Multi-degree-of-freedom mechanical arm capable of achieving spatial positioning

Abstract

The utility model provides a multi-degree-of-freedom mechanical arm capable of achieving spatial positioning, and relates to the technical field of material taking and placing, the multi-degree-of-freedom mechanical arm is provided with an operating rod and a lifting mechanism, the lifting mechanism is provided with a supporting table, a lifting rod, a lifting sleeve and an auxiliary supporting rod, the supporting table is horizontally arranged, the lifting rod is vertically arranged, and the lifting rod is movably arranged on the supporting table; the lifting rod is sleeved with the lifting sleeve in a sliding mode, the auxiliary supporting rod is obliquely arranged on the side face of the lifting rod, the lower end of the auxiliary supporting rod abuts against the supporting table, and the top end of the auxiliary supporting rod is hinged to the lifting sleeve; the operating rod is in linkage with the lifting rod, the lifting rod moves upwards and downwards on the supporting table, the operating rod can be driven to move upwards and downwards, and the height of the operating rod is adjusted. The lifting sleeve and the supporting table are matched with each other to jointly limit the direction of the operating rod, it is guaranteed that the direction of the lifting rod is always in the vertical direction, the height of the operating rod is conveniently and accurately controlled, and the accuracy of the mechanical arm is guaranteed. The auxiliary supporting rod is used for controlling the position of the lifting sleeve, the lifting sleeve is higher than the supporting table, a proper distance is reserved between the lifting sleeve and the supporting table, and the stability of the lifting rod can be guaranteed.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of material taking and placing, and more particularly to a multi-degree-of-freedom mechanical arm capable of spatial positioning. BACKGROUND

[0002] The mechanical arm is an automatic operating device capable of imitating some action functions of human hands and arms to take, place and carry materials according to fixed programs. The mechanical arm can complete various expected operations, and the effect of taking, placing and carrying materials is best when the mechanical arm is directly opposite the materials.

[0003] The existing multi-degree-of-freedom mechanical arm capable of spatial positioning mainly has the following shortcomings: a plurality of joint arms are adopted, the mechanical arm is flexible, but the control is difficult, and the accuracy is not enough; and the mechanical arm shakes during operation, and the stability is poor. SUMMARY

[0004] The application aims to make up for the shortcomings of the prior art, and provides a multi-degree-of-freedom mechanical arm capable of spatial positioning. The technical scheme adopted by the application is:

[0005] The multi-degree-of-freedom mechanical arm capable of spatial positioning is provided with an operating rod and a lifting mechanism. The lifting mechanism is provided with a support table, a lifting rod, a lifting sleeve and an auxiliary support rod. The support table is horizontally arranged, the lifting rod is vertically arranged, the lifting rod is movably arranged on the support table, the lifting sleeve is slidably sleeved on the outside of the lifting rod, the auxiliary support rod is obliquely arranged on the side of the lifting rod, the lower end of the auxiliary support rod is abutted on the support table, and the top end of the auxiliary support rod is hinged with the lifting sleeve. The operating rod is linked with the lifting rod.

[0006] Preferably, the lifting mechanism is further provided with an adjusting rod, the adjusting rod is arranged between the lifting rod and the auxiliary support rod, and the lifting rod and the auxiliary support rod are hinged with the adjusting rod. A first hinge shaft is arranged at the connection between the adjusting rod and the auxiliary support rod, and the first hinge shaft is movably arranged between the adjusting rod and the auxiliary support rod.

[0007] Preferably, the auxiliary support rod is provided with a plurality of auxiliary support rods which are uniformly distributed along the circumference of the lifting rod in opposite directions, and the number of the adjusting rods is the same as that of the auxiliary support rods.

[0008] Preferably, the auxiliary support rod is provided with three auxiliary support rods.

[0009] Preferably, the lifting mechanism is further provided with a lifting cylinder, the lifting cylinder is arranged below the support table, the support table is provided with a lifting hole arranged vertically, the lifting rod penetrates through the lifting hole and is linked with the piston of the lifting cylinder.

[0010] Preferably, a rotating mechanism is further arranged, the rotating mechanism is provided with a rotating table which can rotate, and the support table is linked with the rotating table.

