Replaceable mechanical arm front end

Abstract

The utility model provides a replaceable mechanical arm front end which is used for solving the problems that a mechanical arm in a narrow space cannot work flexibly and is small in bearing capacity. The front end of the mechanical arm comprises a main motor, a glass fiber plate is rotationally connected to an output shaft of the main motor, two side plates are fixed to the end, away from the main motor, of the glass fiber plate, motors are fixed to the side plates and arranged in a staggered mode, the side plates are connected through a rotating disc, the rotating disc comprises a rotating shaft, and the two ends of the rotating shaft penetrate through the side plates correspondingly. A connecting cylinder is fixed to the center of the rotating shaft, the axis of the connecting cylinder is perpendicular to the axis of the rotating shaft, a buffer fitting is rotationally connected into the connecting cylinder, a suction cup is fixed to the end, away from the main motor, of the buffer fitting, a driven bevel gear is fixed to the end, close to the main motor, of the buffer fitting, and the two motors drive the driven bevel gear to rotate through driving gears. Movement of the mechanical arm is accurately controlled through the two independent motors, and the bearing capacity and stability of the mechanical arm are improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, especially a replaceable mechanical arm front end. BACKGROUND

[0002] In the field of automation and robotics, as the key equipment for performing precision operations and heavy lifting, the performance and function optimization of mechanical arms have always been the focus of industry research and development. In particular, in the design of mechanical arm front end actuators, it is required not only to efficiently and accurately complete the gripping and carrying tasks of objects, but also to protect the operating objects and adapt to complex and variable working environments.

[0003] The front end actuators currently existing in the market can meet the basic gripping needs, but there is still room for improvement in volume control, carrying capacity, and protection ability for object surfaces. Specifically, traditional front ends are often large in size, limiting the operational flexibility of mechanical arms in narrow spaces. At the same time, the design of gripping force often fails to balance the stable picking of heavy objects and the protection of fragile object surfaces, resulting in certain limitations in actual application. SUMMARY

[0004] The utility model provides a replaceable mechanical arm front end, which solves the problem of the inability of mechanical arms to work flexibly and the small carrying capacity in narrow spaces in the prior art.

[0005] The technical solution of the utility model is as follows:

[0006] A replaceable mechanical arm front end, comprising a main motor, a glass fiber plate rotatably connected to the output shaft of the main motor, a left side plate and a right side plate fixed to the end of the glass fiber plate away from the main motor, a left motor fixed to the left side plate, a right motor fixed to the right side plate, the left motor and the right motor being staggered, the left side plate and the right side plate being connected to each other by a rotating disc at the end away from the glass fiber plate, the rotating disc comprising a rotating shaft, the rotating shaft penetrating through the left side plate and the right side plate at both ends, a connecting cylinder fixed to the center of the rotating shaft, the axis of the connecting cylinder being perpendicular to the axis of the rotating shaft, a buffer fitting rotatably connected in the connecting cylinder, a suction cup fixed to the end of the buffer fitting away from the main motor, a driven bevel gear fixed to the end of the buffer fitting close to the main motor, a left drive gear provided at the left end of the rotating shaft, a right drive gear provided at the right end of the rotating shaft, the left motor being connected to the left side of the driven bevel gear through the left drive gear, and the right motor being connected to the right side of the driven bevel gear through the right drive gear.

[0007] Further, the left motor is connected with the left drive gear through a left synchronous pulley set, and the right motor is connected with the right drive gear through a right synchronous pulley set. The left synchronous pulley set and the right synchronous pulley set each include a driving pulley and a driven pulley. The driving pulley is fixedly connected with the left motor or the right motor, and the driven pulley is fixedly connected with the end of the same-side rotating shaft of the left motor or the right motor. The driving pulley and the driven pulley are connected through a synchronous belt. The synchronous pulley set transmits power through the synchronous belt, and has the characteristics of stable transmission, low noise and high efficiency.

