Mechanical arm adjusting structure and mechanical arm device

Abstract

The utility model discloses a mechanical arm adjusting structure and a mechanical arm device. The mechanical arm adjusting structure comprises a base, a linear driving mechanism and a mechanical arm. The linear driving mechanism comprises a first linear driving assembly and a second linear driving assembly, and the first linear driving assembly and the second linear driving assembly are arranged on the base. The mechanical arm is provided with a first position and a second position which are arranged at intervals, the action end of the first linear driving assembly is rotationally connected to the first position of the mechanical arm, a connecting rod is rotationally arranged at the second position of the mechanical arm, and the action end of the second linear driving assembly is rotationally connected to the end, away from the mechanical arm, of the connecting rod. According to the arrangement, the first linear driving assembly and the second linear driving assembly can adjust the height and the pitching angle of the mechanical arm through different motion state combinations, the integration degree of the mechanical arm adjusting structure is improved, and the size of the mechanical arm is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of mechanical arm adjusting structure and mechanical arm device, belong to the field of automation equipment. BACKGROUND

[0002] In the field of numerical control machine tool processing, it has become a trend to automatically feed and discharge the numerical control machine tool. The manipulator, as a carrying device for feeding and discharging, is the most common one. However, the existing manipulator occupies a large area, which makes the arrangement space between numerical control machine tools larger and the utilization rate of the workshop lower. Moreover, each manipulator is only used for feeding and discharging two numerical control machine tools, and the utilization rate of the manipulator is also low, which makes the production cost higher.

[0003] Therefore, it is necessary to provide a kind of mechanical arm adjusting structure and mechanical arm device to solve the above problems. SUMMARY

[0004] The utility model aims at providing a kind of mechanical arm adjusting structure and mechanical arm device that can improve the utilization rate of mechanical arm.

[0005] To achieve the above-mentioned purpose, the utility model adopts the following technical solution:

[0006] A kind of mechanical arm adjusting structure, comprising:

[0007] a base;

[0008] a linear drive mechanism, comprising a first linear drive assembly and a second linear drive assembly, the first linear drive assembly and the second linear drive assembly are arranged on the base respectively;

[0009] a mechanical arm having a first position and a second position arranged at intervals, the action end of the first linear drive assembly is rotatably connected to the first position of the mechanical arm, the second position of the mechanical arm is rotatably provided with a connecting rod, the action end of the second linear drive assembly is rotatably connected to one end of the connecting rod away from the mechanical arm, the first linear drive assembly can drive the first position of the mechanical arm to move linearly, and the second linear drive assembly can drive one end of the connecting rod away from the mechanical arm to move linearly.

[0010] Further, the linear drive directions of the first linear drive assembly and the second linear drive assembly are parallel to each other.

[0011] Further, the mechanical arm adjusting structure further comprises a first connecting block, one side of the first connecting block is connected with the action end of the first linear drive assembly, and the other side of the first connecting block is rotatably connected with the first position of the mechanical arm.

[0012] The mechanical arm adjusting structure further comprises a second connecting block, one side of the second connecting block is connected with the action end of the second linear driving assembly, and the other side of the second connecting block is rotationally connected with the end of the mechanical arm away from the connecting rod.

[0013] Further, the mechanical arm adjusting structure further comprises two groups of sliding assemblies, the first linear driving assembly and the second linear driving assembly are located between the two groups of sliding assemblies, and the first connecting block and the second connecting block are connected with the sliding assemblies respectively.

[0014] Further, the first linear driving assembly and the second linear driving assembly are ball screw structures with the same structure.

[0015] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme two:

[0016] A mechanical arm device, the mechanical arm device comprises the mechanical arm adjusting structure as described above.

[0017] Further, the mechanical arm adjusting structure further comprises a joint mechanism and a grabbing mechanism, the joint mechanism is arranged on the mechanical arm, and the grabbing mechanism is arranged on the joint mechanism.

[0018] Further, a rotating mechanism is arranged between the joint mechanism and the grabbing mechanism, the rotating mechanism is arranged between the joint mechanism and the grabbing mechanism, and the rotating mechanism is configured to drive the grabbing mechanism to rotate.

