High-precision manipulator

Abstract

The utility model discloses a high-precision robot arm, which relates to the field of robot arms and comprises a fastening plate and a base arranged at the top end of the fastening plate, a mechanical arm angle adjusting mechanism is arranged at the top end of the base, a fourth rotating arm is arranged through the mechanical arm angle adjusting mechanism, a rotating rod is arranged in the fourth rotating arm, and the rotating rod is connected with the fastening plate. A polygonal groove is formed in the center of the rotating rod, a positioning groove is formed in the outer wall of the rotating rod, a connecting rod is inserted into the polygonal groove in a matched mode, a manipulator clamping mechanism is fixed to the connecting rod, a positioning block clamped with the positioning groove is elastically arranged on the outer wall of the connecting rod, and a plurality of bolts are installed at the top end of the fastening plate. And a rotating plate is embedded in the top end of the base. According to the mechanical arm, the connecting rods can be conveniently mounted and dismounted, so that the connecting rods with different types of clamps can be replaced, clamping and positioning of objects in different shapes can be met, and the applicability of the mechanical arm is improved.

Description

Technical Field

[0001] The utility model relates to the field of robotic arms, in particular to a high-precision robotic arm. Background Art

[0002] Robotic arms are the most widely used and practical automated mechanical devices in the field of robotics. They can be seen in industrial manufacturing, medical treatment, entertainment services, military, and space exploration. Robotic arms used in industrial manufacturing are mainly used to pick up and move objects. Some existing robotic arms have complex structures, inflexible arm adjustment, and difficulty in clamping objects.

[0003] The patent with application number 202120852453.2 discloses a high-precision robot arm, including a base, a limit sleeve is provided on the upper surface of the base, the internal rotating shaft of the limit sleeve is connected to a rotating column, and a motor A is installed on the lower surface of the base. The output end of the motor A passes through the base and is connected to the rotating column. The top of the rotating column is connected to a fixed box, and a motor C is installed inside the fixed box. The output end of the motor C is connected to a worm, one end of the worm is rotatably connected to the inner wall of the fixed box, the worm is engaged with a worm wheel, and the worm wheel is connected to a cantilever A through a fixed shaft, and a fixing part A is provided at one end of the cantilever A, and a driving gear is provided inside the fixing part A.

[0004] The above technical solution uses gears to adjust the angle of the manipulator. Wear of the gears during use will cause errors in the movement of the manipulator. At the same time, since the clamping part of the manipulator cannot be disassembled, the manipulator cannot meet the requirements of clamping and positioning objects of different shapes. Utility Model Content

[0005] Based on this, the purpose of the present invention is to provide a high-precision robotic arm to solve the technical problem that the gripping part of the robotic arm cannot be disassembled, resulting in the robotic arm being unable to meet the requirements of gripping and positioning objects of different shapes.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a high-precision robot arm, comprising a fastening plate and a base installed on the top of the fastening plate, the top of the base is provided with a robot arm angle adjustment mechanism, and a fourth rotating arm is installed through the robot arm angle adjustment mechanism, a rotating rod is installed in the fourth rotating arm, a polygonal groove is provided at the center position of the rotating rod, and a positioning groove is provided on the outer wall of the rotating rod, a connecting rod is fitted in the polygonal groove, a robot arm clamping mechanism is fixed on the connecting rod, and a positioning block that is engaged with the positioning groove is elastically provided on the outer wall of the connecting rod.

[0007] The present invention is further configured such that a plurality of bolts are installed on the top of the fastening plate, a rotating plate is embedded in the top of the base, and a first motor for driving the rotating plate is installed on the side wall of the base.

[0008] The utility model is further configured such that the robotic arm angle adjustment mechanism includes a first rotating arm rotatably arranged at the top of the rotating plate, a second rotating arm installed on the first rotating arm, and a third rotating arm installed on the second rotating arm, and the fourth rotating arm is rotatably connected to the third rotating arm.

[0009] The utility model is further configured such that the side walls of the rotating plate, the first rotating arm, the second rotating arm and the third rotating arm are all equipped with motors, and the shafts of the multiple motors are fixedly connected to the second rotating arm, the third rotating arm and the fourth rotating arm respectively.

[0010] The present invention is further configured such that a driving rod inserted into the fourth rotating arm is fixed on the rotating rod, and a groove is provided on the outer wall of the rotating rod.

[0011] The utility model is further configured such that an installation groove is provided on the outer wall of the connecting rod, the positioning block is slidably inserted into the installation groove, and one end of the positioning block extending out of the installation groove is fitted and inserted into the positioning groove.

