Adjustable mechanical arm

Abstract

The utility model discloses an adjustable mechanical arm which comprises a base, a main arm rod is installed at the top end of the base, a first hydraulic rod is installed on one side of the main arm rod, one end of the first hydraulic rod is connected with the top end of the base, a connecting block is installed at one end of the main arm rod, and an auxiliary arm rod is installed at the top end of the connecting block. An expansion mechanism is arranged on one side of the connecting block, and a mounting block is mounted at the end, away from the connecting block, of the auxiliary arm rod. The gear motor is started to enable the rotating shaft to drive the rotating block to rotate, so that the grabbing plate rotates correspondingly, the grabbing plate can be rotated according to different shapes of articles to find a proper grabbing position, the clamping and grabbing effect of the grabbing plate on the articles is better, and the grabbing efficiency is improved. And therefore, the possibility that the articles fall off in the transfer process is reduced, and the usability of the mechanical arm is improved.

Description

Technical Field

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

[0002] The robot arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Due to its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion-proof and other fields. The robot arm is a complex system with uncertainties such as parameter perturbation, external interference and unmodeled dynamics.

[0003] The existing robotic arm has a complex structure, is expensive, has a complex control program, and has a small angle adjustment range between the robotic arms. In addition, when grabbing objects, it is difficult for the existing robotic arm to adjust the grasping claws to a certain angle. Therefore, when grabbing irregular objects, the grasping position is often poor, causing the objects to fall during transportation. An improvement plan is now proposed. Utility Model Content

[0004] The utility model aims to provide an adjustable mechanical arm to solve the problem that the existing mechanical arm proposed in the above background technology is difficult to adjust the gripping angle of the object, which easily causes unstable gripping and causes the object to fall midway.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: an adjustable mechanical arm comprises a base, a main arm rod is installed at the top of the base, and a first hydraulic rod is installed on one side of the main arm rod, one end of the first hydraulic rod is connected to the top of the base, a connecting block is installed at one end of the main arm rod, and a secondary arm rod is installed at the top of the connecting block, an expansion mechanism is provided on one side of the connecting block, a mounting block is installed at the end of the secondary arm rod away from the connecting block, and a reduction motor is installed inside the mounting block, a rotating shaft is installed at one end of the reduction motor, and one end of the rotating shaft extends to the outside of the mounting block and is installed with a rotating block, rollers are installed on both sides of the bottom end of the rotating block, and a guide groove is opened inside the mounting block at the bottom end of the roller, grab plates are installed on both sides of the rotating block, and a grab adjustment mechanism is provided inside the rotating block.

[0006] When using an adjustable mechanical arm of the present technical solution, the reduction motor is started during use, so that the rotating shaft drives the rotating block to rotate, thereby causing the grabbing plate to rotate accordingly. The grabbing plate can be rotated according to the different shapes of the objects to find a suitable grabbing position, so that the grabbing plate can better clamp and grasp the objects.

[0007] Preferably, the cross-section of the connecting block is trapezoidal, and the connecting block is hinged to one end of the main arm and the auxiliary arm.

[0008] Preferably, the expansion mechanism includes a second hydraulic rod, and the second hydraulic rod is installed on one side of the connecting block, a top block is installed at one end of the second hydraulic rod, and a first connecting rod is installed at the top of the top block, one end of the first connecting rod is connected to one side of the auxiliary arm rod, and a second connecting rod is installed at the bottom end of the top block, and one end of the second connecting rod is connected to one side of the main arm rod.

[0009] Preferably, the cross-section of the guide groove is annular, the roller rolls inside the guide groove, and the rotating block is rotatably connected to the mounting block.

[0010] Preferably, the grabbing and adjusting mechanism includes an electric push rod, and the electric push rod is installed inside the rotating block, a lifting plate is installed on the top of the electric push rod, and a T-shaped adjustment plate is installed on the top of the lifting plate, one end of the T-shaped adjustment plate extends to the outside of the rotating block, movable rods are installed on both sides of the top of the T-shaped adjustment plate, and one end of the movable rods is connected to one side of the grabbing plate.

[0011] Compared with the prior art, the utility model has the following beneficial effects: the adjustable mechanical arm not only realizes the adjustment of the grabbing angle of the object to improve the grabbing reliability, but also realizes the multi-angle position adjustment of the mechanical arm to realize the transfer of objects in different positions;

[0012] (1) By starting the reduction motor, the rotating shaft drives the rotating block to rotate, so that the grab plate rotates accordingly, so that the grab plate can be rotated according to the different shapes of the objects to find a suitable grabbing position, so that the grab plate can better grip the objects, thereby reducing the possibility of objects falling during transportation and improving the usability of the robot arm;

[0013] (2) By starting the second hydraulic rod to push the baffle, the first connecting rod and the second connecting rod move accordingly, thereby adjusting the clamping angle between the main boom and the auxiliary boom. In conjunction with starting the first hydraulic rod to push the main boom to move, the top end of the auxiliary boom can be adjusted at multiple angles to achieve the transfer of items at different positions. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1 This is a schematic diagram of the main cross-sectional structure of the utility model;

[0016] Figure 2 This is a schematic diagram of the front cross-sectional structure of the grabbing and adjusting mechanism of the utility model;

[0017] Figure 3 This is a schematic diagram of the top view of the grab plate of the utility model;

[0018] Figure 4 For the utility model Figure 2 Schematic diagram of the structure at point A in the middle.

