Liftable mechanical arm

Abstract

The utility model is suitable for the technical field of mechanical arms, and provides a liftable mechanical arm. A placement table; the rotating base is movably mounted at the top of the placing table; the first movable arm is movably mounted at the top of the rotating base; the second movable arm is movably mounted at the top of the first movable arm; and the third movable arm is movably mounted at the top of the second movable arm. Compared with the prior art, the mechanical arm has the beneficial effects that when the mechanical arm is used, the lifting structure is matched with the limiting unit, so that the working height of the mechanical arm can be freely changed according to requirements under the action of the lifting structure, and the lifting height is fixedly locked under the action of the limiting unit; and therefore, the height of the mechanical arm is fixed, and the situation that the mechanical arm is damaged due to failure of the telescopic rod during jacking is avoided.

Description

Technical Field

[0001] The utility model belongs to the technical field of mechanical arms, and in particular relates to a liftable mechanical arm. Background Art

[0002] A robotic arm is a mechanical electronic device that anthropomorphizes the functions of an arm, wrist, and hand. It can replace heavy human labor to achieve mechanization and automation of production.

[0003] However, since the operating height of a traditional robotic arm is relatively limited, it is impossible to adjust the height of the robotic arm according to actual needs. Therefore, in a liftable robotic arm mechanism with application number CN214490586U, a liftable robotic arm mechanism is disclosed, comprising a base, a robotic arm is provided at the upper end of the base, a lifting mechanism for lifting the robotic arm is provided on the base, the lifting mechanism comprises two electric telescopic rods fixedly connected to the upper side wall of the base, a placement plate is commonly provided at the upper ends of the two electric telescopic rods, the upper side wall of the placement plate is fixedly connected to the robotic arm, and an adjustment mechanism for adjusting the angle of the robotic arm is provided at the upper end of the base. The utility model can accurately adjust the height and angle of the robotic arm, which greatly facilitates the picking-up operation of the robotic arm.

[0004] Although the above patent realizes the lifting and lowering of the robotic arm, making the working range of the robotic arm wider, the above patent simply sets an electric telescopic rod and does not set an anti-drop structure. As a result, when the electric telescopic rod fails, the height of the robotic arm will drop rapidly, causing the movable end of the robotic arm to collide, and then cause damage to the robotic arm, which may eventually lead to the need to replace the robotic arm.

[0005] Therefore, how to provide a liftable robotic arm is a problem that those skilled in the art urgently need to solve. Utility Model Content

[0006] The purpose of the present invention is to provide a liftable mechanical arm, aiming to solve the problems mentioned in the background technology.

[0007] The utility model is implemented as follows: a liftable mechanical arm comprises:

[0008] Placement table;

[0009] A rotating base, the rotating base being movably mounted on the top of the placement table;

[0010] a first movable arm, the first movable arm being movably mounted on the top of the rotating base;

[0011] a second movable arm, the second movable arm being movably mounted on top of the first movable arm;

[0012] a third movable arm, the third movable arm being movably mounted on top of the second movable arm;

[0013] a rotating fixture movably mounted on the top of the third movable arm;

[0014] A lifting structure, which is arranged in the middle of the first movable arm and controls the change of the height of the first movable arm;

[0015] The limiting unit is arranged on the lifting structure to lock the position of the lifting structure.

[0016] Preferably, an extension structure is also provided between the third movable arm and the rotating clamp, and the extension structure includes an adjusting gear sleeve and a screw. A receiving groove is provided inside the third movable arm, and the adjusting gear sleeve is movably installed on the top of the receiving groove. The screw is movably inserted in the middle of the adjusting gear sleeve and fixedly connected to the rotating clamp. A limiting plate is fixedly installed on the left end of the screw, and the top of the upper end of the adjusting gear sleeve is meshed and connected with an adjusting gear, and the adjusting gear is movably installed on the top of the third movable arm.

[0017] Preferably, the lifting structure includes a placing frame, a telescopic rod, a positioning frame, a lifting rod and a limiting unit. The placing frame is symmetrically installed on the top of the lower end of the first movable arm. The telescopic rod is arranged inside the placing frame and fixedly connected to the bottom of the upper end of the first movable arm to change the height of the upper end of the first movable arm. The positioning frame is fixedly installed in the middle of the first movable arm. The lifting rod is movably inserted in the middle of the positioning frame and fixedly connected to the bottom of the upper end of the first movable arm. The limiting unit is arranged at the lower end of the lifting rod.