[0011] Preferably, the outer end of the operating rod is provided with a clamping jaw.

[0012] Preferably, a moving trolley is further provided to move the support table.

[0013] The advantages of the present application are as follows:

[0014] The operating rod is linked with the lifting rod, the lifting rod moves up and down with the support table, and can drive the operating rod to move up and down to adjust the height of the operating rod; the lifting sleeve and the support table are matched with each other to jointly limit the direction of the operating rod, so as to ensure that the direction of the lifting rod is always vertically arranged, facilitate accurate control of the height of the operating rod, and ensure the accuracy of the mechanical arm; the auxiliary support rod is used to control the position of the lifting sleeve, the lifting sleeve is higher than the support table, and there is a proper distance between the lifting sleeve and the support table, so as to ensure the stability of the lifting rod.

[0015] The adjusting rod is arranged between the lifting rod and the auxiliary support rod, the lifting rod and the auxiliary support rod are both hinged with the adjusting rod, the lifting rod moves up to drive the auxiliary support rod to adjust the angle, the angle of the auxiliary support rod becomes larger to drive the position of the lifting sleeve to move up, and thus the stability of the lifting rod is better ensured. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. 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.

[0017] Fig. 1 is a schematic view of a mechanical arm;

[0018] Fig. 2 is a schematic view of a mechanical arm and a claw;

[0019] Fig. 3 is a top view of a mechanical arm.

[0020] Explanation of symbols in the drawings:

[0021] 1 is an operating rod, and 11 is a claw;

[0022] 2 is a lifting mechanism, 21 is a support table, 211 is a lifting hole, 22 is a lifting rod, 23 is a lifting sleeve, 24 is an auxiliary support rod, 241 is a sliding hole, 25 is an adjusting rod, 251 is a first hinge shaft, and 26 is a lifting cylinder;

[0023] 3 is a rotating mechanism, and 31 is a rotating table;

[0024] 4 is a moving trolley. DETAILED DESCRIPTION

[0025] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0026] The multi-degree-of-freedom robotic arm capable of spatial positioning provided in the embodiments of this application will now be described.

[0027] Example:

[0028] like Figs. 1 to 3 As shown, a multi-degree-of-freedom robotic arm capable of spatial positioning includes an operating lever 1 and a lifting mechanism 2. The lifting mechanism 2 includes a support platform 21, a lifting rod 22, a lifting sleeve 23, and an auxiliary support rod 24. The support platform 21 is horizontally positioned, and the lifting rod 22 is vertically positioned. The lifting rod 22 is movably mounted on the support platform 21. The lifting sleeve 23 is slidably mounted on the outside of the lifting rod 22. The auxiliary support rod 24 is inclinedly positioned on the side of the lifting rod 22. The lower end of the auxiliary support rod 24 abuts against the support platform 21, and the top end of the auxiliary support rod 24 is hinged to the lifting sleeve 23. The operating lever 1 is linked with the lifting rod 22.

[0029] The operating lever 1 is linked with the lifting rod 22. The lifting rod 22 moves up and down on the support platform 21, which can drive the operating lever to move up and down, adjusting the height of the operating lever 1. The lifting sleeve 23 cooperates with the support platform 21 to limit the direction of the operating lever 22, ensuring that the direction of the lifting rod 1 is always vertical, which facilitates precise control of the height of the operating lever 1 and ensures the accuracy of the robotic arm. The auxiliary support rod 24 is used to control the position of the lifting sleeve 23. The lifting sleeve 23 is higher than the support platform 21, and there is a suitable distance between the lifting sleeve 23 and the support platform 21, which can ensure the stability of the lifting rod 22.

[0030] The lifting mechanism 2 is also provided with an adjusting rod 25, which is located between the lifting rod 22 and the auxiliary support rod 24. Both the lifting rod 22 and the auxiliary support rod 24 are hinged to the adjusting rod 25. A first hinge shaft 251 is provided at the connection between the adjusting rod 25 and the auxiliary support rod 24. The first hinge shaft 251 is movably located between the adjusting rod 25 and the auxiliary support rod 24. In this embodiment, the auxiliary support rod 24 is provided with a sliding hole 241, which is an oblong hole. The first hinge shaft 251 is movably located in the sliding hole 241.

