Mechanical arm for robot

Abstract

The utility model relates to the field of robots, and discloses a mechanical arm for a robot, which comprises a base, a supporting seat fixedly arranged at the top of the base, a driving cylinder fixedly mounted at the top of the base, a mechanical arm hinged at the top of the supporting seat, a motor fixedly mounted at the end part of the mechanical arm, and a connecting plate fixedly connected with an output shaft on the motor, the side, away from the motor, of the connecting plate is fixedly connected with a clamp, after clamping is completed, a sliding block is driven by a vertical plate to move in a side groove, and then an inserting shaft connected with a connecting rod is pushed to slide in a hinged support; the end of the inserting shaft is inserted into the supporting hole firstly and then inserted into the hole of the upper clamping plate, after a power source of the telescopic rod is turned off and materials are fixed, power consumption of the telescopic rod can be properly turned off or reduced, the effects of energy conservation and emission reduction are achieved, dependence on the telescopic rod is reduced, and therefore the use frequency and the abrasion degree of the telescopic rod are reduced, and the service life of the telescopic rod is prolonged. The service life of equipment is prolonged, and the maintenance and replacement cost is reduced.

Description

Technical Field

[0001] The utility model relates to the field of robots, in particular to a mechanical arm for a robot. Background Art

[0002] Robotics is a highly comprehensive technology that covers control theory, mechanical engineering, electronic engineering, computer science and other fields. Early robots were mainly used in industrial production lines to perform simple repetitive tasks to improve production efficiency and reduce labor costs. With the development of technology, modern robots are not only widely used in the industrial field, but also expanded to many fields such as service industry, medical care, education, and family. In the existing technology, robots basically have reverse learning functions, making them more intelligent and standardized. In the process of using a robot arm to clamp materials with a reverse learning function, electric energy is needed to operate. After clamping, it is necessary to continuously provide electric energy to continue the operation. This process wastes energy and increases the cost of using the robot. For this reason, we propose a robot arm for robots. Utility Model Content

[0003] 1. Technical issues to be solved

[0004] In view of the deficiencies in the prior art, the utility model provides a mechanical arm for a robot, which solves the above-mentioned problems.

[0005] (II) Technical solution

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a robot arm, comprising a base, a support base is fixedly arranged on the top of the base, a driving cylinder is fixedly installed on the top of the base corresponding to the side of the support base, a mechanical arm is hinged on the top of the support base, a motor is fixedly installed on the end of the mechanical arm away from the support base, a connecting plate is fixedly connected to the output shaft of the motor, a clamp is fixedly connected to the side of the connecting plate away from the motor, and further comprising:

[0007] The clamping assembly is installed on the fixture to clamp the material.

[0008] The power saving component is installed on one side of the fixture and is used to clamp the component for reinforcement.

[0009] Preferably, a slot is provided on the side of the robotic arm which passes through both sides of the robotic arm, and a sliding shaft is slidably connected in the slot. Both ends of the sliding shaft extend out of both sides of the robotic arm and one end of the sliding shaft is fixedly connected to the side of the piston rod end on the driving cylinder.

[0010] Preferably, the clamping assembly includes a lower clamping plate, a telescopic rod and an upper clamping plate, a vertical telescopic rod is fixedly provided on the bottom inner wall of the clamp, an upper clamping plate is fixedly provided on the top of the telescopic rod, and a lower clamping plate parallel to the upper clamping plate is fixedly provided on the front side of the clamp corresponding to a position directly below the upper clamping plate.

[0011] Preferably, a side groove is formed on the side of the clamp, and a plurality of groups of support holes which are equidistantly distributed are formed on the side of the clamp corresponding to both sides of the side groove.

[0012] Preferably, the energy-saving component includes a vertical plate, a slider and a hinge seat. The side of the clamp is slidably connected to the vertical plate. A slider perpendicular to the vertical plate is fixed near the top of one side of the vertical plate corresponding to the clamp. The vertical plate is slidably clamped in the side groove by the slider, and the bottom of the vertical plate is fixedly connected to the hinge seat.

[0013] Preferably, the energy saving component further comprises an insert shaft and a connecting rod, the bottom of the hinge seat is slidably connected with the insert shaft, both ends of the insert shaft extend out of both sides of the hinge seat, and one end of the insert shaft is fixedly connected with the connecting rod.

[0014] Preferably, a hole adapted to the insertion shaft is opened on one side of the upper clamping plate corresponding to the side groove, and the insertion shaft is slidably inserted in the support hole and the hole respectively.

[0015] (III) Beneficial effects

[0016] Compared with the prior art, the utility model provides a robot arm, which has the following beneficial effects:

[0017] 1. The robot uses a mechanical arm, which drives the sliding shaft to slide in the slot on the mechanical arm by driving the piston rod on the cylinder. The output shaft on the motor drives the fixture connected to the connecting plate to rotate, so that the swing angle of the mechanical arm can be changed, and the rotation direction of the fixture can be adjusted at the same time. This structure is simple and practical, saves complex mechanical costs, and increases the flexibility of the mechanical arm.