[0018] Preferably, the limiting unit includes a movable groove, an arc-shaped top plate and a movable top plate, the inner side of the placing frame is provided with positioning holes in a front-to-back symmetrical array, the surface of the positioning frame is provided with a first through hole in a front-to-back symmetrical array, the surface of the lifting rod is provided with a second through hole in a front-to-back symmetrical array, the movable groove is symmetrically opened at the lower end of the lifting rod and is connected with the second through hole, the arc-shaped top plate is movably installed in the middle of the movable groove, the movable top plate is symmetrically arranged on both sides of the movable groove, the outer end of the movable top plate is staggeredly installed with a limiting rod and a spring, the outer end of the limiting rod is movably inserted into the inside of the second through hole, and the outer end of the spring is fixedly connected to the movable groove.

[0019] Preferably, lifting grooves are symmetrically provided on the left and right surfaces of the lifting rod, and a limit block is slidably placed inside the lifting groove, and the outer side of the limit block is fixedly connected to the inner wall of the positioning frame.

[0020] Preferably, the cross-sectional size of the limiting rod is equal to the cross-sectional sizes of the positioning hole, the first through hole and the second through hole. When the positioning hole, the first through hole and the second through hole are flush, the limiting unit works.

[0021] Preferably, a double-headed motor is provided in the middle of the lifting rod, and transmission rods are symmetrically provided at the front and rear ends of the double-headed motor. The transmission rods pass through the surface of the lifting rod and are fixedly connected to the middle of the arc-shaped top plate.

[0022] Compared with the prior art, the beneficial effect of the present invention is that when in use, through the cooperation of the lifting structure and the limiting unit, the robotic arm can freely change the working height according to needs under the action of the lifting structure, and under the action of the limiting unit, the lifting height is fixed and locked, so that the height of the robotic arm can be fixed, thereby avoiding the failure of the telescopic rod during jacking, which may cause damage to the robotic arm.

[0023] At the same time, by setting up an extension structure, when the position of the workpiece exceeds the normal clamping range of the robot arm, the extension structure can be activated, so that the rotating clamp can move away from the third movable arm and closer to the workpiece, so that the workpiece beyond the normal clamping range can be clamped, thereby increasing the working range of the robot arm and improving the working efficiency of the robot arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0025] Figure 1 A schematic diagram of the overall appearance and structure of a liftable robotic arm provided by an embodiment of the utility model;

[0026] Figure 2 A schematic diagram of a rear cross-sectional structure of a liftable robotic arm provided in an embodiment of the present utility model;

[0027] Figure 3 A schematic diagram of a right side cross-sectional structure of a liftable robotic arm provided in an embodiment of the present utility model;

[0028] Figure 4 A schematic diagram of a right-side half-section structure of a liftable robotic arm provided in an embodiment of the present utility model;

[0029] Figure 5 The embodiment of the present invention provides Figure 3 Schematic diagram of the enlarged structure of part A.

[0030] In the figure: 1-placing table, 2-rotating base, 3-first movable arm, 4-second movable arm, 5-third movable arm, 6-rotating fixture, 7-placing frame, 8-positioning frame, 9-positioning hole, 10-first through hole, 11-lifting rod, 12-telescopic rod, 13-lifting slot, 14-limiting block, 15-movable slot, 16-second through hole, 17-movable top plate, 18-limiting rod, 19-spring, 20-arc-shaped top plate, 21-transmission rod, 22-double-headed motor, 23-storage slot, 24-adjusting gear sleeve, 25-screw, 26-adjusting gear, 27-limiting plate. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0032] The specific implementation of the present invention is described in detail below with reference to specific embodiments.

