High-stability small mechanical arm

Abstract

The utility model discloses a small mechanical arm with high stability, which comprises a base, a rotating mechanism and a connecting seat, a suction cup is arranged on the base, the rotating mechanism comprises a rotating seat and a first belt wheel, the first belt wheel is rotatably connected with the rotating seat, the first belt wheel is fixedly connected with the base, a rotating motor is arranged in the rotating seat, and the connecting seat is fixedly connected with the rotating seat. An output shaft of the rotating motor is connected with the first belt wheel, the connecting base is fixedly connected with the rotating base, the connecting base is far away from the axis of the first belt wheel, the arm set is rotationally connected to the connecting base, the clamping mechanism is rotationally connected to the arm set, and the transmission assembly is arranged on the connecting base. The arm set and the clamping mechanism are both connected with the transmission assembly, and the axis of the first belt wheel is located between the connecting base and the clamping mechanism. According to the high-stability small mechanical arm, the stress balance of the mechanical arm is improved when the mechanical arm clamps an object, and the mechanical arm can be placed on a table top more stably.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of mechanical arm especially relates to a high stability small -size mechanical arm. BACKGROUND

[0002] Mechanical arm can be applied in heavy load, high risk production process, has more extensive application in automation assembly, assembly line etc.

[0003] Mechanical arm is fixedly connected through bolt on the ground or on the mounting support, makes mechanical arm can keep stable when carrying work piece, because the reduced mechanical arm can only be placed on the desktop, when the mechanical arm clamps the article, will lead to mechanical arm unbalanced force, appears the problem of insufficient running stability. UTILITY MODEL CONTENT

[0004] The utility model discloses a high stability small -size mechanical arm, promotes the balanced force of mechanical arm when clamping article, lets mechanical arm can be placed more stably on the desktop.

[0005] The utility model discloses a high stability small -size mechanical arm adopts the technical scheme of:

[0006] Including base, rotating mechanism and connecting seat, be equipped with the sucking disc on the base, the rotating mechanism includes rotating seat and first pulley, the first pulley is rotatably connected with rotating seat, and the first pulley is fixedly connected with the base, is equipped with rotating motor in the rotating seat, and the output shaft of rotating motor is connected with the first pulley, and the connecting seat is fixedly connected with the rotating seat, and the connecting seat is away from the axle of the first pulley, and the connecting seat is rotatably connected with arm group on, and the arm group is rotatably connected with clamping mechanism on, and the connecting seat is equipped with transmission assembly, and the arm group and clamping mechanism are connected with transmission assembly, and the axle of the first pulley is located between the connecting seat and clamping mechanism.

[0007] As a preferred scheme, the output shaft of the rotating motor is fixedly connected with the second pulley, and the first pulley and the second pulley are provided with a transmission belt.

[0008] As a preferred scheme, the first pulley is embedded with the first bearing, and the first bearing is fixedly connected with the rotating seat.

[0009] As a preferred scheme, the rotating mechanism further includes a rotating shaft, the rotating shaft penetrates the rotating seat, the first pulley and the base in sequence, the rotating shaft is coaxial with the first pulley, two second bearings are provided on the rotating shaft, and the two second bearings are fixedly connected with the rotating seat and the base respectively.

[0010] As a preferred scheme, the top of the rotating seat is provided with a connecting groove away from the rotating shaft, and the bottom of the connecting seat is clamped into the connecting groove.

[0011] As a preferred scheme, the arm group is composed of a first arm body, the clamping mechanism is rotationally connected with the first arm body, the first arm body is rotationally connected with a second arm body, and the second arm body is rotationally connected with the connecting seat.

[0012] As a preferred scheme, the transmission assembly comprises a first driving motor and a first rocker arm, the first driving motor is fixedly connected with the connecting seat, an output shaft of the first driving motor is fixedly connected with a rocker, the first arm body is provided with a connecting portion, the first rocker arm is rotationally connected with the connecting portion, and the first rocker arm is rotationally connected with the rocker.

[0013] As a preferred scheme, the transmission assembly further comprises a second driving motor, a second rocker arm and a third rocker arm, the second driving motor is fixedly connected with the connecting seat, an output shaft of the second driving motor is fixedly connected with the second arm body, the second rocker arm is rotationally connected with the clamping mechanism, the second arm body is rotationally connected with an adapter plate, the second rocker arm is rotationally connected with the adapter plate, the third rocker arm is rotationally connected with the adapter plate, and the third rocker arm is rotationally connected with the connecting seat.

