Desktop-level teaching type mechanical arm

Abstract

The utility model discloses a desktop level teaching type mechanical arm, which relates to the technical field of mechanical arms, and comprises a mechanical arm, the bottom end of the mechanical arm is fixedly connected with a mounting plate, the bottom end of the mounting plate is connected with a counterweight plate, and the bottom end of the mounting plate is fixedly connected with a clamping block extending downwards. A clamping groove matched with the clamping block is formed in the position, located on the end face of the balance weight plate, of the lower portion of the clamping block, limiting rods used for conducting secondary limiting on the mounting plate are further arranged at the top end of the balance weight plate, and the multiple sets of limiting rods are annularly distributed on the end face of the balance weight plate. By arranging the counterweight plate and the mounting plate, the mechanical arm can be quickly disassembled and assembled, so that the disassembling and assembling steps of the mechanical arm are simplified, the disassembling and assembling efficiency of the mechanical arm is improved, and teaching activities of the mechanical arm are facilitated.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to a desktop-level teaching type mechanical arm. Background Art

[0002] A robotic arm is a complex system characterized by high precision, multiple inputs and outputs, high nonlinearity, and strong coupling. Due to its unique operational flexibility, it has been widely used in industrial assembly, safety, and explosion protection. As a complex system, the robotic arm is subject to uncertainty due to parameter perturbations, external interference, and unmodeled dynamics. Consequently, the modeling of the robotic arm is also subject to uncertainty. For different tasks, the motion trajectory of the robotic arm's joint space must be planned, thereby cascading the end-point pose.

[0003] With the development of intelligent production, robotic arms, as the only components of intelligent production, have excellent development prospects. Therefore, teaching and scientific research activities of robotic arms will be started in universities or corporate training, thereby accelerating the development of robotic arms. Desktop-level teaching robotic arms can provide learners with actual robotic arm simulation activities, which is helpful for teaching activities. Due to the different teaching locations, it is often necessary to carry desktop-level teaching robotic arms to different teaching locations. The installation method of existing desktop-level teaching robotic arms is too cumbersome, which affects the carrying of desktop-level teaching robotic arms. For this reason, we propose a desktop-level teaching robotic arm that can be quickly disassembled and assembled. Utility Model Content

[0004] Based on this, the purpose of the present invention is to provide a desktop-level teaching robotic arm to solve the technical problems mentioned in the above background.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a desktop-level teaching robotic arm, comprising a robotic arm, the bottom end of the robotic arm is fixedly connected to a mounting plate, and the bottom end of the mounting plate is connected to a counterweight plate, the bottom end of the mounting plate is fixedly connected to a downwardly extending locking block, and a locking groove adapted to the locking block is provided on the end surface of the counterweight plate below the locking block, and a limiting rod for secondary limiting of the mounting plate is also provided at the top of the counterweight plate, and there are multiple groups of limiting rods distributed in a ring on the end surface of the counterweight plate.

[0006] By adopting the above technical solution, the robotic arm can be quickly disassembled and assembled, thereby simplifying the disassembly and assembly steps of the robotic arm, improving the disassembly and assembly efficiency of the robotic arm, and facilitating teaching activities of the robotic arm.

[0007] The present invention is further configured such that the bottom end of each group of the limiting rods extends into the interior of the counterweight plate, and each group of the limiting rods is slidably connected to the inner wall of the counterweight plate.

[0008] By adopting the above technical solution, the effect of assisting the movement of the limit rod is achieved.

[0009] The utility model is further configured such that a screw is installed inside the counterweight plate, and the limit rod is sleeved on the outer wall of the screw, and the inner wall of the limit rod is provided with a threaded wall adapted to the thread of the outer wall of the screw, and the end of the screw is fixedly connected with a driven gear for driving the screw to rotate, and the driven gear is installed inside the counterweight plate and rotatably connected to the inner wall of the counterweight plate.

[0010] By adopting the above technical solution, the lateral adjustment effect of the limit rod is achieved.

[0011] The utility model is further configured such that the top end of the driven gear is meshedly connected with a gear ring for driving the driven gear to rotate, and the outer wall of the gear ring is provided with a driven gear wall, the outer side of the driven gear wall is meshedly connected with a thumbwheel installed on the outer wall of the counterweight plate, and part of the thumbwheel extends to the outside of the counterweight plate.

[0012] By adopting the above technical solution, a driving effect on the gear ring is achieved.

