Mechanical arm

Abstract

The utility model relates to the technical field of mechanical arms, in particular to a mechanical arm which comprises a base, a large arm is arranged on the base, a small arm is arranged on the large arm, a connecting arm is arranged at one end of the small arm, and a clamping jaw is arranged at one end of the connecting arm through an installation assembly. The mounting assembly comprises a mounting base arranged at one end of the connecting arm and a square column arranged on the clamping jaw. A square groove allowing the square column to be inserted therein is formed in the lower side face of the mounting base, and connecting holes are formed in the opposite side walls of the square column; a locking assembly is arranged in the mounting base and inserted into the connecting hole to be used for fixing the square column. Through the arrangement of the locking assemblies, the locking assemblies can stretch into the corresponding connecting holes in the square column, then the locking assemblies can lock and fix the square column, and when the locking assemblies are separated from the corresponding connecting holes, the locking assemblies can release locking and fixing of the clamping jaws; therefore, the clamping jaw can be detachably mounted on the mounting seat.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical arm technical field, concretely relates to a mechanical arm. BACKGROUND

[0002] The mechanical arm is a kind of complex system of multiple input and output, usually imitates the structure and function of human arm, and realizes the movement of multiple degrees of freedom by the series connection of multiple joints.It can be controlled by programming, and carry out various tasks, such as grabbing, carrying, spraying paint etc., and is widely used in industry, medical treatment, education and other fields.

[0003] The traditional mechanical arm needs to replace gripper for use when clamping different articles, such as using three-finger gripper to clamp cylindrical objects, and replacing two-finger gripper to clamp square objects;But the traditional mechanical arm is generally installed on connecting arm by bolt etc. fixed part in actual use, so that it is more troublesome in the process of replacing gripper, and it needs to be improved. SUMMARY

[0004] The utility model aims at providing a kind of mechanical arm to solve the problems presented in the above background.

[0005] To achieve the above object, the utility model provides the following technical scheme:

[0006] A kind of mechanical arm, including base, base is equipped with large arm, large arm is equipped with small arm, one end of small arm is equipped with connecting arm, and one end of connecting arm is equipped with gripper by mounting assembly;Mounting assembly includes mounting seat at one end of connecting arm, and square column on gripper;Square slot for square column insertion is equipped on the lower side of mounting seat, and connecting hole is equipped on the opposite side wall of square column;Locking assembly is arranged in mounting seat, and locking assembly is inserted into corresponding connecting hole to realize the fixation of square column.

[0007] Further, first cavity is oppositely arranged in mounting seat, and first cavity is located at both sides of square slot and is communicated with square slot, locking assembly includes lock block in first cavity and can be slid, one end of lock block is equipped with lock rod, one end of lock rod is arranged out through first cavity, lock rod drives lock block to extend into corresponding connecting hole, to realize the locking fixation of square column by lock block.

[0008] Further, first spring is arranged on the lock rod in first cavity, and first spring is used to push lock block to extend into corresponding connecting hole;Mounting seat is also equipped with positioning member for positioning lock block.

[0009] Further, the second cavity is vertically arranged in the mounting seat and communicates with the corresponding first cavity, and a positioning hole is arranged on the upper side wall of the lock block; the positioning member comprises a positioning block arranged in the second cavity and slidable, the positioning block is inserted into the corresponding positioning hole to position the lock block, and a positioning rod is arranged at the upper end of the positioning block; the second spring is sleeved on the positioning rod in the second cavity and used to push the positioning block to be inserted into the corresponding positioning hole.

[0010] Further, a plurality of reinforcing plates are arranged on the upper side wall of the mounting seat, and the mounting seat is detachably mounted on the connecting arm through the reinforcing plates.

[0011] Further, a plurality of wire bundling tubes are arranged on the back surface of the mounting seat along the length direction, L-shaped insertion blocks are oppositely arranged on the back surface of the wire bundling tube, L-shaped insertion grooves are arranged on the back surface of the mounting seat and correspond to the insertion blocks, and the insertion blocks are inserted into the corresponding insertion grooves to realize the mounting of the wire bundling tube on the mounting seat.

