Novel mechanical arm structure

Abstract

The utility model relates to the technical field of mechanical arms, and discloses a novel mechanical arm structure which comprises a connecting plate, a hollow motor platform is fixedly installed at the bottom of the connecting plate, a mechanical arm shell is fixedly connected to the bottom of the hollow motor platform, and a suction cup air cylinder is movably connected to the right side of the mechanical arm shell. The bottom of the suction cup air cylinder is fixedly connected with a connecting block. By arranging the rotating rod, the hinge rod, the round rod and the limiting block, when the needle type suction cup grabs a knitting strip, the power motor can be started, so that the rotating shaft can drive the rotating rod to rotate, the hinge rod can push the fixing block to move, and then the fixing block can drive the suction cup air cylinder to move; and therefore, the suction cup air cylinder drives the round rod to move outwards under the limiting and supporting effects of the limiting block, then the needle type suction cup can be driven to move, and the position of the flexible weaving strip can be adjusted more accurately.

Description

Technical Field

[0001] The utility model relates to the technical field of robotic arms, and more specifically, to a novel robotic arm structure. Background Art

[0002] Robotic arms are automated mechanical devices that are most widely used in the field of robotics technology. Although they have different forms, they all have a common feature, that is, they can accept instructions and accurately locate a certain point in three-dimensional (or two-dimensional) space for operation.

[0003] When producing flexible braided strips, robotic arms are needed to complete the action of hooking the braided strips using the hooks on the robotic arms. When grasping the flexible braided strips, the braided strips are also grasped by the needle-type suction cups on the robotic arms. Although existing robotic arms can complete basic operations, there are still deficiencies in the actual use process. Existing needle-type suction cups are generally fixed on the robotic arms and move along with the robotic arms, resulting in the inability to change the position of the flexible braided strips grasped by the needle-type suction cups independently. The distance between the flexible braided strips and the hooks can only change with the rotation of the hooks, resulting in the inability to perform more delicate and precise operations on the braided strips. Therefore, it needs to be improved. Summary of the Utility Model

[0004] In order to overcome the deficiencies of the prior art, the utility model provides a novel robotic arm structure, which has the advantage of more precise operation.

[0005] To achieve the above object, the utility model provides the following technical solution: A novel robotic arm structure, comprising:

[0006] A connecting plate, the bottom of the connecting plate is fixedly installed with a hollow motor platform, the bottom of the hollow motor platform is fixedly connected with a robotic arm housing, the right side of the robotic arm housing is movably connected with a suction cup cylinder, the bottom of the suction cup cylinder is fixedly connected with a connecting block, and the bottom of the connecting block is movably connected with a needle-type suction cup;

[0007] A pushing mechanism, the pushing mechanism is arranged on the back of the robotic arm housing;

[0008] A limiting mechanism, the limiting mechanism is arranged on the back of the suction cup cylinder;

[0009] Among them, the pushing mechanism includes a mounting plate which is fixedly installed on the back of the robotic arm housing. A power motor is fixedly installed on the inner surface of the mounting plate. The other end of the output shaft of the power motor is fixedly connected to a rotating shaft. A rotating rod is fixedly sleeved on the outer surface of the rotating shaft. The other end of the rotating rod is hinged to a hinged rod. The other end of the hinged rod is hinged to a fixed block. The outer surface of the fixed block is fixedly connected to the back of the suction cup cylinder. The movement of the hinged rod will push the fixed block to move.

[0010] As a preferred technical solution of the present utility model, the limiting mechanism includes:

[0011] Mounting blocks, there are two mounting blocks, and the two mounting blocks are respectively fixedly installed on the top and bottom of the back of the suction cup cylinder. A round rod is fixedly sleeved inside the mounting block;

[0012] Limiting blocks, there are two limiting blocks, and the two limiting blocks are respectively fixedly installed on the top and bottom of the back of the robotic arm housing. The inner surface of the limiting block is movably sleeved on the outer surface of the round rod.

[0013] As a preferred technical solution of the present utility model, the top of the needle-type suction cup is fixedly connected to a movable shaft, and the top end of the movable shaft extends into the inside of the connecting block and is movably sleeved on the inner wall of the connecting block.

[0014] As a preferred technical solution of the present utility model, a rotating plate located inside the connecting block is fixedly sleeved on the outer surface of the movable shaft. The outer surface of the rotating plate is movably connected to the inner surface of the connecting block. The left and right sides of the top of the rotating plate are respectively fixedly installed with a first round block and a second round block.