[0008] Further, the left side plate and the right side plate each include a fixed plate and a sliding plate. The driving pulley is rotatably connected to the fixed plate, and the driven pulley is rotatably connected to the sliding plate. The fixed plate and the sliding plate are connected through an extension mechanism. The extension mechanism includes a slide way fixed to the inner side of the fixed plate, and a sliding block fixed to the sliding plate and matched with the slide way. A long circular hole is provided in the fixed plate, and an adjusting bolt is screwed to the sliding block and can slide along the long circular hole. An elastic telescopic rod is arranged on the outer side of the fixed plate, and a roller is rotatably connected to the telescopic end of the elastic telescopic rod and can abut against the synchronous belt. The stable extension mechanism and the automatic adjustment of the synchronous belt tension force are realized, so that the mechanical arm can also maintain a high load capacity in the extended state, and the application range of the mechanical arm is expanded, so that it can be used in more work scenes requiring long distance and high load.

[0009] Further, a fixed block is fixed to the side of the glass fiber plate away from the main motor. The left side plate and the right side plate are inserted into the glass fiber plate, and the left side plate and the right side plate are connected with the fixed block through fixing bolts. The fixing bolts tightly connect the left side plate, the right side plate and the glass fiber plate together through fastening effect, forming a stable overall structure that can withstand a large load and vibration.

[0010] Further, the left motor and the right motor are arranged between the left side plate and the right side plate. The left side plate and the right side plate can not only protect the motors, but also reduce the space occupied by the motors outside the mechanical wall, thereby reducing the volume.

[0011] Further, the suction disc is a heavy-load vacuum suction disc. The heavy-load vacuum suction disc has stronger adsorption force, so that higher stability can be maintained when adsorbing heavy objects, and the risk of workpiece falling or position deviation caused by unstable adsorption is reduced.

[0012] Further, the extension mechanism is multiple. Multiple extension mechanisms jointly bear the load, so that the stress can be more evenly distributed on each extension mechanism when the front end of the mechanical arm is stressed.

[0013] The beneficial effects of the technical scheme can be as follows: The utility model discloses a main motor, left motor and right motor cooperation, make the mechanical arm front end can realize wrist's rotary movement and the circular movement of sucking disc and swing up and down, greatly improve the flexibility and multifunctionality of mechanical arm, make the mechanical arm can execute more complex task, adapt to more application scenarios.The staggered arrangement of the left motor and the right motor can save a lot of space, so that the whole mechanical arm front end structure is more compact, ensures that the mechanical arm can work in a narrow space, improves its application range and flexibility.The two independent motors are used to accurately control the up-and-down swing and the circular motion of the mechanical arm, and share the load together, improve the carrying capacity and stability of the mechanical arm, and also can realize more accurate motion control, improve the positioning accuracy and repeatability of the mechanical arm, so that the mechanical arm is more reliable when performing fine tasks. BRIEF DESCRIPTION OF DRAWINGS

[0014] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the drawings needed to be used in the embodiment or the prior art description will be briefly introduced below, and obviously, the drawings in the following description are only some embodiments of the utility model, and those skilled in the art can also obtain other drawings according to these drawings without creating labor.

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

[0016] Figure 2 It is an explosion diagram of the utility model;

[0017] Figure 3 It is a three-dimensional structure schematic diagram when the extension mechanism is retracted;

[0018] Figure 4 It is a three-dimensional structure schematic diagram when the extension mechanism is extended;

[0019] Figure 5 It is a three-dimensional structure schematic diagram at the driven bevel gear;

[0020] Figure 6 It is an explosion diagram at the driven bevel gear.

[0021] Wherein: 1, main motor, 2, glass fiber plate, 3, left side plate, 4, right side plate, 5, left motor, 6, right motor, 7, rotating shaft, 8, connecting barrel, 9, buffer fitting, 10, sucking disc, 11, driven bevel gear, 12, left drive gear, 13, right drive gear, 14, drive wheel, 15, driven wheel, 16, fixed plate, 17, sliding plate, 18, slide, 19, sliding block, 20, long circular hole, 21, adjusting bolt, 22, elastic telescopic rod, 23, roller, 24, fixed block, 25, extension mechanism. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all the other embodiments obtained by the ordinary skilled in the art without creative labor fall within the scope of the utility model.

