Flexible feeding mechanical arm

Abstract

The utility model discloses a flexible feeding mechanical arm which comprises a supporting frame. An adjusting structure is mounted on the supporting frame, a mounting seat is mounted on the adjusting structure, and a triangular plate is fixedly mounted on the bottom side of the mounting seat; according to the feeding device, the middle of the hollow shaft on the hollow stepping motor is opened, so that the hollow shaft can be used for being connected with an air pump for exhausting air and sucking articles for feeding through airflow, the three servo motors can be started during feeding, and the position of the connecting seat can be adjusted according to the rotation degree of the output shafts of the servo motors, so that the feeding operation is carried out; the distance between the extension rod and the movable rod can be increased by starting the extension motor, so that the movement range of the mechanical arm is enlarged, the arm can be prevented from falling off once the mechanical arm is stopped by utilizing the speed reducer, the mechanical arm consists of a plurality of joints and the carbon fiber rod, and each joint has the capability of rotating or linearly moving, so that multi-degree-of-freedom operation is realized; accurate positioning and operation can be achieved, and the requirements for high-precision manufacturing and assembling are met.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to a flexible feeding mechanical arm. Background Art

[0002] The Delta structure robot arm is an efficient and precise industrial robot. Its design is inspired by the delta shape and adopts a parallel mechanism. It is fast and stable. Its main advantages lie in its high speed and high precision. It can achieve fast movement and improve production efficiency.

[0003] In the prior art, the Delta structure robotic arm mainly relies on the flipping of the connecting rod to adjust the position and range of motion of the end clamp, so the distance and range of movement of the clamp are limited by the length of the connecting rod and the flipping angle. However, the length of the connecting rod on the robotic arm does not support adjustment, which limits the range of motion of the Delta structure robotic arm and is not suitable for long-distance material transportation. Therefore, a flexible loading robotic arm is needed to meet people's needs. Utility Model Content

[0004] The purpose of the utility model is to provide a flexible feeding robot arm to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a flexible feeding robot arm, comprising a support frame; an adjustment structure is installed on the support frame, a mounting seat is installed on the adjustment structure, a triangular plate is fixedly installed on the bottom side of the mounting seat, a driving structure is installed on the triangular plate, three extension rods are installed on the driving structure, telescopic structures are installed on the three extension rods, and grabbing structures are installed on the three extension rods;

[0006] The driving structure includes three servo motors, the output ends of the three servo motors are connected to reducers, the three reducers are fixedly mounted on the triangular plate, the output ends of the three reducers are fixedly mounted with connecting disks, the three connecting disks are rotatably mounted on the triangular plate, and movable rods are fixedly mounted on the three connecting disks, and the three movable rods are in contact with one side of the three extension rods;

[0007] The grabbing structure includes multiple carbon fiber rods, both ends of the carbon fiber rods are movably sleeved with pins, one end of the two pins are fixedly installed with a U-shaped plate, the two U-shaped plates are rotatably installed with connecting shafts, one of the connecting shafts is rotatably installed with a bearing seat, and the other connecting shaft is rotatably installed on the extension rod, the bearing seat is fixedly installed with a connecting seat, the connecting seat is connected to a hollow stepper motor, and the hollow stepper motor is provided with a hollow shaft.

[0008] Preferably, the telescopic structure includes a U-shaped extension rod, which is slidably mounted on the inner wall of the movable rod, an extension screw rod is threadedly mounted on the U-shaped extension rod, an extension motor is fixedly mounted on the inner wall of the movable rod, the output end of the extension motor is fixedly mounted on one end of the extension screw rod, and the U-shaped extension rod is fixedly mounted on one side of the extension rod.

[0009] Preferably, a threaded hole is provided on the U-shaped extension rod, the extension screw rod is threadedly installed in the threaded hole, a sliding groove is provided on the inner wall of the movable rod, and the U-shaped extension rod is slidably installed in the sliding groove.

[0010] Preferably, the adjustment structure includes a movable frame, which is slidably mounted on a support frame, a first adjusting motor is fixedly mounted on one side of the movable frame, a first adjusting screw is fixedly mounted on the output end of the first adjusting motor, the first adjusting screw is rotatably mounted on the movable frame, a first threaded seat is threadedly mounted on the first adjusting screw, the first threaded seat is fixedly mounted on the top side of the mounting seat, second threaded seats are fixedly mounted on both sides of the movable frame, two second adjusting motors are fixedly mounted on the support frame, second adjusting screws are fixedly mounted on the output ends of the two second adjusting motors, the two second adjusting screws are rotatably mounted on the support frame, and the two second adjusting screws are respectively threadedly mounted on the two second threaded seats.

