A robot arm structure

Abstract

The utility model discloses a robot arm structure, including a robot arm body, a limiting mechanism is installed on the lower surface of the robot arm body, and a connecting wire is clamped inside the limiting mechanism. The utility model can install a fixed blade and a limiting sleeve on the surface of the robot arm body through connecting bolts, so that the connecting wire can be easily fitted with the surface of the robot arm body, and the connecting wire can be inserted into the winding sleeve rod through the limiting sleeve rod and the connecting sleeve rod, and is wound on the surface of the winding sleeve rod, so that the connecting wire can be pulled during the use and movement of the robot arm body to drive the winding sleeve rod to rotate, and the connecting wire can be easily retracted and released on the surface of the winding sleeve rod through the elastic force of the torsion spring itself, so that the connecting wire is kept in a straightened state during the use of the robot arm body, and the connecting wire is prevented from being loosely dragged and colliding with the material to cause it to be broken.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to a robot forearm structure. Background Art

[0002] Robot arm generally refers to mechanical arm, which is the most widely used automated mechanical device in the field of robotics technology. It can be seen in industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing and space exploration. The mechanical arm is composed of a base, an upper arm, a forearm, a claw and other accessories.

[0003] The existing robotic forearm plays a connecting and switching role when in use. Since the connecting line of the control claw head is generally hung on the outside of the forearm, the connecting line will loosely drag on the outside of the arm when the robotic arm is in use, which may easily conflict with the material and cause it to be broken when the arm is used and moved. Therefore, we propose a robotic forearm structure to solve the above problem. Utility Model Content

[0004] The utility model aims to solve the shortcomings in the prior art and proposes a robot forearm structure.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A robot forearm structure comprises a robot forearm main body, a limiting mechanism is installed on the lower surface of the robot forearm main body, and a connecting line is engaged inside the limiting mechanism, the connecting line is inserted into a winding mechanism, and a protective outer rod is arranged on the surface of the winding mechanism, a blocking mechanism is connected to the outer end of the winding mechanism, and a plurality of guide mechanisms are fixed on the surface of the robot forearm main body.

[0007] Preferably, the limiting mechanism includes a connecting bolt, and a fixed blade is installed on the surface of the manipulator arm body through the connecting bolt, and the fixed blade is fixedly connected to the limiting sleeve, and the inner wall of the limiting sleeve is in contact with the surface of the connecting wire. The connecting wire is engaged by the limiting sleeve, which facilitates the function of limiting the installation of the connecting wire.

[0008] Preferably, the winding mechanism includes a limiting sleeve rod, the side of the manipulator arm body is fixedly connected to the limiting sleeve rod, and the interior of the limiting sleeve rod is connected to one end of the connecting sleeve rod, and the other end of the connecting sleeve rod is fixedly connected to a winding sleeve rod, and the connecting line can be guided into the connecting sleeve rod and the winding sleeve rod through the limiting sleeve rod.

[0009] Preferably, the interiors of the limiting sleeve rod, the connecting sleeve rod and the winding sleeve rod are all arranged to be hollow, and the surface of the winding sleeve rod is provided with a strip-shaped through groove that is compatible with the surface size of the connecting line. By arranging the interiors of the limiting sleeve rod, the connecting sleeve rod and the winding sleeve rod to be hollow, the connecting line can be easily inserted.

[0010] Preferably, the connecting sleeve rod is installed inside the protective outer rod through a bearing, and the end face of the protective outer rod is fixedly connected to the end of the limiting sleeve rod. The surface of the protective outer rod is provided with a strip-shaped through groove that is compatible with the surface of the connecting line. A torsion spring is welded between the end face of the winding sleeve rod and the inner wall diameter of the protective outer rod. The strip-shaped through groove provided on the surface of the protective outer rod can facilitate the movement of the connecting line.

[0011] Preferably, the blocking mechanism includes a connecting stud, the inner wall of the outer end of the winding sleeve rod is threadedly connected to the connecting stud, and the outer end of the connecting stud is fixedly connected to a limiting outer disk, the surface diameter of the limiting outer disk is the same as the surface diameter of the protective outer rod, and the connecting line can be limited within the protective outer rod through the limiting outer disk.