[0012] Further, the upper end of the second cavity is open, and a plug is arranged at the opening position.

[0013] Compared with the prior art, the utility model has the advantages that:

[0014] 1、The utility model discloses a locking assembly is arranged, so that the locking assembly can be inserted into the corresponding connecting hole on the square column, and then the locking assembly can lock and fix the square column, that is, the locking assembly can lock and fix the clamping jaw, when the locking assembly is separated from the corresponding connecting hole, the locking assembly can release the locking and fixing of the clamping jaw, so that the clamping jaw can be detachably mounted on the mounting seat.

[0015] The utility model discloses a positioning member is arranged, so that the positioning member can position the lock block, the lock block cannot move, and the state that the lock block is located in the first cavity is kept, so that the square column can be inserted or separated from the square groove, and the clamping jaw is convenient to replace. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a structure schematic view of a mechanical arm in the utility model.

[0017] Figure 2 It is a structure schematic view of a mounting seat in the utility model.

[0018] Figure 3 It is a structure schematic view of a locking assembly in the utility model.

[0019] Figure 4 It is a structure schematic view of a connecting hole on a square column in the utility model.

[0020] Figure 5 It is a structure schematic view of a lock block in the utility model.

[0021] Figure 6 This is a schematic diagram of the structure of the cable tray in this utility model.

[0022] Figure 7 This is a cross-sectional view of the slot on the mounting base in this utility model.

[0023] The labels in the diagram represent the following: 100, base; 101, upper arm; 102, lower arm; 103, connecting arm; 105, reinforcing plate; 106, mounting base; 107, gripper; 108, tie column; 109, square column.

[0024] 200. Positioning rod; 201. Lifting column; 202. Cable harness tube;

[0025] 300. First cavity; 301. Locking rod; 302. First spring; 303. Locking block; 304. Second cavity; 305. Positioning block; 306. Second spring; 307. Positioning hole;

[0026] 400. Connecting hole;

[0027] 600, Insert Block;

[0028] 700, square groove; 701, slot. Detailed Implementation

[0029] To further understand the content of this utility model, a detailed description of this utility model will be provided in conjunction with the accompanying drawings and embodiments. It should be understood that the embodiments are merely illustrative of this utility model and are not intended to limit it.

[0030] The following is in conjunction with the appendix Figures 1-7 This embodiment will be described in further detail.

[0031] Combination Figures 1-7 As shown, a robotic arm in this embodiment includes a base 100, a large arm 101 on the base 100, a small arm 102 on the large arm 101, a connecting arm 103 at one end of the small arm 102, and a gripper 107 at one end of the connecting arm 103 via a mounting assembly. The mounting assembly includes a mounting seat 106 at one end of the connecting arm 103 and a square post 109 on the gripper 107. A square groove 700 for inserting the square post 109 is provided on the lower side of the mounting seat 106, and a connecting hole 400 is provided on the opposite side wall of the square post 109. A locking assembly is provided inside the mounting seat 106, which is inserted into the corresponding connecting hole 400 to fix the square post 109.

[0032] In the embodiment, the base 100, the large arm 101, the small arm 102 and the connecting arm 103 are connected through the existing joint structure to form the arm body of the mechanical arm, the clamping jaw 107 is installed at the output end of the connecting arm 103, thereby forming the mechanical arm, the movement of the arm body drives the movement of the clamping jaw 107, and the clamping jaw 107 is used to clamp the object, so as to realize the grabbing and carrying of the object by the mechanical arm.