[0014] As a preferred scheme, the clamping mechanism comprises a clamping support, a first clamping jaw and a second clamping jaw, the clamping support is rotationally connected with the first arm body, the clamping support is rotationally connected with the second rocker arm, the first clamping jaw and the second clamping jaw are both rotationally connected with the clamping support, a clamping motor is embedded in the clamping support, an output shaft of the clamping motor is fixedly connected with a gear, the first clamping jaw is provided with a first gear rack, the first gear rack is in matched connection with the gear, the first clamping jaw and the second clamping jaw are both provided with a second gear rack, and the two second gear racks are in matched connection with each other.

[0015] The high-stability small mechanical arm has the following beneficial effects:

[0016] When the mechanical arm is placed on a table top, the suction disc on the base is adsorbed on the table top, thereby improving the stability of the mechanical arm placed on the table top; the connecting portion of the connecting seat and the rotating seat is away from the rotating shaft of the rotating mechanism, so that the mechanical arm forms a C-shaped structure, when the clamping mechanism clamps an object, the weight of the object is located at one end of the C-shaped structure, the supporting point of the mechanical arm and the table top is located at the other end of the C-shaped structure, and the middle part of the C-shaped structure can be used as a counterweight to balance the increased weight of the clamped object, thereby improving the balance of the mechanical arm when clamping the object, and further improving the stability of the mechanical arm placed on the table top. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1It is a structure schematic view of the high-stability small mechanical arm.

[0018] Figure 2 It is a rotating mechanism sectional view of the high-stability small mechanical arm.

[0019] Figure 3 It is a connecting seat installation schematic view of the high-stability small mechanical arm.

[0020] Figure 4 It is a structure schematic view of the arm group and transmission assembly of the high-stability small mechanical arm.

[0021] Figure 5 It is a first driving motor structure schematic view of the high-stability small mechanical arm.

[0022] Figure 6 It is a second driving motor structure schematic view of the high-stability small mechanical arm.

[0023] Figure 7 It is a clamping mechanism sectional view of the high-stability small mechanical arm.

[0024] Figure 8 It is a structure schematic view of the first clamping jaw and the second clamping jaw of the high-stability small mechanical arm. DETAILED DESCRIPTION

[0025] The utility model makes further elaboration and illustration to the utility model below combining specific embodiment and the drawing of specification:

[0026] Please refer to Figures 1-3 .

[0027] The utility model discloses a high-stability small mechanical arm, including base 1, rotating mechanism 3 and connecting seat 2;

[0028] The bottom of base 1 is equipped with four suction discs 11, and the four suction discs 11 are located at four directions of base 1 respectively, when the mechanical arm is placed on the desktop, the suction disc 11 is adsorbed to the desktop, and the stability of the mechanical arm placed on the desktop is improved.

[0029] Rotating mechanism 3 includes rotating seat 31, first pulley 311 and rotating shaft 33;Rotating seat 31 is placed in the center of base 1, and the bottom of first pulley 311 is fixedly connected with the top of base 1, first pulley 311 is embedded with first bearing 312, first pulley 311 is coaxial with first bearing 312, first bearing 312 is fixedly connected with rotating seat 31, and first pulley 311 is rotatably connected with rotating seat 31 through first bearing 312;

[0030] Further, the rotating seat 31 is fixedly connected with a rotating motor 32, a second pulley 321 is fixedly connected to the output shaft of the rotating motor 32, and a transmission belt 322 is sleeved on the outer side of the first pulley 311 and the outer side of the second pulley 321. The output shaft of the rotating motor 32 is connected with the first pulley 311 in sequence through the second pulley 321 and the transmission belt 322, so that the rotating motor 32 can drive the rotating seat 31 to rotate on the base 1.

[0031] Further, the rotating shaft 33 penetrates the rotating seat 31, the first pulley 311 and the base 1 in sequence, the rotating shaft 33 is coaxial with the first pulley 311, two second bearings 331 are sleeved on the rotating shaft 33, and the two second bearings 331 are fixedly connected with the rotating seat 31 and the base 1 respectively.

[0032] Please refer to Figures 3-7 .