[0013] The utility model is further configured such that the top end of the gear ring is slidably connected to a gasket, and the gasket is vertically slidably connected to the inner wall of the counterweight plate, the top end of the gasket is connected to an adjusting bolt extending to the top of the counterweight plate through a bearing, and the inner wall of the counterweight plate is provided with a threaded wall adapted to the thread of the outer wall of the adjusting bolt.

[0014] By adopting the above technical solution, the vertical adjustment effect of the gear ring is achieved.

[0015] In summary, the present invention has the following beneficial effects:

[0016] 1. The utility model provides a snap-fit ​​block and a snap-fit ​​groove. First, align the snap-fit ​​block at the bottom of the mounting plate with the snap-fit ​​groove on the end face of the counterweight plate. Then, move the mounting plate downward until the snap-fit ​​block and the snap-fit ​​groove are snap-fitted. At this point, the initial limit installation of the robotic arm is completed.

[0017] 2. The utility model sets a limit rod. After completing the initial limit installation of the robotic arm, the dial wheel is rotated. The dial wheel will drive the gear ring to rotate through the meshing action with the gear ring. After the gear ring rotates, it will drive the driven gear to rotate through the meshing action of the other driven gears. After the driven gear rotates, it will drive the screw rod to rotate. Therefore, the limit rod will slide to the side close to the mounting plate under the action of the screw rod until the limit rod slides to the outer wall of the mounting plate. Then, by rotating the adjusting bolt, the adjusting bolt will move downward under the action of the threaded wall of the inner wall of the counterweight plate, that is, the gasket will squeeze the gear ring to move downward, thereby realizing the overall downward movement of the limit rod, so that the limit rod can squeeze and limit the mounting plate, realizing secondary limit of the robotic arm installation and improving stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0019] Figure 2 This is the first perspective of the base of the utility model;

[0020] Figure 3 This is the second viewing angle of the base of the utility model;

[0021] Figure 4 This is a schematic diagram of the internal structure of the counterweight plate of the present utility model.

[0022] In the figure: 1. Robotic arm; 2. Mounting plate; 3. Counterweight plate; 4. Engaging block; 5. Engaging slot; 6. Limit rod; 7. Screw; 8. Driven gear; 9. Gear ring; 10. Drag wheel; 11. Gasket; 12. Adjusting bolt. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0024] The following describes an embodiment of the present invention based on its overall structure.

[0025] A desktop teaching robot arm, such as Figure 1-4 As shown, it includes a robotic arm 1, the bottom end of the robotic arm 1 is fixedly connected to a mounting plate 2, and the bottom end of the mounting plate 2 is connected to a counterweight plate 3, the bottom end of the mounting plate 2 is fixedly connected to a downwardly extending snap block 4, and a snap slot 5 adapted to the snap block 4 is provided on the end surface of the counterweight plate 3 below the snap block 4, and a limiting rod 6 for secondary limiting of the mounting plate 2 is further provided on the top of the counterweight plate 3, and there are multiple groups of limiting rods 6 distributed in a ring on the end surface of the counterweight plate 3;

[0026] Furthermore, in this embodiment, the bottom end of each set of limiting rods 6 extends to the inside of the counterweight plate 3 , and each set of limiting rods 6 is slidably connected to the inner wall of the counterweight plate 3 .

[0027] See also Figure 4 A screw rod 7 is installed inside the counterweight plate 3, and the limiting rod 6 is sleeved on the outer wall of the screw rod 7, and the inner wall of the limiting rod 6 is provided with a threaded wall adapted to the thread of the outer wall of the screw rod 7. The end of the screw rod 7 is fixedly connected to a driven gear 8 for driving the screw rod 7 to rotate, and the driven gear 8 is installed inside the counterweight plate 3 and rotatably connected to the inner wall of the counterweight plate 3 to realize lateral adjustment of the limiting rod 7.

[0028] See also Figure 4The top of the driven gear 8 is meshed with a gear ring 9 for driving the driven gear 8 to rotate, and the outer wall of the gear ring 9 is provided with a driven gear wall. The outer side of the driven gear wall is meshed with a thumbwheel 10 installed on the outer wall of the counterweight plate 3, and part of the thumbwheel 10 extends to the outside of the counterweight plate 3 to realize the driving of the driven gear 8.

[0029] See also Figure 4 The top of the gear ring 9 is slidably connected with a gasket 11, and the gasket 11 is vertically slidably connected to the inner wall of the counterweight plate 3. The top of the gasket 11 is connected to an adjusting bolt 12 extending to the top of the counterweight plate 3 through a bearing, and the inner wall of the counterweight plate 3 is provided with a threaded wall that is adapted to the outer wall thread of the adjusting bolt 12, so as to realize the vertical adjustment of the gear ring 9 and the vertical adjustment of the limit rod 6.

