Mechanical arm capable of lifting on load

Abstract

The mechanical arm comprises a base, the outer wall of the top of the base is fixedly connected with a machine base, the outer walls of the two sides of the machine base are fixedly connected with harmonic speed reducers, a support is movably connected to the inner walls of the two sides of the machine base, and the outer wall of the top end of the support is movably connected with a first joint. The outer wall of one side of the top of the first joint is fixedly connected with a main motor, the outer wall of one side, close to the top of the main motor, of the first joint is fixedly connected with a secondary motor, the outer wall of one side, away from the main motor, of the first joint is rotationally connected with a first rotating shaft, and the bottom of the first rotating shaft is movably connected with an operating arm. The outer wall of the side, away from the control arm, of the second joint is movably connected with a third joint, transmission assemblies are arranged in the second joint and the third joint, and the outer wall of the side, away from the second joint, of the third joint is movably connected with a second rotating shaft. The suction cup adjusting function is achieved, objects of different sizes and shapes can be sucked conveniently, and the use efficiency of a machine is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of a load-carrying lifting mechanical arm, in particular to an industrial load-carrying lifting mechanical arm. Background Art

[0002] In the existing technology, the load-lifting robot arm is an advanced automation equipment that combines three major parts: a mobile platform, a lifting mechanism, and a robot arm to achieve precise operations in three-dimensional space. The load-lifting robot arm usually adopts a lightweight design with high load capacity and high power efficiency. The load-lifting robot arm is widely used in industries such as manufacturing, medical, service industries, and logistics. They can be used for a variety of tasks such as handling, assembly, palletizing, packaging, etc. to meet the application needs of different industries. The load-lifting robot arm plays an increasingly important role in the field of modern industrial automation through its high precision, high flexibility and high load capacity. With the continuous advancement of technology, it is expected that these robots will be used in more fields in the future and bring more efficient automation solutions.

[0003] After searching, the Chinese patent application number 201120263702.0 discloses a robot arm, including a device. The utility model discloses a transfer robot arm used in ultrasonic cleaning equipment, including a frame, on which a robot arm is arranged, the robot arm includes: a robot arm column and a robot arm cross bar, one end of the robot arm cross bar is connected to the upper end of the robot arm column, the robot arm cross bar is provided with a hook, the frame is also provided with a translation bracket, the translation bracket is provided with a translation track, the translation track is provided with a translation slider fixedly installed on the installation cabinet; the installation cabinet is provided with a lifting guide rail, and the lifting guide rail is provided with a lifting slider fixed to the lower end of the robot arm column; the frame is also provided with a translation drive device and a lifting drive device. The robot arm in the above patent has the following shortcomings:

[0004] The hook at the end of the robotic arm is not conducive to sucking small or irregularly shaped objects and has a limited scope of application. Utility Model Content

[0005] The utility model aims to solve the shortcomings in the prior art and provides a mechanical arm capable of lifting and lowering with a load.

[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0007] A mechanical arm capable of lifting and lowering with a load comprises a base, wherein the top outer wall of the base is fixedly connected to a machine base, the outer walls on both sides of the machine base are fixedly connected to a harmonic reducer, a bracket is movably connected to the inner walls on both sides of the machine base, the top outer wall of the bracket is movably connected to a joint one, the outer wall on one side of the top of the joint one is fixedly connected to a main motor, the outer wall on one side of the joint one close to the top of the main motor is fixedly connected to a secondary motor, the outer wall on one side of the joint one away from the main motor is rotatably connected to a rotating shaft one, the bottom of the rotating shaft one is movably connected to a manipulation arm, the bottom of the manipulation arm is fixedly connected to a joint two, the outer wall on one side of the joint two away from the manipulation arm is movably connected to a joint three, transmission components are arranged in the joints two and three, the outer wall on one side of the joint three away from the joint two is movably connected to the rotating shaft two, the outer wall on one side of the rotating shaft two is fixedly connected to an actuator plate, and an adjustment component is fixedly installed on the outer wall on one side of the actuator plate.

[0008] As a further solution of the utility model: the adjustment component includes a mounting plate, a movable hole and a vacuum suction cup.

