Height-adjustable manipulator device

Abstract

The utility model discloses a height-adjustable manipulator device, and relates to the technical field of manipulators. A height-adjustable manipulator device comprises a mounting base, a supporting column and a mechanical clamping jaw, a rotating device is arranged on the mounting base and comprises a large rotating gear and a small rotating gear, a mounting column groove is formed in the outer wall of the lower end of the supporting column, and the large rotating gear is rotationally connected in a groove in the upper surface of the mounting base; the output end of a third motor in the rotating device rotates to drive a small rotating gear to rotate and drive a large rotating gear to rotate at the same time, then the large rotating gear rotates to drive a supporting column to rotate and drive a mechanical clamping jaw to rotate with the supporting column as the center, and therefore the rotating angle of the mechanical clamping jaw can be controlled; in this way, the flexibility of the equipment is effectively improved, meanwhile, the situation that a worker needs to adjust the mechanical clamping jaw with the help of auxiliary equipment is avoided, the workload of the worker is effectively reduced, and meanwhile the working efficiency of the worker is improved.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a height-adjustable robotic arm device. Background Technology

[0002] This device is a height-adjustable robotic arm that can adjust its height according to different work requirements, thereby enabling it to grasp and manipulate objects of different heights.

[0003] These robotic arms are widely used in industrial automation, such as assembly lines, packaging machines, and material handling robots. By adjusting the height of the robotic arm, it can be made more flexible to adapt to various working environments and tasks.

[0004] With the rapid development of modern industry, automated production lines have increasingly higher requirements for robotic arms. Traditional robotic arms can usually only perform simple lifting and grasping actions. Due to the lack of flexible rotation and height adjustment capabilities, when faced with objects at different heights and angles, robotic arms often require additional auxiliary equipment or manual adjustments. This reduces production efficiency, reduces the work efficiency of workers, and increases their workload. Utility Model Content

[0005] The purpose of this utility model is to at least solve one of the technical problems existing in the prior art, and to provide a height-adjustable robotic arm device. This solves the problem that robotic arms can usually only perform simple lifting and grasping actions. Due to the lack of flexible rotation and height adjustment capabilities, when facing objects of different heights and angles, the robotic arm often requires additional auxiliary equipment or manual adjustment, which reduces production efficiency, reduces the work efficiency of workers, and increases the workload of workers.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a height-adjustable robotic arm device, comprising a mounting base, a support column, and a mechanical gripper, wherein a rotating device is provided on the mounting base;

[0007] The rotating device includes a large rotating gear and a small rotating gear. The lower end of the support column has a mounting groove. The large rotating gear is rotatably connected inside the groove on the upper surface of the mounting base. A third motor is installed inside the groove on one side of the mounting base. The small rotating gear is installed on the output end of the third motor. Four protective shells are fixedly connected to the lower end of the support column. The mounting column is fixedly connected to the upper surface of the large rotating gear.

[0008] The outer wall of the mounting column is slidably connected to the inside of the mounting column groove. The inside of the mounting column groove is provided with four first limiting block grooves. The outer walls of the four protective shells are slidably connected with pull rods. The inside of the four first limiting block grooves is slidably connected with limiting blocks. The outer wall of the mounting column is provided with four second limiting block grooves. The outer walls of the four pull rods are all sleeved with reset springs.

[0009] Preferably, the teeth on the outer wall of the large rotating gear mesh with the teeth on the outer wall of the small rotating gear, the interiors of the four first limiting block slots are respectively connected to the interiors of the corresponding protective shells, and the outer walls of the four limiting blocks near the mounting post are respectively in contact with the inner walls of the corresponding second limiting block slots.

[0010] The four pull rods extend into the groove of the first limiting block at one end and are fixedly connected to the outer wall of one side of the corresponding limiting block, respectively. The two ends of the four reset springs are fixedly connected to the outer wall of one end of the corresponding limiting block and the inner wall of the protective shell, respectively.

[0011] Preferably, the mounting base is provided with a sliding mounting post, and a first threaded rod is rotatably connected to a groove in the lower surface of the sliding mounting post;

[0012] The mechanical gripper is installed on the outer wall of the first threaded rod, and the first motor is installed on the outer wall of the fixed plate on one side of the sliding mounting column.

[0013] Preferably, the output end of the first motor extends rotatably into the sliding mounting post and is fixedly connected to one end of the first threaded rod;

[0014] Among them, the outer walls of the two protrusions on the mounting base of the mechanical gripper are slidably connected to the grooves on the lower surfaces of both sides of the sliding mounting column, and the support column is hollow.