[0033] In actual use, the square column 109 is fixedly installed on the upper side wall of the clamping jaw 107. When the clamping jaw 107 is disassembled, the square column 109 is inserted into the square groove 700. Through the setting of the locking assembly, the locking assembly can extend into the corresponding connecting hole 400 on the square column 109, so that the locking assembly can lock and fix the square column 109, that is, the locking assembly can lock and fix the clamping jaw 107, so as to realize the installation of the clamping jaw 107 on the connecting arm 103. When the locking assembly is separated from the corresponding connecting hole 400, the locking assembly can release the locking and fixing of the clamping jaw 107, so that the clamping jaw 107 can be detachably installed on the mounting seat 106.

[0034] In actual use, the square column 109 is matched with the square groove 700, so that the side wall of the square column 109 can be slidably attached to the corresponding side wall of the square groove 700, so that the square block cannot shake in the square groove 700, and the clamping jaw 107 cannot shake on the mounting seat 106, so that the clamping jaw 107 can be more stably installed on the mounting seat 106.

[0035] In combination with Figures 3-4 As shown in the figure, in the embodiment, a first cavity 300 is oppositely arranged in the mounting seat 106, and the first cavity 300 is located on both sides of the square groove 700 and communicates with the square groove 700. The locking assembly comprises a lock block 303 arranged in the first cavity 300 and being slidable, and a lock rod 301 is arranged at one end of the lock block 303, and one end of the lock rod 301 extends out of the first cavity 300.

[0036] The first spring 302 is arranged on the lock rod 301 in the first cavity 300, and the first spring 302 is used to push the lock block 303 into the corresponding connecting hole 400. The mounting seat 106 is further provided with a positioning member for positioning the lock block 303.

[0037] In actual use, since the first cavity 300 communicates with the square groove 700, the square column 109 is inserted into the square groove 700, so that the connecting hole 400 on the square column 109 can be aligned with the first cavity 300, that is, the first cavity 300 can communicate with the connecting hole 400.

[0038] In actual use, one end of the first spring 302 abuts against the side wall of the first cavity 300, and the other end abuts against the side wall of the lock block 303, so that under the action of the first spring 302, the lock block 303 can extend into the square slot 700, and by pulling the lock rod 301 outward, the lock rod 301 can drive the lock block 303 to slide along the first cavity 300 and compress the first spring 302, so that the lock block 303 can retract into the first cavity 300. At this time, through the arrangement of the positioning member, the positioning member can position the lock block 303, so that the lock block 303 cannot move, and the state of the lock block 303 being located in the first cavity 300 is maintained, so that the square column 109 can be inserted into or separated from the square slot 700, and the clamping jaw 107 can be replaced; when the replacement of the clamping jaw 107 is completed, the positioning of the lock block 303 by the positioning member is cancelled, so that under the action of the first spring 302, the two first springs 302 can push the corresponding lock block 303 to extend into the corresponding connecting hole 400, thereby completing the locking and fixing of the clamping jaw 107.

[0039] Among them, the lock block 303, the first cavity 300 and the connecting hole 400 are all square and are matched with the lock block 303, so that the side wall of the lock block 303 can be slidably attached to the corresponding side wall of the first cavity 300 and the connecting hole 400, and the lock block 303 will not shake in the first cavity 300 and the connecting hole 400, so that the clamping jaw 107 can be better locked and fixed.

[0040] Specifically, in order to facilitate the operator to pull the lock rod 301 to drive the lock block 303 to separate from the connecting hole 400, an end portion of the lock rod 301 extending out of the first cavity 300 is provided with a pull column 108.

[0041] In combination Figure 3 As shown in the drawings, in the embodiment, a second cavity 304 in communication with the corresponding first cavity 300 is vertically arranged in the mounting seat 106, and a positioning hole 307 is formed in the upper side wall of the lock block 303; the positioning member includes a positioning block 305 arranged in the second cavity 304 and being slidable, the positioning block 305 is inserted into the corresponding positioning hole 307 to position the lock block 303, and a positioning rod 200 is arranged at the upper end portion of the positioning block 305; a second spring 306 is sleeved on the positioning rod 200 located in the second cavity 304, and the second spring 306 is used to push the positioning block 305 to insert into the corresponding positioning hole 307.

