Mechanical arm lifting mechanism

Abstract

The utility model discloses a mechanical arm lifting mechanism which comprises a lifting unit, the lifting unit comprises a rotating base and a telescopic shell fixedly installed at the output end of the rotating base, a servo motor is fixedly installed at the bottom of an inner cavity of the telescopic shell, the output end of the servo motor is fixedly connected with a lead screw, the lead screw is sleeved with a lifting block in a threaded mode, and the lifting block is connected with a lifting rod. The lifting block is arranged in an inner cavity of the telescopic shell in a sliding mode, a supporting disc is fixedly installed at the top of the lifting block, a mechanical arm and a balance unit are fixedly installed at the top of the supporting disc, the balance unit comprises a gear fixedly connected to the output end of a servo motor in a sleeving mode, and two fixing rods are fixedly connected to the inner wall of the telescopic shell. The servo motor can drive the mechanical arm to ascend and descend through the lead screw, when the mechanical arm transversely grabs an object, the bearing block is arranged in the reverse direction of the mechanical arm to balance the gravity center of the telescopic shell, and therefore the mechanical arm can stably ascend and descend and conduct grabbing motion.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical arm technical field especially relates to a mechanical arm lifting mechanism. BACKGROUND

[0002] Mechanical arm is usually composed of multiple joints and connecting rods, and can perform complex movements in three-dimensional space. It can imitate the action of human arm, realize grabbing, carrying, assembling and other tasks, and plays an important role in industrial field. It can perform repetitive operation at very high speed and precision, greatly improves production efficiency and product quality. For example, in automobile manufacturing factory, mechanical arm can accurately weld body parts, install parts, and ensure that each automobile has consistent quality. In electronic product manufacturing, mechanical arm can assemble small parts, improve production precision and reliability.

[0003] Mechanical arm is usually placed on a platform for grabbing and carrying objects, and through rotation and lifting design, the mechanical arm can move freely in three-dimensional space. When the mechanical arm rises and performs lateral grabbing, the weight of the end of the mechanical arm used for grabbing objects is increased passively, which makes the base and lifting end of the mechanical arm bear huge pressure, and the higher the height, the greater the pressure. Due to unbalanced weight distribution, the base may not be able to keep balance, which may cause rollover during the lifting and grabbing process of the mechanical arm. In order to ensure the stability of the mechanical arm during lifting, a mechanical arm lifting mechanism is proposed. SUMMARY

[0004] This section aims to outline some aspects of the embodiments of the utility model and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the abstract of the specification and the utility model name to avoid obscuring the purpose of this section, the abstract of the specification and the utility model name. Such simplifications or omissions cannot be used to limit the scope of the utility model.

[0005] In view of the above problems existing in the prior art, the utility model is proposed.

[0006] Therefore, the utility model aims to provide a mechanical arm lifting mechanism, which is suitable for solving the problem that when the mechanical arm rises and performs lateral grabbing, the weight of the end of the mechanical arm used for grabbing objects is increased, which makes the base and lifting end of the mechanical arm bear huge pressure, so that the base may not be able to keep balance, and then rollover may occur during the lifting and grabbing process of the mechanical arm.

[0007] To solve the above technical problems, the utility model provides the following technical scheme: a mechanical arm lifting mechanism, comprising:

[0008] The lifting unit comprises a rotating base, a telescopic shell fixedly installed on the output end of the rotating base, a servo motor fixedly installed at the bottom of the inner cavity of the telescopic shell, a screw rod fixedly connected to the output end of the servo motor, a lifting block threadedly sleeved on the screw rod, the lifting block slidingly arranged in the inner cavity of the telescopic shell, a supporting disc fixedly installed at the top of the lifting block, and a mechanical arm fixedly installed at the top of the supporting disc.