[0018] 2. After clamping, the robot uses a mechanical arm to drive the slider to move in the side groove through the vertical plate, and then pushes the plug shaft connected to the connecting rod to slide in the hinge seat, so that the end of the plug shaft is first inserted into the support hole and then inserted into the hole of the upper clamping plate. After turning off the power of the telescopic rod and the material is fixed, the power consumption of the telescopic rod can be appropriately turned off or reduced, thereby achieving the effect of energy saving and emission reduction, reducing dependence on the telescopic rod, thereby reducing its use frequency and wear, extending the service life of the equipment, and reducing maintenance and replacement costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the right side of the utility model as a whole;

[0020] Figure 2It is a schematic diagram of the left side of the utility model as a whole;

[0021] Figure 3 This is a schematic diagram of the side structure of the clamp of the utility model.

[0022] In the figure: 1. base; 2. support base; 3. drive cylinder; 4. mechanical arm; 5. slot; 6. sliding shaft; 7. motor; 8. connecting plate; 9. clamp; 10. lower clamping plate; 11. telescopic rod; 12. upper clamping plate; 13. hole; 14. side groove; 15. vertical plate; 16. slider; 17. hinge seat; 18. plug-in shaft; 19. connecting rod; 20. support hole. DETAILED DESCRIPTION

[0023] 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.

[0024] See also Figure 1-3 A robot arm includes a base 1, a support base 2 is fixedly arranged on the top of the base 1, a driving cylinder 3 is fixedly installed on the top of the base 1 corresponding to the side of the support base 2, a robot arm 4 is hinged on the top of the support base 2, a motor 7 is fixedly installed on the end of the robot arm 4 away from the support base 2, a connecting plate 8 is fixedly connected to the output shaft of the motor 7, a clamp 9 is fixedly connected to the side of the connecting plate 8 away from the motor 7, and the clamp 9 connected to the connecting plate 8 is driven to rotate by the output shaft of the motor 7, so that the rotation direction of the clamp 9 can be adjusted, and also includes:

[0025] The clamping assembly is mounted on the clamp 9 and is used to clamp the material.

[0026] The power saving component is installed on one side of the clamp 9 and is used to clamp the component for reinforcement.

[0027] A slot 5 is provided on the side of the robot arm 4, which runs through both sides of the robot arm 4. A sliding shaft 6 is slidably connected in the slot 5. Both ends of the sliding shaft 6 extend out of both sides of the robot arm 4 and one end of the sliding shaft 6 is fixedly connected to the side of the piston rod end of the driving cylinder 3. First, the piston rod on the driving cylinder 3 is extended and retracted to drive the sliding shaft 6 to move at the same time. The robot arm 4 slides in the slot 5 through the sliding shaft 6, so that the robot arm 4 rotates on the top of the support seat 2 to adjust the swing angle of the robot arm 4. (This robot arm has a reverse reinforcement learning function. Reverse reinforcement learning (IRL) is a machine learning paradigm that attempts to infer a reward function from an expert's demonstration. This reward function can explain the expert's behavior and is used to guide the learning process of the intelligent agent. Unlike behavioral cloning, reverse reinforcement learning not only copies the expert's actions, but also attempts to understand the reward function behind it, so that reasonable decisions can be made when encountering new situations).

[0028] The clamping assembly includes a lower clamping plate 10, a telescopic rod 11 and an upper clamping plate 12. A vertical telescopic rod 11 is fixedly provided on the bottom inner wall of the clamp 9, and an upper clamping plate 12 is fixedly provided on the top of the telescopic rod 11. A lower clamping plate 10 parallel to the upper clamping plate 12 is fixedly provided on the front side of the clamp 9 corresponding to a position directly below the upper clamping plate 12. When it is necessary to clamp the material, the telescopic principle of the telescopic rod 11 is utilized to drive the upper clamping plate 12 to be adjusted up and down on the clamp 9 so as to clamp the material.

[0029] A side groove 14 is provided on the side of the clamp 9 , and a plurality of groups of support holes 20 are provided on both sides of the side groove 14 corresponding to the side groove 14 . The end of the insertion shaft 18 first passes through one group of support holes 20 to reach the inner wall of the clamp 9 .

[0030] The energy saving component includes a vertical plate 15, a slider 16 and a hinge seat 17. The side of the clamp 9 is slidably connected to the vertical plate 15. A slider 16 perpendicular to the vertical plate 15 is fixed near the top of one side of the vertical plate 15 corresponding to the clamp 9. The vertical plate 15 is slidably clamped in the side groove 14 through the slider 16. The bottom of the vertical plate 15 is fixedly connected to the hinge seat 17, so that the vertical plate 15 drives the slider 16 to slide in the side groove 14, and the plug shaft 18 on the hinge seat 17 is on the same horizontal line as the support hole 20 and the hole 13.

