A multi-joint robotic arm

Abstract

The utility model discloses a multi-joint mechanical arm, including a base, a support rod fixedly connected to the top of the base, a first motor fixedly connected to the top of the support rod, a first slide groove opened inside the support rod, a first screw located in the first slide groove fixedly connected inside the first motor, the first screw and the first slide groove are movably connected, the outer side of the first screw is threadedly connected to a first moving block, and the first moving block is movably connected to the first slide groove. The utility model provides a first motor to drive the first mechanical arm to move up and down by setting the first screw and the first moving block, and the second mechanical arm drives the clamp to rotate by setting the reduction motor, and the second motor drives the clamp to move left and right by setting the second screw and the second moving block, and the clamp is driven to move up and down by the first mechanical arm, thereby increasing the range of movement of the clamp, so that the clamp can clamp objects at any position within the rotation radius.

Description

Technical Field

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

[0002] The multi-joint robot arm, also known as a multi-joint robot or multi-joint robot arm, is an intelligent mechanical device that can be programmed and automatically complete a series of picking actions. It is widely used in the fields of automatic palletizing, industrial picking, logistics and transportation. The center of the rotation radius of the existing traditional robot arm is a working dead angle. Objects close to the rotation center cannot be picked up, which affects the working efficiency of the robot arm. In actual use, the traditional multi-joint robot arm will install a counterweight on the left side of the base to prevent the robot arm from tilting to the right when it subsequently clamps objects. When the robot arm clamps some heavier objects, the operator usually installs multiple counterweights on the left side of the base to ensure stability. Because the counterweight has a certain weight, adding counterweights later will bring inconvenience to the operator and increase the work intensity. If the maximum number of counterweights is installed on the left side of the robot arm base at the beginning, although stability can be guaranteed, if the robot arm only needs to clamp some lighter objects in the later stage, these redundant counterweights will be a waste of cost, which undoubtedly increases the overall use cost. For this reason, the utility model proposes a new multi-joint robot arm to solve such problems. Utility Model Content

[0003] In order to solve the problems raised in the above-mentioned background technology, the purpose of the present utility model is to provide a multi-joint robot arm, which has the advantages of increasing the range of movement of the clamp and having a movable counterweight block.

[0004] To achieve the above-mentioned objectives, the utility model provides the following technical solutions: a multi-joint mechanical arm comprises a base, a support rod is fixedly connected to the top of the base, a first motor is fixedly connected to the top of the support rod, a first slide groove is opened inside the support rod, a first screw located in the first slide groove is fixedly connected inside the first motor, the first screw is movably connected to the first slide groove, the outer side of the first screw is threadedly connected to a first moving block, the first moving block is movably connected to the first slide groove, a first mechanical arm is fixedly connected to the outer side of the first moving block, a reduction motor is fixedly connected to the top of the first mechanical arm, the output end of the reduction motor is fixedly connected to the second mechanical arm, the second mechanical arm is movably connected to the first mechanical arm, the outer side of the second mechanical arm is fixedly connected to the second motor, a second slide groove is opened inside the second mechanical arm, a second screw is fixedly connected to the output end of the second motor, the outer side of the second screw is threadedly connected to the second moving block, the second moving block is movably connected to the second slide groove, and a clamp is fixedly connected to the bottom of the second moving block.

[0005] As a preferred embodiment of the utility model, a first groove is provided on the top of the base, and a moving box is movably connected inside the first groove, and a second groove is provided on the top of the base, and a third motor is fixedly connected inside the second groove, and a third screw is fixedly connected to the output end of the third motor, and the third screw is movably connected to the first groove, and a first gear is fixedly connected to the outer side of the third screw, and a synchronous belt is meshed with the outer side of the first gear, and a second gear is meshed with the outer side of the synchronous belt, and a fourth screw is fixedly connected to the inner side of the second gear, and connecting rings are threadedly connected to the outer sides of the third screw and the fourth screw, and the inner side of the connecting ring is fixedly connected to the moving box, and a counterweight is arranged inside the moving box.

[0006] As a preferred embodiment of the utility model, a slider is fixedly connected to the bottom of the moving box, and the bottom of the slider is movably connected to the first groove.

[0007] As a preferred embodiment of the present invention, a protective shell located outside the synchronous belt is fixedly connected to the interior of the first groove, and the third screw and the fourth screw are both movably connected to the protective shell.

[0008] As a preferred embodiment of the present invention, a movable door is movably connected to the top of the second groove.

[0009] As a preferred embodiment of the present invention, a handle is fixedly connected to the outer side of the movable door.

[0010] Compared with the prior art, the beneficial effects of the utility model are as follows:

[0011] 1. The utility model sets a first screw rod and a first moving block, and a first motor can drive the first mechanical arm to move up and down. By setting a reduction motor, the second mechanical arm drives the clamp to rotate. By setting a second screw rod and a second moving block, the second motor can drive the clamp to move left and right. The first mechanical arm drives the clamp to move up and down, thereby increasing the range of movement of the clamp, so that the clamp can clamp objects at any position within the rotation radius.

