Mechanical arm carrying equipment with high flexibility

Abstract

The utility model belongs to the technical field of mechanical arms, particularly relates to high-flexibility mechanical arm carrying equipment, and aims to solve the problems that an existing mechanical arm is limited in moving range, long in distance between a grabbing position and a placing position and beyond the moving range of the mechanical arm, the following scheme is provided: the high-flexibility mechanical arm carrying equipment comprises a mechanical arm body and a rotating seat, the rotating seat is fixed at the bottom end of the mechanical arm body; a fixed block is arranged on the lower side of the mechanical arm body, a first adjusting block is arranged on the fixed block, a first groove is formed in the first adjusting block, a moving seat slides in the first groove, and the rotating seat rotates in the moving seat; through the synergistic effect of the moving assembly and the driving assembly, the mechanical arm body can achieve large-range horizontal movement and rotary adjustment, and the complex and changeable carrying requirements are met.

Description

Technical Field

[0001] The utility model relates to the technical field of robotic arms, in particular to a robotic arm handling device with high flexibility. Background Art

[0002] As is well known, robotic arm devices play an increasingly important role in assisting human production and life. With the development of technology, the types of robotic arms and the industries they are used in are also increasing. In industries such as mechanical manufacturing, metallurgy, electronics, and light industry, many have used robotic arms to replace heavy human labor.

[0003] When using a robotic arm to handle equipment in a specific environment, the range of motion of the robotic arm is limited. The distance between the grasping position and the placement position is relatively long, exceeding the range of motion of the robotic arm. After grasping an object, rotating the robotic arm cannot complete the placement of the object. The existing robotic arm has a fixed position and is not convenient to adjust the actual range of motion. Summary of the Utility Model

[0004] The purpose of the utility model is to solve the problem that the range of motion of the robotic arm in the prior art is limited, the distance between the grasping position and the placement position is relatively long, and it exceeds the range of motion of the robotic arm, and to propose a robotic arm handling device with high flexibility.

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

[0006] A robotic arm handling device with high flexibility, including a robotic arm body, further including:

[0007] A rotating seat, which is fixed to the bottom end of the robotic arm body;

[0008] Wherein, a fixed block is provided on the lower side of the robotic arm body. A first adjusting block is provided on the fixed block. A first groove is formed in the first adjusting block. A moving seat slides in the first groove. The rotating seat rotates in the moving seat;

[0009] A set of moving components is provided between the first adjusting block and the moving seat. The moving components are used to adjust the operating range of the robotic arm body;

[0010] And a driving component used in cooperation with the moving components. The driving component is used to drive the robotic arm body to rotate when the range of the robotic arm body is adjusted;

[0011] A set of adjusting components is provided between the fixed block and the first adjusting block. The adjusting components are used to adjust the actual position of the robotic arm body.

[0012] In a possible design, the moving component includes a driving lead screw rotatably disposed in a first groove, a moving seat threadedly connected to the surface of the driving lead screw, a first driving motor fixed to the side end of the first adjusting block, and the first driving motor is fixedly connected to the driving lead screw through a coupling.

[0013] In a possible design, the driving component includes a second groove formed in the moving seat, a driven gear fixed to the surface of the rotating seat, the driven gear is disposed in the second groove, and a driving rack meshing with the driven gear is fixed in the first groove.

[0014] In a possible design, the adjusting component includes a third groove formed in the fixed block, two second adjusting blocks slidably disposed in the fixed block, a connecting rod fixed between the two second adjusting blocks, a connecting block slidably disposed on the surface of the connecting rod, a first limiting rod fixed in the third groove, one of the second adjusting blocks slidably disposed on the surface of the first limiting rod, a first adjusting lead screw rotatably disposed in the third groove, the other second adjusting block threadedly connected to the surface of the first adjusting lead screw, the first adjusting block fixed to the top end of the connecting block, a third driving motor fixed to the side end of the fixed block, and the third driving motor is fixedly connected to the first adjusting lead screw through a coupling.