[0012] Preferably, the guiding mechanism includes a connecting column, the side of the manipulator arm body is fixedly connected to one end of the connecting column, and the other end of the connecting column is fixedly connected to a guide ring, and the guide ring is configured in a circular ring shape, and the connecting column can facilitate the function of limiting the connection of the guide ring.

[0013] Compared with the prior art, the beneficial effects of the utility model are:

[0014] 1. The device can install the fixed blade and the limit sleeve on the surface of the robot arm body through the connecting bolts, so that the connecting wire can be easily fitted with the surface of the robot arm body, and the connecting wire can be inserted into the winding sleeve rod through the limit sleeve rod and the connecting sleeve rod, and wound around the surface of the winding sleeve rod, so that during the use and movement of the robot arm body, the connecting wire can be pulled to drive the winding sleeve rod to rotate, and through the elastic force of the torsion spring itself, the connecting wire can be easily retracted and released on the surface of the winding sleeve rod, so that the connecting wire is kept in a straightened state during the use of the robot arm body to avoid the loose dragging of the connecting wire and the collision with the material to cause it to be broken.

[0015] 2. The device can protect the connecting wire inside the protective outer rod installed on the outside of the winding sleeve rod, and drive the connecting stud to be threadedly connected to the winding sleeve rod through the limiting outer disk, so that the connecting wire can be limited in the protective outer rod. At the same time, multiple sets of guide rings fixed on the surface of the main body of the manipulator arm can facilitate the function of limiting and guiding the connecting wire. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1A three-dimensional schematic diagram of a robot forearm structure proposed by the utility model;

[0017] Figure 2 This is a three-dimensional bottom view schematic diagram of a robot forearm structure proposed by the utility model;

[0018] Figure 3 for Figure 1 A three-dimensional schematic diagram of the limit sleeve and the guide ring structure;

[0019] Figure 4 for Figure 1 Schematic diagram of the three-dimensional cross-section of the limit sleeve rod and the protective outer rod structure.

[0020] In the figure: 1. The main body of the robot arm;

[0021] 2. Limiting mechanism; 21. Connecting bolt; 22. Fixed blade; 23. Limiting sleeve;

[0022] 3. Connecting wire;

[0023] 4. Winding mechanism; 41. Limiting sleeve rod; 42. Connecting sleeve rod; 43. Winding sleeve rod; 44. Torsion spring;

[0024] 5. Protect the outer rod;

[0025] 6. Blocking mechanism; 61. Connecting stud; 62. Limiting outer plate;

[0026] 7. Guide mechanism; 71. Connecting column; 72. Guide ring. DETAILED DESCRIPTION

[0027] 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.

[0028] Reference Figure 1-4 A robot forearm structure includes a manipulator forearm body 1, a limiting mechanism 2 is installed on the lower surface of the manipulator forearm body 1, and a connecting wire 3 is clamped inside the limiting mechanism 2, the connecting wire 3 is inserted in the winding mechanism 4, and a protective outer rod 5 is provided on the surface of the winding mechanism 4. The connecting wire 3 can be conveniently wound and limited in the protective outer rod 5 for protection through the protective outer rod 5. The outer end of the winding mechanism 4 is connected to a blocking mechanism 6, and a plurality of guide mechanisms 7 are fixed on the surface of the manipulator forearm body 1.

[0029] Further, see Figure 1 and Figure 3It can be known that the limiting mechanism 2 includes a connecting bolt 21, and a fixed blade 22 is installed on the surface of the manipulator arm body 1 through the connecting bolt 21, and the fixed blade 22 is fixedly connected to the limiting sleeve 23, and the inner wall of the limiting sleeve 23 fits the surface of the connecting line 3. The connecting bolt 21 passes through the fixed blade 22 and is connected to the manipulator arm body 1, so that the limiting sleeve 23 can limit the connection between the connecting line 3 and the manipulator arm body 1.