[0012] 2. The utility model sets a first gear, a second gear, a synchronous belt and a connecting ring, so that the third motor can drive the third screw and the fourth screw to rotate, and push the moving box to move from both ends of the moving box, so that the counterweight block can move left and right in the first groove, which is convenient for adjusting the horizontal position of the counterweight block according to the actual weight of the object to be clamped by the clamp. Compared with the traditional technology of stacking multiple counterweight blocks, it can reduce the use cost while ensuring stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the structure of the utility model;

[0014] Figure 2It is a front view schematic diagram of the structure of the utility model;

[0015] Figure 3 It is a side view schematic diagram of the structure of the utility model;

[0016] Figure 4 This is a schematic diagram of the synchronous belt structure of the utility model;

[0017] Figure 5 This is a schematic diagram of a structural mobile box of the utility model.

[0018] In the figure: 1. base; 2. support rod; 3. first motor; 4. first slide; 5. first screw; 6. first moving block; 7. first mechanical arm; 8. reduction motor; 9. second mechanical arm; 10. second motor; 11. second slide; 12. second screw; 13. second moving block; 14. clamp; 15. first groove; 16. moving box; 17. second groove; 18. third motor; 19. third screw; 20. first gear; 21. synchronous belt; 22. second gear; 23. fourth screw; 24. connecting ring; 25. counterweight; 26. slider; 27. protective shell; 28. movable door; 29. ​​handle. DETAILED DESCRIPTION

[0019] 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.

[0020] like Figures 1 to 5 As shown, a multi-joint robotic arm comprises a base 1, a support rod 2 is fixedly connected to the top of the base 1, a first motor 3 is fixedly connected to the top of the support rod 2, a first slide groove 4 is opened inside the support rod 2, a first screw 5 located in the first slide groove 4 is fixedly connected inside the first motor 3, the first screw 5 is movably connected to the first slide groove 4, the outer side of the first screw 5 is threadedly connected to a first moving block 6, the first moving block 6 is movably connected to the first slide groove 4, a first robotic arm 7 is fixedly connected to the outer side of the first moving block 6, a reduction motor 8 is fixedly connected to the top of the first robotic arm 7, a second robotic arm 9 is fixedly connected to the output end of the reduction motor 8, the second robotic arm 9 is movably connected to the first robotic arm 7, a second motor 10 is fixedly connected to the outer side of the second robotic arm 9, a second slide groove 11 is opened inside the second robotic arm 9, a second screw 12 is fixedly connected to the output end of the second motor 10, the outer side of the second screw 12 is threadedly connected to a second moving block 13, the second moving block 13 is movably connected to the second slide groove 11, and a clamp 14 is fixedly connected to the bottom of the second moving block 13.

[0021] refer to Figures 1 to 5 A first groove 15 is provided on the top of the base 1, and a moving box 16 is movably connected inside the first groove 15. A second groove 17 is provided on the top of the base 1, and a third motor 18 is fixedly connected inside the second groove 17. A third screw 19 is fixedly connected to the output end of the third motor 18, and the third screw 19 is movably connected to the first groove 15. A first gear 20 is fixedly connected to the outer side of the third screw 19, and a synchronous belt 21 is meshed with the outer side of the first gear 20. A second gear 22 is meshed with the outer side of the synchronous belt 21, and a fourth screw 23 is fixedly connected to the inner side of the second gear 22. A connecting ring 24 is threadedly connected to the outer side of the third screw 19 and the fourth screw 23, and the inner side of the connecting ring 24 is fixedly connected to the moving box 16, and a counterweight 25 is arranged inside the moving box 16.

[0022] As a technical optimization scheme of the present invention, by setting the first gear 20, the second gear 22, the synchronous belt 21 and the connecting ring 24, the third motor 18 can drive the third screw 19 and the fourth screw 23 to rotate, and push the moving box 16 from both ends to move, so that the counterweight 25 can move left and right in the first groove 15, so as to adjust the horizontal position of the counterweight 25 according to the actual weight of the object to be clamped by the clamp 14. Compared with the traditional technology of stacking multiple counterweights 25, it can reduce the use cost while ensuring stability.

[0023] refer to Figures 1 to 5 The bottom of the moving box 16 is fixedly connected with a slider 26 , and the bottom of the slider 26 is movably connected to the first groove 15 .

[0024] As a technical optimization solution of the utility model, by providing a slider 26, the contact area between the bottom of the moving box 16 and the first groove 15 is increased, so that the bottom of the moving box 16 is easier to move.

[0025] refer to Figures 1 to 5 A protective shell 27 located outside the synchronous belt 21 is fixedly connected to the interior of the first groove 15 , and the third screw 19 and the fourth screw 23 are both movably connected to the protective shell 27 .