[0015] As a preferred technical solution of the present utility model, a movable block is movably sleeved on the outer surface of the first round block. A spring is fixedly connected to the left side of the movable block, and the left end of the spring is fixedly connected to the inner surface of the connecting block.

[0016] As a preferred technical solution of the present utility model, a driving motor is fixedly connected to the right side of the front of the connecting block. The other end of the output shaft of the driving motor is fixedly connected to a threaded rod. The front end of the threaded rod penetrates through the connecting block and extends into the inside of the connecting block and is movably sleeved on the inner wall of the connecting block.

[0017] As a preferred technical solution of the present utility model, a moving block is threadedly sleeved on the outer surface of the threaded rod. The outer surface of the moving block is movably connected to the inner surface of the connecting block. A movable frame is fixedly installed on the left side of the moving block. The front side of the inner surface of the movable frame is movably connected to the outer surface of the second round block.

[0018] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0019] 1. By providing a rotating rod, a hinged rod, a round rod and a limiting block, when the needle-type suction cup grabs the woven strip, the power motor can be started to drive the rotating rod to rotate through the rotating shaft, so that the hinged rod can push the fixed block to move, and then the fixed block can drive the suction cup cylinder to move. As a result, the suction cup cylinder drives the round rod to move outwards under the limiting and supporting action of the limiting block, and then the needle-type suction cup can be driven to move, so that the position of the flexible woven strip can be adjusted more accurately.

[0020] 2. By providing a movable shaft, a rotating plate, a movable frame and a second round block, the operator can start the driving motor to drive the moving block to move through the threaded rod, so that the moving block drives the movable frame to move. Then, the inner surface of the movable frame can squeeze and push the second round block to move, so that the second round block drives the rotating plate to rotate around the movable shaft as the axis, and then the movable shaft can drive the needle-type suction cup to rotate, so that the needle-type suction cup can drive the grabbed flexible woven strip to rotate, thereby adjusting the angle of the flexible woven strip and enabling the flexible woven strip to be hooked more quickly. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a schematic structural diagram of the present utility model;

[0022] Figure 2 is a schematic cross-sectional structural diagram of the connecting block of the present utility model;

[0023] Figure 3 is a schematic cross-sectional structural diagram of the side of the present utility model;

[0024] Figure 4 is a schematic structural diagram of the back of the present utility model;

[0025] Figure 5 is Figure 2 a partial enlarged structural diagram at A in

[0026] Figure 6 is Figure 4 a partial enlarged structural diagram at B in

[0027] In the figure: 1. connecting plate; 2. hollow motor platform; 3. robotic arm housing; 4. suction cup cylinder; 5. connecting block; 6. needle-type suction cup; 7. mounting plate; 8. power motor; 9. rotating shaft; 10. rotating rod; 11. hinged rod; 12. fixed block; 13. mounting block; 14. round rod; 15. limiting block; 16. movable shaft; 17. rotating plate; 18. first round block; 19. movable block; 20. spring; 21. driving motor; 22. threaded rod; 23. moving block; 24. movable frame; 25. second round block. Detailed implementation manners

[0028] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0029] As Figures 1 to 6 shown, the present utility model provides a new type of robotic arm structure, including:

[0030] A connecting plate 1, a hollow motor platform 2 is fixedly installed at the bottom of the connecting plate 1, a robotic arm housing 3 is fixedly connected to the bottom of the hollow motor platform 2, a suction cup cylinder 4 is movably connected to the right side of the robotic arm housing 3, a connecting block 5 is fixedly connected to the bottom of the suction cup cylinder 4, and a needle-type suction cup 6 is movably connected to the bottom of the connecting block 5;

[0031] A pushing mechanism is arranged on the back of the robotic arm housing 3;

[0032] A limiting mechanism is arranged on the back of the suction cup cylinder 4;

[0033] Among them, the pushing mechanism includes a mounting plate 7, the mounting plate 7 is fixedly installed on the back of the robotic arm housing 3, a power motor 8 is fixedly installed on the inner surface of the mounting plate 7, the other end of the output shaft of the power motor 8 is fixedly connected to a rotating shaft 9, a rotating rod 10 is fixedly sleeved on the outer surface of the rotating shaft 9, the other end of the rotating rod 10 is hinged to a hinged rod 11, the other end of the hinged rod 11 is hinged to a fixed block 12, and the outer surface of the fixed block 12 is fixedly connected to the back of the suction cup cylinder 4. The movement of the hinged rod 11 will push the fixed block 12 to move.