[0011] Preferably, guide slide grooves are provided on both inner walls of the movable frame, guide slide bars are slidably installed in the two guide slide grooves, and the two guide slide bars are fixedly installed on the top side of the mounting seat.

[0012] Preferably, the triangular plate is provided with three positioning and mounting holes, and the three reducers are fixedly mounted in the three positioning and mounting holes respectively.

[0013] Preferably, a first mounting hole is formed on the latch pin, and a second mounting hole is formed on the carbon fiber rod, and the first mounting hole corresponds to the second mounting hole.

[0014] Preferably, the extension rod and the bearing seat are both provided with a rotating shaft hole, and the two connecting shafts are rotatably installed in the two rotating shaft holes respectively.

[0015] Compared with the prior art, the beneficial effects of the utility model are:

[0016] (1) The utility model opens up the middle of the hollow shaft on the hollow stepper motor so that air can pass through it. The hollow shaft can be used to connect an air pump to evacuate air so as to suck objects for feeding. When feeding, three servo motors can be turned on. The position of the connecting seat can be adjusted according to the degree of rotation of the servo motor output shaft, thereby adjusting the connecting seat and the material position to perform feeding operations. By turning on the corresponding extension motor, the distance between the rod and the movable rod can be extended, thereby increasing the movable range of the robot arm. The reducer can be used to prevent the arm from falling directly when the machine stops. The robot arm is composed of multiple joints and carbon fiber rods. Each joint has the ability to rotate or move linearly, thereby realizing multi-degree-of-freedom operations, and can achieve precise positioning and operation to meet the needs of high-precision manufacturing and assembly.

[0017] (2) By turning on the first adjustment motor and the second adjustment motor, the position of the robot arm on the X and Y axes can be further adjusted, thereby further increasing the range of motion of the robot arm so that it can adapt to long-distance feeding needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the three-dimensional structure of the flexible feeding mechanical arm proposed by the utility model;

[0019] Figure 2 This is a schematic diagram of the partial structure of the flexible feeding mechanical arm proposed by the utility model;

[0020] Figure 3 This is a schematic diagram of the triangular plate structure of the flexible feeding mechanical arm proposed in the utility model;

[0021] Figure 4 This is a schematic diagram of the carbon fiber rod structure of the flexible feeding robot arm proposed in the utility model;

[0022] Figure 5 This is a schematic diagram of the movable rod structure of the flexible feeding mechanical arm proposed by the utility model;

[0023] Figure 6 This is a schematic cross-sectional structure diagram of the movable rod of the flexible feeding mechanical arm proposed by the utility model;

[0024] Figure 7 This is a schematic diagram of the connecting seat structure of the flexible feeding robot arm proposed in the utility model.

[0025] In the figure: 1. support frame; 2. mounting seat; 3. triangle plate; 31. servo motor; 32. reducer; 33. connecting plate; 34. movable rod; 35. positioning mounting hole; 4. extension rod; 41. U-shaped extension rod; 42. extension screw rod; 43. extension motor; 44. threaded hole; 45. sliding groove; 5. carbon fiber rod; 51. latch; 52. U-shaped plate; 53. connecting shaft; 54. bearing seat; 55. connecting seat; 56. hollow stepping motor; 57. hollow shaft; 58. first mounting hole; 59. second mounting hole; 510. rotating shaft hole; 6. movable frame; 61. first adjusting motor; 62. first adjusting screw rod; 63. first threaded seat; 64. second threaded seat; 65. second adjusting motor; 66. second adjusting screw rod; 67. guide slide groove; 68. guide slide bar. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0027] See also Figure 1-7 The utility model provides a technical solution: a flexible feeding robot arm, comprising a support frame 1; an adjustment structure is installed on the support frame 1, a mounting seat 2 is installed on the adjustment structure, a triangular plate 3 is fixedly installed on the bottom side of the mounting seat 2, a driving structure is installed on the triangular plate 3, three extension rods 4 are installed on the driving structure, the three extension rods 4 are all installed with a telescopic structure, and the three extension rods 4 are installed with a grabbing structure;

[0028] The driving structure includes three servo motors 31, the output ends of the three servo motors 31 are connected to reducers 32, the three reducers 32 are fixedly mounted on the triangular plate 3, the output ends of the three reducers 32 are fixedly mounted with connecting plates 33, the three connecting plates 33 are rotatably mounted on the triangular plate 3, and the three connecting plates 33 are fixedly mounted with movable rods 34, and the three movable rods 34 are in contact with one side of the three extension rods 4;

