Multi-angle adjusting manipulator

Abstract

The utility model discloses a multi-angle adjusting manipulator which comprises a mechanical arm, a first air cylinder, a second air cylinder and a third air cylinder are arranged on one side face of the mechanical arm, a first rotating assembly is arranged at the output end of the first air cylinder, and the first rotating assembly is used for controlling the size of the opening angle of a manipulator body; according to the mechanical arm, by designing the lubricating oil system and the isolation plate pulled by the spring, the function of automatically adding lubricating oil before angle adjustment of the mechanical arm is achieved, and when the first rack, the second rack and the third rack are pulled back by the air rod, the spring can pull the isolation plate to open the oil outlet, so that the lubricating oil flows out smoothly; and parts in the device are lubricated, the tedious process that operation needs to be stopped and lubricating oil needs to be added manually due to friction consumption among the parts when the manipulator conducts angle adjusting operation is avoided, therefore, friction loss is effectively reduced, and the service life of the device is prolonged.

Description

TECHNICAL FIELD

[0001] The utility model relates to manipulator technical field especially relates to a multi -angle adjustment manipulator. BACKGROUND

[0002] In the wave of industrial automation and intelligent manufacturing, manipulator as the key component of automatic production line, its application is more and more widely. In order to adapt to the demand of different production line and process, manipulator needs to have the ability of multi -angle adjustment, to realize the accurate grabbing, carrying and assembly to workpiece. This demand promotes the research and application of multi -angle adjustment manipulator technology

[0003] Through the search, the utility model patent with Chinese patent number CN219705192U discloses a multi -angle adjustment five -axis servo manipulator, and the following scheme is proposed, including first mobile path and the sliding mechanism set on the first mobile path, the sliding mechanism includes sliding assembly and lifting assembly, the sliding assembly includes first sliding block, second mobile path, second sliding block, support frame and connecting block, through the mutual cooperation of mechanical control arm and fixed mechanism, when the user needs to replace the connecting head of five -axis servo manipulator, first, the right side mounting clamping plate is fixed on the right side of fixed plate, and the user can adjust the left side mounting clamping plate through the cooperation of connecting rod and adjusting nut, so that the user can clamp the connecting head in the inside of mounting clamping plate through the cooperation of both sides mounting clamping plate, and the user can further fix the connecting head through fixed groove, so that the connecting head can be conveniently replaced, and the stability of installed connecting head is increased.

[0004] But the above -mentioned device in the actual use process, the manipulator will produce friction consumption between parts when adjusting angle operation, needs to stop adjusting operation, and adds lubricating oil to the device by artificial, thereby reduce the service life of device, and when the angle of manipulator is adjusted, it is difficult to adjust the spatial position of manipulator, thereby leading to the multi -freedom degree adjustment ability cannot be improved. UTILITY MODEL CONTENTS

[0005] The utility model discloses a multi -angle adjustment manipulator, which solves the problem of friction consumption between parts when adjusting angle operation of the manipulator in the prior art, and the service life of the device is reduced.

[0006] In order to realize the above -mentioned purpose, the utility model adopts the following technical scheme:

[0007] A multi-angle adjusting mechanical hand, comprising a mechanical arm, one side of the mechanical arm is provided with a first cylinder, a second cylinder and a third cylinder, the output end of the first cylinder is provided with a first rotating assembly, the first rotating assembly is used for controlling the size of the opening angle of the mechanical hand body, the output end of the second cylinder is provided with a second rotating assembly, the second rotating assembly is used for adjusting the angle between the mechanical hand body and the vertical direction, the output end of the third cylinder is provided with a third rotating assembly, the third rotating assembly is used for controlling the angle between the mechanical hand body and the horizontal direction, the other side is provided with a lubricating oil tank, the inner side of the lubricating oil tank is provided with a drain port, and the drain port and the isolation plate are slidably connected.

[0008] The above technical scheme further comprises:

[0009] The first rotating assembly comprises a gas rod slidably installed on the first cylinder, the gas rod is fixedly connected with a first rack, the first rack is meshingly connected with a first gear, one end of the first gear is fixedly connected with a first connecting shaft, the other end of the first connecting shaft is fixedly connected with a third bevel gear, the third bevel gear is meshingly connected with a fourth bevel gear, and the fourth bevel gear is meshingly connected with a fifth bevel gear.