[0034] An operator can start the hollow motor platform 2, so that the robotic arm housing 3 rotates. After the suction cup cylinder 4 is started, it will push the needle-type suction cup 6 downward, so as to increase the movement stroke of the needle-type suction cup 6. When the operator needs to make the needle-type suction cup 6 move to the right alone, the power motor 8 can be started, so that the rotating shaft 9 drives the rotating rod 10 to rotate, so that the hinged rod 11 can push the suction cup cylinder 4 to move outward through the fixed block 12, and then the needle-type suction cup 6 can move outward.

[0035] Among them, the limiting mechanism includes:

[0036] Mounting blocks 13, the number of the mounting blocks 13 is two, the two mounting blocks 13 are respectively fixedly installed at the top and bottom of the back of the suction cup cylinder 4, and a round rod 14 is fixedly sleeved inside the mounting block 13;

[0037] The limit blocks 15, and there are two limit blocks 15. The two limit blocks 15 are respectively fixedly installed at the top and bottom of the back surface of the robotic arm housing 3. The inner surface of the limit block 15 is movably sleeved with the outer surface of the round rod 14.

[0038] When the suction cup cylinder 4 moves outwards, it will drive the round rod 14 to move along the inner surface of the limit block 15 through the mounting block 13, so as to support and limit the suction cup cylinder 4.

[0039] Among them, the top of the needle suction cup 6 is fixedly connected with a movable shaft 16. The top end of the movable shaft 16 extends into the inside of the connecting block 5 and is movably sleeved with the inner wall of the connecting block 5.

[0040] When the movable shaft 16 rotates, it will drive the needle suction cup 6 to rotate, so that the needle suction cup 6 can drive the grasped flexible braided strip to rotate, making the movement of the whole connecting plate 1 more delicate.

[0041] Among them, the outer surface of the movable shaft 16 is fixedly sleeved with a rotating plate 17 located inside the connecting block 5. The outer surface of the rotating plate 17 is movably connected with the inner surface of the connecting block 5. The left and right sides of the top of the rotating plate 17 are respectively fixedly installed with a first round block 18 and a second round block 25.

[0042] When the second round block 25 moves, it will drive the rotating plate 17 to rotate around the movable shaft 16 as the axis.

[0043] Among them, the outer surface of the first round block 18 is movably sleeved with a movable block 19. The left side of the movable block 19 is fixedly connected with a spring 20. The left end of the spring 20 is fixedly connected with the inner surface of the connecting block 5.

[0044] When the rotating plate 17 rotates, the spring 20 will be stretched, so that the spring 20 can pull the rotating plate 17 to reset under the action of elastic force recovery.

[0045] Among them, the right side of the front surface of the connecting block 5 is fixedly connected with a driving motor 21. The other end of the output shaft of the driving motor 21 is fixedly connected with a threaded rod 22. The front end of the threaded rod 22 penetrates through the connecting block 5 and extends into the inside of the connecting block 5 and is movably sleeved with the inner wall of the connecting block 5.

[0046] The operator can start the driving motor 21 to make the threaded rod 22 rotate.

[0047] Among them, the outer surface of the threaded rod 22 is threadedly sleeved with a moving block 23. The outer surface of the moving block 23 is movably connected with the inner surface of the connecting block 5. The left side of the moving block 23 is fixedly installed with a movable frame 24. The front side of the inner surface of the movable frame 24 is movably connected with the outer surface of the second round block 25.

[0048] When the moving block 23 moves, it will cause the inner surface of the movable frame 24 to squeeze and push the second circular block 25 to move.

[0049] The working principle and usage process of the present utility model are as follows:

[0050] An operator can start the hollow motor platform 2 to enable the robotic arm housing 3 to rotate, so that the grasping action can be more flexible. When the operator starts the needle-type suction cup 6 to grasp the braided strip, the suction cup cylinder 4 can be started to make the connecting block 5 and the needle-type suction cup 6 descend, thereby increasing the movement stroke of the needle-type suction cup 6. When the needle-type suction cup 6 grasps the braided strip, the power motor 8 can be started to make the rotating shaft 9 drive the rotating rod 10 to rotate, so that the articulated rod 11 can push the fixed block 12 and the suction cup cylinder 4 to move to the right, so that the suction cup cylinder 4 drives the round rod 14 to move outwards under the limiting and supporting action of the limiting block 15 through the mounting block 13, thereby driving the needle-type suction cup 6 to move, and thus the position of the flexible braided strip can be adjusted more accurately, improving the accuracy of the operation.