[0023] As shown in Figures 1-2 The utility model provides a replaceable mechanical arm front end, including main motor 1, the output shaft of main motor 1 is rotatably connected with glass fiber plate 2, the end of glass fiber plate 2 away from main motor 1 is fixed with left side plate 3 and right side plate 4 respectively, left motor 5 is fixed on left side plate 3, right motor 6 is fixed on right side plate 4, left motor 5 and right motor 6 are staggered arrangement, the end of left side plate 3 and right side plate 4 away from glass fiber plate 2 is connected with each other through swivel plate, and the swivel plate includes pivot 7, the both ends of pivot 7 are respectively through left side plate 3 and right side plate 4, the center of pivot 7 is fixed with connecting cylinder 8, the axis of connecting cylinder 8 is perpendicular to the axis of pivot 7, buffering gold utensil 9 is rotatably connected in connecting cylinder 8, suction disc 10 is fixed in the end of buffering gold utensil 9 away from main motor 1, driven bevel gear 11 is fixed in the end of buffering gold utensil 9 close to main motor 1, the left end of pivot 7 is equipped with left drive gear 12, the right end of pivot 7 is equipped with right drive gear 13, left motor 5 is connected through the left side engagement of left drive gear 12 and driven bevel gear 11, right motor 6 is connected through the right side engagement of right drive gear 13 and driven bevel gear 11. Glass fiber plate 2, left side plate 3 and right side plate 4 are all glass fiber plate. Through glass fiber plate, it can be convenient to process. Buffering gold utensil 9 and suction disc 10 are all prior art.

[0024] In use, the main motor 1 acts as the R-axis of the mechanical arm, controlling the wrist rotation movement, and can act as the B-axis of the mechanical arm. When the left motor 5 and the right motor 6 rotate in opposite directions, the left drive gear 12 and the right drive gear 13 cooperate to drive the driven bevel gear 11 to rotate along the axis of the connecting cylinder 8, acting as the T-axis of the mechanical arm, controlling the circumferential movement of the wrist. When the left motor 5 and the right motor 6 rotate in the same direction, the left drive gear 12 and the right drive gear 13 cooperate to drive the driven bevel gear 11 to rotate along the axis of the rotating shaft 7, thereby realizing the up-and-down swinging of the wrist. Through the cooperation of the main motor 1, the left motor 5 and the right motor 6, the front end of the mechanical arm can realize the rotation movement of the wrist and the circumferential movement and up-and-down swinging of the suction cup 10, greatly improving the flexibility and multifunctionality of the mechanical arm, enabling the mechanical arm to perform more complex tasks and adapt to more application scenarios. The staggered arrangement of the left motor 5 and the right motor 6 can save a lot of space, making the entire mechanical arm front end structure more compact, ensuring that the mechanical arm can work in a small space, improving its application range and flexibility. Precise control of the up-and-down swinging and circumferential movement of the mechanical arm is achieved through two independent motors, and the load is shared by the two motors, improving the load-carrying capacity and stability of the mechanical arm, and enabling more precise motion control, improving the positioning accuracy and repeatability of the mechanical arm, making it more reliable when performing delicate tasks.

[0025] As shown in Figures 1-4 , the left motor 5 is connected to the left drive gear 12 through a left synchronous pulley set, and the right motor 6 is connected to the right drive gear 13 through a right synchronous pulley set. The left synchronous pulley set and the right synchronous pulley set each include a drive wheel 14 and a driven wheel 15. The drive wheel 14 is fixedly connected to the left motor 5 or the right motor 6, and the driven wheel 15 is fixedly connected to the end of the same-side rotating shaft 7 of the left motor 5 or the right motor 6. The drive wheel 14 and the driven wheel 15 are connected by a synchronous belt. By replacing synchronous belts of different lengths, the left side plate 3 and the right side plate 4 can extend the overall length of the mechanical arm, enabling the mechanical arm to cover a larger working area, improving its operating range and flexibility. Moreover, as a transmission element, the synchronous pulley set is relatively simple to install and remove, facilitating the debugging and maintenance of the mechanical arm.

