Multifunctional automatic mechanical arm

Abstract

The utility model provides a multifunctional automatic mechanical arm which comprises a base and a mechanical arm body, the bottom of the mechanical arm body is fixedly installed on the top of the base, a connecting rod with a rotatable angle is movably installed at the movable end of the mechanical arm body, and a rotatable transverse plate is movably installed at the bottom end of the connecting rod. Notches are formed in the two ends of the top of the transverse plate, moving blocks capable of moving left and right are movably installed in the two notches, through openings which are through up and down are formed in the two moving blocks, first motors are fixedly installed at the top ends of the two moving blocks, and the output ends of the two first motors penetrate through the through openings in the corresponding moving blocks. Compared with the prior art, the clamping device has the advantages that square metal pieces can be stably clamped, rod-shaped metal pieces can also be stably clamped, the angle of the transverse plate can be adjusted, and the two clamping pieces can clamp the obliquely-arranged metal pieces.

Description

Technical Field

[0001] The utility model relates to a multifunctional automatic mechanical arm, belonging to the field of mechanical arms. Background Art

[0002] A robotic arm is a complex device with high precision and the ability to process a variety of input and output signals. Due to its excellent operational flexibility, the robotic arm has been widely used in industrial production. For example, in the processing of metal parts, a robotic arm is used to clamp the metal parts. However, in the process of clamping metal parts for loading processing in the robotic arm in the prior art, the common robotic arm's flat chuck can stably complete the clamping of square metal parts, but the flat chuck cannot complete the stable clamping of the arc surface of the rod-shaped metal part. The clamping surface is prone to slipping with the arc surface of the rod-shaped metal part. Different chucks need to be replaced to clamp different metal parts. In addition, when the position of the metal part is deviated, the angle of the metal part placement needs to be adjusted, which leads to certain limitations in its use. For this reason, the present application proposes a multifunctional automatic robotic arm. Utility Model Content

[0003] In view of the shortcomings of the existing technology, the purpose of the present invention is to provide a multifunctional automatic robotic arm to solve the problems raised in the above-mentioned background technology. The present invention can stably clamp block-shaped and rod-shaped metal parts, and can automatically adjust the angle of the cross plate to facilitate the clamping of metal parts that are placed at an angle.

[0004] In order to achieve the above-mentioned purpose, the utility model is realized through the following technical scheme: a multifunctional automatic robotic arm, including a base and a robotic arm body, the bottom of the robotic arm body is fixedly installed on the top of the base, and a connecting rod with a rotatable angle is movably installed on the movable end of the robotic arm body, and a rotatable cross plate is movably installed on the bottom end of the connecting rod, and slots are provided at both ends of the top of the cross plate, and moving blocks that can move left and right are movably installed in the two slots, and through-holes that pass through the two moving blocks are provided, and a first motor is fixedly installed on the top of the two moving blocks, and the output ends of the two first motors pass through the through-holes on the corresponding moving blocks, and a square-shaped clamping piece is fixedly installed on the output ends of the two first motors, and the four sides of the clamping piece are respectively arranged as a plane, a vertical arc groove, a horizontal arc groove and a circular groove.

[0005] Furthermore, a bottom groove is provided at the bottom end of the connecting rod, a connecting ring located in the bottom groove is fixedly installed at the center of the top of the horizontal plate, a bearing is fixedly installed on the inner wall of the bottom groove opening, the outer ring wall of the connecting ring is fixedly connected to the inner ring wall of the bearing, and a second motor is fixedly installed at the top of the bottom groove, and the output end of the second motor passes through the connecting ring and is fixedly connected to the center of the top of the horizontal plate.

[0006] Furthermore, hydraulic rods are fixedly installed at both ends of the transverse plate, and the telescopic ends of the two hydraulic rods extend into the two slots respectively and are fixedly connected to the side surfaces of the corresponding moving blocks.

[0007] Furthermore, semicircular grooves are provided at the four corners on both sides of the two moving blocks, and a rotatable ball is arranged in each semicircular groove. Slide grooves are provided on both sides of the inner walls of the two grooves, and the balls on the sides of the two moving blocks are located in the corresponding slide grooves and can roll inside them.

[0008] Furthermore, the diameter of the bottom end of the connecting rod is smaller than the distance between the two notches on the top of the cross plate.

[0009] Furthermore, the center of the connecting rod, the center of the connecting ring, the center of the second motor output end and the center of the horizontal plate are all located on the same vertical axis.

[0010] Beneficial effects of the utility model:

[0011] 1. The clamping surface of the clamping member is rotated and adjusted according to the shape of the metal workpiece. The clamping surface conversion of the clamping member can be directly completed by controlling the operation of the first motor. For example, the flat surface of the clamping member can clamp block-shaped metal workpieces, while the horizontal arc groove surface and the vertical arc groove surface of the clamping member can clamp horizontal and vertical rod-shaped metal workpieces respectively. The circular groove surface of the clamping member can complete the clamping of spherical metal workpieces. After adjusting the clamping surface of the clamping member according to the appearance and shape of the metal workpiece, the two hydraulic rods are controlled to push the moving block to move in the groove, thereby driving the two clamping members to approach each other, and then completing the clamping of the metal workpiece. By adjusting the clamping surface of the clamping member, metal workpieces of different shapes can be clamped stably. Compared with the clamping mechanism of common devices, it has a multifunctional clamping effect.