[0029] The grabbing structure includes a plurality of carbon fiber rods 5, both ends of the carbon fiber rods 5 are movably sleeved with latches 51, one end of the two latches 51 are fixedly installed with U-shaped plates 52, and connecting shafts 53 are rotatably installed on the two U-shaped plates 52, one of the connecting shafts 53 is rotatably installed with a bearing seat 54, and the other connecting shaft 53 is rotatably installed on the extension rod 4, and a connecting seat 55 is fixedly installed on the bearing seat 54, and a hollow stepping motor 56 is connected to the connecting seat 55, and a hollow shaft 57 is provided on the hollow stepping motor 56. Turning on three servo motors 31 at the same time can drive the connecting seat 55 to move vertically, and the connecting shaft 53 will rotate in the corresponding rotating shaft hole 510 during the movement of the carbon fiber rod 5, so as to achieve the desired effect. In order to adapt to the change of the position of the connecting seat 55, if one of the servo motors 31 rotates too fast or too slow, the movable angle of the carbon fiber rod 5 at the corresponding position will also increase accordingly, and the position of the connecting seat 55 will change at the same time. During the process, the carbon fiber rods 5 at the other two positions will drive the U-shaped plate 52 to rotate on the connecting shaft 53 according to the change of the position of the connecting seat 55, so as to achieve the effect of adjusting the position and height of the hollow stepper motor 56 and the hollow shaft 57 by adjusting the output ends of the three servo motors 31 to rotate to different degrees. By opening the middle of the hollow shaft 57 so that air can pass through the middle, it can be used to connect the air pipe and cooperate with the air pump to evacuate air, so as to suck objects for feeding.

[0030] In order to increase the range of movement of the connecting seat 55, the telescopic structure includes a U-shaped extension rod 41, which is slidably installed on the inner wall of the movable rod 34, and an extension screw rod 42 is threadedly installed on the U-shaped extension rod 41. An extension motor 43 is fixedly installed on the inner wall of the movable rod 34, and the output end of the extension motor 43 is fixedly installed on one end of the extension screw rod 42. The U-shaped extension rod 41 is fixedly installed on one side of the extension rod 4. Turning on the extension motor 43 at the corresponding position can adjust the distance between the extension rod 4 and the movable rod 34, thereby increasing the range of movement of the hollow stepper motor 56 and the hollow shaft 57.

[0031] In order to limit the moving trajectory of the U-shaped extension rod 41, a threaded hole 44 is opened on the U-shaped extension rod 41, and the extension screw 42 is threadedly installed in the threaded hole 44. The inner wall of the movable rod 34 is opened with a sliding groove 45, and the U-shaped extension rod 41 is slidably installed in the sliding groove 45. The rotating extension screw 42 will drive the U-shaped extension rod 41 to slide by cooperating with the threaded hole 44, so that the U-shaped extension rod 41 slides in the sliding groove 45.

[0032] In order to avoid positional displacement between the reducer 32 and the triangular plate 3 , three positioning and mounting holes 35 are provided on the triangular plate 3 , and the three reducers 32 are fixedly mounted in the three positioning and mounting holes 35 , respectively. The reducers 32 can be fixed to the positioning and mounting holes 35 on the triangular plate 3 by bolts.

[0033] A first mounting hole 58 is formed on the latch pin 51, and a second mounting hole 59 is formed on the carbon fiber rod 5. The first mounting hole 58 corresponds to the second mounting hole 59. The connection and fixation between the latch pin 51 and the carbon fiber rod 5 can be achieved by passing bolts or rods through the first mounting hole 58 and the second mounting hole 59.

[0034] In order to enable the connecting shaft 53 to rotate to adapt to the change of the position of the connecting seat 55, a rotating shaft hole 510 is opened on the extension rod 4 and the bearing seat 54. The two connecting shafts 53 are rotatably installed in the two rotating shaft holes 510 respectively. When the position of the connecting seat 55 changes, the connecting shaft 53 will rotate in the corresponding rotating shaft hole 510.

