Multi-angle adjustable mechanical arm structure

Abstract

The utility model relates to the technical field of adjustable mechanical arms, and discloses an adjustable multi-angle mechanical arm structure which comprises a conical frame, the bottom of the conical frame is rotationally connected with a first lead screw, and the top of the first lead screw penetrates through the bottom of the conical frame and is in threaded connection with a rotating block. A first motor is fixedly connected to the upper side of the rear end of the inner wall of the conical frame, the rear end of the second rotating rod is fixedly connected with the middle of the front side of the L-shaped rod, and a lifting mechanism is arranged at the bottom end of the conical frame and used for lifting the mechanical arm device to the proper height. According to the utility model, the first motor drives the first rotating rod so as to enable the driving gear to rotate and further enable the driven gear meshed with the driving gear to rotate, and the first rotating plate on the driving gear and the second rotating plate on the driven gear can drive the L-shaped rod to perform vertical angle deviation, so that finer angle deviation can be performed, and the product quality can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of adjustable robotic arms, in particular to a robotic arm structure with adjustable multi-angles. Background Technique

[0002] A robotic arm is an automated mechanical device that can simulate the movements of a human arm. It usually consists of multiple joints, linkages, and actuators and can move and operate within a certain spatial range. In the industrial field, robotic arms are widely used in various tasks on production lines, such as assembly, handling, welding, and spraying.

[0003] With the continuous advancement of the industrialization process, enterprises have higher and higher requirements for production efficiency. The traditional manual operation method is not only slow but also prone to fatigue and errors, making it difficult to meet the needs of large-scale production. At this time, a robotic arm with adjustable multi-angles is needed to perform high-speed production operations.

[0004] However, the design of existing robotic arms may only consider the adjustment of a few angles and can only perform large-angle rotation and lifting, and cannot perform fine-angle adjustment. As a result, in actual production applications, relatively fine tasks cannot be completed, which in turn reduces the product quality and cannot meet the use requirements of workers. Content of the Utility Model

[0005] To make up for the above deficiencies, the utility model provides a robotic arm structure with adjustable multi-angles, aiming to improve the problem that the existing robotic arm structure with adjustable multi-angles is prone to the inability to perform fine-angle adjustment.

[0006] To achieve the above object, the utility model adopts the following technical solutions: a mechanical arm structure with adjustable multi-angles, including a conical frame. The bottom of the conical frame is rotatably connected with a first lead screw. The top of the first lead screw penetrates through the bottom of the conical frame and is threadedly connected with a rotating block. On the upper side of the rear end of the inner wall of the conical frame, a first motor is fixedly connected. The output end of the first motor is fixedly connected with a first rotating rod. On the front side of the first rotating rod, a driving gear is fixedly connected. On the lower front side of the driving gear, a first fixing rod is fixedly connected. On the front side of the outer wall of the first fixing rod, a first rotating plate is rotatably connected. On the right side of the first rotating plate, a second rotating rod is rotatably connected. On the front side of the rotating block, a second fixing rod is fixedly connected. On the front side of the outer wall of the second fixing rod, a second rotating plate is rotatably connected. On the front side of the second rotating plate, a chute is provided. On the lower side of the rear end of the inner wall of the conical frame, a third rotating rod is rotatably connected. On the front end of the third rotating rod, a driven gear is fixedly connected. The driven gear is meshed with the driving gear. On the lower front side of the driven gear, a third fixing rod is fixedly connected. The third fixing rod is slidably connected inside the chute. On the right side of the second rotating plate, a fourth rotating rod is rotatably connected. On the rear end of the fourth rotating rod, an L-shaped rod is fixedly connected. The rear end of the second rotating rod is fixedly connected to the middle of the front side of the L-shaped rod. At the bottom end of the conical frame, a lifting mechanism is provided, and the lifting mechanism is used to lift the mechanical arm device to a suitable height.