[0026] As shown in Figure 3 , 4As shown, the left side plate 3 and the right side plate 4 each include a fixed plate 16 and a sliding plate 17, the driving wheel 14 is rotationally connected to the fixed plate 16, the driven wheel 15 is rotationally connected to the sliding plate 17, the fixed plate 16 and the sliding plate 17 are connected through an extension mechanism 25, the extension mechanism 25 includes a slide 18 fixed to the inner side of the fixed plate 16, a sliding block 19 is fixed to the sliding plate 17, the sliding block 19 cooperates with the slide 18, a long circular hole 20 is provided through the fixed plate 16, an adjusting bolt 21 is screwed to the sliding block 19, the adjusting bolt 21 can slide along the long circular hole 20, an elastic telescopic rod 22 is provided on the outer side of the fixed plate 16, a roller 23 is rotationally connected to the telescopic end of the elastic telescopic rod 22, and the roller 23 can abut against the synchronous belt. The elastic telescopic rod 22 is a prior art.

[0027] When it is needed to extend the mechanical arm, the sliding plate 17 is controlled to move away from the fixed plate 16, the sliding plate 17 drives the sliding block 19 to slide along the slide 18, and the synchronous belt pulley set makes the elastic telescopic rod 22 compress. By controlling the relative position between the sliding plate 17 and the fixed plate 16, the length of the mechanical arm can be conveniently adjusted, so that the mechanical arm can adapt to the requirements of different working scenes, and the flexibility and applicability thereof are improved. When the mechanical arm is extended to a proper distance, the adjusting bolt 21 can be tightened to increase the friction between the sliding block 19 and the slide 18, so that the sliding plate 17 can be fixed, thereby ensuring the stability of the mechanical arm in the extended state. When it is needed to retract the mechanical arm, the adjusting bolt 21 is loosened, so that the sliding block 19 can freely slide along the slide 18. When the sliding plate 17 approaches the fixed plate 16, the distance between the driving wheel 14 and the driven wheel 15 will decrease, and at the same time, the elastic telescopic rod 22 is elongated under the action of the elastic force and compresses the synchronous belt through the roller 23, so that the synchronous belt always has a certain tension. The long circular hole 20 provides sufficient sliding space for the adjusting bolt 21, so that the position of the adjusting bolt 21 can be conveniently adjusted when the length of the mechanical arm is adjusted.

[0028] As shown in Figures 1-2 The glass fiber plate 2 is fixed with a fixed block 24 on the side away from the main motor 1, the left side plate 3 and the right side plate 4 are inserted with the glass fiber plate 2, and the left side plate 3 and the right side plate 4 are connected with the fixed block 24 through fixing bolts. By arranging the fixed block 24 and the fixing bolts, the left side plate 3 and the right side plate 4 can be conveniently disassembled, so that the disassembly operation can be quickly performed when the front end components of the mechanical arm are maintained or replaced, and the work efficiency is greatly improved. By inserting the left side plate 3 and the right side plate 4 with the glass fiber plate 2, the positioning during installation can be facilitated, the positioning accuracy during installation can be effectively improved, the overall performance and stability of the front end of the mechanical arm can be ensured, and the maintenance efficiency can be greatly improved when the maintenance personnel quickly locate and replace the damaged components during handling of the front end failure of the mechanical arm.

[0029] As shown in Figures 1-2As shown, both the left motor 5 and the right motor 6 are positioned between the left side plate 3 and the right side plate 4. By housing the motors within the left side plate 3 and the right side plate 4, the extra space occupied by the left motor 5 and right motor 6 outside the robotic arm is avoided, significantly reducing the overall volume of the robotic arm's front end and allowing it to more easily adapt to confined workspaces. The left side plate 3 and the right side plate 4 serve as external protective layers for the motors, reducing impacts to the left motor 5 and right motor 6 during operation, thereby extending their service life and reducing the failure rate, ensuring the continuous and stable operation of the robotic arm's front end. Heat dissipation holes can be provided on the left side plate 3 and the right side plate 4 to ensure that the motors maintain an appropriate temperature during long-term operation, preventing malfunctions caused by overheating.

[0030] The suction cup 10 is a heavy-duty vacuum suction cup. Heavy-duty vacuum suction cups are existing technology. Compared with ordinary vacuum suction cups, heavy-duty vacuum suction cups have stronger adsorption force and can stably adsorb objects with heavier loads, enabling the robotic arm's front end to handle a wider range and heavier workpieces, thus broadening its application areas and practicality.