[0042] In actual use, the upper end of the second spring 306 abuts against the upper side wall of the second cavity 304, and the lower end abuts against the positioning block 305, so that the second spring 306 can push the positioning block 305 downward, and the positioning block 305 can abut against the upper side wall of the lock block 303. When it is necessary to disassemble the clamping jaw 107, the lock rod 301 is pulled to move the lock block 303 along the first cavity 300 to disengage from the connecting hole 400, so that when the positioning hole 307 is aligned with the second cavity 304 during the movement of the lock block 303, at this time, under the action of the second spring 306, the two second springs 306 can push the corresponding positioning block 305 to insert into the corresponding positioning hole 307, so that the positioning block 305 can position the lock block 303, so that the lock block 303 cannot move, and the lock block 303 can remain in a state of disengaging from the connecting hole 400, so as to facilitate replacement of the clamping jaw 107.

[0043] In actual use, when it is necessary to lock and fix the clamping jaw 107, the positioning rod 200 is lifted upward, so that the positioning rod 200 can drive the positioning block 305 to move upward along the second cavity 304 and compress the second spring 306, so that the positioning block 305 can disengage from the positioning hole 307, and the positioning of the lock block 303 is released. At this time, under the action of the first spring 302, the lock block 303 can extend into the corresponding connecting hole 400 to lock and fix the clamping jaw 107.

[0044] The positioning block 305, the second cavity 304, and the positioning hole 307 are all square and matched with the positioning hole 307, so that the side wall of the positioning hole 307 can be slidably attached to the corresponding side walls of the second cavity 304 and the positioning hole 307, and the lock block 303 cannot shake in the second cavity 304 and the positioning hole 307, so that the positioning block 305 can better position the lock block 303.

[0045] In order to enable the positioning member to be installed in the second cavity 304, in the embodiment, the upper end of the second cavity 304 is provided with an opening, and a plug is arranged at the opening position, so that the positioning member can be installed in the second cavity 304.

[0046] Specifically, the upper end of the positioning rod 200 extends out through the plug, and a lifting column 201 is arranged on the extending end, so that the positioning rod 200 can be easily lifted by the operator.

[0047] As shown in Figure 1 In order to enable the mounting seat 106 to be disassembled from the connecting arm 103, in the embodiment, a plurality of reinforcing plates 105 are arranged on the upper side wall of the mounting seat 106, and the mounting seat 106 is detachably mounted on the connecting arm 103 through the reinforcing plates 105.

[0048] In actual use, the reinforcing plate 105 is fixedly installed on the connecting arm 103 and the mounting base 106 through screws, so that the mounting base 106 can be detachably installed on the connecting arm 103.

[0049] In combination Figures 2-7 As shown, in order to accommodate the power cord or air pipe on the clamping jaw 107, in the embodiment, a plurality of wire harness tubes 202 are arranged on the back of the mounting base 106 along the length direction thereof, and the back of the wire harness tube 202 is oppositely provided with an L-shaped insertion block 600, and the back of the mounting base 106 is provided with an L-shaped insertion slot 701 corresponding to the insertion block 600, and the insertion block 600 is inserted into the corresponding insertion slot 701 to realize the installation of the wire harness tube 202 on the mounting base 106.

[0050] In actual use, the wire harness tube 202 is made of hard plastic, so that it has a certain toughness; a notch is formed in the outer wall of the wire harness tube 202 along the axial direction, and the power cord or air pipe is pressed into the wire harness tube 202 along the notch, so that the power cord or air pipe can be accommodated.

[0051] In actual use, the insertion block 600 at one end of the wire harness tube 202 is first inserted into the corresponding insertion slot 701, and due to the toughness of the wire harness tube 202, the insertion block 600 at the other end of the wire harness tube 202 can also be inserted into the corresponding insertion slot 701, so that the wire harness tube 202 can be better installed on the mounting base 106.