[0007] As a further description of the above technical solution:

[0008] The lifting mechanism includes a pushing block, and the pushing block is fixedly connected to the bottom end of the conical frame. In the middle of the outer wall of the pushing block, a hollow box is slidably connected. On the right side of the hollow box, a second motor is fixedly connected. The output end of the second motor penetrates through the hollow box and is fixedly connected with a sixth rotating rod. In the middle of the outer wall of the sixth rotating rod, a worm is fixedly connected. At the inner bottom of the hollow box, a second lead screw is rotatably connected. In the middle and lower part of the outer wall of the second lead screw, a worm gear is fixedly connected. The top of the outer wall of the second lead screw is threadedly connected with the bottom of the pushing block. The worm gear is meshed with the worm.

[0009] As a further description of the above technical solution:

[0010] On the left and right sides of the top of the rotating block, fourth fixing rods are slidably connected. The bottom ends of the two fourth fixing rods are respectively fixedly connected to the inner bottom of the conical frame. On the top of the outer walls of the two fourth fixing rods, limit blocks are fixedly connected.

[0011] As a further description of the above technical solution:

[0012] The bottom of the hollow box is fixedly connected with a base, and on the top of the base, screws are equidistantly threadedly connected around the perimeter.

[0013] As a further description of the above technical solution:

[0014] A fixing block is fixedly connected to the right end of the L-shaped rod, and a three-jaw chuck is fixedly connected to the right side of the fixing block.

[0015] As a further description of the above technical solution:

[0016] A controller is fixedly connected to the left side of the hollow box, and the controller is electrically connected to the first motor and the second motor respectively.

[0017] As a further description of the above technical solution:

[0018] A box door is arranged on the front side of the hollow box. Both the upper and lower ends of the left side of the outer wall of the box door are fixedly connected with hinges. The front side of the box door is rotationally connected to the front left end of the conical frame through the hinges, and a handle is fixedly connected to the right end of the front side of the hinge.

[0019] As a further description of the above technical solution:

[0020] An observation window is arranged in the middle of the front side of the conical frame, and a handle is fixedly connected to the bottom end of the first lead screw.

[0021] The utility model has the following beneficial effects:

[0022] 1. In the utility model, the first motor drives the first rotating rod, so that the driving gear rotates, and then the driven gear meshing with it rotates. The first rotating plate on the driving gear and the second rotating plate on the driven gear will drive the L-shaped rod to deflect at an upper and lower angle. By rotating the handle to raise the first lead screw, the right end of the L-shaped rod can be tilted outwards, so that a more subtle angle deflection can be carried out, and then the quality of the product can be improved, which can meet the use of the staff.

[0023] 2. In the utility model, the second motor on the right side of the hollow box is started. By using the sixth rotating rod to drive the worm to rotate, the worm wheel meshing with the worm starts to rotate at the same time, so that the second lead screw in the middle of the worm wheel can be driven to rotate, and then the pushing block can be moved upwards, so that the robotic arm device can be lifted to a suitable height. Description of the Drawings

[0024] Figure 1 is a three-dimensional view of the adjustable multi-angle robotic arm structure proposed by the utility model;

[0025] Figure 2 is a front-view structural sectional view of the conical frame of the adjustable multi-angle robotic arm structure proposed by the utility model;

[0026] Figure 3 is a structural sectional view of the hollow box of the adjustable multi-angle robotic arm structure proposed by the utility model;

[0027] Figure 4 The side view of the adjustable multi-angle robotic arm structure proposed by the present utility model;

[0028] Figure 5 The sectional view of the top view of the conical frame of the adjustable multi-angle robotic arm structure proposed by the present utility model.

[0029] Legend:

[0030] 1. Conical frame; 2. Lifting mechanism; 201. Hollow box; 202. Second motor; 203. Sixth rotating rod; 204. Worm; 205. Worm gear; 206. Second lead screw; 207. Pushing block; 3. First lead screw; 4. Rotating block; 5. First motor; 6. First rotating rod; 7. Driving gear; 8. First fixing rod; 9. First rotating plate; 10. Second rotating rod; 11. Second fixing rod; 12. Second rotating plate; 13. Chute; 14. Third rotating rod; 15. Driven gear; 16. Third fixing rod; 17. Fourth rotating rod; 18. L-shaped rod; 19. Base; 20. Screw; 21. Fixing block; 22. Three-jaw chuck; 23. Controller; 24. Door of the box; 25. Hinge; 26. Handle; 27. Observation window; 28. Fourth fixing rod; 29. Limit block; 30. Handle. Detailed implementation manners

[0031] 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 in the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present utility model.