[0009] The balancing unit comprises a gear fixedly sleeved on the output end of the servo motor, two fixed rods fixedly connected to the inner wall of the telescopic shell, a rectangular frame slidingly arranged between the two fixed rods, a row of teeth arranged on one side of the inner wall of the rectangular frame, and the teeth of the rectangular frame and the gear being in meshing engagement, and a load-bearing block fixedly connected to the inner wall of the telescopic shell and penetrating through the telescopic shell.

[0010] As a preferred scheme of the mechanical arm lifting mechanism, three limiting plates are fixedly connected to the side wall of the telescopic shell, three limiting rods corresponding to the positions of the limiting plates are fixedly connected to the bottom of the supporting disc, and the bottom ends of the three limiting rods slidingly penetrate through the corresponding limiting plates.

[0011] As a preferred scheme of the mechanical arm lifting mechanism, a counterweight rod is threadedly connected to one side of the load-bearing block, and a threaded hole is formed in the end of the counterweight rod away from the load-bearing block.

[0012] As a preferred scheme of the mechanical arm lifting mechanism, two symmetrically distributed connecting plates are fixedly connected to the side wall of the counterweight rod, a plurality of mounting grooves are formed in one side of each of the two connecting plates, and a counterweight block is slidingly arranged in each of the mounting grooves.

[0013] As a preferred scheme of the mechanical arm lifting mechanism, a connecting barrel is fixedly connected to the side wall of the counterweight rod, a supporting rod is threadedly connected to the end of the connecting barrel, and a suction disc is fixedly connected to the bottom of the supporting rod.

[0014] As a preferred scheme of the mechanical arm lifting mechanism, a plurality of accommodation grooves are formed in the side wall of the rotating base, an iron plate is rotatably connected to the top of the inner wall of each of the accommodation grooves, and a magnet disc is fixedly connected to the inner wall of each of the accommodation grooves.

[0015] The servo motor can drive the mechanical arm to lift through the screw rod, the gear can drive the rectangular block to slide along the fixed rod, when the mechanical arm horizontally grabs an object, the load-bearing block in the opposite direction of the mechanical arm balances the gravity center of the telescopic shell, the load-bearing block is located at the bottom of the telescopic shell, the gravity center of the mechanical plate is lowered, and thus the mechanical arm can stably lift and perform a grabbing motion. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the premise of not deviating from the connotation of the present application. Among them:

[0017] Figure 1 The overall structure schematic diagram of the mechanical arm lifting mechanism is provided for the present application.

[0018] Figure 2 The internal structure schematic diagram of the telescopic shell is provided for the present application.

[0019] Figure 3 The gear and rectangular plate connection structure schematic diagram is provided for the present application.

[0020] Figure 4 The balance unit structure schematic diagram is provided for the present application.

[0021] 100, lifting unit; 101, rotating base; 102, telescopic shell; 103, servo motor; 104, screw rod; 105, lifting block; 106, supporting disc; 107, mechanical arm; 108, limiting plate; 109, limiting rod; 200, balance unit; 201, gear; 202, fixed rod; 203, rectangular frame; 204, bearing block; 205, counterweight rod; 206, connecting plate; 207, counterweight block; 208, connecting cylinder; 209, supporting rod; 210, suction cup; 211, iron plate; 212, magnet disc. DETAILED DESCRIPTION

[0022] In order to make the above-mentioned purposes, features and advantages of the present application more apparent and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the drawings of the specification.

[0023] In the following description, many specific details are set forth in order to provide a thorough understanding of the present application, but the present application can also be implemented in other ways different from the description, and those skilled in the art can make similar generalizations without deviating from the connotation of the present application, therefore the present application is not limited by the specific embodiments disclosed below.

[0024] Secondly, the "one embodiment" or "embodiment" referred to herein means that the specific features, structures or characteristics can be included in at least one implementation of the present application. In this specification, "in one embodiment" does not mean the same embodiment, nor is it an embodiment that is independent of or mutually exclusive of other embodiments.

[0025] Thirdly, the utility model is described in detail in combination with the schematic diagram, in the detailed description of the utility model embodiment, for the convenience of illustration, the sectional view of the device structure will be partially enlarged without the general proportion, and the schematic diagram is only an example, which should not limit the scope of the utility model protection here. In addition, the three-dimensional spatial dimensions of length, width and depth should be included in actual production.