[0012] The present invention is further configured such that an elastic plate with a V-shaped structure is embedded in the installation groove, and two ends of the elastic plate are fixedly connected to the inner wall of the installation groove and the positioning block respectively.

[0013] The present invention is further configured such that the manipulator clamping mechanism includes a grabbing plate and clamping plates slidably clamped at both ends of the grabbing plate, and both ends of the grabbing plate are embedded with electric push rods fixed to the clamping plates.

[0014] To sum up, the utility model mainly has the following beneficial effects: the utility model is provided with a first motor and a second motor, which respectively drive the manipulator clamping mechanism to rotate and adjust the angle of the manipulator during the rotation. The wear of the rotating part of the manipulator clamping mechanism will not affect the angle adjustment, thereby avoiding the problem of gear wear affecting the angle adjustment. A rotating rod is provided on the fourth rotating arm, and a grab plate is detachably installed on the rotating rod. The connecting rod fixed on the grab plate is fitted and inserted into the polygonal groove. The elastic plate in the mounting groove on the outer wall of the connecting rod pushes the positioning block to be inserted into the positioning groove, so that the connecting rod remains fixed in the rotating rod, so that the outer wall of the groove squeezes the positioning block to move out of the positioning groove, and after moving out, the connecting rod is moved out of the polygonal groove, which facilitates the installation and disassembly of the connecting rod, thereby replacing the connecting rod with different types of clamps, meeting the clamping and positioning of objects of different shapes, and improving the applicability of the manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0016] Figure 2 This is a schematic structural diagram of the rotating rod of the utility model;

[0017] Figure 3 This is a structural diagram of the grabbing plate of the utility model;

[0018] Figure 4 For this utility model Figure 3 A schematic diagram of the structure at point A in the figure.

[0019] In the figure: 1. Fastening plate; 2. Base; 3. Bolt; 4. First motor; 5. Second motor; 6. First rotating arm; 7. Second rotating arm; 8. Third rotating arm; 9. Fourth rotating arm; 10. Rotating rod; 11. Grabbing plate; 12. Rotating plate; 13. Positioning groove; 14. Polygonal groove; 15. Groove; 16. Driving rod; 17. Connecting rod; 18. Electric push rod; 19. Clamp; 20. Mounting groove; 21. Positioning block; 22. Elastic plate. DETAILED DESCRIPTION

[0020] 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.

[0021] A high-precision robot arm, such as Figure 1-4 As shown, it includes a fastening plate 1 and a base 2 installed on the top of the fastening plate 1, a robot arm angle adjustment mechanism is provided on the top of the base 2, and a fourth rotating arm 9 is installed through the robot arm angle adjustment mechanism, a rotating rod 10 is installed in the fourth rotating arm 9, a polygonal groove 14 is provided at the center position of the rotating rod 10, and a positioning groove 13 is provided on the outer wall of the rotating rod 10, a connecting rod 17 is fitted and inserted in the polygonal groove 14, a robot gripping mechanism is fixed on the connecting rod 17, and a positioning block 21 that is elastically provided on the outer wall of the connecting rod 17 and is engaged with the positioning groove 13.

[0022] The top of the fastening plate 1 is equipped with multiple bolts 3, the top of the base 2 is embedded with a rotating plate 12, and the side wall of the base 2 is equipped with a first motor 4 for driving the rotating plate 12. The robot arm angle adjustment mechanism includes a first rotating arm 6 rotatably arranged at the top of the rotating plate 12, a second rotating arm 7 installed on the first rotating arm 6, and a third rotating arm 8 installed on the second rotating arm 7. The fourth rotating arm 9 is rotatably connected to the third rotating arm 8. The side walls of the rotating plate 12, the first rotating arm 6, the second rotating arm 7, and the third rotating arm 8 are all equipped with motors, and the shafts of multiple motors are respectively fixedly connected to the second rotating arm 7, the third rotating arm 8 and the fourth rotating arm 9. A third motor is embedded in the fourth rotating arm 9, and the shaft of the third motor is fixedly connected to the driving rod 16. The first motor 4 and the second motor 5 respectively drive the robot gripping mechanism to rotate and adjust the angle of the robot during the rotation. Wear of the rotating part of the robot gripping mechanism will not affect the angle adjustment, thereby avoiding the problem of gear wear affecting the angle adjustment.