[0030] The working principle of the present invention is as follows: first, align the engaging block 4 at the bottom end of the mounting plate 2 with the engaging groove 5 on the end face of the counterweight plate 3, then move the mounting plate 2 downward until the engaging block 4 is engaged with the engaging groove 5, at which point the preliminary position limiting installation of the robotic arm 1 is completed;

[0031] Furthermore, after completing the preliminary limit installation of the robotic arm 1, the dial wheel 10 is rotated, and the dial wheel 10 will drive the gear ring 9 to rotate through the meshing action with the gear ring 9. After the gear ring 9 rotates, it will drive the driven gear 8 to rotate through the meshing action of the remaining driven gears 8. After the driven gear 8 rotates, it will drive the screw rod 7 to rotate. Therefore, the limit rod 6 will slide toward the side close to the mounting plate 2 under the action of the screw rod 7 until the limit rod 6 slides to the outer wall of the mounting plate 2, and then by rotating the adjusting bolt 12, the adjusting bolt 12 will move downward under the action of the threaded wall of the inner wall of the counterweight plate 3, that is, the gasket 11 will squeeze the gear ring 9 to move downward, thereby realizing the overall downward movement of the limit rod 6, so that the limit rod 6 can squeeze and limit the mounting plate 2, realizing secondary limit of the installation of the robotic arm 1 and improving stability.

[0032] Although embodiments of the present invention have been shown and described, these specific embodiments are merely explanations of the present invention and are not limitations on the present invention. The specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. After reading this specification, those skilled in the art may make modifications, substitutions, and variations to the embodiments as needed without departing from the principles and purpose of the present invention, but as long as they are within the scope of the claims of the present invention, they are protected by patent law.

Claims

1. A desktop teaching robot arm, comprising a robot arm (1), characterized in that: The bottom end of the mechanical arm (1) is fixedly connected to a mounting plate (2), and the bottom end of the mounting plate (2) is connected to a counterweight plate (3); the bottom end of the mounting plate (2) is fixedly connected to a downwardly extending engaging block (4), and an engaging groove (5) adapted to the engaging block (4) is provided on the end face of the counterweight plate (3) below the engaging block (4); a limiting rod (6) for performing secondary limiting on the mounting plate (2) is further provided at the top end of the counterweight plate (3), and a plurality of limiting rods (6) are provided and are distributed in a ring shape on the end face of the counterweight plate (3).

2. The desktop teaching robot arm according to claim 1, characterized in that: The bottom end of each group of the limiting rods (6) extends to the inside of the counterweight plate (3), and each group of the limiting rods (6) is slidably connected to the inner wall of the counterweight plate (3).

3. The desktop teaching robot arm according to claim 2, characterized in that: A screw rod (7) is installed inside the counterweight plate (3), and the limiting rod (6) is sleeved on the outer wall of the screw rod (7), and the inner wall of the limiting rod (6) is provided with a threaded wall that is adapted to the thread of the outer wall of the screw rod (7).

4. The desktop teaching robot arm according to claim 3, characterized in that: The end of the screw rod (7) is fixedly connected to a driven gear (8) for driving the screw rod (7) to rotate, and the driven gear (8) is installed inside the counterweight plate (3) and is rotatably connected to the inner wall of the counterweight plate (3).

5. The desktop teaching robot arm according to claim 4, characterized in that: The top end of the driven gear (8) is meshedly connected with a gear ring (9) for driving the driven gear (8) to rotate, and the outer wall of the gear ring (9) is provided with a driven gear wall.

6. The desktop teaching robot arm according to claim 5, characterized in that: The outer side of the driven tooth wall is meshedly connected with a thumbwheel (10) mounted on the outer wall of the counterweight plate (3), and a portion of the thumbwheel (10) extends to the outer side of the counterweight plate (3).

7. The desktop teaching robot arm according to claim 5, characterized in that: The top end of the gear ring (9) is slidably connected to a gasket (11), and the gasket (11) is vertically slidably connected to the inner wall of the counterweight plate (3). The top end of the gasket (11) is connected to an adjusting bolt (12) extending above the counterweight plate (3) through a bearing, and the inner wall of the counterweight plate (3) is provided with a threaded wall adapted to the outer wall thread of the adjusting bolt (12).

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