Multi-joint adjustable mechanical arm

Abstract

The utility model discloses a multi-joint adjustable mechanical arm which comprises a mechanical arm body, a clamping jaw is arranged at one end of the mechanical arm body, and a mounting plate is arranged at the top end of the clamping jaw. A fixing mechanism is arranged between the clamping jaw and the mounting plate, and an adjusting assembly is mounted at the top end of the mounting plate. The fixing mechanism comprises hollow plates symmetrically and fixedly connected to the top ends of the clamping jaws, inserting grooves are symmetrically formed in the bottom end of the mounting plate, the hollow plates and the inserting grooves are connected in an inserted mode, toothed plates are slidably connected to the interiors of the top ends of the hollow plates, and gears are symmetrically and rotationally connected to the interiors of the hollow plates. And the two sides of the toothed plate are in meshed connection with the gears, and the positioning plates are symmetrically and slidably connected to the interiors of the two ends of the hollow plate, so that the effect of quickly mounting and dismounting the clamping jaw can be achieved, compared with a threaded rod fixing structure in the prior art, the clamping jaw is more convenient to use, and the replacement and maintenance efficiency of the clamping jaw is greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to a mechanical arm capable of adjusting multiple joints. Background Art

[0002] At present, among various mechanical devices, robotic arms are widely used. There are many shapes and structures of these robotic arms. Robotic arms are the most widely used automated mechanical devices in the field of robotic technology. They can be seen in industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, space exploration and other fields.

[0003] Announcement No. CN214981168U discloses a robot manipulator arm that is easy to disassemble and assemble. The device is provided with an insertion column, a first through hole and a second sliding column, and the threaded rod and the screw hole are threadedly connected. When the threaded rod rotates inward, the threaded rod and the second through hole are threadedly connected and abut against the second sliding plate, so that the second sliding column moves inward. At the same time, the second sliding column is inserted into the first through hole. The threaded rod is threadedly connected to the second through hole and the second sliding column is inserted into the first through hole, so that the second mounting block and the first mounting block have double fixation. The utility model is easy to disassemble and assemble, which not only improves the speed of disassembly and assembly of the robot arm, but also reduces the labor intensity during the disassembly and assembly of the robot arm, and increases the fixing strength. However, the patent still has the following problems in actual use:

[0004] The device is connected to the screw hole through a threaded rod, so that the second sliding column moves inwardly, and the threaded rod is threadedly connected to the second through hole and the second sliding column is inserted into the first through hole, so that the second mounting block and the first mounting block have dual fixation, which is convenient for disassembly and assembly, and not only improves the speed of disassembly and assembly of the robot arm, but when the device replaces the clamping claw, it is still necessary to use an external tool to rotate the threaded rod, and the effect of quickly installing and disassembling the clamping claw cannot be achieved, which brings inconvenience to the staff when using it.

[0005] A multi-joint adjustable robotic arm is proposed to solve the above-mentioned problems. Utility Model Content

[0006] The purpose of the utility model is to provide a multi-joint adjustable mechanical arm to solve the problem proposed in the above-mentioned background technology that the second sliding column moves inwardly through the threaded connection between the threaded rod and the screw hole, and the second sliding column is inserted into the first through hole, so that the second mounting block and the first mounting block have double fixation, which is convenient for disassembly and assembly, and not only improves the speed of disassembly and assembly of the mechanical arm, but when the device replaces the clamping claw, it is still necessary to use an external tool to rotate the threaded rod, and the effect of quickly installing and disassembling the clamping claw cannot be achieved, which brings inconvenience to the staff when using it.