[0015] In a possible design, the adjusting component further includes an adjusting plate slidably disposed in the fixed block, a second adjusting lead screw rotatably disposed in the fixed block, a second limiting rod fixed in the fixed block, the adjusting plate slidably disposed on the surface of the second limiting rod, the adjusting plate threadedly connected to the surface of the second adjusting lead screw, a sliding groove formed in the adjusting plate, a sliding rod slidably disposed in the sliding groove, the sliding rod fixed to the bottom end of the connecting block, a second driving motor fixed to the side end of the fixed block, and the second driving motor is fixedly connected to the second adjusting lead screw through a coupling.

[0016] In a possible design, the fixed block is fixed by bolts.

[0017] In a possible design, a clamping jaw is fixed inside the robotic arm body.

[0018] In a possible design, an anti-slip pad is provided inside the clamping jaw.

[0019] In this application, after the robotic arm body grabs an item with the clamping jaw, by starting the first driving motor to drive the driving lead screw to rotate, the rotation of the driving lead screw drives the moving seat to move in position, the moving seat drives the rotating seat and the robotic arm body to move in position, when the moving seat moves in position, the driving rack drives the driven gear to rotate, the driven gear drives the rotating seat to rotate, and the rotating seat drives the robotic arm body to rotate, automatically adjusting the direction of the robotic arm body during movement;

[0020] By starting the second driving motor to drive the second adjusting screw rod to rotate, the second adjusting screw rod drives the adjusting plate to move, the adjusting plate drives the sliding rod to move, the sliding rod drives the connecting block to slide on the surface of the connecting rod, and the connecting block drives the robotic arm body to perform horizontal position adjustment. By starting the third driving motor to drive the first adjusting screw rod to rotate, the first adjusting screw rod drives the second adjusting block to move, and the second adjusting block drives the connecting block to perform synchronous displacement through the connecting rod, and the connecting block drives the robotic arm body to perform longitudinal movement.

[0021] Beneficial effects

[0022] In the present utility model, for the highly flexible robotic arm handling device, through the adjusting assembly, the effect of driving the robotic arm body to perform horizontal and vertical position adjustment can be achieved;

[0023] In the present utility model, for the highly flexible robotic arm handling device, through the driving assembly, the effect of driving the robotic arm body to rotate while driving the robotic arm body to move can be achieved;

[0024] In the present utility model, through the synergistic effect of the moving assembly and the driving assembly, the robotic arm body can achieve large-range horizontal movement and rotational adjustment, meet complex and changeable handling requirements, and the connections between various components are tight and the structure is clear, facilitating daily maintenance and troubleshooting. Description of the drawings

[0025] Figure 1 It is a schematic diagram of the usage state of a highly flexible robotic arm handling device proposed by the present utility model;

[0026] Figure 2 It is the main view three-dimensional view of a highly flexible robotic arm handling device proposed by the present utility model;

[0027] Figure 3 It is the first partial cross-sectional view of a highly flexible robotic arm handling device proposed by the present utility model;

[0028] Figure 4 It is the second partial cross-sectional view of a highly flexible robotic arm handling device proposed by the present utility model;

[0029] Figure 5 It is the partial three-dimensional view of a highly flexible robotic arm handling device proposed by the present utility model.

[0030] In the figure: 1, robotic arm body; 2, gripper; 3, moving seat; 4, first adjusting block; 5, fixed block; 6, driving rack; 7, driving lead screw; 8, second groove; 9, rotating seat; 10, driven gear; 11, connecting rod; 12, first driving motor; 13, third groove; 14, first limiting rod; 15, first adjusting lead screw; 16, second adjusting block; 17, connecting block; 18, adjusting plate; 19, sliding groove; 20, second adjusting lead screw; 21, sliding rod; 22, second limiting rod; 23, second driving motor; 24, third driving motor; 25, first groove. Detailed implementation mode

[0031] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0032] Embodiment 1

[0033] Refer to Figures 1 - 5 , a highly flexible robotic arm handling device, which is applied in the field of robotic arm technology. It includes a robotic arm body 1, and a rotating seat 9 is fixed at the bottom end of the robotic arm body 1. A fixed block 5 is provided on the lower side of the robotic arm body 1, and a first adjusting block 4 is installed on the fixed block 5. A first groove 25 is opened inside the first adjusting block 4, a moving seat 3 is slidably installed in the cavity, and the rotating seat 9 is rotatably installed inside the moving seat 3.