[0019] Explanation of the reference numerals in the figure: 1. base; 2. first hydraulic rod; 3. main arm; 4. connecting block; 5. auxiliary arm; 6. mounting block; 7. rotating block; 8. grabbing plate; 9. expansion mechanism; 901. second hydraulic rod; 902. first connecting rod; 903. top block; 904. second connecting rod; 10. reduction motor; 11. rotating shaft; 12. guide groove; 13. roller; 14. grabbing adjustment mechanism; 1401. electric push rod; 1402. lifting plate; 1403. T-shaped adjustment plate; 1404. movable rod. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all the embodiments. Based on the embodiment 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.

[0021] See also Figure 1-4 The utility model provides an embodiment: an adjustable mechanical arm, comprising a base 1, a main arm 3 is installed on the top of the base 1, and a first hydraulic rod 2 is installed on one side of the main arm 3, one end of the first hydraulic rod 2 is connected to the top of the base 1, and a connecting block 4 is installed on one end of the main arm 3;

[0022] The cross section of the connecting block 4 is trapezoidal, and one end of the connecting block 4 and the main arm 3 and the auxiliary arm 5 are hinged;

[0023] Specifically, Figure 1 As shown, when in use, the connecting block 4 is used to connect the main boom 3 and the auxiliary boom 5. By starting the first hydraulic rod 2, the main boom 3 is pushed to make the main boom 3 swing left and right, so as to adjust the position of the auxiliary boom 5.

[0024] A secondary arm rod 5 is installed at the top of the connecting block 4, and an expansion mechanism 9 is provided on one side of the connecting block 4;

[0025] The expansion mechanism 9 includes a second hydraulic rod 901, and the second hydraulic rod 901 is installed on one side of the connecting block 4, a top block 903 is installed on one end of the second hydraulic rod 901, and a first connecting rod 902 is installed on the top of the top block 903, one end of the first connecting rod 902 is connected to one side of the auxiliary arm 5, and a second connecting rod 904 is installed on the bottom end of the top block 903, and one end of the second connecting rod 904 is connected to one side of the main arm 3;

[0026] Specifically, Figure 1 As shown, when in use, the second hydraulic rod 901 is started to push the top block 903, thereby pulling the first connecting rod 902 and the second connecting rod 904, so that one end of the first connecting rod 902 and the second connecting rod 904 is moved closer to or farther away from each other, thereby adjusting the angle between the main boom 3 and the auxiliary boom 5, and then achieving the function of adjusting the top position of the auxiliary boom 5;

[0027] A mounting block 6 is installed at one end of the auxiliary arm rod 5 away from the connecting block 4, and a reduction motor 10 is installed inside the mounting block 6, a rotating shaft 11 is installed at one end of the reduction motor 10, and one end of the rotating shaft 11 extends to the outside of the mounting block 6 and is installed with a rotating block 7, rollers 13 are installed on both sides of the bottom end of the rotating block 7, and a guide groove 12 is opened inside the mounting block 6 at the bottom end of the roller 13;

[0028] The cross section of the guide groove 12 is annular, the roller 13 rolls inside the guide groove 12, and the rotating block 7 is rotatably connected to the mounting block 6;

[0029] Specifically, Figure 2 and Figure 3 As shown, when in use, the reduction motor 10 is started to rotate the rotating shaft 11, thereby rotating the rotating block 7, and causing the roller 13 to roll inside the guide groove 12. The rotating block 7 is limited and guided by the roller 13 and the guide groove 12, so that its rotation is more stable, and the rotation of the rotating block 7 causes the grab plate 8 to rotate accordingly, so that it can grab the objects at different angles. By adjusting the grab position, the stability of the clamping is improved to reduce the possibility of the objects falling during the transportation process;

[0030] Grabbing plates 8 are installed on both sides of the rotating block 7, and a grabbing adjustment mechanism 14 is arranged inside the rotating block 7;

[0031] The grabbing and adjusting mechanism 14 includes an electric push rod 1401, and the electric push rod 1401 is installed inside the rotating block 7, a lifting plate 1402 is installed on the top of the electric push rod 1401, and a T-shaped adjusting plate 1403 is installed on the top of the lifting plate 1402, one end of the T-shaped adjusting plate 1403 extends to the outside of the rotating block 7, and movable rods 1404 are installed on both sides of the top of the T-shaped adjusting plate 1403, and one end of the movable rod 1404 is connected to one side of the grabbing plate 8;

[0032] Specifically, Figure 4 As shown, when in use, the electric push rod 1401 is started to compress, so that the lifting plate 1402 is lowered, and the T-shaped adjustment plate 1403 moves synchronously, so that one end of the two movable rods 1404 is close to each other, and then one end of the two grabbing plates 8 is close to each other, thereby achieving the clamping and grabbing effect of the object.