[0031] The energy saving component also includes an insertion shaft 18 and a connecting rod 19. The bottom of the hinge seat 17 is slidably connected to the insertion shaft 18. Both ends of the insertion shaft 18 extend out of both sides of the hinge seat 17. One end of the insertion shaft 18 is fixedly connected to the connecting rod 19. The connecting rod 19 is pushed to drive the insertion shaft 18 to slide on the hinge seat 17.

[0032] A hole 13 adapted to the insertion shaft 18 is opened on one side of the upper clamping plate 12 corresponding to the side groove 14, and the insertion shaft 18 is slidably inserted into the support hole 20 and the hole 13 respectively. After the insertion shaft 18 is inserted into the support hole 20, it is then inserted into the hole 13 on the upper clamping plate 12 to continuously clamp the material. When the clamping is completed, the telescopic rod 11 can be turned off to save the power of the telescopic rod 11.

[0033] Working principle: First, the piston rod on the driving cylinder 3 is extended and retracted, and the sliding shaft 6 is driven to move at the same time. The mechanical arm 4 slides in the slot 5 through the sliding shaft 6, so that the mechanical arm 4 rotates on the top of the support seat 2 to adjust the swing arm angle of the mechanical arm 4. Secondly, the output shaft on the motor 7 drives the clamp 9 connected to the connecting plate 8 to rotate, and the rotation direction of the clamp 9 can be adjusted. When it is necessary to clamp the material, the telescopic principle of the telescopic rod 11 is used to drive the upper clamp 12 on the clamp 9 to adjust up and down to clamp the material. Afterwards, the vertical plate 15 drives the slider 16 to slide in the side groove 14, and the plug shaft 18 on the hinge seat 17 is on the same horizontal line as the support hole 20 and the hole 13, and then the connecting rod 19 is pushed, and the connecting rod 19 is used to drive the plug shaft 18 to slide on the hinge seat 17. The end of the plug shaft 18 first passes through one group of support holes 20 to the inner wall of the clamp 9, and then is inserted into the hole 13 on the upper clamp plate 12 to continuously clamp the material. When the clamping is completed, the telescopic rod 11 can be turned off to save the power of the telescopic rod 11.

[0034] 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 robot arm, comprising a base (1), a support base (2) being fixedly provided on the top of the base (1), characterized in that: A driving cylinder (3) is fixedly mounted on the top of the base (1) corresponding to the side of the support base (2); a mechanical arm (4) is hingedly mounted on the top of the support base (2); a motor (7) is fixedly mounted on the end of the mechanical arm (4) away from the support base (2); a connecting plate (8) is fixedly connected to the output shaft of the motor (7); a clamp (9) is fixedly connected to the side of the connecting plate (8) away from the motor (7); and further comprising: A clamping assembly, which is mounted on the clamp (9) and is used to clamp the material. The electric energy saving component is installed on one side of the clamp (9) and is used to clamp the component for reinforcement.

2. A robot arm according to claim 1, characterized in that: The side of the mechanical arm (4) is provided with a slot (5) penetrating through both sides of the mechanical arm (4), and a sliding shaft (6) is slidably connected in the slot (5), and both ends of the sliding shaft (6) extend out of both sides of the mechanical arm (4), and one end of the sliding shaft (6) is fixedly connected to the side of the end of the piston rod on the driving cylinder (3).

3. A robot arm according to claim 1, characterized in that: The clamping assembly comprises a lower clamping plate (10), a telescopic rod (11) and an upper clamping plate (12); a vertical telescopic rod (11) is fixedly arranged on the bottom inner wall of the clamp (9); an upper clamping plate (12) is fixedly arranged on the top of the telescopic rod (11); and a lower clamping plate (10) parallel to the upper clamping plate (12) is fixedly arranged on the front side of the clamp (9) corresponding to a position directly below the upper clamping plate (12).

4. A robot arm according to claim 3, characterized in that: The side edge of the clamp (9) is provided with a side groove (14), and the side edge of the clamp (9) corresponding to the two sides of the side groove (14) is provided with a plurality of groups of support holes (20) distributed at equal distances.

5. A robot arm according to claim 4, characterized in that: The electric energy saving component comprises a vertical plate (15), a sliding block (16) and a hinge seat (17); the side of the clamp (9) is slidably connected to the vertical plate (15); a sliding block (16) perpendicular to the vertical plate (15) is fixedly provided near the top of one side of the vertical plate (15) corresponding to the clamp (9); the vertical plate (15) is slidably clamped in the side groove (14) through the sliding block (16); and the bottom of the vertical plate (15) is fixedly connected to the hinge seat (17).

6. A robot arm according to claim 5, characterized in that: The electric energy saving component also includes an insertion shaft (18) and a connecting rod (19); the bottom of the hinge seat (17) is slidably connected to the insertion shaft (18); both ends of the insertion shaft (18) extend out of both sides of the hinge seat (17); and one end of the insertion shaft (18) is fixedly connected to the connecting rod (19).

7. A robot arm according to claim 6, characterized in that: A hole (13) adapted to the insertion shaft (18) is provided on one side of the upper clamping plate (12) corresponding to the side groove (14), and the insertion shaft (18) is slidably inserted in the support hole (20) and the hole (13) respectively.

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