[0051] When the needle-type suction cup 6 grasps the braided strip, the drive motor 21 can be started to make the threaded rod 22 drive the moving block 23 to move, so that the movable frame 24 can squeeze and push the outer surface of the second circular block 25, so that the second circular block 25 drives the rotating plate 17 to rotate around the movable shaft 16 as the axis, so that the movable shaft 16 can drive the needle-type suction cup 6 to rotate, and thus the angle of the flexible braided strip can be adjusted, so that the flexible braided strip can be hooked more quickly. When the rotating plate 17 rotates, the spring 20 will be stretched, so that when the movable frame 24 resets, the spring 20 can drive the rotating plate 17 to reset under the action of the elastic force recovery.

[0052] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device.

[0053] Although embodiments of the present utility model have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present utility model. The scope of the present utility model is defined by the appended claims and their equivalents.

Claims

1. A novel mechanical arm structure, characterized in that: Included are: A connecting plate (1), a hollow motor platform (2) is fixedly mounted on the bottom of the connecting plate (1), a mechanical arm housing (3) is fixedly connected to the bottom of the hollow motor platform (2), a suction cup cylinder (4) is movably connected to the right side of the mechanical arm housing (3), a connecting block (5) is fixedly connected to the bottom of the suction cup cylinder (4), and a needle suction cup (6) is movably connected to the bottom of the connecting block (5); A pushing mechanism, wherein the pushing mechanism is arranged on the back side of the mechanical arm housing (3); A limiting mechanism, wherein the limiting mechanism is arranged on the back side of the suction cup cylinder (4); The pushing mechanism comprises a mounting plate (7), wherein the mounting plate (7) is fixedly mounted on the back of the robot arm housing (3), a power motor (8) is fixedly mounted on the inner surface of the mounting plate (7), the other end of the output shaft of the power motor (8) is fixedly connected to a rotating shaft (9), the outer surface of the rotating shaft (9) is fixedly sleeved with a rotating rod (10), the other end of the rotating rod (10) is hinged to an articulated rod (11), the other end of the articulated rod (11) is hinged to a fixed block (12), the outer surface of the fixed block (12) is fixedly connected to the back of the suction cup cylinder (4), and the movement of the articulated rod (11) will push the fixed block (12) to move.

2. A novel mechanical arm structure according to claim 1, characterized in that: The limiting mechanism comprises: A mounting block (13), wherein the number of the mounting blocks (13) is two, and the two mounting blocks (13) are respectively fixedly mounted on the top and bottom of the back side of the suction cup cylinder (4), and a round rod (14) is fixedly sleeved inside the mounting block (13); A limit block (15), wherein there are two limit blocks (15), and the two limit blocks (15) are respectively fixedly mounted on the top and bottom of the back side of the robot arm housing (3), and the inner surface of the limit block (15) is movably sleeved with the outer surface of the round rod (14).

3. A novel mechanical arm structure according to claim 1, characterized in that: The top of the needle suction cup (6) is fixedly connected to a movable shaft (16), and the top end of the movable shaft (16) extends to the inside of the connecting block (5) and is movably sleeved with the inner wall of the connecting block (5).

4. A novel mechanical arm structure according to claim 3, characterized in that: The outer surface of the movable shaft (16) is fixedly sleeved with a rotating plate (17) located inside the connecting block (5); the outer surface of the rotating plate (17) is movably connected to the inner surface of the connecting block (5); and the first round block (18) and the second round block (25) are fixedly mounted on the left and right sides of the top of the rotating plate (17), respectively.

5. A novel mechanical arm structure according to claim 4, characterized in that: The outer surface of the first round block (18) is movably sleeved with a movable block (19), the left side of the movable block (19) is fixedly connected with a spring (20), and the left end of the spring (20) is fixedly connected to the inner surface of the connecting block (5).

6. A novel mechanical arm structure according to claim 1, characterized in that: A drive motor (21) is fixedly connected to the right side of the front face of the connection block (5); a threaded rod (22) is fixedly connected to the other end of the output shaft of the drive motor (21); a front end of the threaded rod (22) penetrates the connection block (5) and extends to the interior of the connection block (5) and is movably sleeved with the inner wall of the connection block (5).

7. A novel mechanical arm structure according to claim 6, characterized in that: The outer surface of the threaded rod (22) is threadedly sleeved with a moving block (23), the outer surface of the moving block (23) is movably connected to the inner surface of the connecting block (5), a moving frame (24) is fixedly installed on the left side of the moving block (23), and the front side of the inner surface of the moving frame (24) is movably connected to the outer surface of the second round block (25).

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