[0010] The fifth bevel gear is fixedly connected with a worm, the worm penetrates through the mechanical hand body and is meshingly connected with a worm gear, the worm gear is rotatably connected with the mechanical hand body, one end of the first rack is fixedly connected with a spring, and the other end of the spring is fixedly connected with an isolation plate.

[0011] The second rotating assembly comprises a gas rod slidably installed on the second cylinder, the gas rod is fixedly connected with a second rack, the second rack is meshingly connected with a second gear, one end of the second gear is fixedly connected with a second connecting shaft, the other end of the second connecting shaft is fixedly connected with a first bevel gear, and the first bevel gear is meshingly connected with a second bevel gear.

[0012] One end of the second bevel gear is fixedly connected with a second connecting rod, the other end of the second connecting rod is rotatably installed with the mechanical hand body, and the second rack is fixedly connected with a spring.

[0013] One end of the first connecting rod is rotatably connected with the fourth bevel gear, and the other end of the first connecting rod is rotatably connected with the second connecting rod.

[0014] The third rotating assembly comprises a gas rod slidably installed on the third cylinder, the gas rod is fixedly connected with a third rack, the third rack is meshingly connected with a third gear, one end of the third gear is fixedly connected with a third connecting shaft, the other end of the third connecting shaft is fixedly installed on the first connecting rod, and the third rack is fixedly connected with a spring.

[0015] The first connecting shaft passes through the second connecting shaft and the third connecting shaft and is rotatably connected to the second connecting shaft, and the second connecting shaft passes through the third connecting shaft and is rotatably connected to the third connecting shaft.

[0016] This utility model has the following beneficial effects:

[0017] 1. In this utility model, by designing a lubrication system and a spring-pulled isolation plate, the function of automatically adding lubricating oil before the robot arm adjusts its angle is realized. When the first rack, second rack, and third rack are pulled back by the pneumatic rod, the spring will pull the isolation plate to open the oil outlet, allowing the lubricating oil to flow out smoothly and lubricate the internal parts of the device. This avoids the tedious process of manually adding lubricating oil when the robot arm is adjusting its angle due to friction between the parts, thereby effectively reducing friction loss and improving the service life of the device.

[0018] 2. In this utility model, by utilizing transmission devices such as gears, bevel gears, and worm gears, the linear motion of the cylinder is converted into the rotational motion of the manipulator. This not only achieves structural compactness but also ensures high precision during the adjustment process. In particular, the worm gear mechanism, with its self-locking characteristics, ensures the stability of the manipulator after adjustment and avoids angular deviations caused by external factors. This high-precision adjustment capability enables the manipulator to maintain stable operating performance in complex working environments, further improving the accuracy and reliability of its spatial position adjustment. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of a multi-angle adjustable robotic arm proposed in this utility model;

[0020] Figure 2 This is a first structural schematic diagram of the present invention;

[0021] Figure 3 This is a schematic diagram of the second structure of the present invention;

[0022] Figure 4 This is a schematic diagram of the third structure of this utility model;

[0023] Figure 5 for Figure 3 Enlarged schematic diagram of the structure at point A in the middle.

[0024] In the diagram: 1. Robotic arm; 2. First cylinder; 3. Second cylinder; 4. Third cylinder; 5. First rack; 6. First gear; 7. Second rack; 8. Second gear; 9. Third rack; 10. Third gear; 11. First connecting shaft; 12. Second connecting shaft; 13. Third connecting shaft; 14. Pneumatic rod; 15. First bevel gear; 16. Third bevel gear; 17. Second bevel gear; 18. Fourth bevel gear; 19. Fifth bevel gear; 20. Worm gear; 21. Worm wheel; 22. Robotic arm body; 23. Second connecting rod; 24. First connecting rod; 25. Lubricating oil tank; 26. Spring; 27. Isolation plate; 28. Oil drain port. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0026] Example 1

[0027] like Figures 1-5 As shown, the present invention proposes a multi-angle adjustable manipulator, including a manipulator arm 1. A first cylinder 2, a second cylinder 3, and a third cylinder 4 are provided on one side of the manipulator arm 1. A first rotating component is provided at the output end of the first cylinder 2, which is used to control the opening angle of the manipulator body 22. A second rotating component is provided at the output end of the second cylinder 3, which is used to adjust the angle between the manipulator body 22 and the vertical direction. A third rotating component is provided at the output end of the third cylinder 4, which is used to control the angle between the manipulator body 22 and the horizontal direction. A lubricating oil tank 25 is provided on the other side of the manipulator arm 1. An oil drain port 28 is provided on the inner side of the lubricating oil tank 25. The oil drain port 28 is slidably connected to an isolation plate 27.