[0035] The working principle is as follows: the three servo motors 31 are turned on at the same time, and the output end of the servo motor 31 drives the output end of the reducer 32 to rotate, so that the output end of the reducer 32 drives the corresponding connecting disk 33 to flip, and the flipped connecting disk 33 drives the extension rod 4 to flip through the movable rod 34. When the extension rod 4 flips, it drives the connecting shaft 53 to move, and the connecting shaft 53 drives the carbon fiber rod 5 to move through the U-shaped plate 52, and the carbon fiber rod 5 drives the bearing seat 54 to move through the cooperation of another U-shaped plate 52 and the connecting shaft 53. Since the three servo motors 31 are running at the same time, the three bearing seats 54 can move at the same time, and then drive the connecting seat 55 to move vertically. During the movement of the carbon fiber rod 5 The connecting shaft 53 will rotate in the corresponding rotating shaft hole 510 to adapt to the change of the position of the connecting seat 55. If the speed of one of the servo motors 31 is too fast or too slow, the movable angle of the carbon fiber rod 5 at the corresponding position will also increase accordingly, and the position of the connecting seat 55 will change. During the process, the carbon fiber rods 5 at the other two positions will drive the U-shaped plate 52 to rotate on the connecting shaft 53 according to the change of the position of the connecting seat 55. Therefore, by adjusting the output ends of the three servo motors 31 to rotate to different degrees, the position and height of the hollow stepper motor 56 and the hollow shaft 57 can be adjusted. By opening the middle of the hollow shaft 57 so that air can pass through the middle, it can be used to connect the air pipe and cooperate with the air pump to The U-shaped extension rod 41 is driven by the extension motor 43 to slide in the sliding groove 45, and the U-shaped extension rod 41 is driven by the extension motor 43 to slide in the sliding groove 45. ... When the threaded seat 64 slides, it will drive the movable frame 6 to slide on the support frame 1. When the movable frame 6 slides, it will drive the mounting seat 2 to slide through the guide slide bar 68, so that the position of the entire robotic arm can be adjusted. When the first adjusting motor 61 is turned on, it can drive the first adjusting screw rod 62 to rotate. The rotating first adjusting screw rod 62 can drive the first threaded seat 63 to slide. The sliding first threaded seat 63 drives the mounting seat 2 to slide. At this time, the mounting seat 2 will drive the two guide slide bars 68 to slide in the two guide slide grooves 67 respectively, thereby preventing the mounting seat 2 from being offset. The cooperation of the first adjusting motor 61 and the second adjusting motor 65 can realize the adjustment of the position of the robotic arm on the X and Y axes, thereby further improving the range of motion of the robotic arm.

[0036] Example 2: Figure 1In order to further improve the movable range of the robot arm, an adjustment structure is arranged on the support frame 1, and the adjustment structure includes a movable frame 6, which is slidably installed on the support frame 1. A first adjusting motor 61 is fixedly installed on one side of the movable frame 6, and a first adjusting screw rod 62 is fixedly installed on the output end of the first adjusting motor 61. The first adjusting screw rod 62 is rotatably installed on the movable frame 6, and a first threaded seat 63 is threadedly installed on the first adjusting screw rod 62. The first threaded seat 63 is fixedly installed on the top side of the mounting seat 2, and second threaded seats 64 are fixedly installed on both sides of the movable frame 6. Two second adjusting motors 65 are fixedly installed on the support frame 1, and second adjusting screw rods 66 are fixedly installed on the output ends of the two second adjusting motors 65. The two second adjusting screw rods 66 are rotatably installed on the support frame 1, and the two second adjusting screw rods 66 are respectively threaded on the two second threaded seats 64. The inner walls on both sides of the movable frame 6 are provided with guide grooves 67, and the two guide grooves 67 are slidable. A guide slide 68 is dynamically installed, and the two guide slides 68 are fixedly installed on the top side of the mounting seat 2. When the second adjusting motor 65 is turned on, its output end can drive the second adjusting screw rod 66 to rotate, and the rotating second adjusting screw rod 66 will drive the second threaded seat 64 to slide. When the second threaded seat 64 slides, it will drive the movable frame 6 to slide on the support frame 1. When the movable frame 6 slides, it will drive the mounting seat 2 to slide through the guide slide bar 68, so that the position of the entire robotic arm can be adjusted. When the first adjusting motor 61 is turned on, it can drive the first adjusting screw rod 62 to rotate, and the rotating first adjusting screw rod 62 can drive the first threaded seat 63 to slide. The sliding first threaded seat 63 drives the mounting seat 2 to slide. At this time, the mounting seat 2 will drive the two guide slide bars 68 to slide in the two guide slide grooves 67 respectively, thereby preventing the mounting seat 2 from offset. The position of the robotic arm on the X and Y axes can be adjusted through the cooperation of the first adjusting motor 61 and the second adjusting motor 65. The remaining features are the same as those in Example 1.