[0009] As a further solution of the utility model: the mounting plate is fixedly mounted on the outer wall of one side of the execution plate, movable holes are opened at both ends of the mounting plate, and the vacuum suction cup is movably mounted in the movable holes.

[0010] As a further solution of the utility model: the transmission assembly includes a second rotating shaft, a large bevel gear one, a small bevel gear one, a third rotating shaft, a fourth rotating shaft, a spur gear, a second large bevel gear and a second small bevel gear.

[0011] As a further solution of the utility model: the rotating shaft three is movably installed on the joint three, the rotating shaft four is movably installed on the inner wall of the joint three away from the joint two, the large bevel gear one is fixedly installed on the operating arm, and the operating arm is connected to the output shaft of the main motor.

[0012] As a further solution of the utility model: the large bevel gear 2 is fixedly mounted on the outer wall of one side of the joint 3 through a fixed seat, the inner shaft is movably mounted on the inner wall of the operating arm, and the inner shaft is connected to the output shaft of the secondary motor, the small bevel gear 1 is fixedly mounted on the inner shaft, and the small bevel gear 2 is fixedly mounted on the rotating shaft 3.

[0013] As a further solution of the utility model: the harmonic reducer includes a rigid wheel and a flexible wheel, the rigid wheel is fixedly installed on the inner circumference of the harmonic reducer, the flexible wheel is movably installed on the inner circumference of the harmonic reducer close to the rigid wheel, and the rigid wheel and the flexible wheel are meshed with each other.

[0014] Compared with the prior art, the utility model provides a mechanical arm that can be lifted and lowered with a load, which has the following beneficial effects:

[0015] 1. The load-carrying lifting robot arm is provided with a mounting plate, an active hole and a vacuum suction cup. When the vacuum suction cup is installed in the active hole, the position of the vacuum suction cup can be adjusted by a bolt, so that the vacuum suction cup can move in the active hole. Thus, the adjustable function of the suction cup is realized, which is convenient for sucking objects of different sizes and shapes and improving the use efficiency of the machine.

[0016] 2. The load-carrying lifting and lowering mechanical arm is provided with rotating shaft 2, large bevel gear 1, small bevel gear 1, rotating shaft 3, rotating shaft 4, spur gear, large bevel gear 2 and small bevel gear 2. When the main motor starts to run, joint 3 swings up and down, and when the secondary motor starts to run, rotating shaft 2 can rotate. Thus, the function of joint 3 swinging and the actuator plate rotating is realized, thereby improving the use efficiency and performance of the device.

[0017] 3. The load-carrying lifting and lowering robot arm is provided with a rigid wheel and a flexible wheel. At any time, only a few teeth between the rigid wheel and the flexible wheel are in meshing state, thereby achieving a deceleration effect. As a result, high-precision output motion of the device is realized, with the characteristics of low noise and high efficiency.

[0018] The parts not involved in the device are the same as those in the prior art or can be implemented by using the prior art. The utility model has a simple structure and is easy to operate. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the structure of a mechanical arm capable of carrying and lifting loads proposed by the utility model;

[0020] Figure 2 This is a schematic diagram of the partial structure of an execution plate of a load-carrying lifting and lowering mechanical arm proposed by the utility model;

[0021] Figure 3 This is a schematic diagram of the transmission assembly structure of a load-carrying lifting mechanical arm proposed by the utility model;

[0022] Figure 4 This is a schematic diagram of the transmission assembly structure of a load-carrying lifting mechanical arm proposed by the utility model;

[0023] Figure 5 This is a cross-sectional structural diagram of a harmonic reducer of a mechanical arm capable of lifting and lowering with a load proposed by the utility model;