[0033] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 5 FIG. 1 is a schematic structural diagram of a liftable robotic arm provided by an embodiment of the present invention, comprising:

[0034] Placement table 1;

[0035] A rotating base 2 is movably mounted on the top of the placement platform 1;

[0036] A first movable arm 3 movably mounted on the top of the rotating base 2;

[0037] A second movable arm 4, which is movably mounted on top of the first movable arm 3;

[0038] A third movable arm 5, wherein the third movable arm 5 is movably mounted on the top of the second movable arm 4;

[0039] a rotating fixture 6 movably mounted on the top of the third movable arm 5;

[0040] A lifting structure, which is arranged in the middle of the first movable arm 3 and controls the change of the height of the first movable arm 3;

[0041] The limiting unit is arranged on the lifting structure to lock the position of the lifting structure.

[0042] In the embodiment of the present invention, when in use, the rotating base 2 is started, the angle of the robotic arm on the placement table 1 is adjusted, and then the first movable arm 3, the second movable arm 4 and the third movable arm 5 are controlled to work, so that the clamps on the rotating clamp 6 can be aligned with the surface of the object to be clamped for clamping;

[0043] Through the lifting structure, the robot arm can freely change the working height according to needs under the action of the lifting structure, and the lifting height is fixed and locked under the action of the limit unit, so that the height of the robot arm can be fixed, thereby avoiding the failure of the telescopic rod 12 during jacking, which may cause damage to the robot arm. Note: The telescopic rod 12 can be an electric telescopic rod or a hydraulic telescopic rod.

[0044] like Figure 2 As shown, as a preferred embodiment of the present invention, an extension structure is further provided between the third movable arm 5 and the rotating clamp 6, and the extension structure includes an adjusting gear sleeve 24 and a screw 25. A receiving groove 23 is provided inside the third movable arm 5, and the adjusting gear sleeve 24 is movably installed at the top of the receiving groove 23. The screw 25 is movably inserted in the middle of the adjusting gear sleeve 24 and is fixedly connected to the rotating clamp 6. The left end of the screw 25 is fixedly installed with a limiting plate 27, and the top of the upper end of the adjusting gear sleeve 24 is meshed and transmitted with an adjusting gear 26, and the adjusting gear 26 is movably installed at the top of the third movable arm 5.

[0045] In the embodiment of the present invention, when in use, the adjustment gear 26 is started, thereby driving the adjustment sleeve 24. When the adjustment sleeve 24 rotates, it drives the screw 25 in the receiving groove 23 to rotate and extend, thereby moving the rotating clamp 6 away from the third movable arm 5.

[0046] By providing the extension structure, the rotary clamp 6 can clamp the workpiece beyond the normal clamping range, thereby increasing the working range.

[0047] like Figure 2 、 Figure 3 、 Figure 4 and Figure 5 As shown, as a preferred embodiment of the present utility model, the lifting structure includes a placing frame 7, a telescopic rod 12, a positioning frame 8, a lifting rod 11 and a limit unit. The placing frame 7 is symmetrically installed on the top of the lower end of the first movable arm 3. The telescopic rod 12 is arranged inside the placing frame 7 and fixedly connected to the bottom of the upper end of the first movable arm 3 to change the height of the upper end of the first movable arm 3. The positioning frame 8 is fixedly installed in the middle of the first movable arm 3. The lifting rod 11 is movably inserted in the middle of the positioning frame 8 and fixedly connected to the bottom of the upper end of the first movable arm 3. The limit unit is arranged at the lower end of the lifting rod 11.

[0048] In the embodiment of the present utility model, when in use, the telescopic rod 12 in the placement frame 7 is activated to lift the top end of the first movable arm 3, thereby driving the lifting rod 11 to rise, and indirectly driving the limit block 14 to slide along the lifting groove 13 on the surface of the positioning frame 8, so that the working height of the robot arm is adjusted;

[0049] By setting up a lifting structure, the working height of the robot arm can be adjusted so that workpieces at higher positions can be clamped.

[0050] like Figure 2 and Figure 5 As shown, as a preferred embodiment of the present utility model, the limiting unit includes a movable groove 15, an arc-shaped top plate 20 and a movable top plate 17, the inner side of the placing frame 7 is provided with positioning holes 9 in a front-to-back symmetrical array, the surface of the positioning frame 8 is provided with a first through hole 10 in a front-to-back symmetrical array, the surface of the lifting rod 11 is provided with a second through hole 16 in a front-to-back symmetrical array, the movable groove 15 is symmetrically opened at the lower end of the lifting rod 11 and is connected with the second through hole 16, the arc-shaped top plate 20 is movably installed in the middle of the movable groove 15, the movable top plate 17 is symmetrically arranged on both sides of the movable groove 15, the outer end of the movable top plate 17 is staggeredly installed with a limiting rod 18 and a spring 19, the outer end of the limiting rod 18 is movably inserted into the inside of the second through hole 16, and the outer end of the spring 19 is fixedly connected to the movable groove 15.