[0019] Further, the mechanical arm device further comprises a horizontal moving mechanism, the base is arranged on the horizontal moving mechanism, and the horizontal moving mechanism is configured to drive the base to move in the horizontal direction.

[0020] Further, the mechanical arm device further comprises a rotating mechanism, the base is connected with the rotating mechanism, and the rotating mechanism is configured to drive the base to rotate.

[0021] Compared with the prior art, the utility model discloses a kind of mechanical arm adjusting structure, and mechanical arm adjusting structure includes pedestal, linear drive mechanism and mechanical arm.Linear drive mechanism includes first linear drive component and second linear drive component, and first linear drive component and second linear drive component are respectively arranged in pedestal.Mechanical arm has first position and second position arranged at intervals, and the action end of first linear drive component is arranged at the first position of mechanical arm, and the action end of second linear drive component is rotationally connected to the end of connecting rod away from mechanical arm, first linear drive component can drive the linear motion of the first position of mechanical arm, and second linear drive component can drive the linear motion of the end of connecting rod away from mechanical arm.Such, the different motion state combinations of the action end of first linear drive group and the action end of second linear drive component can adjust the height and pitch angle of mechanical arm, to improve the integration degree of mechanical arm adjusting structure, and reduce the size of mechanical arm adjusting structure. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 It is the three-dimensional schematic diagram of the utility model mechanical arm adjusting structure;

[0023] Figure 2 It is Figure 1 Three-dimensional exploded schematic diagram;

[0024] Figure 3 It is Figure 1 Three-dimensional exploded schematic diagram of horizontal moving device in it;

[0025] Figure 4 It is Figure 1 Three-dimensional exploded schematic diagram of pedestal, linear drive mechanism, mechanical arm, connecting rod, sliding assembly, first bearing, second bearing and third bearing in it;

[0026] Figure 5 It is Figure 1 Three-dimensional schematic diagram of pedestal, linear drive mechanism and sliding assembly in it;

[0027] Figure 6 It is Figure 1 Three-dimensional schematic diagram of mechanical arm, connecting rod, first bearing, second bearing, third bearing and joint mechanism in it;

[0028] Figure 7 It is Figure 6 Three-dimensional exploded schematic diagram;

[0029] Figure 8 It is Figure 6 Three-dimensional exploded schematic diagram of mechanical arm, first bearing and second bearing in it;

[0030] Figure 9 It is Figure 6 Three-dimensional exploded schematic diagram of connecting rod and third bearing in it.

[0031] BRIEF DESCRIPTION OF DRAWINGS

[0032] 1, base; 11, first substrate; 12, second substrate; 13, fixed plate; 14, fixing seat;

[0033] 2, linear driving mechanism; 21, first linear driving assembly; 211, first motor; 212, first screw rod; 213, first ball nut; 22, second linear driving assembly; 221, second motor; 222, second screw rod; 223, second ball nut;

[0034] 3, mechanical arm; 301, first end; 3001, first mounting hole; 302, second end; 303, third end; 3002, second mounting hole; 31, first connecting block; 311, first main body part; 312, first connecting part; 313, second connecting part; 32, second connecting block; 321, second main body part; 322, third connecting part; 323, fourth connecting part; 33, arm body; 34, connecting column;

[0035] 4, connecting rod;

[0036] 5, sliding assembly; 51, sliding rail; 52, first sliding block; 53, second sliding block;

[0037] 6, first bearing; 7, second bearing; 8, third bearing;

[0038] 9, horizontal moving mechanism; 91, mounting seat; 92, guide rail; 93, moving block; 94, horizontal driving piece; 95, fixed block;

[0039] 10, rotating mechanism;

[0040] 20, joint mechanism; 210, third motor; 220, transmission piece; 230, speed reducer; 240, connecting seat;

[0041] 30, rotating mechanism. DETAILED DESCRIPTION

[0042] The following will be described in detail with reference to the drawings. If there are several embodiments, the features in these embodiments can be combined with each other in the case of no conflict. When the description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise specified. The description in the following exemplary embodiments does not represent all the embodiments consistent with the present application; on the contrary, they are only examples of devices, products and / or methods consistent with some aspects of the present application as recited in the claims of the present application.