[0028] The first rotating assembly includes a rod 14 slidably mounted on a first cylinder 2. The rod 14 is fixedly connected to a first rack 5. The first rack 5 is meshed with a first gear 6. The first gear 6 is fixedly connected to one end of a first connecting shaft 11. The other end of the first connecting shaft 11 is fixedly connected to a third bevel gear 16. The third bevel gear 16 is meshed with a fourth bevel gear 18. The fourth bevel gear 18 is meshed with a fifth bevel gear 19.

[0029] The fifth bevel gear 19 is fixedly connected to a worm 20, which passes through the robot body 22 and is meshed with a worm wheel 21. The worm wheel 21 is rotatably connected to the robot body 22. The first rack 5 is fixedly connected to one end of a spring 26, and the other end of the spring 26 is fixedly connected to an isolation plate 27.

[0030] The second rotating assembly includes a rod 14 slidably mounted on the second cylinder 3. The rod 14 is fixedly connected to a second rack 7. The second rack 7 is meshed with a second gear 8. The second gear 8 is fixedly connected to one end of a second connecting shaft 12. The other end of the second connecting shaft 12 is fixedly connected to a first bevel gear 15. The first bevel gear 15 is meshed with a second bevel gear 17.

[0031] The second bevel gear 17 is fixedly connected to one end of the second connecting rod 23, and the other end of the second connecting rod 23 is rotatably mounted with the robot body 22. The second rack 7 is fixedly connected to the spring 26.

[0032] The third rotating assembly includes a rod 14 slidably mounted on a third cylinder 4, a third rack 9 fixedly connected to the rod 14, a third gear 10 meshing with the third rack 9, a third connecting shaft 13 fixedly connected to one end of the third gear 10, the other end of the third connecting shaft 13 fixedly mounted on a first connecting rod 24, and a spring 26 fixedly connected to the third rack 9.

[0033] The first connecting shaft 11 passes through the second connecting shaft 12 and the third connecting shaft 13 and is rotatably connected to the second connecting shaft 12. The second connecting shaft 12 passes through the third connecting shaft 13 and is rotatably connected to the third connecting shaft 13.

[0034] In this embodiment, when it is necessary to adjust the opening angle of the robotic arm body 22, the first cylinder 2 is activated. The first cylinder 2 pushes the air rod 14, causing the air rod 14 to drive the first rack 5 to slide on the inner wall of the robotic arm 1. The first rack 5, through its meshing relationship with the first gear 6, drives the first gear 6 to rotate, thereby causing the first connecting shaft 11, which is fixedly mounted on the first gear 6, to rotate. The rotation of the first connecting shaft 11 drives the third bevel gear 16 to rotate on the first bevel gear 15. The third bevel gear 16, through its meshing action, drives the fourth bevel gear 18 to rotate on the first connecting rod 24. The first connecting rod 24, through its meshing action, drives the fifth bevel gear 19 to rotate. The rotation of the fifth bevel gear 19 drives the worm gear 20, which is fixedly mounted on the fifth bevel gear 19, to rotate. The worm gear 20, through its meshing with the worm wheel 21, drives the worm wheel 21 to rotate on the robot body 22, thereby expanding the angle of the robot body 22. When it is necessary to reduce the angle of the robot body 22, the first cylinder 2 drives the air rod 14 to pull back, thus reducing the angle of the robot body 22. When it is necessary to adjust the angle between the robot body 22 and the vertical direction, the second cylinder 3 is activated. The second cylinder 3, through the air rod 14, pushes the second rack 7 to slide on the inner wall of the robot arm 1. The sliding of the second rack 7 drives the second gear 8 to rotate. The movement drives the second connecting shaft 12, which is fixedly mounted on the second gear 8, to rotate, thereby driving the first bevel gear 15 to rotate. The first bevel gear 15, through its meshing relationship with the second bevel gear 17, drives the second bevel gear 17 to rotate. The rotation of the second bevel gear 17 drives the second connecting rod 23 to rotate on the first connecting rod 24. The rotation of the second connecting rod 23 causes the robot arm body 22 to change position, thereby adjusting the angle between the robot arm body 22 and the vertical direction. When it is necessary to adjust the angle between the robot arm body 22 and the horizontal direction, the third cylinder 4 is activated. The activated third cylinder 4 pushes the third rack 9 to slide within the robot arm 1 through the air rod 14. The three-tooth rack 9 drives the third gear 10 to rotate through meshing. The rotation of the third gear 10 drives the first connecting rod 24 to rotate through the third connecting shaft 13. The first connecting rod 24 drives the robot body 22 to change its horizontal position through the second connecting rod 23, thereby adjusting the angle between the robot body 22 and the horizontal direction. Before adjusting the angle of the robot, lubricating oil is added to the lubricating oil tank 25. When the first rack 5, the second rack 7, and the third rack 9 are pulled back by the air rod 14, the isolation plate 27 will be pulled by the spring 26, thereby opening the oil drain port 28 and allowing the lubricating oil to flow out smoothly, thereby lubricating the internal parts of the device and increasing the service life of the device.