[0007] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a multi-joint adjustable mechanical arm, comprising a mechanical arm body, one end of the mechanical arm body is provided with a clamping claw, and the top of the clamping claw is provided with a mounting plate; a fixing mechanism is provided between the clamping claw and the mounting plate, and an adjustment component is installed at the top of the mounting plate;

[0008] Among them, the fixing mechanism includes a hollow plate symmetrically fixedly connected to the top of the clamping claw, and a slot is symmetrically opened inside the bottom end of the mounting plate, and the hollow plate is plugged into the slot, and a toothed plate is slidably connected inside the top of the hollow plate, and a gear is symmetrically rotatably connected inside the hollow plate, and both sides of the toothed plate are meshed with the gear, and positioning plates are symmetrically slidably connected inside the two ends of the hollow plate, and a rotating rod is rotatably connected to the side of the gear away from the center, and one end of the rotating rod is rotatably connected to the positioning plate, and one end of the positioning plate is plugged into the inner side of the slot, and a sliding groove is symmetrically opened inside the hollow plate, and a fixing rod is installed inside the sliding groove, and a slider is installed on the top of the positioning plate, and the slider is located on the outside of the fixing rod and slidably connected, and the outside of the fixing rod is sleeved with a first telescopic spring.

[0009] Preferably, a fixed tube is installed on one side of the top of the hollow plate, and a moving block is slidably connected inside the fixed tube, and an insertion rod is installed at one end of the moving block, and a second telescopic spring is arranged inside the fixed tube, and one end of the insertion rod is plugged into the tooth plate.

[0010] Preferably, the adjustment assembly includes a rotating plate installed on the top of the mounting plate, and the top of the mounting plate is fixedly connected to a rotating column, and the rotating column is rotatably connected inside the bottom end of the rotating plate, and teeth are welded on the outside of the top of the rotating column, and a motor is installed inside the rotating plate, and a rotating rod is installed on the output end of the motor, and a gear disk is installed on the outside of the rotating rod.

[0011] Preferably, a push plate is installed on the top of the moving block, and the push plate is slidably connected inside the fixed tube.

[0012] Preferably, an annular plate is installed on the top end of the mounting plate, and an annular groove is provided inside the bottom end of the rotating plate, and the annular plate and the annular groove are slidably connected.

[0013] Preferably, the toothed disc is meshingly connected with the teeth.

[0014] Preferably, the top end of the rotating plate is fixedly connected to the robot arm body.

[0015] Compared with the prior art, the beneficial effects of the utility model are as follows: the specific contents of this kind of mechanical arm with multi-joint adjustment are as follows: by pressing the toothed plate to drive the rotation of the two sets of gears, the rotation of the gears drives the circular trajectory of the rotating rod to rotate, and then pushes the positioning plate to slide inside the hollow plate. At this time, the slider is located on the outside of the fixed rod and slides, thereby utilizing the tension generated by the first telescopic spring, thereby making it difficult for the slider to shift. At this time, the positioning plate is plugged into the inner side of the slot, so as to achieve the effect of quickly installing and disassembling the clamping claw. Compared with the prior art using threaded rod fixing and other structures, it is more convenient and greatly improves the efficiency of replacing and maintaining the clamping claw. By starting the motor to drive the rotation of the rotating rod, the rotation of the rotating rod drives the rotation of the toothed disk, and the rotation of the rotating column drives the rotation of the mounting plate. The rotation of the mounting plate can enable the clamping claw to have a lateral rotation function. The rotating joint of the clamping claw cooperates with the rotating joint on the mechanical arm body, thereby achieving a multi-joint adjustment effect, greatly increasing the range of motion of the clamping claw and improving work efficiency.

[0016] The first spring is pressed against the toothed plate to drive the two sets of gears to rotate, and the rotation of the gear drives the rotating rod to rotate in a circular trajectory, thereby pushing the positioning plate to slide inside the hollow plate. At this time, the slider slides inside the slide slot, and the slider is located at the outside of the fixed rod and slides, thereby utilizing the tension generated by the first telescopic spring, thereby preventing the slider from deviating. At this time, the positioning plate is plugged into the inner side of the slot, thereby achieving the effect of quickly installing and disassembling the clamping claw. Compared with the prior art that adopts threaded rod fixing and other structures, it is more convenient, greatly improving the efficiency of replacing and repairing the clamping claw, and bringing convenience to the staff during use. By pulling the push plate, the moving block is driven to slide inside the fixed tube. At this time, the second telescopic spring contracts, and by loosening the push plate, and then through the reset of the second telescopic spring, the plugging rod and the toothed plate are plugged, thereby the adjusted toothed plate can be fixed and limited, avoiding the phenomenon of toothed plate deviation caused by external force factors, thereby avoiding the phenomenon of unstable fixing of the positioning plate;