[0033] Working principle: When the utility model is in use, firstly start the second hydraulic rod 901 to shorten, so that the top block 903 moves in the direction of the connecting block 4, so that it pushes one end of the first connecting rod 902 and the second connecting rod 904 to move, and then the other end of the first connecting rod 902 and the second connecting rod 904 expands outward, so as to increase the angle between the main boom 3 and the auxiliary boom 5, which is conducive to adjusting the position of the top end of the auxiliary boom 5, and start the first hydraulic rod 2 to extend, so that one end of it pushes the main boom 3, which is conducive to realizing the position movement of one end of the main boom 3, and then the auxiliary boom 5 moves accordingly, and the two can realize the multi-angle position adjustment of the mounting block 6 at the top end of the auxiliary boom 5, so as to realize the transportation of objects in different positions;

[0034] Secondly, when the top of the auxiliary arm 5 corresponds to the position of the object, the reduction motor 10 is started to rotate the rotating shaft 11, so that the rotating block 7 rotates synchronously, the roller 13 rolls along the direction of the guide groove 12, and the two grab plates 8 are adjusted in rotation angle, so that the grab plates 8 can find a suitable grabbing position according to the shape of the object, so as to improve the grabbing reliability of the object;

[0035] Finally, when the angle of the grabbing plate 8 is adjusted, the electric push rod 1401 is shortened to lower the lifting plate 1402, so that the T-shaped adjustment plate 1403 moves synchronously, causing it to pull one end of the two movable rods 1404, and then the other ends of the two movable rods 1404 are brought close to each other, so that the two grabbing plates 8 are brought close to each other, thereby clamping the objects on both sides, and then adjusting the position of the mounting block 6 to achieve the purpose of grabbing and transporting the objects.

[0036] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0038] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the utility model.

Claims

1. An adjustable mechanical arm, comprising a base (1), characterized in that: A main boom (3) is installed at the top of the base (1), and a first hydraulic rod (2) is installed on one side of the main boom (3), one end of the first hydraulic rod (2) is connected to the top of the base (1), a connecting block (4) is installed at one end of the main boom (3), and a secondary boom (5) is installed at the top of the connecting block (4), an expansion mechanism (9) is provided on one side of the connecting block (4), a mounting block (6) is installed at one end of the secondary boom (5) away from the connecting block (4), and the inside of the mounting block (6) A reduction motor (10) is installed, one end of the reduction motor (10) is installed with a rotating shaft (11), and one end of the rotating shaft (11) extends to the outside of the mounting block (6) and is installed with a rotating block (7), rollers (13) are installed on both sides of the bottom end of the rotating block (7), and a guide groove (12) is provided inside the mounting block (6) at the bottom end of the roller (13), grab plates (8) are installed on both sides of the rotating block (7), and a grab adjustment mechanism (14) is provided inside the rotating block (7).

2. The adjustable mechanical arm according to claim 1, characterized in that: The cross section of the connecting block (4) is trapezoidal, and the connecting block (4) is hinged to one end of the main arm (3) and the auxiliary arm (5).

3. The adjustable mechanical arm according to claim 1, characterized in that: The expansion mechanism (9) comprises a second hydraulic rod (901), and the second hydraulic rod (901) is installed on one side of the connecting block (4); a top block (903) is installed at one end of the second hydraulic rod (901), and a first connecting rod (902) is installed at the top of the top block (903); one end of the first connecting rod (902) is connected to one side of the auxiliary arm (5); a second connecting rod (904) is installed at the bottom end of the top block (903), and one end of the second connecting rod (904) is connected to one side of the main arm (3).

4. The adjustable mechanical arm according to claim 1, characterized in that: The cross section of the guide groove (12) is annular, the roller (13) rolls inside the guide groove (12), and the rotating block (7) is rotatably connected to the mounting block (6).

5. The adjustable mechanical arm according to claim 1, characterized in that: The grabbing and adjusting mechanism (14) comprises an electric push rod (1401), and the electric push rod (1401) is installed inside the rotating block (7), a lifting plate (1402) is installed on the top of the electric push rod (1401), and a T-shaped adjusting plate (1403) is installed on the top of the lifting plate (1402), one end of the T-shaped adjusting plate (1403) extends to the outside of the rotating block (7), and movable rods (1404) are installed on both sides of the top of the T-shaped adjusting plate (1403), and one end of the movable rods (1404) is connected to one side of the grabbing plate (8).

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