[0033] The bottom of the connecting seat 2 is clamped into the connecting groove 313, the connecting seat 2 is fixedly connected with the rotating seat 31, and the connecting seat 2 is away from the axis of the first pulley 311, so that the stress applied to the rotating seat 31 by the connecting groove 313 deviates from the center of the rotating seat 31 and also deviates from the center of the base 1. The arm group 4 is rotatably connected with the clamping mechanism 6, the axis of the first pulley 311 is located between the connecting seat 2 and the clamping mechanism 6, so that the base 1, the rotating mechanism 3, the connecting seat 2, the arm group 4 and the clamping mechanism 6 form a C-shaped structure, and the two ends of the C-shaped structure are the base 1 and the clamping mechanism 6 respectively. When the clamping mechanism 6 clamps an object, the object is located at one end of the C-shaped mechanical arm, and the middle part of the C-shaped structure can be used as a counterweight to balance the increased weight of the clamped object. The other end of the C-shaped mechanical arm is located in the middle, so that the mechanical arm can reduce the difference in stress distribution when clamping an object, and further improve the stability of the mechanical arm placed on the desktop.

[0034] Further, the connecting seat 2 is rotatably connected with the arm group 4, the arm group 4 is composed of a first arm body 41 and a second arm body 42, the clamping mechanism 6 is rotatably connected with one end of the first arm body 41, the other end of the first arm body 41 is rotatably connected with one end of the second arm body 42, and the other end of the second arm body 42 is rotatably connected with the connecting seat 2.

[0035] The connecting seat 2 is provided with a transmission assembly 5, and the arm group 4 and the clamping mechanism 6 are connected with the transmission assembly 5. The transmission assembly 5 comprises a first drive motor 51, a first rocker arm 512, a second drive motor 52, a second rocker arm 521 and a third rocker arm 522.

[0036] Further, the first driving motor 51 is fixedly connected with the connecting seat 2, an output shaft of the first driving motor 51 is fixedly connected with a rocker 511, the other end of the first arm body 41 extends with a connecting part, one end of a first rocker arm 512 is rotationally connected with the connecting part, and the other end of the first rocker arm 512 is rotationally connected with one end of the rocker 511; the output shaft of the first driving motor 51 pulls the first rocker arm 512 to descend through the rocker 511, the first rocker arm 512 pulls the first arm body 41 to rotate and upturn on the second arm body 42, the clamping mechanism 6 is lifted, the output shaft of the first driving motor 51 pushes the first rocker arm 512 to ascend through the rocker 511, and the first rocker arm 512 pulls the first arm body 41 to rotate and downturn on the second arm body 42, the clamping mechanism 6 is lowered.

[0037] Further, the second driving motor 52 is fixedly connected with the connecting seat 2, an output shaft of the second driving motor 52 is fixedly connected with one side of the other end of the second arm body 42, one end of a second rocker arm 521 is rotationally connected with the clamping mechanism 6, the second arm body 42 rotationally connects with an adapter plate 421, the connection between the second arm body 42 and the adapter plate 421 is located in the middle of the adapter plate 421, the other end of the second rocker arm 521 is rotationally connected with one end of the adapter plate 421, one end of a third rocker arm 522 is rotationally connected with the other end of the adapter plate 421, and the other end of the third rocker arm 522 is rotationally connected with the connecting seat 2.

[0038] The output shaft of the second driving motor 52 drives the second arm body 42 to rotate on the connecting seat 2, the second arm body 42 drives the first arm body 41 to ascend, the third rocker arm 522 pulls the adapter plate 421 to rotate, and the adapter plate 421 pulls the clamping mechanism 6 to rotate and upturn through the second rocker arm 521; the output shaft of the second driving motor 52 drives the second arm body 42 to rotate on the connecting seat 2, the second arm body 42 drives the first arm body 41 to descend, the third rocker arm 522 pulls the adapter plate 421 to rotate, and the adapter plate 421 pulls the clamping mechanism 6 to rotate and downturn through the second rocker arm 521.

[0039] Please refer to Figure 7 and Figure 8 .

[0040] The clamping mechanism 6 comprises a clamping support 61, a first clamping jaw 63 and a second clamping jaw 64; the clamping support 61 is rotationally connected with the first arm body 41, the clamping support 61 is rotationally connected with the second rocker arm 521, the first clamping jaw 63 and the second clamping jaw 64 are both rotationally connected with the bottom of the clamping support 61; a clamping motor 62 is embedded in the clamping support 61, a gear 621 is fixedly connected on the output shaft of the clamping motor 62, a first rack 631 is extended on the first clamping jaw 63, the first rack 631 is around the connection between the clamping support 61 and the first clamping jaw 63, and the first rack 631 is in matched connection with the gear 621; a second rack 632 is extended on each of the first clamping jaw 63 and the second clamping jaw 64, the two second racks 632 are respectively around the connections between the clamping support 61 and the first clamping jaw 63 and between the clamping support 61 and the second clamping jaw 64, and the two second racks 632 are in matched connection with each other; the gear 621 is driven to rotate by the output shaft of the clamping motor 62, the first clamping jaw 63 is driven to rotate by a certain angle through the first rack 631, and the second clamping jaw 64 is synchronously driven to rotate by a certain angle through the second rack 632, so that the first clamping jaw 63 and the second clamping jaw 64 are opened to clamp the article.