[0051] In the embodiment of the present invention, when in use, the arc-shaped top plate 20 rotates, thereby moving the movable top plate 17 to both sides, and then the limiting rod 18 on the outer side of the movable top plate 17 overcomes the elasticity of the spring 19, extends from the second through hole 16 on the surface of the lifting rod 11, and then passes through the first through hole 10 and is plugged into the positioning hole 9 on the inner side of the placement frame 7, so that the height of the lifting rod 11 is fixed;

[0052] By providing the spring 19 , when the arc-shaped top plate 20 is reset, the limiting rod 18 can be quickly pulled out, thereby facilitating the lifting and lowering of the lifting rod 11 .

[0053] like Figure 4 As shown, as a preferred embodiment of the present invention, lifting grooves 13 are symmetrically provided on the left and right surfaces of the lifting rod 11, and a limiting block 14 is slidably placed inside the lifting groove 13, and the outer side of the limiting block 14 is fixedly connected to the inner wall of the positioning frame 8.

[0054] In the embodiment of the present utility model, when in use, when the lifting rod 11 is raised or lowered, the limit block 14 will slide in the lifting slot 13;

[0055] By providing the lifting slot 13 and the limit block 14 , the maximum lifting height of the lifting rod 11 is limited, thereby preventing the lifting rod 11 from being too high and causing separation.

[0056] like Figure 3 and Figure 5 As shown, as a preferred embodiment of the present invention, the cross-sectional size of the limiting rod 18 is equal to the cross-sectional size of the positioning hole 9, the first through hole 10 and the second through hole 16. When the positioning hole 9, the first through hole 10 and the second through hole 16 are flush, the limiting unit works.

[0057] In an embodiment of the utility model, when in use, the outer end of the limit rod 18 will extend from the second through hole 16, then pass through the first through hole 10, and then be inserted into the positioning hole 9. When the positioning hole 9, the first through hole 10 and the second through hole 16 are flush, the limit unit works, thereby avoiding the situation where the motor does no work when the limit rod 18 cannot be inserted.

[0058] like Figure 2 and Figure 4 As shown, as a preferred embodiment of the present utility model, a double-headed motor 22 is provided in the middle of the lifting rod 11, and transmission rods 21 are symmetrically provided at the front and rear ends of the double-headed motor 22. The transmission rod 21 passes through the surface of the lifting rod 11 and is fixedly connected to the middle of the arc-shaped top plate 20.

[0059] In the embodiment of the present utility model, when in use, the double-headed motor 22 is started, and drives the arc-shaped top plate 20 to rotate through the transmission rod 21;

[0060] By providing a double-headed motor 22, the arc-shaped top plate 20 at two positions can be controlled simultaneously, thereby reducing the installation of equipment and improving the overall simplicity.

[0061] The above embodiment of the present invention provides a liftable robotic arm. When in use, the rotating base 2 is started to adjust the angle of the robotic arm on the placement table 1, and then the first movable arm 3, the second movable arm 4 and the third movable arm 5 are controlled to work, so that the clamp on the rotating clamp 6 can be aligned with the surface of the object to be clamped for clamping;

[0062] When the position of the workpiece exceeds the normal clamping range of the robot arm, the adjustment gear 26 is activated, which in turn drives the adjustment sleeve 24. When the adjustment sleeve 24 rotates, it drives the screw 25 in the receiving groove 23 to rotate and extend, so that the rotating clamp 6 moves away from the third movable arm 5, so that the workpiece beyond the normal clamping range can be clamped;

[0063] When the height of the workpiece exceeds the normal working height of the robot arm, the telescopic rod 12 in the placement frame 7 is activated to lift the top of the first movable arm 3, which in turn drives the lifting rod 11 to rise, and indirectly drives the limit block 14 to slide along the lifting groove 13 on the surface of the positioning frame 8, so that the working height of the robot arm is adjusted;

