side of the first protective shell and the lever 121 that are close to each other, which is used to provide space for the first gear 123 and the second gear 122 to mesh, so as to facilitate the meshing transmission of the first gear 123 and the second gear 122. The outer wall of the threaded sleeve 126 fits against the inner wall of the lever 121 to limit the threaded sleeve 126, preventing looseness when the output shaft of the second servo motor 101 drives the threaded sleeve 126 to rotate, thus improving the stability of rotation.

[0040] Please see Figure 5 and Figure 6 The disassembly mechanism 11 includes; An annular groove 115 is formed on the side wall of the rotating shaft 91 and located on the side of the rotating member 94 away from the first connecting member 3. An annular slider 114 is placed inside the annular groove 115. An installation sleeve 111 is fixedly sleeved on the outer wall of the annular slider 114. The installation sleeve 111 rotates by sliding the annular slider 114 in the annular groove 115. A second connecting member 113 is fixedly sleeved on the outer wall of the installation sleeve 111. A fixing ring 112 is fixedly sleeved on the side of the installation sleeve 111 away from the rotating member 94. The inner wall of the fixing ring 112 is sleeved on the side wall of the rotating shaft 91. The outer wall of the fixing ring 112 has an annular array of through holes. The side wall of the rotating shaft 91, located outside the first groove, has an annular array of screw holes. The screw holes are adapted to the through holes so that bolts can pass through the through holes and be screwed into the screw holes to fix the fixing ring 112, the installation sleeve 111 and the second connecting member 113.

[0041] In practical implementation, due to the limited working environment of the mechanical claw 4, the threaded sleeve 126 cannot be extended too far. In order to enable the mechanical claw 4 to be used normally under this environment, the bolt is loosened and removed. The sleeve 111 and the second connecting piece 113 can be rotated along the rotating shaft 91 through the annular slider 114 and the annular groove 115, thereby driving the lever 121 to rotate. Since the first limiting plate 103 is fitted inside the second limiting plate 102, it does not affect the actual adjustment and use. The angle of the lever 121 can be adjusted to suit different working environments. The extension length of the threaded sleeve 126 can be adjusted according to the actual situation through the adjusting mechanism 12 for practical use. After the adjustment is completed, the external bolt is screwed into the screw hole after passing through the through hole to fix the fixing ring 112, the mounting sleeve 111 and the second connecting piece 113, and thus fix the lever 121 to ensure stability.

[0042] Example 2; please refer to Figure 11 The difference between this embodiment and embodiment one is that the auxiliary mechanism 13 includes; The mounting rod 131 is located on the side of the adjustment mechanism 12 away from the disassembly mechanism 11 and is designed in a bent shape. A screw 132 is fixedly provided on the top of the mounting rod 131. A counterweight plate 133 is sleeved on the side wall of the screw 132. A locking nut 134 is threadedly connected to the side wall of the threaded rod 124. The locking nut 134 is used to fix the counterweight plate 133.

[0043] In practical implementation, due to the limited working environment, where it is not possible to increase the weight of the object to which the longer power arm is applicable, the counterweight plate 133 is installed on the screw 132 and fixed with the screw 132 by locking bolts. This adjusts the weight of the load on the lever 121. By adjusting the weight of the load on the lever 121 to be relatively balanced with the weight of the load on the first crank arm 8, the torque required for the fourth drive mechanism 10 to rotate the first crank arm 8 is reduced, facilitating practical use. The outer diameter of the locking nut is larger than the inner diameter of the counterweight plate 133. The top of the mounting rod 131 is fixedly connected to the screw rod 132 through a fixing flange. The outer diameter of the fixing flange is larger than the inner diameter of the counterweight plate 133, which is used to press against the counterweight plate 133 to fix it. By tightening the locking nut 134, the locking nut 134 and the fixing flange press against the counterweight plate 133, thereby fixing the counterweight plate 133.

[0044] In implementation, the device is fixed in a designated position by the base 1 to facilitate the use of the mechanical claw 4 to grasp objects. When grasping an object, the first drive mechanism 2 drives the first connecting member 3 to rotate, causing the mechanical claw 4 to rotate to the top of the object to be grasped. Then, the fourth drive mechanism 10 and the rotation mechanism 9 work together to drive the first curved arm 8 to rotate along the rotating shaft 91 to adjust the height position of the mechanical claw 4. Then, the second drive mechanism 7 drives the second curved arm 6 to rotate to adjust the height position of the second curved arm 6, causing the mechanical claw 4 to move to the object to be grasped. Then, the third drive mechanism 5 drives the mechanical claw 4 to rotate, adjusting the angle of the mechanical claw 4 to grasp the object. After the mechanical claw 4 has stabilized the grasp, the fourth drive mechanism 10 and the adjustment mechanism 12 work together to lift the object and then transfer the object to the designated position. This process is repeated to transfer objects.