[0034] To adjust the operating range of the robotic arm body 1, the moving component includes a driving lead screw 7 rotatably installed in the cavity, and the moving seat 3 is connected to the driving lead screw 7 by threads. A first driving motor 12 is installed on the side end of the first adjusting block 4, and the first driving motor 12 is connected to the driving lead screw 7 through a coupling to drive its rotation. When the first driving motor 12 works, the driving lead screw 7 rotates, driving the moving seat 3 to move along its axial direction, thereby changing the overall position of the rotating seat 9 and the robotic arm body 1, and realizing the adjustment of the operating range.

[0035] To adjust the actual position of the robotic arm body 1, the adjustment assembly includes a third groove 13 formed in the fixed block 5. Two second adjustment blocks 16 are slidably mounted in the third groove 13, and the second adjustment blocks 16 are connected by a connecting rod 11. A connecting block 17 is slidably mounted on the surface of the connecting rod 11, and the first adjustment block 4 is fixed to the top of the connecting block 17. A first limiting rod 14 is fixed in the third groove 13, and one of the second adjustment blocks 16 slides on the surface of the first limiting rod 14. A first adjustment screw rod 15 is also rotatably mounted in the third groove 13, and the other second adjustment block 16 is threadedly connected to the surface of the first adjustment screw rod 15. A third driving motor 24 is mounted on the side end of the fixed block 5, and the third driving motor 24 is connected to the first adjustment screw rod 15 through a coupling. When the third driving motor 24 operates, the first adjustment screw rod 15 rotates, driving the second adjustment block 16 and the connecting block 17 to move along the direction of the first limiting rod 14, thereby adjusting the lateral position of the robotic arm body 1.

[0036] In addition, the adjustment assembly further includes an adjustment plate 18 slidably mounted in the fixed block 5. A second adjustment screw rod 20 is rotatably mounted in the fixed block 5, and a second limiting rod 22 is fixed. The adjustment plate 18 slides on the surface of the second limiting rod 22 and is threadedly connected to the surface of the second adjustment screw rod 20. A sliding groove 19 is formed in the adjustment plate 18, and a sliding rod 21 is slidably mounted in the sliding groove 19. The sliding rod 21 is fixed to the bottom end of the connecting block 17. A second driving motor 23 is also mounted on the side end of the fixed block 5, and the second driving motor 23 is connected to the second adjustment screw rod 20 through a coupling. When the second driving motor 23 operates, the second adjustment screw rod 20 rotates, driving the adjustment plate 18 and the connecting block 17 to move along the direction of the second limiting rod 22, thereby adjusting the longitudinal position of the robotic arm body 1.

[0037] The fixed block 5 is fixed by bolts to ensure the stability and reliability of the structure. A clamping jaw 2 is fixed inside the robotic arm body 1, and an anti-slip pad is provided inside the clamping jaw 2 to improve the stability and safety during the handling process.

[0038] Embodiment 2

[0039] Reference Figures 1 - 5 , on the basis of Embodiment 1, an improvement is made: to cooperate with the moving assembly, the driving assembly includes a second groove 8 formed in the moving seat 3. A driven gear 10 is fixed on the surface of the rotating seat 9, and the driven gear 10 is located in the second groove 8. A driving rack 6 meshing with the driven gear 10 is also fixed in the cavity. When the moving seat 3 moves, the driving rack 6 and the driven gear 10 interact with each other, driving the rotating seat 9 and the robotic arm body 1 to rotate, realizing the adjustment of the rotation direction.