[0064] When the appropriate working height is reached, the positioning hole 9 is aligned with the first through hole 10, and then the double-headed motor 22 is started to rotate the transmission rod 21, and then the arc-shaped top plate 20 in the middle of the movable groove 15 is rotated, thereby moving the movable top plate 17 to both sides, and then the limiting rod 18 on the outside of the movable top plate 17 overcomes the elasticity of the spring 19, extends from the second through hole 16 on the surface of the lifting rod 11, and then passes through the first through hole 10, and is plugged into the positioning hole 9 on the inside of the placement frame 7, so that the height of the lifting rod 11 is fixed, thereby avoiding the failure of the telescopic rod 12 during jacking, which may cause damage to the robotic arm.

[0065] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A liftable robotic arm, characterized in that: include; Placement table; A rotating base, the rotating base being movably mounted on the top of the placement table; a first movable arm, the first movable arm being movably mounted on the top of the rotating base; a second movable arm, the second movable arm being movably mounted on top of the first movable arm; a third movable arm, the third movable arm being movably mounted on top of the second movable arm; a rotating fixture movably mounted on top of the third movable arm; A lifting structure, which is arranged in the middle of the first movable arm and controls the change of the height of the first movable arm; The limiting unit is arranged on the lifting structure to lock the position of the lifting structure.

2. The liftable robotic arm according to claim 1, characterized in that: An extension structure is also provided between the third movable arm and the rotating clamp, and the extension structure includes an adjusting gear sleeve and a screw. A receiving groove is provided inside the third movable arm, and the adjusting gear sleeve is movably installed on the top of the receiving groove. The screw is movably inserted in the middle of the adjusting gear sleeve and fixedly connected to the rotating clamp. A limiting plate is fixedly installed on the left end of the screw, and the top of the upper end of the adjusting gear sleeve is meshed and connected with an adjusting gear, and the adjusting gear is movably installed on the top of the third movable arm.

3. The liftable robotic arm according to claim 1, characterized in that: The lifting structure includes a placing frame, a telescopic rod, a positioning frame, a lifting rod and a limiting unit. The placing frame is symmetrically installed on the top of the lower end of the first movable arm. The telescopic rod is arranged inside the placing frame and fixedly connected to the bottom of the upper end of the first movable arm to change the height of the upper end of the first movable arm. The positioning frame is fixedly installed in the middle of the first movable arm. The lifting rod is movably inserted in the middle of the positioning frame and fixedly connected to the bottom of the upper end of the first movable arm. The limiting unit is arranged at the lower end of the lifting rod.

4. The liftable robotic arm according to claim 3, characterized in that: The limiting unit includes a movable groove, an arc-shaped top plate and a movable top plate. Positioning holes are opened in a front-to-back symmetrical array on the inner side of the placing frame. A first through hole is opened in a front-to-back symmetrical array on the surface of the positioning frame. A second through hole is opened in a front-to-back symmetrical array on the surface of the lifting rod. The movable groove is opened front-to-back symmetrically at the lower end of the lifting rod and is connected with the second through hole. The arc-shaped top plate is movably installed in the middle of the movable groove. The movable top plate is symmetrically arranged on both sides of the movable groove. The outer end of the movable top plate is staggeredly installed with a limiting rod and a spring. The outer end of the limiting rod is movably inserted into the inside of the second through hole, and the outer end of the spring is fixedly connected to the movable groove.

5. The liftable robotic arm according to claim 3, characterized in that: Lifting grooves are symmetrically provided on the left and right surfaces of the lifting rod, and a limiting block is slidably placed inside the lifting groove, and the outer side of the limiting block is fixedly connected to the inner wall of the positioning frame.

6. The liftable robotic arm according to claim 4, characterized in that: The cross-sectional size of the limiting rod is equal to the cross-sectional sizes of the positioning hole, the first through hole and the second through hole. When the positioning hole, the first through hole and the second through hole are aligned, the limiting unit works.

7. The liftable robotic arm according to claim 4, characterized in that: A double-headed motor is provided in the middle of the lifting rod, and transmission rods are symmetrically provided at the front and rear ends of the double-headed motor. The transmission rods pass through the surface of the lifting rod and are fixedly connected to the middle of the arc-shaped top plate.

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