Multi-joint mechanical arm

Abstract

The utility model discloses a multi-joint mechanical arm which comprises a base plate, a counterweight assembly is installed on the top wall of the base plate, a lifting assembly is fixedly installed on the top wall of the counterweight assembly, and an adjusting assembly is installed on the right side wall of the lifting assembly. According to the multi-joint mechanical arm, under the mutual cooperative work of the counterweight assembly, the lifting assembly and the adjusting assembly, the outwards-extending working range of the first mechanical arm body, the second mechanical arm body and the third mechanical arm body can be adjusted, and adjustment and adaptation can be conducted on objects needing to be grabbed in different heights and different directions; and the working range and functionality of the whole device are further expanded, and the good using effect is achieved.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically a multi-joint robotic arm. Background Technology

[0002] Articulated robots, also known as articulated robotic arms or multi-joint robots, have joints that move in rotation, similar to a human arm. Articulated robots are one of the most common forms of industrial robots in the industrial field today, suitable for mechanical automation operations in many industrial fields, such as automatic assembly, painting, handling, and welding. They can be classified in different ways according to their structure.

[0003] Patent CN219543185U discloses a multi-joint robotic arm, including a base and a robotic arm rotatably mounted on top of the base. A movable frame is slidably mounted on the left side of the base, and a counterweight is mounted on the inner side of the movable frame. Support plates are fixed on the front and rear surfaces of the movable frame, and support sleeves are fixed on the front and rear surfaces of the base. This utility model improves and optimizes existing multi-joint robotic arms by designing a counterweight that can move laterally left and right on the left side of the base. This allows the operator to adjust the horizontal position of the counterweight according to the actual weight of the object to be gripped by the robotic arm. When gripping a heavier object, simply slide the movable frame and the counterweight to the left without adding a new counterweight. The overall stability of the robotic arm in gripping the object on the right side of the base is maintained by lever principles, preventing the robotic arm from tilting to the right. This reduces operating costs while ensuring stability.

[0004] The above-mentioned device has certain shortcomings in its use: Since the length of the robotic arm in the device is fixed, items within the maximum extension length of the robotic arm can be clamped, but when the item exceeds this distance, it needs to be moved. The length cannot be adjusted each time the robotic arm is operated, which makes it inconvenient to use.

[0005] Therefore, this utility model provides a multi-joint robotic arm to solve the above problems. Utility Model Content

[0006] To address the shortcomings of existing technologies, this invention provides a multi-joint robotic arm that solves the aforementioned problems.

[0007] To achieve the above objectives, this utility model is implemented through the following technical solution: a multi-joint robotic arm, including a base plate, a counterweight assembly installed on the top wall of the base plate, a lifting assembly fixedly installed on the top wall of the counterweight assembly, and an adjustment assembly installed on the right side wall of the lifting assembly;

[0008] The adjustment assembly includes a first robotic arm, a second robotic arm, and a third robotic arm, which are uniformly arranged linearly. A rotating seat is fixedly installed on the left side wall of each of the first, second, and third robotic arms. A U-shaped frame is rotatably mounted on the outer wall of each of the rotating seats via a rotating shaft. A connecting plate I is fixedly installed on the left side wall of each of the U-shaped frames, and a connecting plate II is fixedly installed on the left side wall of each connecting plate I. Limiting grooves are formed on the front and rear inner walls of each of the first, second, and third robotic arms. Through openings are formed on the right side walls of each of the first, second, and third robotic arms. Hydraulic rods are fixedly installed on the inner walls of each of the first, second, and third robotic arms. Cross blocks are fixedly installed on the movable ends of each of the hydraulic rods. Movable columns are fixedly installed on the right side walls of each of the cross blocks. Drive motors are fixedly installed on the front walls of each of the U-shaped frames. A mechanical claw is fixedly installed on the right end of the rightmost movable column.

[0009] Through the above technical solution, the adjustment component can adjust the overall working range of the first robotic arm, the second robotic arm and the third robotic arm, and has good adjustment adaptability.

[0010] Furthermore, the connecting plate two located on the far left is fixedly connected to the right side wall of the lifting assembly, the outer walls of several cross blocks are slidably connected to the inner walls of the corresponding limiting grooves, the outer walls of several movable columns are slidably connected to the inner walls of the corresponding through holes, the right ends of several movable columns are fixedly connected to the corresponding connecting plate two, and the power shaft of the drive motor passes through the corresponding U-shaped frame and is fixedly connected to the corresponding rotating shaft via a bearing.

[0011] With the above technical solution, the cross block slides in the inner wall of the corresponding limiting groove to prevent deviation during movement.

[0012] Furthermore, the lifting assembly includes a C-shaped frame, the bottom end of which is fixedly connected to the top wall of the counterweight assembly. An electric slide rail is installed on the inner wall of the C-shaped frame, and an electric slider is slidably installed on the outer wall of the electric slide rail. The right side wall of the electric slider is fixedly connected to the corresponding connecting plate.