[0017] 2. The rotation of the rotating rod is driven by the starting motor, and the rotation of the rotating rod drives the rotation of the gear plate. Due to the meshing between the gear plate and the teeth, the rotation of the rotating column is driven, and the rotation of the mounting plate is driven by the rotation of the rotating column. The rotation of the mounting plate can make the clamping claw have a lateral rotation function. The rotating joint of the clamping claw cooperates with the rotating joint on the mechanical arm body to achieve a multi-joint adjustment effect, which greatly increases the range of motion of the clamping claw, improves work efficiency, and brings convenience to the staff when using it. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0019] Figure 2 This is a schematic diagram of the overall structure of the fixing mechanism in the utility model;

[0020] Figure 3 It is a partial enlarged structural diagram of the fixing mechanism in the utility model;

[0021] Figure 4 It is a schematic diagram of the partially enlarged operation structure of the fixing mechanism in the utility model;

[0022] Figure 5 It is a schematic diagram of the enlarged structure of part A in the utility model.

[0023] In the figure: 1. Robot arm body; 101. Clamping claw; 102. Mounting plate; 2. Fixing mechanism; 201. Hollow plate; 202. Slot; 203. Tooth plate; 204. Gear; 205. Positioning plate; 206. Rotating rod; 207. Slide; 208. Fixed rod; 209. Slider; 210. First telescopic spring; 211. Fixed tube; 212. Moving block; 213. Insert rod; 214. Second telescopic spring; 215. Push plate; 3. Adjusting assembly; 301. Rotating plate; 302. Rotating column; 303. Gear; 304. Motor; 305. Rotating rod; 306. Tooth disc; 307. Annular plate; 308. Annular groove. DETAILED DESCRIPTION

[0024] 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 implementation regulations described are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of 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.

[0025] See also Figure 1-5 The utility model provides a technical solution: a multi-joint adjustable mechanical arm, comprising a mechanical arm body 1, a clamping claw 101 is arranged at one end of the mechanical arm body 1, and a mounting plate 102 is arranged at the top of the clamping claw 101; a fixing mechanism 2 is arranged between the clamping claw 101 and the mounting plate 102, and an adjusting component 3 is installed at the top of the mounting plate 102;

[0026] The fixing mechanism 2 includes a hollow plate 201 symmetrically fixedly connected to the top of the clamping claw 101, and a slot 202 is symmetrically opened inside the bottom of the mounting plate 102, and the hollow plate 201 is plugged into the slot 202, and a toothed plate 203 is slidably connected inside the top of the hollow plate 201, and a gear 204 is symmetrically rotated inside the hollow plate 201, and the two sides of the toothed plate 203 are meshed with the gear 204, and the two ends of the hollow plate 201 are symmetrically slidably connected inside the positioning plate 205, and the gear 204 is rotatably connected to the side away from the center with a rotating rod 206, and one end of the rotating rod 206 is connected to the positioning plate 20 5 is rotatably connected, and one end of the positioning plate 205 is plugged into the inner side of the slot 202, and a slide groove 207 is symmetrically opened inside the hollow plate 201, and a fixing rod 208 is installed inside the slide groove 207, and a slider 209 is installed on the top of the positioning plate 205, and the slider 209 is located on the outer side of the fixing rod 208 for sliding connection, and the outer side of the fixing rod 208 is sleeved with a first telescopic spring 210, so that the effect of quickly installing and removing the clamping claw 101 can be achieved, which is more convenient than the structure of threaded rod fixing in the prior art, greatly improves the replacement and maintenance efficiency of the clamping claw 101, and brings convenience to the staff when using it;