[0043] The terminology used in the present application is for the purpose of describing specific embodiments only and is not intended to limit the scope of the present application. The singular forms "a," "said," and "the" used in the specification and claims of the present application are intended to include plural forms as well, unless the context clearly indicates otherwise.

[0044] It should be understood that the use of terms such as "first", "second" and similar terms in the specification and claims of the present application do not denote any order, number or importance, but are only used to distinguish the features named. Similarly, the use of terms such as "one" or "an" does not denote a quantity limitation, but rather indicates the presence of at least one. Unless otherwise indicated, the terms "front", "back", "up", "down", and similar terms used in the present application are intended to facilitate the description and are not limited to a particular position or spatial orientation. The terms "include" or "contain" and similar terms are open-ended expressions, meaning that the elements appearing before "include" or "contain" encompass the elements appearing after "include" or "contain" and their equivalents, and do not exclude the possibility that the elements appearing before "include" or "contain" can also include other elements. If "several" appears in the present application, it means two or more.

[0045] Please refer to Figures 1 to 9 The utility model discloses a kind of mechanical arm adjusting structure, mechanical arm adjusting structure includes pedestal 1, linear drive mechanism 2 and mechanical arm 3. Linear drive mechanism 2 includes first linear drive assembly 21 and second linear drive assembly 22, first linear drive assembly 21 with second linear drive assembly 22 respectively set in pedestal 1. Mechanical arm 3 has first position and second position arranged at intervals, the action end of first linear drive assembly 21 is rotationally connected to the first position of mechanical arm 3, the second position of mechanical arm 3 is provided with connecting rod 4, the action end of second linear drive assembly 22 is rotationally connected to the end of connecting rod 4 away from mechanical arm 3. First linear drive assembly 21 can drive the first position of mechanical arm 3 to move linearly, and second linear drive assembly 22 can drive the end of connecting rod 4 away from mechanical arm 3 to move linearly. In this way, the action end of first linear drive assembly 21 and the action end of second linear drive assembly 22 can adjust the height and pitch angle of mechanical arm 3 through different motion state combinations, so as to improve the integration degree of mechanical arm adjusting structure, and reduce the size of mechanical arm 3.

[0046] Please refer to Figures 1 to 5 Pedestal 1 includes first base plate 11 and second base plate 12 vertically arranged on first base plate 11, first base plate 11 is placed along horizontal plane, and second base plate 12 is vertically arranged at the middle position of first base plate 11. For the convenience of description, it is defined that, as shown in the accompanying drawings Figure 1 And the accompanying drawings Figure 4The length direction of the second substrate 12 is the first direction D1-D1, the width direction of the second substrate 12 is the second direction D2-D2, and the thickness direction of the second substrate 12 is the third direction D3-D3. The first direction D1-D1, the second direction D2-D2, and the third direction D3-D3 are perpendicular to each other. The linear driving directions of the first linear driving assembly 21 and the second linear driving assembly 22 are parallel to each other. That is, the moving end of the first linear driving assembly 21 and the moving end of the second linear driving assembly 22 move along the first direction D1-D1. At the same time, the first linear driving assembly 21 and the second linear driving assembly 22 are respectively arranged on one side of the second substrate 12 along the second direction D2-D2. In this embodiment, the first linear driving assembly 21 and the second linear driving assembly 22 are both ball screw structures. Specifically, the first linear driving assembly 21 includes a first motor 211, a first screw rod 212, and a first ball nut 213. The first screw rod 212 is connected to the first motor 211, and the first ball nut 213 is threadedly connected to the first screw rod 212. The second linear driving assembly 22 includes a second motor 221, a second screw rod 222, and a second ball nut 223. The second screw rod 222 is connected to the second motor 221, and the second ball nut 223 is threadedly connected to the second screw rod 222. The first screw rod 212 and the second screw rod 222 are arranged in parallel along the first direction D1-D1, and the first screw rod 212 and the second screw rod 222 are arranged on the second substrate 12 along the second direction D2-D2. The second substrate 12 is further provided with a fixed plate 13, which is perpendicular to the second substrate 12. The fixed plate 13 is arranged close to the top of the second substrate 12. The first motor 211 and the second motor 221 are arranged on the fixed plate 13. The same ends of the first screw rod 212 and the second screw rod 222 pass through the fixed plate 13 and are connected to the first motor 211 and the second motor 221, respectively. The opposite ends of the first screw rod 212 and the second screw rod 222 are arranged at the connection between the second substrate 12 and the first substrate 11 through a fixed seat 14. In this way, the first linear driving assembly 21 and the second linear driving assembly 22 are fixed to the base 1. The first motor 211 and the second motor 221 are used to drive the first screw rod 212 and the second screw rod 222 to rotate, respectively. By adjusting the different motion state combinations between the first ball nut 213 and the second ball nut 223, the height and the pitch angle of the mechanical arm 3 can be adjusted simultaneously, and the integration degree of the mechanical arm adjusting structure is improved. In other embodiments, the first linear driving assembly 21 and the second linear driving assembly 22 can be electric push rods or other forms of linear driving members, which are not limited here.