[0045] When the first crank arm 8 is driven to rotate by the cooperation of the fourth drive mechanism 10 and the adjustment mechanism 12, the threaded sleeve 126 is driven to rotate by the fourth drive mechanism 10, thereby driving the second connecting piece 113 and the rotating shaft 91 to rotate. Since the lever 121 and the first crank arm 8 rotate coaxially, the first crank arm 8 is driven to rotate, thereby adjusting the tilting height of the first crank arm 8. The fourth drive mechanism 10 rotates from the end of the lever 121 away from the rotating shaft 91. According to the principle of the lever 121, the power arm is lengthened to reduce the torque of the resistance arm, thereby reducing the torque driving the first crank arm 8 to rotate, thereby reducing the load on the second servo motor 101, improving its service life, and not affecting the actual use of the first crank arm 8. The length of the threaded sleeve 126 extending out of the lever 121 can be adjusted by the adjustment mechanism 12, thereby adjusting the torque driving the first crank arm 8 to rotate according to the weight of the object being grasped, which is convenient to adjust according to the actual situation and has high flexibility. Due to the limited working environment, and the inability to increase the weight of the object to be used with a longer power arm, a counterweight plate 133 is installed at the end of the fixed column 128 through the auxiliary mechanism 13, thereby adjusting the weight of the load on the lever 121. By adjusting the weight of the load on the lever 121 to be relatively balanced with the weight of the load on the first crank arm 8, the torque of the fourth drive mechanism 10 driving the first crank arm 8 to rotate is reduced, which is convenient for practical use.

[0046] Furthermore, any content not described in detail in this specification is existing technology known to those skilled in the art.

[0047] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0048] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A retractable arm robotic arm, comprising a base, characterized in that, It also includes a first drive mechanism disposed within the base, a first connector disposed on the top of the first drive mechanism, the first drive mechanism being used to drive the first connector to rotate, a rotation mechanism and a fourth drive mechanism disposed on the side wall of the first connector, a first crank arm and a disassembly mechanism disposed on the side wall of the rotation mechanism, and the disassembly mechanism being located on the side of the first crank arm away from the first connector, an adjustment mechanism disposed on the side wall of the disassembly mechanism away from the first crank arm, the fourth drive mechanism being used to drive the adjustment mechanism to rotate, and an auxiliary mechanism disposed on the side of the adjustment mechanism away from the disassembly mechanism, wherein the rotation mechanism includes; A bearing housing is fixedly sleeved on the inner wall of the first connecting member. The inner wall of the bearing housing is rotatably provided with a rotating shaft extending to the outside of the first connecting member. A rotating member is fixedly sleeved on the side wall of the rotating shaft located outside the first connecting member. A mounting shell is fixedly sleeved on the outer wall of the rotating member. The outer wall of the mounting shell is fixedly connected to the first crank arm. The auxiliary mechanism includes: The mounting rod is located on the side of the adjustment mechanism away from the disassembly mechanism and is designed in a bent shape. A screw is fixedly installed on the top of the mounting rod, and a counterweight plate is sleeved on the side wall of the screw. A locking nut is threaded to the side wall of the screw rod and is used to fix the counterweight plate.

2. The articulated arm manipulator according to claim 1, characterized in that, The rotating mechanism also includes; The flange is rotatably mounted on the side wall of the shaft and located on the side where the first connecting member and the rotating member are close to each other. The flange is fixedly connected to the side where the first connecting member is close to each other and rotatably connected to the side where the rotating member is close to each other. It is used to limit the rotation of the rotating member, the mounting shell and the first crank arm.

3. The articulated arm manipulator according to claim 2, characterized in that, The disassembly mechanism includes: An annular groove is formed on the side wall of the rotating shaft, located on the side of the rotating component away from the first connecting member. An annular slider is placed inside the annular groove, and an installation sleeve is fixedly fitted on the outer wall of the annular slider. The installation sleeve rotates as the annular slider slides within the annular groove. A second connecting member is fixedly fitted on the outer wall of the installation sleeve. A fixing ring is fixedly fitted on the side of the installation sleeve away from the rotating component, and the inner wall of the fixing ring is fitted onto the side wall of the rotating shaft. The outer wall of the fixing ring has an annular array of through holes. The side wall of the rotating shaft, located outside the first groove, has an annular array of screw holes. The screw holes are adapted to the through holes, allowing bolts to pass through the through holes and then be screwed into the screw holes to fix the fixing ring, the installation sleeve, and the second connecting member.