[0027] A fixed tube 211 is installed on one side of the top of the hollow plate 201, and a moving block 212 is slidably connected inside the fixed tube 211, and an insertion rod 213 is installed at one end of the moving block 212, and a second telescopic spring 214 is arranged inside the fixed tube 211, and one end of the insertion rod 213 is plugged into the tooth plate 203, and a push plate 215 is installed on the top of the moving block 212, and the push plate 215 is located in the fixed tube 211 and is slidably connected. By pulling the push plate 215, the moving block 212 is driven to slide inside the fixed tube 211. At this time, the second telescopic spring 214 contracts, and the resetting property of the second telescopic spring 214 makes the insertion rod 213 plugged into the tooth plate 203, so that the adjusted tooth plate 203 can be fixed and limited, avoiding the phenomenon that the tooth plate 203 is offset due to external force factors, thereby avoiding the phenomenon that the positioning plate 205 is fixed and unstable.

[0028] The adjusting component 3 includes a rotating plate 301 installed on the top of the mounting plate 102, the top of the rotating plate 301 is fixedly connected to the robot arm body 1, and the top of the mounting plate 102 is fixedly connected with a rotating column 302, and the rotating column 302 is located at the bottom of the rotating plate 301 and is rotatably connected, and a tooth 303 is welded on the outer side of the top of the rotating column 302, and a motor 304 is installed inside the rotating plate 301, and a rotating rod 305 is installed at the output end of the motor 304, and a toothed disc 306 is installed on the outer side of the rotating rod 305, and the toothed disc 306 is meshed with the toothed disc 303. The rotation of the rotating column 302 drives the rotation of the mounting plate 102, and the mounting plate 102 is driven by the rotation of the rotating column 302. The rotation can make the clamping claw 101 have a lateral rotation function. The rotating joint of the clamping claw 101 cooperates with the rotating joint on the robot arm body 1, so as to achieve a multi-joint adjustment effect, greatly increase the range of motion of the clamping claw 101, improve work efficiency, and bring convenience to the staff when using it. An annular plate 307 is installed on the top of the mounting plate 102, and an annular groove 308 is opened inside the bottom end of the rotating plate 301, and the annular plate 307 is slidably connected with the annular groove 308. The rotation of the mounting plate 102 drives the annular plate 307 to slide inside the annular groove 308, so that the mounting plate 102 and the clamping claw 101 can be more stable when rotating.

[0029] Working principle: Before using this multi-joint adjustable robotic arm, you need to check the overall condition of the device to make sure it can work normally. Figure 1 - Figure 5 As shown, by inserting the hollow plate 201 into the slot 202, and then pressing the toothed plate 203 to drive the rotation of the two sets of gears 204, the rotation of the gear 204 drives the rotating rod 206 to rotate in a circular trajectory, thereby pushing the positioning plate 205 to slide inside the hollow plate 201. At this time, the slider 209 slides inside the slide groove 207, and the slider 209 slides outside the fixed rod 208, thereby utilizing the tension generated by the first telescopic spring 210 to prevent the slider 209 from being easily offset. At this time, the positioning plate 205 is plugged into the inner side of the slot 202, so that the effect of quickly installing and removing the clamping claw 101 can be achieved. In the prior art, the use of threaded rod fixing structures is more convenient, greatly improving the efficiency of replacing and repairing the clamping claw 101, and bringing convenience to the staff when using it. By pulling the push plate 215, the moving block 212 is driven to slide inside the fixed tube 211. At this time, the second telescopic spring 214 contracts, and by loosening the push plate 215, and then through the reset of the second telescopic spring 214, the insertion rod 213 and the tooth plate 203 are plugged together, so that the adjusted tooth plate 203 can be fixed and limited, avoiding the phenomenon of the tooth plate 203 being offset due to external force factors, thereby avoiding the phenomenon of the positioning plate 205 being fixed and unstable;

[0030] The rotation of the rotating rod 305 is driven by starting the motor 304, and the rotation of the rotating rod 305 drives the rotation of the toothed disc 306. Due to the meshing between the toothed disc 306 and the teeth 303, the rotation of the rotating column 302 is driven, and the rotation of the mounting plate 102 is driven to rotate. The rotation of the mounting plate 102 can make the clamping claw 101 have a lateral rotation function. The rotating joint of the clamping claw 101 cooperates with the rotating joint on the robot arm body 1, so as to achieve a multi-joint adjustment effect, greatly increase the range of movement of the clamping claw 101, improve work efficiency, and bring convenience to the staff when using it. The rotation of the mounting plate 102 drives the annular plate 307 to slide inside the annular groove 308, so that the mounting plate 102 and the clamping claw 101 can be more stable when rotating.