[0041] The utility model provides a kind of high-stability small mechanical arm, when the present mechanical arm is placed on desktop, suction cup on base is adsorbed on desktop, promote the stability that the present mechanical arm is placed on desktop;Since the connecting place of connecting seat and rotary seat is away from the rotation axis of rotating mechanism, so that the present mechanical arm forms C character, when clamping mechanism clamps article, the weight of article is located at one end of C character, the support point of mechanical arm and desktop is located at the other end of C character, and the middle part of C character can be used as counterweight to balance the weight of clamped article, realize the balance of the present mechanical arm when clamping article, further promote the stability that the present mechanical arm is placed on desktop.

[0042] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit the scope of protection of the present application. 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 equivalently without departing from the essence and scope of the technical solutions of the present application.

Claims

1. A high-stability small-sized robot arm, characterized by, The base, the rotating mechanism and the connecting seat are included; The base is provided with a suction cup; The rotating mechanism includes a rotating seat and a first pulley, the first pulley is in rotational connection with the rotating seat, the first pulley is fixedly connected with the base, the rotating seat is internally provided with a rotating motor, the output shaft of the rotating motor is connected with the first pulley; The connecting seat is fixedly connected with the rotating seat, the connecting seat is away from the axis of the first pulley, the connecting seat is rotatably connected with an arm group, the arm group is rotatably connected with a clamping mechanism, the connecting seat is provided with a transmission assembly, the arm group and the clamping mechanism are connected with the transmission assembly, and the axis of the first pulley is located between the connecting seat and the clamping mechanism.

2. A high-stability small-sized robot arm according to claim 1, wherein The output shaft of the rotating motor is fixedly connected with a second pulley, and the first pulley and the second pulley are sleeved with a transmission belt.

3. A high-stability small-sized robot arm according to claim 2, wherein The first pulley is embedded with a first bearing, and the first bearing is fixedly connected with the rotating seat.

4. A high-stability small-sized robot arm according to claim 3, wherein The rotating mechanism further includes a rotating shaft, the rotating shaft penetrates the rotating seat, the first pulley and the base in sequence, the rotating shaft is coaxial with the first pulley, two second bearings are sleeved on the rotating shaft, and the two second bearings are fixedly connected with the rotating seat and the base respectively.

5. A high-stability small-sized robot arm according to claim 4, wherein The top of the rotating seat is provided with a connecting groove, the connecting groove is away from the rotating shaft, and the bottom of the connecting seat is clamped into the connecting groove.

6. A highly stable small robot arm according to any one of claims 1 or 5, wherein, The arm group is composed of a first arm body and a second arm body, the clamping mechanism is rotatably connected with the first arm body, the first arm body is rotatably connected with the second arm body, and the second arm body is rotatably connected with the connecting seat.

7. A high-stability small-sized robot arm according to claim 6, wherein The transmission assembly includes a first driving motor and a first rocker arm, the first driving motor is fixedly connected with the connecting seat, the output shaft of the first driving motor is fixedly connected with a rocker, the first arm body extends a connecting portion, the first rocker arm is rotatably connected with the connecting portion, and the first rocker arm is rotatably connected with the rocker.

8. A high-stability small-sized robot arm according to claim 7, characterized in that, The transmission assembly further includes a second driving motor, a second rocker arm and a third rocker arm, the second driving motor is fixedly connected with the connecting seat, the output shaft of the second driving motor is fixedly connected with the second arm body, the second rocker arm is rotatably connected with the clamping mechanism, the second arm body is rotatably connected with a link plate, the second rocker arm is rotatably connected with the link plate, the third rocker arm is rotatably connected with the link plate, and the third rocker arm is rotatably connected with the connecting seat.

9. A high-stability small-sized robot arm according to claim 8, characterized in that, The clamping mechanism includes a clamping support, a first clamping jaw and a second clamping jaw, the clamping support is rotatably connected with the first arm body, the clamping support is rotatably connected with the second rocker arm, the first clamping jaw and the second clamping jaw are rotatably connected with the clamping support, the clamping support is embedded with a clamping motor, the output shaft of the clamping motor is fixedly connected with a gear, the first clamping jaw extends a first rack, the first rack is in matched connection with the gear, the first clamping jaw and the second clamping jaw each extend a second rack, and the two second racks are in matched connection with each other.

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