[0012] 2. When the device detects that the placement position of the metal part to be clamped is skewed, it controls the second motor in the bottom groove at the bottom of the connecting rod to operate, so that the second motor drives the cross plate to rotate at an angle, and the connecting ring on the cross plate can rotate between the bearings, thereby completing the position adjustment of the two clamping parts, so that the skewed metal parts can be clamped. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Other features, objects and advantages of the present invention will become more apparent from the detailed description of the non-limiting embodiments with reference to the following drawings:

[0014] Figure 1 This is a schematic diagram of the overall structure of a multifunctional automatic robotic arm of the present utility model;

[0015] Figure 2 This is a schematic cross-sectional view of the connection between the connecting rod and the horizontal plate in a multifunctional automatic mechanical arm of the present invention;

[0016] Figure 3 This is a top view structural diagram of the connection between the moving block and the horizontal plate in a multifunctional automatic mechanical arm of the present invention;

[0017] Figure 4 This is a schematic cross-sectional structure diagram of a horizontal plate in a multifunctional automatic robotic arm of the present invention;

[0018] Figure 5 This is a structural diagram of a gripping member in a multifunctional automatic robotic arm of the present invention;

[0019] In the figure: 1-base, 2-robotic arm body, 3-connecting rod, 4-cross plate, 5-notch, 6-moving block, 7-first motor, 8-gripping part, 9-hydraulic rod, 10-slide, 11-ball, 12-bottom groove, 13-connecting ring, 14-bearing, 15-second motor. DETAILED DESCRIPTION

[0020] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below in conjunction with specific implementation methods.

[0021] See also Figure 1 and Figure 5 The present invention provides a technical solution: a multifunctional automatic robotic arm, comprising a base 1 and a robotic arm body 2, the bottom of the robotic arm body 2 is fixedly mounted on the top of the base 1, and a connecting rod 3 with a rotatable angle is movably mounted on the movable end of the robotic arm body 2, and a rotatable cross plate 4 is movably mounted on the bottom end of the connecting rod 3. Notches 5 are provided at both ends of the top of the cross plate 4, and moving blocks 6 that can move left and right are movably mounted in the two notches 5. Through-holes are provided on the two moving blocks 6 that pass through up and down, and a first motor 7 is fixedly mounted on the top of the two moving blocks 6, and the output ends of the two first motors 7 pass through the through-holes on the corresponding moving blocks 6, and a square-shaped clamping piece 8 is fixedly mounted on the output ends of the two first motors 7, and the four sides of the clamping piece 8 are respectively arranged as a plane 81, a vertical arc groove 82, a horizontal arc groove 83 and a circular groove 84, and the first motor 7, the second motor 15 and the hydraulic rod 9 are automatically operated by PLC.

[0022] At the same time, a bottom groove 12 is provided at the bottom end of the connecting rod 3, and a connecting ring 13 located in the bottom groove 12 is fixedly installed at the center of the top of the cross plate 4, and a bearing 14 is fixedly installed on the inner wall of the opening of the bottom groove 12. The outer ring wall of the connecting ring 13 is fixedly connected to the inner ring wall of the bearing 14, and a second motor 15 is fixedly installed at the top of the bottom groove 12. The output end of the second motor 15 passes through the connecting ring 13 and is fixedly connected to the center of the top of the cross plate 4. Through the fixed connection between the bearing 14 and the connecting ring 13, the position height of the cross plate 4 can be fixed at the bottom end of the connecting rod 3, and then the second motor 15 in the bottom groove 12 is controlled to operate, so that the output end of the second motor 15 drives the cross plate 4 to automatically angularly change at the bottom end of the connecting rod 3, thereby completing the position adjustment of the two clamping parts 8 at the bottom of the cross plate 4, and then enabling the two clamping parts 8 to clamp the metal parts that are placed skewed.

[0023] In addition, hydraulic rods 9 are fixedly installed at both ends of the cross plate 4. The telescopic ends of the two hydraulic rods 9 extend into the two slots 5 respectively and are fixedly connected to the sides of the corresponding moving blocks 6. By controlling the two hydraulic rods 9 to simultaneously push the moving blocks 6 to move their positions in the slots 5, the clamping parts 8 at the bottom of the two moving blocks 6 can complete the clamping of the metal parts.

[0024] In addition, semicircular grooves are provided at the four corners on both sides of the two moving blocks 6, and a rotatable ball 11 is provided in each semicircular groove. Slide grooves 10 are provided on both sides of the inner walls of the two slots 5. The balls 11 on the sides of the two moving blocks 6 are located in the corresponding slide grooves 10 and can roll therein. Under the action of multiple balls 11 on both sides of the moving block 6, the moving block 6 can be prevented from contacting the inner wall of the slot 5, thereby reducing the friction between the two, making it easier for the hydraulic rod 9 to push the moving block 6 to move in the slot 5.