[0052] In actual use, when it is necessary to replace the clamping jaw 107, the locking rod 301 is pulled outward, so that the locking rod 301 can drive the locking block 303 to slide along the first cavity 300 and compress the first spring 302, so that the locking block 303 can be separated from the connecting hole 400, and in the process of separating the locking block 303 from the connecting hole 400, when the positioning hole 307 is aligned with the second cavity 304, at this time, under the action of the second spring 306, the two second springs 306 can push the corresponding positioning block 305 to insert into the corresponding positioning hole 307, so that the positioning block 305 can position the locking block 303, so that the locking block 303 cannot move, so that the locking block 303 can remain in the state of being separated from the connecting hole 400, so as to facilitate the replacement of the clamping jaw 107; after the replacement of the clamping jaw 107 is completed, the positioning rod 200 is lifted upward, so that the positioning rod 200 can drive the positioning block 305 to move upward along the second cavity 304 and compress the second spring 306, so that the positioning block 305 can be separated from the positioning hole 307, and then the positioning of the locking block 303 is released, and at this time, under the action of the first spring 302, the locking block 303 can extend into the corresponding connecting hole 400 to lock and fix the clamping jaw 107.

[0053] In summary, the above only for the preferred embodiments of the present application, any changes and modifications made in accordance with the present application patent scope, should be the scope of the present application patent cover.

Claims

1. A mechanical arm comprising a base (100), a large arm (101) provided on the base (100), a small arm (102) provided on the large arm (101), and a connecting arm (103) provided at an end portion of the small arm (102), characterized in that: One end of the connecting arm (103) is provided with a clamping jaw (107) through a mounting assembly; the mounting assembly comprises a mounting seat (106) provided at one end of the connecting arm (103) and a square column (109) provided on the clamping jaw (107); a square slot (700) for inserting the square column (109) is provided on the lower side of the mounting seat (106), and a connecting hole (400) is provided on the opposite side wall of the square column (109); a locking assembly is provided in the mounting seat (106) and inserted into the corresponding connecting hole (400) to fix the square column (109); a first cavity (300) is oppositely provided in the mounting seat (106), and the first cavity (300) is located on both sides of the square slot (700) and communicates with the square slot (700); the locking assembly comprises a lock block (303) provided in the first cavity (300) and slidable, one end of the lock block (303) is provided with a lock rod (301), one end of the lock rod (301) extends out of the first cavity (300), the lock rod (301) drives the lock block (303) to extend into the corresponding connecting hole (400), so as to lock and fix the square column (109) by the lock block (303); a first spring (302) is provided on the lock rod (301) in the first cavity (300), and the first spring (302) is used to push the lock block (303) to extend into the corresponding connecting hole (400); the mounting seat (106) is further provided with a positioning member for positioning the lock block (303); a second cavity (304) vertically provided in the mounting seat (106) communicates with the corresponding first cavity (300), and a positioning hole (307) is formed in the upper side wall of the lock block (303); the positioning member comprises a positioning block (305) provided in the second cavity (304) and slidable, the positioning block (305) is inserted into the corresponding positioning hole (307) to realize the positioning of the lock block (303), and a positioning rod (200) is provided at the upper end of the positioning block (305); a second spring (306) is sleeved on the positioning rod (200) in the second cavity (304), and the second spring (306) is used to push the positioning block (305) to insert into the corresponding positioning hole (307); a plurality of wire binding tubes (202) are provided on the back surface of the mounting seat (106) along the length direction thereof, the back surface of the wire binding tube (202) oppositely provided with an L-shaped insertion block (600), and the back surface of the mounting seat (106) is provided with an L-shaped insertion slot (701) corresponding to the insertion block (600), the insertion block (600) is inserted into the corresponding insertion slot (701) to realize the installation of the wire binding tube (202) on the mounting seat (106); the upper end of the second cavity (304) is provided with a plug.

2. The robotic arm of claim 1, wherein: A plurality of reinforcing plates (105) are provided on the upper side wall of the mounting seat (106), and the mounting seat (106) is detachably mounted on the connecting arm (103) through the reinforcing plates (105).

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