[0015] Preferably, the inner wall of the end of the sliding mounting column away from the first motor is sleeved on the outer wall of the support column, and the support column is rotatably connected to a second threaded rod.

[0016] The end of the sliding mounting column furthest from the first motor is threadedly connected to the outer wall of the second threaded rod.

[0017] Preferably, a second motor is installed on the outer wall of the upper end of the support column, and the output end of the second motor extends rotatably into the interior of the support column and is fixedly connected to one end of the second threaded rod;

[0018] Among them, the two protrusions on the inner wall of the sliding mounting column away from the first motor are slidably connected to the grooves on the outer walls of the two sides of the support column.

[0019] Compared with the prior art, the beneficial effects of this utility model are:

[0020] 1. This height-adjustable robotic arm device rotates by the output of the third motor in the rotating device, which in turn drives the small rotating gear to rotate and the large rotating gear to rotate. Then, the rotation of the large rotating gear drives the support column to rotate, which in turn drives the mechanical gripper to rotate around the support column. This allows control over the rotation angle of the mechanical gripper, effectively improving the flexibility of the equipment. It also eliminates the need for workers to use auxiliary equipment to adjust the mechanical gripper, thereby effectively reducing the workload of workers and improving their work efficiency. Attached Figure Description

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0022] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0023] Figure 2 This is a schematic diagram of the external structure of the mechanical gripper of this utility model;

[0024] Figure 3 This is a schematic diagram of the internal structure of the support column of this utility model;

[0025] Figure 4 This utility model Figure 2 A structural schematic diagram of the enlarged view at point A in the middle.

[0026] Reference numerals in the attached drawings: 1. Mounting base; 2. Large rotating gear; 3. Protective shell; 4. Mechanical gripper; 5. First motor; 6. Second motor; 7. Support column; 8. Sliding mounting column; 9. Tie rod; 10. First threaded rod; 11. Second threaded rod; 12. Mounting column groove; 13. First limit block groove; 14. Limit block; 15. Return spring; 16. Third motor; 17. Small rotating gear; 18. Mounting column; 19. Second limit block groove. Detailed Implementation

[0027] This section will describe in detail the specific embodiments of the present utility model. The preferred embodiments of the present utility model are shown in the accompanying drawings. The purpose of the drawings is to supplement the textual description with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the present utility model, but they should not be construed as limiting the scope of protection of the present utility model.

[0028] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0029] In the description of this utility model, terms such as greater than, less than, and exceeding are understood to exclude the stated number, while terms such as above, below, and within are understood to include the stated number. The use of terms like "first" and "second" is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the quantity or sequence of the indicated technical features.

[0030] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0031] Please see Figure 1-4 This utility model provides a technical solution: a height-adjustable robotic arm device, including a mounting base 1, a support column 7, and a mechanical gripper 4;

[0032] The mounting base 1 is equipped with a rotating device;

[0033] The rotating device includes a large rotating gear 2 and a small rotating gear 17. A mounting groove 12 is formed on the lower outer wall of the support column 7. The large rotating gear 2 is rotatably connected inside a groove on the upper surface of the mounting base 1. A third motor 16 is installed inside a groove on one side of the mounting base 1. The small rotating gear 17 is installed on the output end of the third motor 16. The teeth on the outer wall of the large rotating gear 2 mesh with the teeth on the outer wall of the small rotating gear 17. Four protective shells 3 are fixedly connected to the lower outer wall of the support column 7. A mounting column 18 is fixedly connected to the upper surface of the large rotating gear 2. The outer wall of the mounting column 18 is slidably connected to the interior of the mounting groove 12. Four first limiting block grooves 13 are formed inside the mounting groove 12. Each of the four protective shells 3 is connected to the interior of the corresponding protective shell 3. Each of the four protective shells 3 is slidably connected to the outer wall of the protective shell 3. Each of the four first limiting block grooves 13 is slidably connected to the interior of the protective shell 3. Each of the four limiting blocks 18 has four second limiting block grooves 19 on its outer wall. The outer wall of each of the four limiting blocks 14 near the mounting post 18 is in contact with the inner wall of the corresponding second limiting block groove 19. Each of the four pull rods 9 near the limiting block 14 extends slidably into the interior of the first limiting block groove 13 and is fixedly connected to the outer wall of the corresponding limiting block 14 on one side. Each of the four pull rods 9 is fitted with a return spring 15. The two ends of each return spring 15 are fixedly connected to the outer wall of the corresponding limiting block 14 and the inner wall of the protective shell 3 on one side.