[0047] Please refer to Figure 4 and Figures 6 to 7, the mechanical arm adjusting structure comprises a first connecting block 31, one side of the first connecting block 31 is connected with the action end of the first linear driving assembly 21, and the other side of the first connecting block 31 is rotationally connected with the first position of the mechanical arm 3. Specifically, the first connecting block 31 comprises a first main body part 311 and first and second connecting parts 312 and 313 arranged on the opposite sides of the first main body part 311, the first ball nut 213 is sleeved in the first connecting part 312, and the two second connecting parts 313 are arranged on the first main body part 311 in parallel. The second connecting part 313 is rotationally connected with the first position of the mechanical arm 3, so that the first linear driving assembly 21 drives the first connecting block 31 to move up and down along the first screw rod 212 through the first ball nut 213, thereby adjusting the height of the mechanical arm 3. In other embodiments, the first connecting block 31 and the first ball nut 213 can be connected through a ball joint, so that the first connecting block 31 and the first ball nut 213 can be rotationally connected.

[0048] Please refer to Figure 4 and Figures 6 to 7 , the mechanical arm adjusting structure further comprises a second connecting block 32, one side of the second connecting block 32 is connected with the action end of the second linear driving assembly 22, and the other side of the second connecting block 32 is rotationally connected with one end of the connecting rod 4 away from the mechanical arm 3. Specifically, the second connecting block 32 comprises a second main body part 321 and third and fourth connecting parts 322 and 323 arranged on the opposite sides of the second main body part 321, the two fourth connecting parts 323 are arranged on the second main body part 321 in parallel, the second ball nut 223 is sleeved in the third connecting part 322, and the fourth connecting part 323 is rotationally connected with one end of the connecting rod 4. The other end of the connecting rod 4 is rotationally connected with the second position of the mechanical arm 3. The second linear driving assembly 22 drives the second connecting block 32 to move up and down along the second screw rod 222 through the second ball nut 223, thereby driving the connecting rod 4 and the mechanical arm 3 to move in the first direction D1-D1. By adjusting the different motion state combinations between the second connecting block 31 and the first connecting block 32, the pitch angle of the mechanical arm 3 is adjusted, the integration degree of the mechanical arm adjusting structure is improved, and the size is reduced. In other embodiments, the second connecting block 32 and the second ball nut 223 can be connected through a ball joint, so that the second connecting block 32 and the second ball nut 223 can be rotationally connected.

[0049] Please refer to Figures 4 to 5The mechanical arm adjusting structure further comprises two groups of sliding assemblies 5, the first linear driving assembly 21 and the second linear driving assembly 22 are located between the two groups of sliding assemblies 5, and the first connecting block 31 and the second connecting block 32 are connected with the sliding assemblies 5 respectively, so that the first connecting block 31 and the second connecting block 32 can move along the first direction D1-D1, and the stability of the first connecting block 31 and the second connecting block 32 during movement is improved.