4. The articulated arm manipulator according to claim 3, characterized in that, The adjustment mechanism includes; The lever is fixedly located on the side of the second connector away from the first crank arm, and the side of the lever away from the second connector is hollow. The inner wall of the lever is rotatably provided with a threaded rod, and the side wall of the threaded rod is threadedly connected with a threaded sleeve. The outer wall of the threaded sleeve is fixedly provided with a ring array of limiting sliders, and the limiting sliders are located on the side of the threaded sleeve close to the second connector. The end of the threaded sleeve away from the second connector is fixedly provided with a fixing post extending outside the lever, and the end located outside the lever is fixedly connected to the bottom of the mounting rod. Limiting grooves are arranged in a ring array on the inner wall of the lever, and limiting sliders are placed in the limiting grooves to limit the movement of the threaded sleeve.

5. A retractable arm robotic arm according to claim 4, characterized in that, The adjustment mechanism also includes; The first servo motor is fixedly mounted on the outer wall of the lever. The output shaft of the first servo motor is fixedly mounted on the first rotating rod via a coupling. The side wall of the first rotating rod is fixedly fitted with the first gear. The second gear is fixedly sleeved on the side wall of the threaded rod and inside the lever. The second gear meshes with the first gear and is used to drive the threaded rod to rotate through the output shaft of the first servo motor.

6. A retractable arm robotic arm according to claim 5, characterized in that, The lever is fixedly provided with a first protective shell on its outer wall, the first servo motor is fixedly provided inside the first protective shell, the side wall of the first rotating rod is rotatably connected to the inner wall of the first protective shell, and a through groove for sleeved first gear and second gear is provided on the side of the first protective shell and the lever that are close to each other, so as to provide space for the first gear and second gear to mesh. The outer wall of the threaded sleeve fits against the inner wall of the lever to limit the movement of the threaded sleeve.

7. A retractable arm manipulator according to claim 6, characterized in that, The fourth drive mechanism includes; A fixed sleeve is fixedly sleeved on the side wall of the fixed column, and a first limiting plate is fixedly sleeved on the outer wall of the fixed sleeve; The second limiting plate is sleeved on the side wall of the first limiting plate. The side of the second limiting plate closest to the first limiting plate has a limiting groove for sleeved on the first limiting plate. The first limiting plate moves within the first limiting plate through the limiting groove, and the inner wall of the limiting groove is in contact with the side wall of the second limiting plate.

8. A retractable arm manipulator according to claim 7, characterized in that, The fourth drive mechanism also includes; The second servo motor is fixedly mounted on the side wall of the first connector. The output shaft of the second servo motor is fixedly mounted on the second rotating rod via a coupling. The side of the second limiting plate away from the first limiting plate is fixedly sleeved on the side wall of the second rotating rod, so that the output shaft of the second servo motor drives the second limiting plate and the first limiting plate to rotate, thereby driving the threaded sleeve and the lever to rotate. The side wall of the first connector is fixedly mounted on the second protective shell. The second servo motor is fixedly mounted inside the second protective shell, and the inner wall of the second protective shell is rotatably connected to the side wall of the second rotating rod.

9. A retractable arm manipulator according to claim 1, characterized in that, The bearing housing has a bearing installed on its inner wall. The outer wall of the bearing's outer ring is fixedly connected to the inner wall of the bearing housing, and the inner wall of the bearing's inner ring is fixedly connected to the side wall of the rotating shaft. The outer diameter of the locking nut is larger than the inner diameter of the counterweight plate. The top of the mounting rod is fixedly connected to the screw rod through a fixing flange, and the outer diameter of the fixing flange is larger than the inner diameter of the counterweight plate, which is used to press against the counterweight plate to fix it.

10. A retractable arm robotic arm according to claim 1, characterized in that, A second drive mechanism is provided on the side of the first curved arm away from the rotating mechanism. A second curved arm is provided on the side wall of the second drive mechanism. The second drive mechanism is used to drive the second curved arm to rotate. A third drive mechanism is provided on the side of the second curved arm away from the first curved arm. A mechanical claw for gripping is provided at the bottom of the third drive mechanism. The third drive mechanism is used to drive the mechanical claw to rotate.

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