[0030] Further, see Figure 3 and Figure 4 It can be known that the winding mechanism 4 includes a limiting sleeve rod 41, and the side of the manipulator arm body 1 is fixedly connected to the limiting sleeve rod 41, and the interior of the limiting sleeve rod 41 is connected to one end of the connecting sleeve rod 42, and the other end of the connecting sleeve rod 42 is fixedly connected to a winding sleeve rod 43. The winding sleeve rod 43 can be easily driven to rotate through the connecting sleeve rod 42, so that the winding sleeve rod 43 can be easily retracted and released.

[0031] Further, see Figure 3 and Figure 4 It can be known that the interiors of the limiting sleeve rod 41, the connecting sleeve rod 42 and the winding sleeve rod 43 are all set to be hollow, and the surface of the winding sleeve rod 43 is provided with a strip-shaped through groove that is compatible with the surface size of the connecting line 3. The strip-shaped through groove opened on the surface of the winding sleeve rod 43 can facilitate the engagement and placement of the connecting line 3.

[0032] Further, see Figure 3 and Figure 4 It can be known that the connecting sleeve rod 42 is installed inside the protective outer rod 5 through a bearing. The connecting sleeve rod 42 is installed inside the protective outer rod 5 through a bearing, so that the connecting sleeve rod 42 can be rotated inside the protective outer rod 5, which is convenient for winding up the connecting line 3, and the end face of the protective outer rod 5 is fixedly connected to the end of the limiting sleeve rod 41, and the surface of the protective outer rod 5 is provided with a strip-shaped through groove that is compatible with the surface of the connecting line 3. A torsion spring 44 is welded between the end face of the winding sleeve rod 43 and the inner wall diameter of the protective outer rod 5. The torsion spring 44 itself can be used to easily reset the winding sleeve rod 43 through the elastic force of the torsion spring 44, so that the connecting line 3 can be kept in a taut state when in use.

[0033] Further, see Figure 3 and Figure 4 It can be known that the blocking mechanism 6 includes a connecting stud 61, and the inner wall of the outer end of the winding sleeve rod 43 is threadedly connected to the connecting stud 61, and the winding sleeve rod 43 is threadedly connected to the connecting stud 61, which can facilitate the installation of the connecting stud 61 and the limiting outer disk 62, and the outer end of the connecting stud 61 is fixedly connected to the limiting outer disk 62, and the surface diameter of the limiting outer disk 62 is the same as the surface diameter of the protective outer rod 5. The limiting outer disk 62 can facilitate the function of the limiting connecting line 3.

[0034] Further, see Figure 2 and Figure 3 It can be known that the guiding mechanism 7 includes a connecting column 71, the side of the manipulator arm body 1 is fixedly connected to one end of the connecting column 71, and the other end of the connecting column 71 is fixedly connected to a guide ring 72, and the guide ring 72 is set to a circular ring shape. By setting the guide ring 72 to a circular ring shape, the function of limiting and guiding the connecting line 3 can be achieved.

[0035] Working principle: When the utility model is in use, when the robot arm body 1 is in use, according to the attached Figure 1 , Attachment Figure 2 , Attachment Figure 3 and attached Figure 4 , by passing the connecting wire 3 through the limiting sleeve rod 41, the connecting sleeve rod 42 and the winding sleeve rod 43, and winding the connecting wire 3 around the surface of the winding sleeve rod 43, so that the end of the connecting wire 3 passes through the winding sleeve rod 43 and the protective outer rod 5, and passes it through the multiple sets of guide rings 72 and connects it to the manipulator chuck. At this time, the limiting outer disk 62 drives the connecting stud 61 to be threadedly connected with the winding sleeve rod 43, so that the connecting wire 3 can be limited in the winding sleeve rod 43 and the protective outer rod 5, and the limiting clamping sleeve 23 is clamped on the connecting sleeve The surface of the wire 3 is connected to the manipulator arm body 1 through the connecting bolt 21 passing through the fixed blade 22, so that the connecting wire 3 can be limited. When the manipulator arm body 1 is in use, when the connecting wire 3 is pulled, it will move in the multiple sets of guide rings 72, so that it drives the winding sleeve rod 43 to rotate, which is convenient for pulling it out of the protective outer rod 5. In addition, through the elastic force of the torsion spring 44 itself, when the connecting wire 3 is loose, the winding sleeve rod 43 can be reset and rotated to reel the connecting wire 3;

[0036] The above is the entire working principle of the utility model.