[0031] The robot arm body 1 and the clamping claw 101 are in the prior art. Publication No. CN214981168U discloses a robot arm that is easy to disassemble and assemble. The devices used therein are not described in detail here.

[0032] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art may still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. A multi-joint adjustable mechanical arm, comprising a mechanical arm body (1), one end of the mechanical arm body (1) is provided with a clamping claw (101), and the top end of the clamping claw (101) is provided with a mounting plate (102); It is characterized in that Also includes: A fixing mechanism (2) is provided between the clamping claw (101) and the mounting plate (102), and an adjusting component (3) is installed at the top end of the mounting plate (102); The fixing mechanism (2) comprises a hollow plate (201) symmetrically fixedly connected to the top of the clamping claw (101), and a slot (202) is symmetrically opened inside the bottom of the mounting plate (102), and the hollow plate (201) and the slot (202) are plugged together, and a toothed plate (203) is slidably connected inside the top of the hollow plate (201), and a gear (204) is symmetrically rotatably connected inside the hollow plate (201), and both sides of the toothed plate (203) are meshedly connected to the gear (204), and positioning plates (205) are symmetrically slidably connected inside the two ends of the hollow plate (201), and the gears (204) is rotatably connected to a rotating rod (206) away from the center, and one end of the rotating rod (206) is rotatably connected to the positioning plate (205), and one end of the positioning plate (205) is plugged into the inner side of the slot (202), and a sliding groove (207) is symmetrically opened inside the hollow plate (201), and a fixed rod (208) is installed inside the sliding groove (207), and a slider (209) is installed at the top of the positioning plate (205), and the slider (209) is located on the outside of the fixed rod (208) and is slidably connected, and the outside of the fixed rod (208) is sleeved with a first telescopic spring (210).

2. A multi-joint adjustable robotic arm according to claim 1, characterized in that: A fixed tube (211) is installed on one side of the top end of the hollow plate (201), and a moving block (212) is slidably connected inside the fixed tube (211), and an insertion rod (213) is installed at one end of the moving block (212), and a second telescopic spring (214) is arranged inside the fixed tube (211), and one end of the insertion rod (213) is plugged into the toothed plate (203).

3. A multi-joint adjustable robotic arm according to claim 1, characterized in that: The adjustment assembly (3) comprises a rotating plate (301) mounted on the top of the mounting plate (102), and a rotating column (302) is fixedly connected to the top of the mounting plate (102), and the rotating column (302) is rotatably connected inside the bottom of the rotating plate (301), and teeth (303) are welded on the outer side of the top of the rotating column (302), and a motor (304) is mounted inside the rotating plate (301), and a rotating rod (305) is mounted on the output end of the motor (304), and a toothed disc (306) is mounted on the outer side of the rotating rod (305).

4. A multi-joint adjustable mechanical arm according to claim 2, characterized in that: A push plate (215) is installed at the top end of the moving block (212), and the push plate (215) is located inside the fixed tube (211) and is slidably connected.

5. The multi-joint adjustable mechanical arm according to claim 3, characterized in that: An annular plate (307) is installed at the top of the mounting plate (102), and an annular groove (308) is provided inside the bottom end of the rotating plate (301), and the annular plate (307) and the annular groove (308) are slidably connected.

6. The multi-joint adjustable mechanical arm according to claim 3, characterized in that: The toothed disc (306) is meshingly connected with the teeth (303).

7. The multi-joint adjustable mechanical arm according to claim 3, characterized in that: The top end of the rotating plate (301) is fixedly connected to the robot arm body (1).

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