[0026] Embodiment

[0027] Reference Figures 1-4 For an embodiment of the utility model, a mechanical arm lifting mechanism is provided, comprising: a lifting unit 100 and a balance unit 200;

[0028] The lifting unit 100 comprises a rotating base 101 and a telescopic shell 102 fixedly installed on the output end of the rotating base 101, a servo motor 103 is fixedly installed at the bottom of the inner cavity of the telescopic shell 102, the output end of the servo motor 103 is fixedly connected with a lead screw 104, the lead screw 104 is threadedly sleeved with a lifting block 105, the lifting block 105 is slidingly arranged in the inner cavity of the telescopic shell 102, a supporting disc 106 is fixedly installed at the top of the lifting block 105, and a mechanical arm 107 is fixedly installed at the top of the supporting disc 106;

[0029] The balance unit 200 comprises a gear 201 fixedly sleeved on the output end of the servo motor 103, two fixed rods 202 are fixedly connected to the inner wall of the telescopic shell 102, a rectangular frame 203 is slidingly arranged between the two fixed rods 202, one side of the inner wall of the rectangular frame 203 is provided with a row of teeth, the teeth of the rectangular frame 203 are engaged with the gear 201, and the rectangular frame 203 penetrates through the inner wall of the telescopic shell 102 and is fixedly connected with a bearing block 204.

[0030] The rotating base 101 is internally provided with a motor capable of driving the telescopic shell 102 to rotate, so that the mechanical arm 107 does not need to be bent towards the direction of the bearing block 204, the direction of the mechanical arm 107 can be adjusted through the rotating base 101, the mechanical arm 107 is composed of multiple output shafts and connecting arms, the mechanical arm 107 cooperates with the rotating base 101 and can perform complex movement in a three-dimensional space, the servo motor 103 drives the lead screw 104 to rotate, so that the lifting block 105 can vertically ascend and descend in the telescopic shell 102, to increase the range in which the mechanical arm 107 can move, when the mechanical arm 107 ascends, the servo motor 103 drives the gear 201 to rotate, the gear 201 is engaged with the teeth of the rectangular frame 203, the gear 201 can drive the rectangular frame 203 to slide along the two fixed rods 202, a rectangular opening matching the rectangular frame 203 is formed in one side of the telescopic shell 102, so that the rectangular frame 203 passes through the rectangular opening and moves outwards of the telescopic shell 102;

[0031] The rectangular frame 203 is close to the bottom of the telescopic shell 102, and the center of gravity of the rotating base 101 is lowered through the rectangular frame 203 and the bearing block 204, so that the rotating base 101 can provide good support for the mechanical arm 107. The length of the rectangular frame 203 is relatively short, and when the rectangular frame 203 moves to the limit, the rectangular frame 203 will not exceed the length of the rotating base 101, so as to avoid the center of gravity of the rotating base 101 being unstable in the vertical state of the mechanical arm 107. The length of the extension of the rectangular frame 203 is proportional to the height of the mechanical arm 107, and the higher the height of the mechanical arm 107, the farther the rectangular frame 203 moves. When the mechanical arm 107 is stretched away from the bearing block 204, the center of gravity of the rotating base 101 tilts towards the end of the mechanical arm 107, and at this time the bearing block 204 provides downward pressure in the opposite direction of the rotating base 101 to ensure that the gravity on both sides of the rotating base 101 is relatively balanced, thereby preventing the mechanical arm 107 from tipping over due to the height being too high, so that the mechanical arm 107 can stably rise and grasp the object.

[0032] In addition, the side wall of the telescopic shell 102 is fixedly connected with three limiting plates 108, and the bottom of the supporting disc 106 is fixedly connected with three limiting rods 109 corresponding to the positions of the limiting plates 108. The bottom ends of the three limiting rods 109 respectively slide through the corresponding limiting plates 108.