[0024] In the figure: 1-base, 2-harmonic reducer, 3-machine base, 4-bracket, 5-main motor, 6-secondary motor, 7-rotation axis 1, 8-manipulation arm, 9-joint 2, 10-rotation axis 2, 11-vacuum suction cup, 12-actuator plate, 13-mounting plate, 14-movable hole, 15-large bevel gear 1, 16-small bevel gear 1, 17-rotation axis 3, 18-rotation axis 4, 19-spur gear, 20-rigid wheel, 21-flexible wheel, 22-joint 1, 23-joint 3, 24-inner shaft, 25-large bevel gear 2, 26-small bevel gear 2. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0026] A mechanical arm capable of lifting and lowering a load, such as Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 As shown, it includes a base 1, the top outer wall of the base 1 is fixedly connected to a base 3, the outer walls on both sides of the base 3 are fixedly connected to a harmonic reducer 2, the bracket 4 is movably connected to the inner walls on both sides of the base 3, the top outer wall of the bracket 4 is movably connected to a joint 22, the outer wall on one side of the top of the joint 22 is fixedly connected to a main motor 5, the outer wall on one side of the joint 22 close to the top of the main motor 5 is fixedly connected to a secondary motor 6, the outer wall on one side of the joint 22 away from the main motor 5 is rotatably connected to a rotating shaft 7, the bottom of the rotating shaft 7 is movably connected to a manipulation arm 8, the bottom of the manipulation arm 8 is fixedly connected to a joint 2 9, the outer wall on one side of the joint 29 away from the manipulation arm 8 is movably connected to a joint 3 23, transmission components are arranged in the joint 2 9 and the joint 3 23, the outer wall on one side of the joint 3 23 away from the joint 2 9 is movably connected to a rotating shaft 2 10, the outer wall on one side of the rotating shaft 2 10 is fixedly connected to an actuator 12, and an adjustment component is fixedly installed on the outer wall on one side of the actuator 12;

[0027] In order to make the vacuum suction cup 11 adjustable and distributed on the actuator plate 12, as Figure 1 , Figure 2 As shown, the adjustment assembly includes a mounting plate 13, a movable hole 14 and a vacuum suction cup 11. The mounting plate 13 is fixedly mounted on the outer wall of one side of the actuator plate 12. The movable hole 14 is opened at both ends of the mounting plate 13. The vacuum suction cup 11 is movably mounted in the movable hole 14.

[0028] When the vacuum suction cup 11 is installed in the movable hole 14, the position of the vacuum suction cup 11 can be adjusted by a bolt, so that the vacuum suction cup 11 can move in the movable hole 14. Thus, the adjustable function of the suction cup is realized, which is convenient for sucking objects of different sizes and shapes and improving the use efficiency of the machine;

[0029] In order for the joint 3 23 to swing and the actuator plate 12 to rotate, Figure 1 , Figure 3 , Figure 4 As shown, the transmission assembly includes a rotating shaft 2 10, a large bevel gear 1 15, a small bevel gear 1 16, a rotating shaft 3 17, a rotating shaft 4 18, a spur gear 19, a large bevel gear 2 25 and a small bevel gear 2 26, the rotating shaft 3 17 is movably mounted on the joint 3 23, the rotating shaft 4 18 is movably mounted on the inner wall of the joint 3 23 away from the joint 2 9, the large bevel gear 1 15 is fixedly mounted on the operating arm 8, and the operating arm 8 is connected to the output shaft of the main motor 5, the large bevel gear 2 25 is fixedly mounted on the outer wall of one side of the joint 3 23 through a fixing seat, the inner shaft 24 is movably mounted on the inner wall of the operating arm 8, and the inner shaft 24 is connected to the output shaft of the secondary motor 6, the small bevel gear 1 16 is fixedly mounted on the inner shaft 24, and the small bevel gear 2 26 is fixedly mounted on the rotating shaft 3 17;

[0030] When the main motor 5 starts to run, it drives the large bevel gear 1 15 and the large bevel gear 2 25 to rotate relative to each other, so that the joint 3 23 can swing up and down. When the secondary motor 6 starts to run, the inner shaft 24 drives the small bevel gear 1 16 and the small bevel gear 2 26 to rotate relative to each other, drives the rotating shaft 3 17 to rotate, and makes the spur gears 19 rotate relative to each other, generates power to rotate the rotating shaft 4 18, and then rotates through the vertical gear set, so that the rotating shaft 2 10 can rotate. Thus, the joint 3 23 can swing and the executive plate 12 can rotate, thereby improving the efficiency and performance of the device.