[0050] Specifically, the sliding assembly 5 comprises a sliding rail 51, a first sliding block 52 and a second sliding block 53, the sliding rail 51 is arranged on the base 1, the first sliding block 52 and the second sliding block 53 are slidingly arranged on the sliding rail 51, the first connecting block 31 is connected with the first sliding block 52, and the second connecting block 32 is connected with the second sliding block 53. Specifically, two sliding rails 51 are arranged on the second base plate 12, and the first lead screw 212 and the second lead screw 222 are arranged between the two sliding rails 51 respectively. The extension directions of the two sliding rails 51 are consistent with the extension directions of the first lead screw 212 and the second lead screw 222. The first sliding block 52 on each sliding rail 51 is located above the second sliding block 53. The first main body part 311 is connected with the two first sliding blocks 52, and the second main body part 321 is connected with the two second sliding blocks 53, so as to improve the smoothness and stability of the first connecting block 31 and the second connecting block 32 during upward and downward movement, so as to avoid the occurrence of clamping and collision during the adjustment of the height and the pitch angle of the mechanical arm 3, thereby affecting the production.

[0051] Please refer to Figures 6 to 9The first position of the mechanical arm 3 is provided with a first bearing 6, the first bearing 6 is connected with the first connecting block 31, the second position of the mechanical arm 3 is provided with a second bearing 7, the second connecting block 32 is provided with a third bearing 8, one end of the connecting rod 4 is connected with the second bearing 7, and the other end of the connecting rod 4 is connected with the third bearing 8. Specifically, the mechanical arm 3 includes two arm bodies 33, the two arm bodies 33 are fixedly connected through a plurality of connecting columns 34 to form the mechanical arm 3, so as to improve the overall structural strength of the mechanical arm 3. Each arm body 33 has opposite first and second ends 301 and 302, and a third end 303 between the first and second ends 301 and 302, the first end 301 of each arm body 33 is the first position of the mechanical arm 3, and the third end 303 of each arm body 33 is the second position of the mechanical arm 3. The two first ends 301 have first mounting holes 3001, and the two first mounting holes 3001 are arranged face to face in the second direction D2-D2. The first bearing 6 is installed in the first mounting hole 3001, and the two second connecting portions 313 of the first connecting block 31 are connected with the two first bearings 6, so that the first ends 301 of the two arm bodies 33 can rotate around the second connecting portions 313. The third ends 303 of the two arm bodies 33 have second mounting holes 3002, and the two second mounting holes 3002 are arranged face to face in the second direction D2-D2. The second bearing 7 is installed in the second mounting hole 3002. By connecting the third bearing 8 with the fourth connecting portion 323, one end of the connecting rod 4 can rotate around the third end 303, and the other end of the connecting rod 4 can rotate around the fourth connecting portion 323. In this way, when the first and second linear drive assemblies 21 and 22 adjust the distance between the first and second connecting blocks 31 and 32, the height and the pitch angle of the mechanical arm 3 can be adjusted, and the integration degree of the mechanical arm 3 is improved.

[0052] When the first motor 211 and the second motor 221 drive the first screw rod 212 and the second screw rod 222 to rotate at the same speed respectively, the first connecting block 31 and the second connecting block 32 rise or fall at the same speed, so as to adjust the height of the mechanical arm 3. When only the first motor 211 drives the first screw rod 212 to rotate or only the second motor 221 drives the second screw rod 222 to rotate, the pitch angle of the mechanical arm 3 is adjusted by adjusting the distance between the first connecting block 31 and the second connecting block 32. When the first motor 211 drives the first screw rod 212 to rotate forward and the second motor 221 drives the second screw rod 222 to rotate reversely, the pitch angle of the mechanical arm 3 is adjusted by adjusting the distance between the first connecting block 31 and the second connecting block 32. When the first motor 211 drives the first screw rod 212 to rotate reversely and the second motor 221 drives the second screw rod 222 to rotate forward, the pitch angle of the mechanical arm 3 is adjusted by adjusting the distance between the first connecting block 31 and the second connecting block 32. When the first motor 211 drives the first screw rod 212 and the second motor 221 drives the second screw rod 222 to rotate in the same direction, if the rotating speed of the first screw rod 212 is greater than that of the second screw rod 222 or the rotating speed of the second screw rod 222 is greater than that of the first screw rod 212, the pitch angle of the mechanical arm 3 can be adjusted while the height of the mechanical arm 3 is adjusted.