[0035] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A multi-angle adjustable robotic arm, comprising a robotic arm (1), characterized in that, The robotic arm (1) is provided with a first cylinder (2), a second cylinder (3) and a third cylinder (4) on one side. The output end of the first cylinder (2) is provided with a first rotating component, which is used to control the opening angle of the robotic arm body (22). The output end of the second cylinder (3) is provided with a second rotating component, which is used to adjust the angle between the robotic arm body (22) and the vertical direction. The output end of the third cylinder (4) is provided with a third rotating component, which is used to control the angle between the robotic arm body (22) and the horizontal direction. The other side of the robotic arm (1) is provided with a lubricating oil tank (25). The inner side of the lubricating oil tank (25) is provided with an oil drain port (28), which is slidably connected to the isolation plate (27).

2. The multi-angle adjustable robotic arm according to claim 1, characterized in that, The first rotating assembly includes a rod (14) slidably mounted on a first cylinder (2), the rod (14) being fixedly connected to a first rack (5), the first rack (5) being meshed with a first gear (6), the first gear (6) being fixedly connected to one end of a first connecting shaft (11), the other end of the first connecting shaft (11) being fixedly connected to a third bevel gear (16), the third bevel gear (16) being meshed with a fourth bevel gear (18), and the fourth bevel gear (18) being meshed with a fifth bevel gear (19).

3. The multi-angle adjustable robotic arm according to claim 2, characterized in that, The fifth bevel gear (19) is fixedly connected to a worm (20), the worm (20) passes through the robot body (22) and is meshed with a worm wheel (21), the worm wheel (21) is rotatably connected to the robot body (22), the first rack (5) is fixedly connected to one end of a spring (26), and the other end of the spring (26) is fixedly connected to an isolation plate (27).

4. The multi-angle adjustable robotic arm according to claim 1, characterized in that, The second rotating assembly includes a rod (14) slidably mounted on a second cylinder (3), the rod (14) being fixedly connected to a second rack (7), the second rack (7) being meshed with a second gear (8), the second gear (8) being fixedly connected to one end of a second connecting shaft (12), the other end of the second connecting shaft (12) being fixedly connected to a first bevel gear (15), and the first bevel gear (15) being meshed with a second bevel gear (17).

5. A multi-angle adjustable robotic arm according to claim 4, characterized in that, The second bevel gear (17) is fixedly connected to one end of the second connecting rod (23), and the other end of the second connecting rod (23) is rotatably mounted with the robot body (22). The second rack (7) is fixedly connected to the spring (26).

6. A multi-angle adjustable robotic arm according to claim 1, characterized in that, The third rotating assembly includes a rod (14) slidably mounted on a third cylinder (4), the rod (14) being fixedly connected to a third rack (9), the third rack (9) being meshed with a third gear (10), the third gear (10) being fixedly connected to one end of a third connecting shaft (13), the other end of the third connecting shaft (13) being fixedly mounted on a first connecting rod (24), and the third rack (9) being fixedly connected to a spring (26).

7. A multi-angle adjustable robotic arm according to claim 2, characterized in that, The first connecting shaft (11) passes through the second connecting shaft (12) and the third connecting shaft (13) and is rotatably connected to the second connecting shaft (12). The second connecting shaft (12) passes through the third connecting shaft (13) and is rotatably connected to the third connecting shaft (13).

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