[0037] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A flexible feeding robot arm, comprising a support frame (1); characterized in that: The support frame (1) is provided with an adjustment structure, a mounting seat (2) is provided on the adjustment structure, a triangular plate (3) is fixedly provided on the bottom side of the mounting seat (2), a driving structure is provided on the triangular plate (3), three extension rods (4) are provided on the driving structure, the three extension rods (4) are provided with telescopic structures, and the three extension rods (4) are provided with grasping structures; The driving structure comprises three servo motors (31), the output ends of the three servo motors (31) are connected to reducers (32), the three reducers (32) are fixedly mounted on the triangular plate (3), the output ends of the three reducers (32) are fixedly mounted with connecting plates (33), the three connecting plates (33) are rotatably mounted on the triangular plate (3), and movable rods (34) are fixedly mounted on the three connecting plates (33), and the three movable rods (34) are in contact with one side of the three extension rods (4); The grabbing structure comprises a plurality of carbon fiber rods (5), both ends of the carbon fiber rods (5) are movably sleeved with latches (51), one end of each of the two latches (51) is fixedly mounted with a U-shaped plate (52), a connecting shaft (53) is rotatably mounted on each of the two U-shaped plates (52), a bearing seat (54) is rotatably mounted on one of the connecting shafts (53), the other connecting shaft (53) is rotatably mounted on the extension rod (4), a connecting seat (55) is fixedly mounted on the bearing seat (54), a hollow stepping motor (56) is connected to the connecting seat (55), and a hollow shaft (57) is provided on the hollow stepping motor (56).

2. The flexible feeding robot arm according to claim 1, characterized in that: The telescopic structure comprises a U-shaped extension rod (41), the U-shaped extension rod (41) is slidably mounted on the inner wall of the movable rod (34), an extension screw rod (42) is threadedly mounted on the U-shaped extension rod (41), an extension motor (43) is fixedly mounted on the inner wall of the movable rod (34), an output end of the extension motor (43) is fixedly mounted on one end of the extension screw rod (42), and the U-shaped extension rod (41) is fixedly mounted on one side of the extension rod (4).

3. The flexible feeding robot arm according to claim 2 is characterized in that: The U-shaped extension rod (41) is provided with a threaded hole (44), the extension screw rod (42) is threadedly installed in the threaded hole (44), the inner wall of the movable rod (34) is provided with a sliding groove (45), and the U-shaped extension rod (41) is slidably installed in the sliding groove (45).

4. The flexible feeding robot arm according to claim 1, characterized in that: The adjustment structure comprises a movable frame (6), the movable frame (6) is slidably mounted on the support frame (1), a first adjustment motor (61) is fixedly mounted on one side of the movable frame (6), a first adjustment screw rod (62) is fixedly mounted on the output end of the first adjustment motor (61), the first adjustment screw rod (62) is rotatably mounted on the movable frame (6), a first threaded seat (63) is threadedly mounted on the first adjustment screw rod (62), the first threaded seat (63) is fixedly mounted on the top side of the mounting seat (2), second threaded seats (64) are fixedly mounted on both sides of the movable frame (6), two second adjustment motors (65) are fixedly mounted on the support frame (1), second adjustment screw rods (66) are fixedly mounted on the output ends of the two second adjustment motors (65), the two second adjustment screw rods (66) are rotatably mounted on the support frame (1), and the two second adjustment screw rods (66) are respectively threadedly mounted on the two second threaded seats (64).

5. The flexible feeding robot arm according to claim 4 is characterized in that: The inner walls on both sides of the movable frame (6) are provided with guide slide grooves (67), and guide slide bars (68) are slidably installed in the two guide slide grooves (67), and the two guide slide bars (68) are fixedly installed on the top side of the mounting seat (2).

6. The flexible feeding robot arm according to claim 1, characterized in that: The triangular plate (3) is provided with three positioning and mounting holes (35), and the three reducers (32) are respectively fixedly mounted in the three positioning and mounting holes (35).

7. The flexible feeding robot arm according to claim 1, characterized in that: The latch pin (51) is provided with a first mounting hole (58), the carbon fiber rod (5) is provided with a second mounting hole (59), and the first mounting hole (58) corresponds to the second mounting hole (59).

8. The flexible feeding robot arm according to claim 1, characterized in that: The extension rod (4) and the bearing seat (54) are both provided with a rotation shaft hole (510), and the two connecting shafts (53) are rotatably mounted in the two rotation shaft holes (510) respectively.

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