[0034] The mounting base 1 is provided with a sliding mounting column 8. A first threaded rod 10 is rotatably connected to the groove inside the lower surface of the sliding mounting column 8. A mechanical gripper 4 is installed on the outer wall of the first threaded rod 10. A first motor 5 is installed on the outer wall of a fixing plate on one side of the sliding mounting column 8. The output end of the first motor 5 extends rotatably into the interior of the sliding mounting column 8 and is fixedly connected to one end of the first threaded rod 10. The outer walls of the two protrusions on the mounting base of the mechanical gripper 4 are slidably connected to the grooves on the lower surfaces of both sides of the sliding mounting column 8. The support column 7 is hollow. The inner wall of the end of the sliding mounting column 8 away from the first motor 5 is sleeved on the outer wall of the support column 7. A second threaded rod 11 is rotatably connected inside the support column 7. The end of the sliding mounting column 8 away from the first motor 5 is threadedly connected to the outer wall of the second threaded rod 11. A second motor 6 is installed on the upper outer wall of the support column 7. The output end of the second motor 6 extends rotatably into the interior of the support column 7 and is fixedly connected to one end of the second threaded rod 11. The outer walls of the two protrusions on the inner wall of the end of the sliding mounting column 8 away from the first motor 5 are slidably connected to the grooves on the outer walls of both sides of the support column 7.

[0035] Furthermore, when using this device, it is started by connecting to an external power source. First, the device is installed in the designated position using the mounting base 1. Then, the output of the second motor 6 rotates, driving the second threaded rod 11 to rotate while simultaneously moving the sliding mounting column 8 up or down. Next, the sliding mounting column 8 moves the mechanical gripper 4 up or down for adjustment. Simultaneously, the output of the first motor 5 rotates, driving the first threaded rod 10 to rotate while simultaneously moving the mechanical gripper 4 back and forth. This coordinated movement adjusts the position of the mechanical gripper 4. Then, when it is necessary to rotate the mechanical gripper 4, the output of the third motor 16 rotates... The rotation of the small rotating gear 17 drives the rotation of the large rotating gear 2. Then, the rotation of the large rotating gear 2 drives the support column 7 to rotate, and at the same time, the mechanical gripper 4 rotates around the support column 7. This allows control over the rotation angle of the mechanical gripper 4. Then, the drive device on the mechanical gripper 4 drives the gripper on the mechanical gripper 4 to clamp the item. Then, by pulling the lever 9 to move in the opposite direction, the limit block 14 moves in the opposite direction, and at the same time, the return spring 15 contracts. Then, by moving the limit block 14 in the opposite direction, the outer wall of its other end disengages from the inside of the second limit block groove 19. Then, the support column 7 can be removed from the mounting base 1 with the help of external tools.

[0036] The rotation of the output end of the third motor 16 in the rotating device drives the small rotating gear 17 to rotate, which in turn drives the large rotating gear 2 to rotate. Then, the rotation of the large rotating gear 2 drives the support column 7 to rotate, which in turn drives the mechanical gripper 4 to rotate around the support column 7. This allows control over the rotation angle of the mechanical gripper 4, effectively improving the flexibility of the equipment. It also avoids the need for workers to use auxiliary equipment to adjust the mechanical gripper 4, thereby effectively reducing the workload of workers and improving their work efficiency.

[0037] Structural Description: Mounting Base 1: Used to securely install the entire device in the designated position, ensuring the stability of the device during operation;

[0038] Second electric motor 6: provides power and drives the second threaded rod 11 to rotate through the rotation of its output end;

[0039] Second threaded rod 11: connected to second motor 6, which drives sliding mounting column 8 to move up and down when rotated;

[0040] Sliding mounting column 8: threaded with the outer wall of the second threaded rod 11, and moves up and down to drive the mechanical gripper 4 to adjust its height;

[0041] Mechanical gripper 4: Installed on the first threaded rod 10 inside the groove on the upper and lower surfaces of the sliding mounting column 8, it can move up and down, back and forth and rotate to grab and release items. It mainly consists of a drive device, gripper, mounting base, etc.

[0042] First electric motor 5: provides power and drives the first threaded rod 10 to rotate through the rotation of its output end;

[0043] First threaded rod 10: connected to first electric motor 5, which drives mechanical gripper 4 to move back and forth when rotating;

[0044] The third electric motor 16 provides rotational power and drives the small rotating gear 17 to rotate through its output end.