[0031] like Figure 4 As shown, there are multiple extension mechanisms 25. The arrangement of multiple extension mechanisms 25 allows the front end of the robotic arm to distribute the load in the extended state, thereby significantly improving the overall load-bearing capacity and ensuring that the front end of the robotic arm can maintain structural stability and is not easily deformed or damaged when handling heavy objects or subjected to large external forces.

[0032] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A replaceable robot front end comprising a main motor (1), characterized in that: The output shaft of the main motor (1) is rotationally connected with a glass fiber plate (2), the end of the glass fiber plate (2) away from the main motor (1) is fixed with a left side plate (3) and a right side plate (4) respectively, the left side plate (3) is fixed with a left motor (5), the right side plate (4) is fixed with a right motor (6), the left motor (5) and the right motor (6) are staggered, the end of the left side plate (3) and the right side plate (4) away from the glass fiber plate (2) is connected with each other through a rotating disc, the rotating disc comprises a rotating shaft (7), the two ends of the rotating shaft (7) penetrate through the left side plate (3) and the right side plate (4) respectively, the center of the rotating shaft (7) is fixed with a connecting cylinder (8), the axis of the connecting cylinder (8) is perpendicular to the axis of the rotating shaft (7), the connecting cylinder (8) is rotationally connected with a buffer fitting (9) inside, the end of the buffer fitting (9) away from the main motor (1) is fixed with a suction disc (10), the end of the buffer fitting (9) close to the main motor (1) is fixed with a driven bevel gear (11), the left end of the rotating shaft (7) is provided with a left drive gear (12), the right end of the rotating shaft (7) is provided with a right drive gear (13), the left motor (5) is connected with the left side of the driven bevel gear (11) through the left drive gear (12), the right motor (6) is connected with the right side of the driven bevel gear (11) through the right drive gear (13).

2. The replaceable robot wrist of claim 1, wherein: The left motor (5) is connected with the left drive gear (12) through a left synchronous pulley set, the right motor (6) is connected with the right drive gear (13) through a right synchronous pulley set, the left synchronous pulley set and the right synchronous pulley set both comprise a driving wheel (14) and a driven wheel (15), the driving wheel (14) is fixedly connected with the left motor (5) or the right motor (6), the driven wheel (15) is fixedly connected with the left motor (5) or the right motor (6) and the end of the same side rotating shaft (7), the driving wheel (14) and the driven wheel (15) are connected through a synchronous belt.

3. The replaceable robot wrist of claim 2, wherein: The left side plate (3) and the right side plate (4) both comprise a fixed plate (16) and a sliding plate (17), the driving wheel (14) is rotationally connected on the fixed plate (16), the driven wheel (15) is rotationally connected on the sliding plate (17), the fixed plate (16) and the sliding plate (17) are connected through an extension mechanism (25), the extension mechanism (25) comprises a slide (18), the slide (18) is fixed on the inner side of the fixed plate (16), the sliding plate (17) is fixed with a sliding block (19), the sliding block (19) is matched with the slide (18), the fixed plate (16) is provided with an oblong hole (20), the sliding block (19) is screwed with an adjusting bolt (21), the adjusting bolt (21) can slide along the oblong hole (20), the outer side of the fixed plate (16) is provided with an elastic telescopic rod (22), the telescopic end of the elastic telescopic rod (22) is rotationally connected with a roller (23), the roller (23) can abut against the synchronous belt.

4. The replaceable robot wrist of claim 1, wherein: The side of the glass fiber plate (2) away from the main motor (1) is fixed with a fixed block (24), the left side plate (3) and the right side plate (4) are inserted with the glass fiber plate (2), and the left side plate (3) and the right side plate (4) are connected with the fixed block (24) through fixing bolts.

5. The replaceable robot wrist of claim 1, wherein: The left motor (5) and the right motor (6) are both arranged between the left side plate (3) and the right side plate (4).

6. The replaceable robot wrist of claim 1, wherein: The suction cup (10) is a heavy duty vacuum suction cup.

7. The replaceable robot wrist of claim 3, wherein: The extension mechanism (25) is multiple.

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