[0040] However, the working principles and wiring methods of the first drive motor 12, the second drive motor 23, and the third drive motor 24, which are well-known to those skilled in the art, are common knowledge and fall within the realm of conventional means. Therefore, they will not be elaborated here. Those skilled in the art can make arbitrary selections according to their needs or convenience.

[0041] The above description is only the preferred specific embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present utility model, making equivalent substitutions or changes based on the technical solution and inventive concept of the present utility model, shall be covered by the protection scope of the present utility model.

Claims

1. A highly flexible robotic arm handling device, comprising a robotic arm body (1), characterized in that, It further includes: A rotating base (9), which is fixed to the bottom end of the robotic arm body (1); Among them, a fixed block (5) is provided on the lower side of the robotic arm body (1), a first adjusting block (4) is provided on the fixed block (5), a first groove (25) is formed in the first adjusting block (4), a moving seat (3) slides in the first groove (25), and the rotating base (9) rotates in the moving seat (3); A set of moving components is provided between the first adjusting block (4) and the moving seat (3), and the moving components are used to adjust the operating range of the robotic arm body (1); And a driving component used in cooperation with the moving components, and the driving component is used to drive the robotic arm body (1) to rotate in a rotational direction when the operating range of the robotic arm body (1) is adjusted; A set of adjusting components is provided between the fixed block (5) and the first adjusting block (4), and the adjusting components are used to adjust the actual position of the robotic arm body (1).

2. The highly flexible robotic arm handling device according to claim 1, wherein, The moving components include a driving lead screw (7) rotating in the first groove (25), the moving seat (3) is threadedly connected to the surface of the driving lead screw (7), a first driving motor (12) is fixed to the side end of the first adjusting block (4), and the first driving motor (12) is fixedly connected to the driving lead screw (7) through a coupling.

3. The highly flexible robotic arm handling device according to claim 2, characterized in that, The driving components include a second groove (8) formed in the moving seat (3), a driven gear (10) is fixed to the surface of the rotating base (9), the driven gear (10) is arranged in the second groove (8), and a driving rack (6) meshing with the driven gear (10) is fixed in the first groove (25).

4. A highly flexible robotic arm handling device according to any one of claims 1-3, characterized in that, The adjusting components include a third groove (13) formed in the fixed block (5), two second adjusting blocks (16) slide in the fixed block (5), a connecting rod (11) is fixed between the two second adjusting blocks (16), a connecting block (17) slides on the surface of the connecting rod (11), a first limiting rod (14) is fixed in the third groove (13), one of the second adjusting blocks (16) slides on the surface of the first limiting rod (14), a first adjusting lead screw (15) rotates in the third groove (13), the other second adjusting block (16) is threadedly connected to the surface of the first adjusting lead screw (15), the first adjusting block (4) is fixed to the top end of the connecting block (17), a third driving motor (24) is fixed to the side end of the fixed block (5), and the third driving motor (24) is fixedly connected to the first adjusting lead screw (15) through a coupling.

5. A highly flexible robotic arm handling device according to claim 4, characterized in that, The adjusting assembly further includes an adjusting plate (18) sliding in a fixed block (5). A second adjusting screw rod (20) is rotatably arranged in the fixed block (5). A second limiting rod (22) is fixed in the fixed block (5). The adjusting plate (18) slides on the surface of the second limiting rod (22). The adjusting plate (18) is in threaded connection with the surface of the second adjusting screw rod (20). A chute (19) is formed in the adjusting plate (18). A sliding rod (21) slides in the chute (19). The sliding rod (21) is fixed to the bottom end of a connecting block (17). A second driving motor (23) is fixed to the side end of the fixed block (5). The second driving motor (23) is fixedly connected to the second adjusting screw rod (20) through a coupling.

6. A highly flexible robotic arm handling device according to claim 1, characterized in that, The fixed block (5) is fixed by bolts.

7. A highly flexible robotic arm handling device according to claim 1, characterized in that, A clamping jaw (2) is fixed in the robotic arm body (1).

8. A highly flexible robotic arm handling device according to claim 7, characterized in that, An anti-slip pad is arranged in the clamping jaw (2).

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