[0032] Refer to Figure 1 、 Figure 2 and Figure 5, an embodiment provided by the present utility model: an adjustable multi-angle robotic arm structure, including a conical frame 1. The bottom of the conical frame 1 is rotatably connected to a first lead screw 3. The top of the first lead screw 3 penetrates the bottom of the conical frame 1 and is threadedly connected to a rotating block 4. The upper side of the rear end of the inner wall of the conical frame 1 is fixedly connected to a first motor 5. The output end of the first motor 5 is fixedly connected to a first rotating rod 6. The front side of the first rotating rod 6 is fixedly connected to a driving gear 7. The lower front side of the driving gear 7 is fixedly connected to a first fixing rod 8. The front side of the outer wall of the first fixing rod 8 is rotatably connected to a first rotating plate 9. The right side of the first rotating plate 9 is rotatably connected to a second rotating rod 10. The front side of the rotating block 4 is fixedly connected to a second fixing rod 11. The front side of the outer wall of the second fixing rod 11 is rotatably connected to a second rotating plate 12. A chute 13 is provided on the front side of the second rotating plate 12. The lower side of the rear end of the inner wall of the conical frame 1 is rotatably connected to a third rotating rod 14. The front end of the third rotating rod 14 is fixedly connected to a driven gear 15. The driven gear 15 is meshed with the driving gear 7. The lower front side of the driven gear 15 is fixedly connected to a third fixing rod 16. The inside of the chute 13 is slidably connected to the third fixing rod 16. The right side of the second rotating plate 12 is rotatably connected to a fourth rotating rod 17. The rear end of the fourth rotating rod 17 is fixedly connected to an L-shaped rod 18. The rear end of the second rotating rod 10 is fixedly connected to the middle of the front side of the L-shaped rod 18. A lifting mechanism 2 is provided at the bottom end of the conical frame 1. The lifting mechanism 2 is used to lift the robotic arm device to a suitable height. The left and right sides of the top of the rotating block 4 are both slidably connected to fourth fixing rods 28. The bottom ends of the two fourth fixing rods 28 are respectively fixedly connected to the inner bottom of the conical frame 1. The top of the outer wall of the two fourth fixing rods 28 is fixedly connected with a limiting block 29. The right end of the L-shaped rod 18 is fixedly connected to a fixing block 21. The right side of the fixing block 21 is fixedly connected with a three-jaw chuck 22;

[0033] Specifically, when operating the robotic arm device, first firmly fix the base 19 of the robotic arm at a predetermined position, and then the first lead screw 3 can be rotated by holding the handle 30. As the first lead screw 3 rotates, the rotating block 4 will move upward along the thread of the lead screw, thereby driving the second rotating plate 12 to rise, and further causing the bottom end of the L-shaped rod 18 to move upward and the top end to move downward. The three-jaw chuck 22 on the L-shaped rod 18 will shift to the lower right. Start the first motor 5, and the driving gear 7 will start to rotate through the first rotating rod 6. The driving gear 7 is meshed with the driven gear 15. When the driving gear 7 rotates, the driven gear 15 will also rotate accordingly, thereby causing the first rotating plate 9 and the second rotating plate 12 to rotate, and further enabling the right-side L-shaped rod 18 to adjust the up-and-down angle until the three-jaw chuck 22 on its right side reaches the required angular position. At this time, more precise angle adjustment of the robotic arm can be achieved to meet the use of the staff.