[0045] Small rotating gear 17: meshes with large rotating gear 2 to transmit rotational power;

[0046] Large rotating gear 2: meshes with small rotating gear 17, and drives the support column 7 and mechanical gripper 4 to rotate when rotating;

[0047] Support column 7: mounted on the large rotating gear 2 rotatably connected to the mounting base 1, serving as the rotation center of the mechanical gripper 4;

[0048] Pull rod 9: Connected and cooperates with limit block 14, mainly used for disassembling support column 7;

[0049] Limiting block 14: Installed inside the mounting groove 12 opened at the lower end of the support column 7, it can move along the first limiting block groove 13 and is used to limit the support column 7;

[0050] Return spring 15: It is sleeved on the pull rod 9, and its two ends are fixedly connected to the inner wall of the corresponding protective shell 3 and the outer wall of one end of the limit block 14, respectively, so as to provide a return force and maintain the position of the limit block 14.

[0051] The embodiments of the present utility model have been described in detail above with reference to the accompanying drawings. However, the present utility model is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present utility model.

Claims

1. A height-adjustable robotic arm device, comprising a mounting base (1), a support column (7), and a mechanical gripper (4), characterized in that: The mounting base (1) is provided with a rotating device; The rotating device includes a large rotating gear (2) and a small rotating gear (17). The lower end of the support column (7) has an installation groove (12) on its outer wall. The large rotating gear (2) is rotatably connected inside the groove on the upper surface of the mounting base (1). A third motor (16) is installed inside the groove on one side of the mounting base (1). The small rotating gear (17) is installed on the output end of the third motor (16). Four protective shells (3) are fixedly connected to the lower end of the support column (7). An installation column (18) is fixedly connected to the upper surface of the large rotating gear (2). Among them, the outer wall of the mounting column (18) is slidably connected to the inside of the mounting column groove (12), the inside of the mounting column groove (12) is provided with four first limiting block grooves (13), the outer walls of the four protective shells (3) are slidably connected with pull rods (9), the inside of the four first limiting block grooves (13) is slidably connected with limiting blocks (14), the outer wall of the mounting column (18) is provided with four second limiting block grooves (19), and the outer walls of the four pull rods (9) are all sleeved with reset springs (15).

2. The height-adjustable robotic arm device according to claim 1, characterized in that: The outer teeth of the large rotating gear (2) mesh with the outer teeth of the small rotating gear (17). The interiors of the four first limiting block grooves (13) are respectively connected to the interiors of the corresponding protective shells (3). The outer walls of the four limiting blocks (14) near the mounting post (18) respectively contact the inner walls of the corresponding second limiting block grooves (19). Among them, the ends of the four pull rods (9) near the limiting block (14) all slide into the interior of the first limiting block groove (13) and are fixedly connected to the outer wall of one side of the corresponding limiting block (14). The two ends of the four reset springs (15) are fixedly connected to the outer wall of one end of the corresponding limiting block (14) and the inner wall of the protective shell (3) respectively.

3. The height-adjustable robotic arm device according to claim 1, characterized in that: The mounting base (1) is provided with a sliding mounting post (8), and a first threaded rod (10) is rotatably connected inside a groove on the lower surface of the sliding mounting post (8). Among them, the mechanical gripper (4) is installed on the outer wall of the first threaded rod (10), and the first motor (5) is installed on the outer wall of the fixed plate on one side of the sliding mounting column (8).

4. The height-adjustable robotic arm device according to claim 3, characterized in that: The output end of the first motor (5) extends rotatably into the sliding mounting post (8) and is fixedly connected to one end of the first threaded rod (10); Among them, the outer walls of the two protrusions on the mounting base of the mechanical gripper (4) are slidably connected to the grooves on the lower surfaces of both sides of the sliding mounting column (8), and the support column (7) is hollow.

5. The height-adjustable robotic arm device according to claim 3, characterized in that: The inner wall of the sliding mounting column (8) away from the first motor (5) is sleeved on the outer wall of the support column (7), and the support column (7) is rotatably connected to the second threaded rod (11); Among them, the end of the sliding mounting column (8) away from the first motor (5) is threadedly connected to the outer wall of the second threaded rod (11).

6. The height-adjustable robotic arm device according to claim 1, characterized in that: A second motor (6) is installed on the outer wall of the upper end of the support column (7). The output end of the second motor (6) extends rotatably into the interior of the support column (7) and is fixedly connected to one end of the second threaded rod (11). Among them, the inner wall of the sliding mounting column (8) away from the first motor (5) has two protrusions on the outer wall and the grooves on both sides of the outer wall of the support column (7) are slidably connected.

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