[0033] The three limiting plates 108 are respectively located on the three side walls of the telescopic shell 102 which are not provided with rectangular openings. When the supporting disc 106 rises, the three limiting rods 109 will simultaneously slide in the vertical direction along the three limiting plates 108. The supporting disc 106 is limited by the three-point method to increase the strength of the supporting disc 106 and improve the stability of the supporting disc 106 when it rises, thereby ensuring that the mechanical arm 107 does not shake violently during lifting and grasping, thereby improving the stability of the mechanical arm 107 during lifting.

[0034] Further, the counterweight rod 205 is threadedly connected to one side of the bearing block 204, a threaded hole is formed in the end of the counterweight rod 205 away from the bearing block 204, two symmetrically distributed connecting plates 206 are fixedly connected to the side wall of the counterweight rod 205, a plurality of mounting grooves are formed in one side of each of the two connecting plates 206, and a counterweight block 207 is slidably arranged in each mounting groove. A connecting barrel 208 is fixedly connected to the side wall of the counterweight rod 205, a support rod 209 is threadedly connected to the end of the connecting barrel 208, and a suction cup 210 is fixedly connected to the bottom of the support rod 209.

[0035] When the object grabbed by the mechanical arm 107 is heavy, the weight of the weight block 204 can be increased by the external counterweight rod 205 to balance the weight brought by the mechanical arm 107. The weight block 204 is provided with a threaded hole of a standard aperture on one side to facilitate the rotation and installation of the counterweight rod 205. The end of the counterweight rod 205 is also provided with a threaded rod of the same aperture, so that the plurality of counterweight rods 205 can be mutually butted to further increase the weight of the weight block 204. When a single counterweight rod 205 is used to increase the weight, the weight of the single counterweight rod 205 can be increased by sliding and placing a plurality of weight blocks 207 through the two connecting plates 206. When the counterweight is increased by using the connecting plate 206, the number and position of the weight blocks 207 on the two connecting plates 206 should be uniformly distributed, so that the weight of the two connecting plates 206 is balanced and the counterweight rod 205 is not deflected.

[0036] The support rod 209 can be rotated and taken out from the connecting cylinder 208 for storage. The support rod 209 can be in contact with the support surface and support the counterweight rod 205. When a plurality of counterweight rods 205 are butted, each counterweight rod 205 can be supported by the support rod 209 to reduce the load bearing burden of the rectangular frame 203. The support rod 209 can be adsorbed on the support surface by the suction cup 210, so that the inertia generated during the lifting and moving of the mechanical arm 107 does not cause the rotation base 101 to deviate.

[0037] Further, the side wall of the rotation base 101 is provided with a plurality of storage grooves. The top of the inner wall of each storage groove is rotatably connected with an iron plate 211. The inner wall of each storage groove is fixedly connected with a magnet disc 212.

[0038] The four side surfaces of the rotation base 101 are provided with iron plates 211. The bottom of the iron plate 211 is flush with the bottom of the rotation base 101. The storage groove can completely store the iron plate 211. The iron plate 211 can be perpendicular to the rotation base 101 by rotating the iron plate 211, so that the iron plate 211 can increase the support area of the rotation base 101 to prevent the rotation base 101 from being turned over and ensure the safety of the mechanical arm 107 during lifting. The iron plate 211 can be tightly adsorbed in the storage groove by the magnet disc 212 to facilitate the storage of the iron plate 211 and prevent the iron plate 211 from being deviated when not in use. One side of each iron plate 211 is fixedly connected with a T-shaped rod to facilitate the user to rotate the iron plate 211 out of the storage groove by the T-shaped rod.