[0023] Furthermore, a driving rod 16 inserted into the fourth rotating arm 9 is fixed on the rotating rod 10, and a groove 15 is provided on the outer wall of the rotating rod 10, and a mounting groove 20 is provided on the outer wall of the connecting rod 17. The positioning block 21 is slidably inserted into the mounting groove 20, and the end of the positioning block 21 extending out of the mounting groove 20 is fitted into the positioning groove 13. A V-shaped elastic plate 22 is embedded in the mounting groove 20, and the two ends of the elastic plate 22 are fixedly connected to the inner wall of the mounting groove 20 and the positioning block 21 respectively. The elastic plate in the mounting groove 20 on the outer wall of the connecting rod 17 is fixedly connected to the inner wall of the mounting groove 20 and the positioning block 21. 22 pushes the positioning block 21 into the positioning groove 13, so that the connecting rod 17 remains fixed in the rotating rod 10, so that the outer wall of the groove 15 squeezes the positioning block 21 to move out of the positioning groove 13, and after moving out, the connecting rod 17 is moved out of the polygonal groove 14. The manipulator clamping mechanism includes a grabbing plate 11 and a clamping plate 19 that is slidably clamped at both ends of the grabbing plate 11. Both ends of the grabbing plate 11 are embedded with an electric push rod 18 fixed to the clamping plate 19. The manipulator clamping mechanism also includes a rubber positioning rod, an electromagnet suction material plate and a threaded material taking tube.

[0024] The working principle of the present utility model is as follows: when in use, the connecting rod 17 is fitted and inserted into the polygonal groove 14, and the elastic plate 22 in the mounting groove 20 on the outer wall of the connecting rod 17 pushes the positioning block 21 to be inserted into the positioning groove 13, so that the connecting rod 17 remains fixed in the rotating rod 10, so that the outer wall of the groove 15 squeezes the positioning block 21 to move out of the positioning groove 13, and after moving out, the connecting rod 17 is moved out of the polygonal groove 14, which facilitates the installation and disassembly of the connecting rod 17, thereby replacing the connecting rod 17 with different types of clamps to meet the clamping and positioning of objects of different shapes. After starting, the electric push rod 18 drives the clamping plate 19 to move, and the two clamping plates 19 clamp the object during the movement.

[0025] 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 high-precision robot arm, comprising a fastening plate (1) and a base (2) mounted on the top of the fastening plate (1), characterized in that: A robotic arm angle adjustment mechanism is provided at the top of the base (2), and a fourth rotating arm (9) is installed through the robotic arm angle adjustment mechanism. A rotating rod (10) is installed in the fourth rotating arm (9). A polygonal groove (14) is provided at the center of the rotating rod (10), and a positioning groove (13) is provided on the outer wall of the rotating rod (10). A connecting rod (17) is inserted into the polygonal groove (14). A robotic arm clamping mechanism is fixed on the connecting rod (17), and a positioning block (21) is elastically provided on the outer wall of the connecting rod (17) to be engaged with the positioning groove (13).

2. A high-precision robotic arm according to claim 1, characterized in that: A plurality of bolts (3) are installed at the top of the fastening plate (1), a rotating plate (12) is embedded in the top of the base (2), and a first motor (4) for driving the rotating plate (12) is installed on the side wall of the base (2).

3. The high-precision robotic arm according to claim 2, characterized in that: The mechanical arm angle adjustment mechanism comprises a first rotating arm (6) rotatably arranged at the top end of a rotating plate (12), a second rotating arm (7) mounted on the first rotating arm (6), and a third rotating arm (8) mounted on the second rotating arm (7); the fourth rotating arm (9) is rotatably connected to the third rotating arm (8).

4. The high-precision robotic arm according to claim 3, characterized in that: Motors are installed on the side walls of the rotating plate (12), the first rotating arm (6), the second rotating arm (7), and the third rotating arm (8), and the shafts of the multiple motors are fixedly connected to the second rotating arm (7), the third rotating arm (8), and the fourth rotating arm (9), respectively.

5. The high-precision robotic arm according to claim 1, characterized in that: A driving rod (16) inserted into the fourth rotating arm (9) is fixed on the rotating rod (10), and a groove (15) is provided on the outer wall of the rotating rod (10).

6. The high-precision robotic arm according to claim 5, characterized in that: The outer wall of the connecting rod (17) is provided with a mounting groove (20), the positioning block (21) is slidably inserted in the mounting groove (20), and one end of the positioning block (21) extending out of the mounting groove (20) is inserted into the positioning groove (13).

7. The high-precision robotic arm according to claim 6, characterized in that: A V-shaped elastic plate (22) is embedded in the installation groove (20), and two ends of the elastic plate (22) are fixedly connected to the inner wall of the installation groove (20) and the positioning block (21) respectively.

8. The high-precision robotic arm according to claim 1, characterized in that: The manipulator gripping mechanism comprises a gripping plate (11) and clamping plates (19) slidably clamped at both ends of the gripping plate (11); both ends of the gripping plate (11) are embedded with electric push rods (18) fixed to the clamping plates (19).

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