[0025] In addition, the diameter of the bottom end of the connecting rod 3 is smaller than the distance between the two notches 5 at the top of the cross plate 4, so as to prevent the first motor 7 at the top of the moving block 6 from contacting the connecting rod 3 when the two moving blocks 6 are too close.

[0026] In addition, the center of the connecting rod 3, the center of the connecting ring 13, the center of the output end of the second motor 15 and the center of the horizontal plate 4 are all located on the same vertical axis, so that when the second motor 15 drives the horizontal plate 4 to rotate an angle, there will be no center offset.

[0027] Specific implementation method: When using this device to clamp metal parts, the robot arm body 2 can automatically extend to complete the position adjustment of the clamping component at its active end. When using the device to clamp metal parts, the device uses the image acquisition device to judge the appearance of the metal part to be clamped, and then rotates and adjusts the clamping surface of the clamping member 8 according to the shape of the metal part. The clamping surface conversion of the clamping member 8 can be directly completed by controlling the operation of the first motor 7. For example, the plane 81 of the clamping member 8 can clamp the block-shaped metal part, and the horizontal arc groove 83 and the vertical arc groove 82 on the side of the clamping member 8 can respectively clamp the horizontal and vertical metal parts. Straight rod-shaped metal parts are clamped, and the circular groove 84 on the side of the clamping member 8 can complete the clamping of spherical metal parts. After adjusting the clamping surface of the clamping member 8 according to the appearance and shape of the metal part, the two hydraulic rods 9 are controlled to push the moving block 6 to move in the slot 5, thereby driving the two clamping members 8 to approach each other, and then completing the clamping of the metal part. However, when the placement position of the metal part is skewed, the second motor 15 in the bottom groove 12 at the bottom of the connecting rod 3 is controlled to operate, so that the second motor 15 drives the cross plate 4 to rotate at an angle, thereby completing the position adjustment of the two clamping members 8, so that the skewed metal parts can be clamped.

[0028] Although this specification is described according to implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A multifunctional automatic robotic arm, comprising a base (1) and a robotic arm body (2), characterized in that: The bottom of the mechanical arm body (2) is fixedly mounted on the top of the base (1); a connecting rod (3) with a rotatable angle is movably mounted on the movable end of the mechanical arm body (2); a rotatable horizontal plate (4) is movably mounted on the bottom end of the connecting rod (3); slots (5) are provided at both ends of the top of the horizontal plate (4); a moving block (6) that can move left and right is movably mounted in the two slots (5); a through opening that passes through the two moving blocks (6) is provided, and a first motor (7) is fixedly mounted on the top of the two moving blocks (6); the output ends of the two first motors (7) pass through the through opening on the corresponding moving block (6); and a square-shaped clamping member (8) is fixedly mounted on the output ends of the two first motors (7); the four side surfaces of the clamping member (8) are respectively configured as a plane (81), a vertical arc groove (82), a horizontal arc groove (83) and a circular groove (84).

2. The multifunctional automatic robotic arm according to claim 1, characterized in that: A bottom groove (12) is provided at the bottom end of the connecting rod (3); a connecting ring (13) located in the bottom groove (12) is fixedly installed at the center of the top of the transverse plate (4); a bearing (14) is fixedly installed on the inner wall of the opening of the bottom groove (12); the outer ring wall of the connecting ring (13) is fixedly connected to the inner ring wall of the bearing (14); a second motor (15) is fixedly installed at the top of the bottom groove (12); the output end of the second motor (15) passes through the connecting ring (13) and is fixedly connected to the center of the top of the transverse plate (4).

3. The multifunctional automatic robotic arm according to claim 1, characterized in that: Hydraulic rods (9) are fixedly mounted on both ends of the transverse plate (4), and the telescopic ends of the two hydraulic rods (9) extend into the two slots (5) respectively and are fixedly connected to the side surfaces of the corresponding moving blocks (6).

4. The multifunctional automatic robotic arm according to claim 1, characterized in that: Semicircular grooves are provided at the four corners on both sides of the two moving blocks (6), and a rotatable ball (11) is provided in each semicircular groove. Slide grooves (10) are provided on both sides of the inner walls of the two notches (5), and the balls (11) on the sides of the two moving blocks (6) are located in the corresponding slide grooves (10) and can roll therein.

5. The multifunctional automatic robotic arm according to claim 1, characterized in that: The diameter of the bottom end of the connecting rod (3) is smaller than the distance between the two notches (5) at the top of the transverse plate (4).

6. The multifunctional automatic robotic arm according to claim 2, characterized in that: The center of the connecting rod (3), the center of the connecting ring (13), the center of the output end of the second motor (15) and the center of the horizontal plate (4) are all located on the same vertical axis.

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