[0039] During use, when the object to be grabbed by the mechanical arm 107 is heavy, the outer counterweight rod 205 is used to increase the weight of the load block 204, and the plurality of counterweight blocks 207 are placed in the sliding groove of the connecting plate 206, thereby increasing the weight of the single counterweight rod 205, so that the weight borne by the load block 204 matches the weight of the object, then the counterweight rod 205 is supported by rotating the support rod 209, so as to reduce the bearing burden of the rectangular frame 203, then the four sides of the rotating base 101 are provided with iron plates 211, which are perpendicular to the rotating base 101, thereby increasing the support area of the rotating base 101, so as to prevent the rotating base 101 from being easily turned over;

[0040] Then the telescopic shell 102 of the rotating base 101 rotates, so that the mechanical arm 107 rotates to the direction of the object, the screw rod 104 is rotated by the servo motor 103, so that the mechanical arm 107 rises, at this time the rectangular frame 203 can be driven by the gear 201 to slide along the two fixed rods 202, so that the rectangular frame 203 passes through the rectangular opening and moves out of the telescopic shell 102, at this time the load block 204 provides downward pressure in the opposite direction of the rotating base 101, thereby balancing the weight of the object grabbed by the mechanical arm 107, when the mechanical arm 107 places the object, the servo motor 103 is reversely rotated, so that the mechanical arm 107 descends, and at the same time the rectangular frame 203 moves into the telescopic shell 102, so as to store the rectangular frame 203.

[0041] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, not to limit it. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced by equivalent, without departing from the spirit and scope of the technical solutions of the present application, which should be covered in the scope of the claims of the present application.

Claims

1. A robotic arm lifting mechanism, characterized in that: include: A lifting unit (100) comprises a rotating base (101) and a telescopic shell (102) fixedly mounted on the output end of the rotating base (101); a servo motor (103) is fixedly mounted on the bottom of the inner cavity of the telescopic shell (102); a screw rod (104) is fixedly connected to the output end of the servo motor (103); a lifting block (105) is threadedly sleeved on the screw rod (104); the lifting block (105) is slidably arranged in the inner cavity of the telescopic shell (102); a support plate (106) is fixedly mounted on the top of the lifting block (105); and a mechanical arm (107) is fixedly mounted on the top of the support plate (106); A balancing unit (200) comprises a gear (201) fixedly sleeved on the output end of a servo motor (103); two fixed rods (202) are fixedly connected to the inner wall of the telescopic housing (102); a rectangular frame (203) is slidably arranged between the two fixed rods (202); a row of teeth is arranged on one side of the inner wall of the rectangular frame (203); the teeth of the rectangular frame (203) are meshed with the gear (201); the rectangular frame (203) passes through the inner wall of the telescopic housing (102) and is fixedly connected to a load-bearing block (204).

2. The robotic arm lifting mechanism according to claim 1, characterized in that: The side walls of the telescopic shell (102) are fixedly connected with three limiting plates (108), and the bottom of the support plate (106) is fixedly connected with three limiting rods (109) corresponding to the positions of the limiting plates (108), and the bottom ends of the three limiting rods (109) respectively slide through the corresponding limiting plates (108).

3. The robotic arm lifting mechanism according to claim 1, characterized in that: One side of the bearing block (204) is threadedly connected to a counterweight rod (205), and one end of the counterweight rod (205) away from the bearing block (204) is provided with a threaded hole.

4. The robotic arm lifting mechanism according to claim 3, characterized in that: The side wall of the counterweight rod (205) is fixedly connected to two symmetrically distributed connecting plates (206), and a plurality of mounting grooves are provided on one side of the two connecting plates (206), and a counterweight block (207) is slidably arranged in each mounting groove.

5. The robotic arm lifting mechanism according to claim 4, characterized in that: The side wall of the counterweight rod (205) is fixedly connected to a connecting tube (208), the end of the connecting tube (208) is threadedly connected to a support rod (209), and the bottom of the support rod (209) is fixedly connected to a suction cup (210).

6. The robotic arm lifting mechanism according to claim 1, characterized in that: The side wall of the rotating base (101) is provided with a plurality of receiving grooves, the top of the inner wall of each receiving groove is rotatably connected to an iron plate (211), and the inner wall of each receiving groove is fixedly connected to a magnet disk (212).

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