[0013] Through the above technical solution, the working height of the first robotic arm, the second robotic arm, and the third robotic arm can be adjusted by the cooperation of the electric slide rail and the electric slider.

[0014] Furthermore, the counterweight assembly includes a base, the bottom wall of which is fixedly connected to the top wall of the base plate.

[0015] Through the above technical solution, the base has functions such as counterweight.

[0016] Furthermore, an electric turntable is fixedly installed on the top wall of the base, and a mounting base is fixedly installed on the top wall of the electric turntable. The top wall of the mounting base is fixedly connected to the bottom wall of the C-shaped frame.

[0017] Through the above technical solution, the electric turntable can drive the mounting base and C-shaped frame to rotate, which in turn drives the electric slide rail, electric slider, and the first, second, and third robotic arms to rotate, enabling the picking and placing of materials in different directions.

[0018] Furthermore, each of the outer walls of the base is fixedly equipped with a load-bearing frame, and each of the two load-bearing frames is slidably equipped with a counterweight.

[0019] Through the above technical solution, the center of gravity of the entire device can be adjusted by the cooperation of the counterweight and the load-bearing frame.

[0020] Furthermore, fastening bolts are screwed onto the four corners of the top wall of the substrate.

[0021] Through the above technical solution, the entire device can be fixed by the cooperation of the fastening bolts on the substrate.

[0022] Beneficial effects

[0023] This invention provides a multi-joint robotic arm. Compared with the prior art, it has the following advantages:

[0024] (1) The multi-joint robotic arm, through the cooperation of the counterweight assembly, lifting assembly and adjustment assembly, can adjust the outward extension working range of the first robotic arm, the second robotic arm and the third robotic arm. It can be adjusted and adapted to grab objects of different heights and directions, further expanding the working range and functionality of the entire device, and has a good effect. Attached Figure Description

[0025] Figure 1 This is a front view of the external structure of this utility model;

[0026] Figure 2 This is an exploded view of the internal structure of the adjustment component of this utility model;

[0027] Figure 3 This is a rear view of the external structure of this utility model;

[0028] Figure 4 This is a front view of the external structure of the adjustment component of this utility model.

[0029] In the diagram: 1. Base plate; 2. Fastening bolt; 3. Counterweight assembly; 31. Base; 32. Support frame; 33. Counterweight block; 34. Mounting seat; 35. Electric turntable; 4. Lifting assembly; 41. C-shaped frame; 42. Electric slide rail; 43. Electric slider; 5. Adjustment assembly; 51. U-shaped frame; 52. Rotating seat; 53. Drive motor; 54. First robotic arm; 55. Through-hole; 56. Limiting slide groove; 57. Hydraulic rod; 58. Cross block; 59. Movable column; 510. Connecting plate two; 511. Connecting plate one; 512. Mechanical claw; 513. Second robotic arm; 514. Third robotic arm. Detailed Implementation

[0030] 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.

[0031] Example 1:

[0032] Please see Figure 1-4 A multi-joint robotic arm includes a base plate 1, a counterweight assembly 3 mounted on the top wall of the base plate 1, a lifting assembly 4 fixedly mounted on the top wall of the counterweight assembly 3, and an adjustment assembly 5 mounted on the right side wall of the lifting assembly 4.

[0033] The adjustment assembly 5 includes a first robotic arm 54, a second robotic arm 513, and a third robotic arm 514. The first robotic arm 54, the second robotic arm 513, and the third robotic arm 514 are uniformly arranged linearly. Rotary seats 52 are fixedly installed on the left side walls of each of the first robotic arm 54, the second robotic arm 513, and the third robotic arm 514. U-shaped frames 51 are rotatably mounted on the outer walls of each of the several rotating seats 52 via rotating shafts. Connecting plates 1 and 2 are fixedly installed on the left side walls of each of the several U-shaped frames 51. Connecting plates 2 and 3 are fixedly installed on the left side walls of each of the several connecting plates 1 and 511. Limiting grooves 56 are formed on the front and rear inner walls of each of the first robotic arm 54, the second robotic arm 513, and the third robotic arm 514. Through openings 55 are formed on the right side walls of each of the first robotic arm 54, the second robotic arm 513, and the third robotic arm 514. Hydraulic rods 57 are fixedly installed on the inner walls of the second robotic arm 513 and the third robotic arm 514. Cross blocks 58 are fixedly installed on the movable ends of several hydraulic rods 57. Movable columns 59 are fixedly installed on the right side walls of several cross blocks 58. Drive motors 53 are fixedly installed on the front walls of several U-shaped frames 51. A mechanical claw 512 is fixedly installed on the right end of the rightmost movable column 59. The second connecting plate 510 on the leftmost side is fixedly connected to the right side wall of the lifting assembly 4. The outer walls of several cross blocks 58 are slidably connected to the inner walls of the corresponding limit grooves 56. The outer walls of several movable columns 59 are slidably connected to the inner walls of the corresponding through holes 55. The right ends of several movable columns 59 are fixedly connected to the second connecting plate 510. The power shaft of the drive motor 53 passes through the corresponding U-shaped frame 51 and is fixedly connected to the corresponding rotating shaft through the bearing.