[0037] In the present invention, the installation method, connection method or setting method of all the components mentioned above are common mechanical methods, and the specific structures, models and coefficient indicators of all its components are its own technology. As long as it can achieve its beneficial effects, it can be implemented, so it will not be elaborated.

[0038] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited by the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principle of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

[0039] In the present utility model, unless otherwise stated, the directional words contained in the terms such as "up, down, left, right, front, back, inside, outside, vertical, horizontal" only represent the orientation of the term in normal use, or are common names understood by those skilled in the art, and should not be regarded as limitations on the term. At the same time, number series nouns such as "first", "second" and "third" do not represent specific quantities and orders, but are merely used to distinguish names. Moreover, the terms "include", "comprise" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also includes other elements that are not explicitly listed, or also includes elements inherent to such process, method, article or device.

Claims

1. A robot arm structure, comprising a robot arm body (1), characterized in that: A limiting mechanism (2) is installed on the lower surface of the robot arm body (1), and a connecting line (3) is engaged inside the limiting mechanism (2), the connecting line (3) is inserted into the winding mechanism (4), and a protective outer rod (5) is arranged on the surface of the winding mechanism (4), and a blocking mechanism (6) is connected to the outer end of the winding mechanism (4), and a plurality of guide mechanisms (7) are fixed on the surface of the robot arm body (1).

2. A robot arm structure according to claim 1, characterized in that: The limiting mechanism (2) comprises a connecting bolt (21), a fixed blade (22) is installed on the surface of the manipulator arm body (1) via the connecting bolt (21), and the fixed blade (22) is fixedly connected to the limiting sleeve (23), and the inner wall of the limiting sleeve (23) is in contact with the surface of the connecting line (3).

3. A robot arm structure according to claim 1, characterized in that: The winding mechanism (4) comprises a limiting sleeve rod (41), the side of the manipulator arm body (1) is fixedly connected to the limiting sleeve rod (41), and the interior of the limiting sleeve rod (41) is connected to one end of a connecting sleeve rod (42), and the other end of the connecting sleeve rod (42) is fixedly connected to a winding sleeve rod (43).

4. A robot arm structure according to claim 3, characterized in that: The interiors of the limiting sleeve rod (41), the connecting sleeve rod (42) and the winding sleeve rod (43) are all arranged to be hollow, and the surface of the winding sleeve rod (43) is provided with a strip-shaped through groove that matches the surface size of the connecting line (3).

5. The robot arm structure according to claim 3, characterized in that: The connecting sleeve rod (42) is installed inside the protective outer rod (5) via a bearing, and the end face of the protective outer rod (5) is fixedly connected to the end of the limiting sleeve rod (41). The surface of the protective outer rod (5) is provided with a strip-shaped through groove that matches the surface of the connecting line (3). A torsion spring (44) is welded between the end face of the winding sleeve rod (43) and the inner wall diameter of the protective outer rod (5).

6. A robot arm structure according to claim 3, characterized in that: The blocking mechanism (6) comprises a connecting stud (61), the inner wall of the outer end of the winding sleeve rod (43) is threadedly connected to the connecting stud (61), and the outer end of the connecting stud (61) is fixedly connected to a limiting outer disk (62), and the surface diameter of the limiting outer disk (62) is the same as the surface diameter of the protective outer rod (5).

7. The robot arm structure according to claim 1, characterized in that: The guiding mechanism (7) comprises a connecting column (71), the side surface of the manipulator forearm body (1) is fixedly connected to one end of the connecting column (71), and the other end of the connecting column (71) is fixedly connected to a guiding ring (72), and the guiding ring (72) is arranged in a circular ring shape.

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