[0053] Please refer to Figure 4 and Figure 8The utility model discloses still disclose a kind of mechanical arm device, and mechanical arm device includes mechanical arm adjusting structure.Mechanical arm device further includes joint mechanism 20 and grabbing mechanism, joint mechanism 20 is arranged in mechanical arm 3, grabbing mechanism is arranged in joint mechanism 20, joint mechanism 20 is configured as the angle of adjusting grabbing mechanism.In the embodiment, joint mechanism 20 is assembled in the second end 302 of mechanical arm 3, and joint mechanism 20 is arranged between two arm bodies 33.Specifically, joint mechanism 20 includes third motor 210, transmission member 220, speed reducer 230.One of the second end 302 of arm body 33 has first through hole and second through hole, the action end of third motor 210 passes through first through hole and is fixedly connected with arm body 33, the transmission end of speed reducer 230 passes through second through hole and is fixedly connected with arm body 33, transmission member 220 is connected with the action end of third motor 210 and the transmission end of speed reducer 230 respectively.Joint mechanism 20 and grabbing mechanism between still be equipped with rotating mechanism 30, rotating mechanism 30 is arranged between joint mechanism 20 and grabbing mechanism, rotating mechanism 30 is configured as driving grabbing mechanism rotation.Specifically, speed reducer 230 is also installed with connecting seat 240, and rotating mechanism 30 is installed in connecting seat 240.Connecting seat 240 is connected with the transmission end of speed reducer 230.Third motor 210 drives speed reducer 230 to rotate by transmission member 220, to be able to drive connecting seat 240 pivot between two arm bodies 33, to adjust the angle of grabbing mechanism.Meanwhile, by being equipped with rotating mechanism 30, grabbing mechanism can be rotated along 360 ° of its own rotation axis, so that grabbing mechanism can be more convenient, flexible with different angles to numerical control machine tool equipment is fed, unloaded.

[0054] Please refer to Figures 1 to 3 Mechanical arm device further includes horizontal movement mechanism 9, base 1 is arranged in horizontal movement mechanism 9, and horizontal movement mechanism 9 is configured as driving base 1 moves along horizontal direction.Horizontal movement mechanism 9 includes mounting seat 91, guide rail 92, moving block 93, horizontal drive 94.In the embodiment, two guide rails 92 are spaced apart and arranged in mounting seat 91, and two guide rails 92 extend along the length direction of mounting seat 91, and moving block 93 is slidably arranged in guide rail 92.Horizontal drive 94 is arranged in mounting seat 91, and base 1 is connected with horizontal drive 94 and moving block 93 respectively through fixed block 95, and base 1 is driven by horizontal drive 94, so that base 1 can move along the extension direction of guide rail 92, to adjust the position of mechanical arm 3, so that mechanical arm 3 can be fed, unloaded for multiple numerical control mechanism equipment, to improve the utilization of mechanical arm 3.

[0055] Please refer to Figure 2The mechanical arm device further comprises a rotating mechanism 10, the base 1 is connected to the rotating mechanism 10, and the rotating mechanism 10 is configured to drive the base 1 to rotate. In the embodiment, the rotating mechanism 10 is arranged between the horizontal moving mechanism 9 and the base 1, and the rotating mechanism 10 is configured to drive the base 1 to rotate. Preferably, the rotating mechanism 10 is a rotating DD motor. The rotating mechanism 10 is arranged between the horizontal driving member 94 and the first base plate 11, so that the base 1 and the mechanical arm 3 arranged on the base 1 can be driven to rotate, thereby improving the utilization rate of the mechanical arm adjusting structure.

[0056] In conclusion, the utility model discloses a kind of mechanical arm adjusting structures, and mechanical arm adjusting structure includes base 1, linear drive mechanism 2 and mechanical arm 3. Linear drive mechanism 2 includes first linear drive assembly 21 and second linear drive assembly 22, and first linear drive assembly 21 and second linear drive assembly 22 are respectively arranged on base 1. Mechanical arm 3 has first position and second position arranged at intervals, by the action end of first linear drive assembly 21 is arranged in the first position of mechanical arm 3, the action end of second linear drive assembly 22 is rotationally connected to the end of connecting rod 4 away from mechanical arm 3, first linear drive assembly 21 can drive the first position of mechanical arm 3 to move linearly, and second linear drive assembly 22 can drive the end of connecting rod 4 away from mechanical arm 3 to move linearly. Thus, by the different movement state combination of the action end of first linear drive assembly 21 and the action end of second linear drive assembly 22, the height and pitch angle of mechanical arm 3 can be adjusted, thereby improving the integration degree of mechanical arm adjusting structure, and the size of mechanical arm 3 is reduced.