[0031] In order to provide precisely controlled output speed and increased output torque, such as Figure 1 , Figure 5 As shown, the harmonic reducer 2 includes a rigid wheel 20 and a flexible wheel 21, the rigid wheel 20 is fixedly mounted on the inner circumference of the harmonic reducer 2, the flexible wheel 21 is movably mounted on the inner circumference of the harmonic reducer 2 close to the rigid wheel 20, and the rigid wheel 20 and the flexible wheel 21 are meshed with each other;

[0032] When the harmonic reducer 2 starts to run, the flexible wheel 21 undergoes elastic deformation. Therefore, at any time, only a few teeth between the rigid wheel 20 and the flexible wheel 21 are in meshing state, thereby achieving a deceleration effect. As a result, the device realizes high-precision output motion with the characteristics of low noise and high efficiency.

[0033] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A mechanical arm capable of lifting and lowering a load, comprising a base (1), characterized in that The invention comprises a base (1), wherein the top outer wall of the base (1) is fixedly connected to a base (3), the outer walls on both sides of the base (3) are fixedly connected to a harmonic reducer (2), a bracket (4) is movably connected to the inner walls on both sides of the base (3), the top outer wall of the bracket (4) is movably connected to a joint (22), the outer wall on one side of the top of the joint (22) is fixedly connected to a main motor (5), the outer wall on one side of the joint (22) close to the top of the main motor (5) is fixedly connected to a secondary motor (6), and the outer wall on one side of the joint (22) away from the main motor (5) is rotatably connected to the A rotating shaft 1 (7) is provided, the bottom of the rotating shaft 1 (7) is movably connected to a manipulation arm (8), the bottom of the manipulation arm (8) is fixedly connected to a joint 2 (9), the outer wall of the joint 2 (9) away from the manipulation arm (8) is movably connected to a joint 3 (23), a transmission component is arranged inside the joint 2 (9) and the joint 3 (23), the outer wall of the joint 3 (23) away from the joint 2 (9) is movably connected to the rotating shaft 2 (10), the outer wall of one side of the rotating shaft 2 (10) is fixedly connected to an actuator plate (12), and an adjustment component is fixedly installed on the outer wall of one side of the actuator plate (12).

2. A load-carrying lifting robot according to claim 1, characterized in that: The adjustment assembly comprises a mounting plate (13), a movable hole (14) and a vacuum suction cup (11).

3. The mechanical arm capable of lifting and lowering a load according to claim 2, characterized in that: The mounting plate (13) is fixedly mounted on the outer wall of one side of the actuator plate (12), movable holes (14) are opened at both ends of the mounting plate (13), and the vacuum suction cup (11) is movably mounted in the movable holes (14).

4. The mechanical arm capable of lifting and lowering a load according to claim 1, characterized in that: The transmission assembly comprises a second rotating shaft (10), a large bevel gear (15), a small bevel gear (16), a third rotating shaft (17), a fourth rotating shaft (18), a spur gear (19), a second large bevel gear (25) and a second small bevel gear (26).

5. The mechanical arm capable of lifting and lowering a load according to claim 4, characterized in that: The rotating shaft three (17) is movably mounted on the joint three (23), the rotating shaft four (18) is movably mounted on the inner wall of the joint three (23) away from the joint two (9), the large bevel gear one (15) is fixedly mounted on the operating arm (8), and the operating arm (8) is connected to the output shaft of the main motor (5).

6. The mechanical arm capable of lifting and lowering a load according to claim 5, characterized in that: The large bevel gear 2 (25) is fixedly mounted on an outer wall of one side of the joint 3 (23) through a fixed seat, the inner shaft (24) is movably mounted on the inner wall of the operating arm (8), and the inner shaft (24) is connected to the output shaft of the secondary motor (6), the small bevel gear 1 (16) is fixedly mounted on the inner shaft (24), and the small bevel gear 2 (26) is fixedly mounted on the rotating shaft 3 (17).

7. The mechanical arm capable of lifting and lowering a load according to claim 1, characterized in that: The harmonic reducer (2) comprises a rigid wheel (20) and a flexible wheel (21); the rigid wheel (20) is fixedly mounted on the inner circumference of the harmonic reducer (2); the flexible wheel (21) is movably mounted on the inner circumference of the harmonic reducer (2) close to the rigid wheel (20); and the rigid wheel (20) and the flexible wheel (21) are meshed with each other.

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