[0034] Refer to Figure 3 and Figure 4, the lifting mechanism 2 includes a pushing block 207. The pushing block 207 is fixedly connected to the bottom end of the conical frame 1. The middle part of the outer wall of the pushing block 207 is slidably connected with a hollow box 201. The right side of the hollow box 201 is fixedly connected with a second motor 202. The output end of the second motor 202 penetrates through the hollow box 201 and is fixedly connected with a sixth rotating rod 203. The middle part of the outer wall of the sixth rotating rod 203 is fixedly connected with a worm 204. The inner bottom of the hollow box 201 is rotatably connected with a second lead screw 206. The middle and lower part of the outer wall of the second lead screw 206 is fixedly connected with a worm gear 205. The top of the outer wall of the second lead screw 206 is threadedly connected with the bottom of the pushing block 207. The worm gear 205 is meshed with the worm 204. The bottom of the hollow box 201 is fixedly connected with a base 19. The four sides of the top of the base 19 are equally spaced and threadedly connected with screws 20

[0035] Specifically, the second motor 202 located on the right side of the hollow box 201 can be started. With the start of the second motor 202, the sixth rotating rod 203 also starts to rotate. The rotation of the sixth rotating rod 203 causes the worm 204 to start rotating. The worm 204 is tightly meshed with the worm gear 205. When the worm 204 rotates, the worm gear 205 will also rotate accordingly. The worm gear 205 is connected to the second lead screw 206 inside. When the worm gear 205 rotates, the second lead screw 206 will also rotate accordingly. The rotation of the second lead screw 206 will cause the pushing block 207 to slide upward along the second lead screw 206. The upward movement of the pushing block 207 will drive the robotic arm to move upward, so that the robotic arm can reach the expected height.

[0036] Refer to Figure 4 , the left side of the hollow box 201 is fixedly connected with a controller 23. The controller 23 is electrically connected to the first motor 5 and the second motor 202 respectively;

[0037] Specifically, the controller 23 on the left side of the hollow box 201 can control the operation of the first motor 5 and the second motor 202. The models of the first motor 5 and the second motor 202 are both MSKO75E-0200.

[0038] Refer to Figure 1 , a box door 24 is arranged on the front side of the hollow box 201. The upper and lower ends of the left side of the outer wall of the box door 24 are fixedly connected with hinges 25. The front side of the box door 24 is rotatably connected to the left front end of the conical frame 1 through the hinges 25. The right end of the front side of the hinge 25 is fixedly connected with a handle 26. An observation window 27 is arranged in the middle of the front side of the conical frame 1. The bottom end of the first lead screw 3 is fixedly connected with a handle 30;

[0039] Specifically, the box door 24 can be opened using the handle 26, and then the damaged mechanical parts inside can be replaced and repaired.

[0040] Working principle: When using this device, fix the base 19 of the robotic arm at a specified position. Use the handle 30 to rotate the first lead screw 3. The rotating block 4 moves upward along the first lead screw 3, thereby pulling the second rotating plate 12, and further pulling the bottom end of the L-shaped rod 18 upward and the top end downward. At this time, the three-jaw chuck 22 of the L-shaped rod 18 can be offset in the lower right direction. Start the first motor 5, drive the driving gear 7 to rotate through the first rotating rod 6. At the same time, the driven gear 15 meshing with it also starts to rotate. The driving gear 7 and the driven gear 15 can pull the first rotating plate 9 and the second rotating plate 12, thereby driving the L-shaped rod 18 on the right side to rotate up and down at an angle until the three-jaw chuck 22 on the right side of the L-shaped rod 18 is adjusted to the required angle, so that a more subtle angular offset of the robotic arm can be achieved;

[0041] And when the height of the robotic arm is too low, the second motor 202 on the right side of the hollow box 201 can be turned on. The sixth rotating rod 203 starts to rotate, so that the worm 204 can work. At the same time, the worm gear 205 meshing with the worm 204 starts to rotate. When the worm gear 205 rotates, the second lead screw 206 inside rotates together, so that the pushing block 207 can slide upward, and then the robotic arm on the upper side of the pushing block 207 moves upward until it reaches the required height.