[0026] As a technical optimization solution of the present invention, by providing a protective shell 27, the first gear 20, the second gear 22 and the synchronous belt 21 can be protected.

[0027] refer to Figures 1 to 5 A movable door 28 is movably connected to the top of the second groove 17 .

[0028] As a technical optimization solution of the present invention, by providing a movable door 28 , the second groove 17 can be opened and closed, and the third motor 18 can be protected.

[0029] refer to Figures 1 to 5 A handle 29 is fixedly connected to the outer side of the movable door 28.

[0030] As a technical optimization solution of the present invention, a handle 29 is provided to facilitate pulling the movable door 28 to move.

[0031] The working principle and use process of the utility model are as follows: the first motor 3 drives the first screw 5 to rotate, the first screw 5 drives the first moving block 6 to move up and down, the first moving block 6 drives the first mechanical arm 7 to move, the first mechanical arm 7 drives the reduction motor 8 and the second mechanical arm 9 to move, the reduction motor 8 drives the second mechanical arm 9 to rotate, the second mechanical arm 9 drives the second motor 10, the second screw 12 and the second moving block 13 to move, the second motor 10 drives the second screw 12 to rotate, the second moving block 13 drives the second screw 12 to move left and right, the second moving block 13 drives the clamp 14 to move, and the clamp 14 clamps the material The material is clamped, and when the first mechanical arm 7 and the second mechanical arm 9 are working, the third motor 18 drives the third screw 19 to rotate, the third screw 19 drives the first gear 20 to rotate, the first gear 20 drives the synchronous belt 21 to rotate, the second gear 22 at the other end is driven to rotate by the synchronous belt 21, the fourth screw 23 is driven to rotate by the second gear 22, the connecting ring 24 is driven to move left and right by the third screw 19 and the fourth screw 23, the moving box 16 is driven to move by the connecting ring 24, the sliding block 26 and the counterweight block 25 are driven to move by the moving box 16, the movable door 28 is driven to open by the handle 29, and the third motor 18 can be repaired.

[0032] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0033] 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 multi-joint robotic arm, comprising a base (1), characterized in that: The top of the base (1) is fixedly connected to a support rod (2), the top of the support rod (2) is fixedly connected to a first motor (3), the interior of the support rod (2) is provided with a first slide groove (4), the interior of the first motor (3) is fixedly connected to a first screw rod (5) located in the first slide groove (4), the first screw rod (5) is movably connected to the first slide groove (4), the outer side of the first screw rod (5) is threadedly connected to a first moving block (6), the first moving block (6) is movably connected to the first slide groove (4), the outer side of the first moving block (6) is fixedly connected to a first mechanical arm (7), the top of the first mechanical arm (7) is fixedly connected to A reduction motor (8) is provided, the output end of the reduction motor (8) is fixedly connected to a second mechanical arm (9), the second mechanical arm (9) is movably connected to the first mechanical arm (7), the outer side of the second mechanical arm (9) is fixedly connected to a second motor (10), the interior of the second mechanical arm (9) is provided with a second slide groove (11), the output end of the second motor (10) is fixedly connected to a second screw rod (12), the outer side of the second screw rod (12) is threadedly connected to a second moving block (13), the second moving block (13) is movably connected to the second slide groove (11), and the bottom of the second moving block (13) is fixedly connected to a clamp (14).

2. A multi-joint robotic arm according to claim 1, characterized in that: The top of the base (1) is provided with a first groove (15), the interior of the first groove (15) is movably connected to a moving box (16), the top of the base (1) is provided with a second groove (17), the interior of the second groove (17) is fixedly connected to a third motor (18), the output end of the third motor (18) is fixedly connected to a third screw (19), the third screw (19) is movably connected to the first groove (15), the outer side of the third screw (19) is fixedly connected to a first gear (20), the outer side of the first gear (20) is meshed with a synchronous belt (21), the outer side of the synchronous belt (21) is meshed with a second gear (22), the interior of the second gear (22) is fixedly connected to a fourth screw (23), the outer sides of the third screw (19) and the fourth screw (23) are both threadedly connected to a connecting ring (24), the inner side of the connecting ring (24) is fixedly connected to the moving box (16), and a counterweight (25) is arranged inside the moving box (16).

3. A multi-joint robotic arm according to claim 2, characterized in that: A slider (26) is fixedly connected to the bottom of the moving box (16), and the bottom of the slider (26) is movably connected to the first groove (15).

4. A multi-joint robotic arm according to claim 2, characterized in that: A protective shell (27) located outside the synchronous belt (21) is fixedly connected to the interior of the first groove (15), and the third screw rod (19) and the fourth screw rod (23) are both movably connected to the protective shell (27).

5. A multi-joint robotic arm according to claim 2, characterized in that: A movable door (28) is movably connected to the top of the second groove (17).

6. A multi-joint robotic arm according to claim 5, characterized in that: A handle (29) is fixedly connected to the outer side of the movable door (28).

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