[0057] The above embodiment is only used to illustrate the utility model and not limit the technical scheme described in the utility model, and the understanding of the utility model should be based on the technical personnel in the art, and although the utility model has been described in detail with reference to the above embodiment, the ordinary skilled in the art should understand that the technical personnel in the art can still modify or equivalent replace the utility model, and all technical schemes and improvements, which do not deviate from the spirit and scope of the utility model, should be covered in the scope of claims of the utility model.

Claims

1. A robotic arm adjustment structure, characterized in that, The mechanical arm device comprises a base (1), a linear driving mechanism (2), a mechanical arm (3), a connecting rod (4), a first connecting block (31), a second connecting block (32), two groups of sliding assemblies (5), a joint mechanism (20) and a grabbing mechanism. The linear driving mechanism (2) comprises a first linear driving assembly (21) and a second linear driving assembly (22), and the first linear driving assembly (21) and the second linear driving assembly (22) are arranged on the base (1) respectively. The mechanical arm (3) has a first position and a second position arranged at intervals, the action end of the first linear driving assembly (21) is rotationally connected to the first position of the mechanical arm (3), the second position of the mechanical arm (3) is rotationally provided with the connecting rod (4), the action end of the second linear driving assembly (22) is rotationally connected to one end of the connecting rod (4) away from the mechanical arm (3), the first linear driving assembly (21) can drive the first position of the mechanical arm (3) to move linearly, and the second linear driving assembly (22) can drive one end of the connecting rod (4) away from the mechanical arm (3) to move linearly. The linear driving directions of the first linear driving assembly (21) and the second linear driving assembly (22) are parallel to each other.

2. The mechanical arm adjustment structure according to claim 1, wherein: The mechanical arm adjusting structure further comprises the first connecting block (31), one side of the first connecting block (31) is connected with the action end of the first linear driving assembly (21), and the other side of the first connecting block (31) is rotationally connected with the first position of the mechanical arm (3).

3. The mechanical arm adjustment structure according to claim 1, wherein: The mechanical arm adjusting structure further comprises the second connecting block (32), one side of the second connecting block (32) is connected with the action end of the second linear driving assembly (22), and the other side of the second connecting block (32) is rotationally connected through one end of the connecting rod (4) away from the mechanical arm (3). The mechanical arm adjusting structure further comprises the two groups of sliding assemblies (5), the first linear driving assembly (21) and the second linear driving assembly (22) are located between the two groups of sliding assemblies (5), and the first connecting block (31) and the second connecting block (32) are connected with the sliding assemblies (5) respectively.

4. The mechanical arm adjustment structure according to claim 3, wherein: The first linear driving assembly (21) and the second linear driving assembly (22) are ball screw structures with the same structure.

5. The mechanical arm adjustment structure according to claim 1, wherein: The mechanical arm device comprises the mechanical arm adjusting structure according to any one of claims 1-5.

6. A robotic arm apparatus, characterized by: The mechanical arm adjusting structure further comprises the joint mechanism (20) and the grabbing mechanism, the joint mechanism (20) is arranged on the mechanical arm (3), the grabbing mechanism is arranged on the joint mechanism (20), and the joint mechanism (20) is configured to adjust the angle of the grabbing mechanism.

7. The robot arm apparatus of claim 6, wherein: The joint mechanism (20) and the grabbing mechanism are further provided with the rotating mechanism (30), the rotating mechanism (30) is arranged between the joint mechanism (20) and the grabbing mechanism, and the rotating mechanism (30) is configured to drive the grabbing mechanism to rotate.

8. The robotic arm apparatus of claim 7, wherein: The mechanical arm device further comprises the horizontal moving mechanism (9), the base (1) is arranged on the horizontal moving mechanism (9), and the horizontal moving mechanism (9) is configured to drive the base (1) to move in the horizontal direction.

9. The robotic arm apparatus of claim 6, wherein: ​ 10. The robotic arm apparatus of claim 6, wherein: The mechanical arm device further comprises a rotating mechanism (10), the base (1) is connected to the rotating mechanism (10), and the rotating mechanism (10) is configured to drive the base (1) to rotate.

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