[0042] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An adjustable multi-angle robotic arm structure, comprising a conical frame (1), characterized in that: The bottom of the conical frame (1) is rotatably connected to a first lead screw (3). The top of the first lead screw (3) penetrates the bottom of the conical frame (1) and is threadedly connected to a rotating block (4). On the upper side of the rear end of the inner wall of the conical frame (1), a first motor (5) is fixedly connected. The output end of the first motor (5) is fixedly connected to a first rotating rod (6). On the front side of the first rotating rod (6), a driving gear (7) is fixedly connected. On the lower front side of the driving gear (7), a first fixing rod (8) is fixedly connected. On the front side of the outer wall of the first fixing rod (8), a first rotating plate (9) is rotatably connected. On the right side of the first rotating plate (9), a second rotating rod (10) is rotatably connected. On the front side of the rotating block (4), a second fixing rod (11) is fixedly connected. On the front side of the outer wall of the second fixing rod (11), a second rotating plate (12) is rotatably connected. On the front side of the second rotating plate (12), a chute (13) is provided. On the lower side of the rear end of the inner wall of the conical frame (1), a third rotating rod (14) is rotatably connected. On the front end of the third rotating rod (14), a driven gear (15) is fixedly connected. The driven gear (15) is meshed with the driving gear (7). On the lower front side of the driven gear (15), a third fixing rod (16) is fixedly connected. The third fixing rod (16) is slidably connected inside the chute (13). On the right side of the second rotating plate (12), a fourth rotating rod (17) is rotatably connected. On the rear end of the fourth rotating rod (17), an L-shaped rod (18) is fixedly connected. The rear end of the second rotating rod (10) is fixedly connected to the middle of the front side of the L-shaped rod (18). At the bottom end of the conical frame (1), a lifting mechanism (2) is provided. The lifting mechanism (2) is used to lift the robotic arm device to a suitable height.

2. The adjustable multi-angle robotic arm structure according to claim 1, characterized in that: The lifting mechanism (2) includes a pushing block (207). The pushing block (207) is fixedly connected to the bottom end of the conical frame (1). In the middle of the outer wall of the pushing block (207), a hollow box (201) is slidably connected. On the right side of the hollow box (201), a second motor (202) is fixedly connected. The output end of the second motor (202) penetrates the hollow box (201) and is fixedly connected to a sixth rotating rod (203). In the middle of the outer wall of the sixth rotating rod (203), a worm (204) is fixedly connected. At the inner bottom of the hollow box (201), a second lead screw (206) is rotatably connected. In the middle and lower part of the outer wall of the second lead screw (206), a worm gear (205) is fixedly connected. The top of the outer wall of the second lead screw (206) is threadedly connected to the bottom of the pushing block (207). The worm gear (205) is meshed with the worm (204).

3. The adjustable multi-angle robotic arm structure according to claim 1, characterized in that: On the left and right sides of the top of the rotating block (4), fourth fixing rods (28) are slidably connected. The bottom ends of the two fourth fixing rods (28) are respectively fixedly connected to the inner bottom of the conical frame (1). On the top of the outer walls of the two fourth fixing rods (28), limit blocks (29) are fixedly connected.

4. The adjustable multi-angle robotic arm structure according to claim 2, characterized in that: The bottom of the hollow box (201) is fixedly connected to a base (19), and screws (20) are evenly and threadedly connected around the top of the base (19).

5. The adjustable multi-angle robotic arm structure according to claim 1, wherein: The right end of the L-shaped rod (18) is fixedly connected to a fixing block (21), and a three-jaw chuck (22) is fixedly connected to the right side of the fixing block (21).

6. The adjustable multi-angle robotic arm structure according to claim 2, wherein: A controller (23) is fixedly connected to the left side of the hollow box (201), and the controller (23) is electrically connected to the first motor (5) and the second motor (202) respectively.

7. The adjustable multi-angle robotic arm structure according to claim 2, wherein: A box door (24) is arranged on the front side of the hollow box (201). Hinges (25) are fixedly connected to both the upper and lower ends of the left outer wall of the box door (24). The front side of the box door (24) is rotatably connected to the left front end of the conical frame (1) through the hinges (25), and a handle (26) is fixedly connected to the right end of the front side of the hinge (25).

8. The adjustable multi-angle robotic arm structure according to claim 1, characterized in that: An observation window (27) is arranged in the middle of the front side of the conical frame (1), and a handle (30) is fixedly connected to the bottom end of the first lead screw (3).

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