[0031] The adjusting rod 25 is located between the lifting rod 22 and the auxiliary support rod 24. Both the lifting rod 22 and the auxiliary support rod 24 are hinged to the adjusting rod 25. When the lifting rod 22 moves upward, it will drive the angle of the auxiliary support rod 24 to adjust. The angle of inclination of the auxiliary support rod 24 increases, which drives the position of the lifting sleeve 23 to move upward, thereby better ensuring the stability of the lifting rod 22.

[0032] The auxiliary support rods 24 are evenly distributed along the circumference of the lifting rod 22, and the number of the adjusting rods 25 is the same as that of the auxiliary support rods 24.

[0033] The auxiliary support rods 24 are three in number, which can achieve better auxiliary support effect and ensure the stable lifting and lowering of the lifting rod 22, and further ensure the stability of the operating rod 1.

[0034] The lifting mechanism 2 is further provided with a lifting cylinder 26, which is arranged below the support table 21. The support table 21 is provided with a lifting hole 211 arranged vertically, and the lifting rod 22 penetrates through the lifting hole 211 and is linked with the piston of the lifting cylinder 26.

[0035] The mechanical arm is further provided with a rotating mechanism 3, which is provided with a rotatable rotating table 31. The support table 21 is linked with the rotating table 31. By driving the rotating table 31 to rotate, the operating rod 1 is driven to rotate, and the position of the operating rod 1 is controlled.

[0036] The outer end of the operating rod 1 is provided with a clamping jaw 11.

[0037] The mechanical arm is further provided with a moving trolley 4 for driving the support table 21 to move.

[0038] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A multi-degree-of-freedom robot arm capable of spatial positioning, provided with an operating rod and a lifting mechanism, characterized in that: The lifting mechanism is provided with a support table, a lifting rod, a lifting sleeve and an auxiliary support rod, the support table is horizontally arranged, the lifting rod is vertically arranged, the lifting rod is movably arranged on the support table, the lifting sleeve is slidably sleeved outside the lifting rod, the auxiliary support rod is obliquely arranged on the side of the lifting rod, the lower end of the auxiliary support rod is abutted on the support table, and the top end of the auxiliary support rod is hinged with the lifting sleeve; the operating rod is linked with the lifting rod.

2. The spatially positionable multi-degree of freedom robotic arm of claim 1, wherein: The lifting mechanism is further provided with an adjusting rod, the adjusting rod is arranged between the lifting rod and the auxiliary support rod, and the lifting rod and the auxiliary support rod are both hinged with the adjusting rod; a first hinge shaft is arranged at the connecting position of the adjusting rod and the auxiliary support rod, and the first hinge shaft is movably arranged between the adjusting rod and the auxiliary support rod.

3. The spatially positionable multi-degree of freedom robotic arm of claim 2, wherein: The auxiliary support rod is provided with a plurality of auxiliary support rods which are uniformly distributed along the circumference of the lifting rod in opposite directions, and the number of the adjusting rods is the same as that of the auxiliary support rods.

4. The spatially positionable multi-degree of freedom robotic arm of claim 2, wherein: The auxiliary support rod is provided with three auxiliary support rods.

5. The spatially positionable multi-degree of freedom robotic arm of any one of claims 1 to 4, wherein: The lifting mechanism is further provided with a lifting cylinder, the lifting cylinder is arranged below the support table, the support table is provided with a vertically arranged lifting hole, the lifting rod penetrates through the lifting hole and is linked with the piston of the lifting cylinder.

6. The spatially positionable multi-degree of freedom robotic arm of any one of claims 1 to 4, wherein: A rotating mechanism is further arranged, the rotating mechanism is provided with a rotatable rotating table, and the support table is linked with the rotating table.

7. The spatially positionable multi-degree of freedom robotic arm of any one of claims 1 to 4, wherein: The outer end of the operating rod is provided with a clamping jaw.

8. The spatially positionable multi-degree of freedom robotic arm of any one of claims 1-4, wherein: A moving trolley is further arranged to move the support table.

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