[0034] In this embodiment of the utility model, the purpose of this arrangement is that the setting of the adjustment component 5 can adjust the working range of the first robotic arm 54, the second robotic arm 513 and the third robotic arm 514. By extending the length of the movable column 59 outward, the range of material grasping by the robotic claw 512 can be further expanded, which has the effect of improving the functionality of the entire device.

[0035] Example 2:

[0036] Please see Figure 1-4This embodiment provides a technical solution based on embodiment one: the lifting component 4 includes a C-shaped frame 41, the bottom end of the C-shaped frame 41 is fixedly connected to the top wall of the counterweight component 3, an electric slide rail 42 is installed on the inner wall of the C-shaped frame 41, an electric slider 43 is slidably installed on the outer wall of the electric slide rail 42, the right side wall of the electric slider 43 is fixedly connected to the corresponding connecting plate 510, the counterweight component 3 includes a base 31, the bottom wall of the base 31 is fixedly connected to the top wall of the base plate 1, an electric turntable 35 is fixedly installed on the top wall of the base 31, an mounting seat 34 is fixedly installed on the top wall of the electric turntable 35, the top wall of the mounting seat 34 is fixedly connected to the bottom wall of the C-shaped frame 41, a load-bearing frame 32 is fixedly installed on the outer wall of the base 31, a counterweight block 33 is slidably installed on the outer wall of the two load-bearing frames 32, and fastening bolts 2 are screwed on the four corners of the top wall of the base plate 1;

[0037] In this embodiment of the utility model, the purpose of this arrangement is that, with the cooperation of the lifting component 4 and the counterweight component 3, when the electric slider 43 in the electric slide rail 42 slides up and down, it will drive the connecting plate 2 510 and the connecting plate 1 511 to slide up and down, thereby causing the first robotic arm 54, the second robotic arm 513 and the third robotic arm 514 to follow the movement, which can match materials of different heights and grab them through the mechanical claw 512. At the same time, when the electric turntable 35 rotates, it can drive the first robotic arm 54, the second robotic arm 513 and the third robotic arm 514 to face materials in different directions, so that the entire device can grab materials of different heights, directions and distances when working, and has more comprehensive functionality.

[0038] Furthermore, any content not described in detail in this specification is existing technology known to those skilled in the art.

[0039] During operation, the device is installed in its working position using the base plate 1 and fastening bolts 2. An external power supply and controller are electrically connected to the electric turntable 35, electric slide rail 42, electric slider 43, drive motor 53, hydraulic rod 57, and mechanical gripper 512. When using the entire device, the hydraulic rod 57 pushes the corresponding cross block 58 to slide within the corresponding limiting groove 56. Simultaneously, the cross block 58 drives the movable column 59 to extend outward from the corresponding through-hole 55, thereby moving the corresponding connecting plate 1 511 and connecting plate 2 510. This causes the first robotic arm 54, the second robotic arm 513, and the third robotic arm 514 to extend outward, further expanding their working range. Simultaneously, when it is necessary to adjust the working angle of the first robotic arm 54, the second robotic arm 513, and the third robotic arm 514, the corresponding drive motor 53 is activated to rotate the shaft and the corresponding rotating seat 52, thus allowing for rapid adjustment of the first robotic arm 54's working angle. The extension positions of robotic arm 54, second robotic arm 513, and third robotic arm 514 can drive the robotic claw 512 to move and grasp various items. Through the cooperation of electric slide rail 42 and electric slider 43, the height of the corresponding connecting plate 2 510 and connecting plate 1 511 can be adjusted, thereby driving the height of the entire first robotic arm 54, second robotic arm 513, and third robotic arm 514 to match the height of different items, making it more convenient to work. The counterweight 33 slides on the outer wall of the corresponding load-bearing frame 32, allowing the counterweight of the entire device to be adjusted to improve working safety. The electric turntable 35 drives the mounting base 34 to rotate, which in turn drives the C-shaped frame 41, electric slide rail 42, and electric slider 43 to rotate, ultimately driving the first robotic arm 54, second robotic arm 513, and third robotic arm 514 to rotate, enabling the grasping of items in different directions, making it more convenient to use.

[0040] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0041] 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 alterations 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-joint robotic arm, comprising a base plate (1), characterized in that: A counterweight assembly (3) is installed on the top wall of the base plate (1), a lifting assembly (4) is fixedly installed on the top wall of the counterweight assembly (3), and an adjustment assembly (5) is installed on the right side wall of the lifting assembly (4). The adjustment assembly (5) includes a first robotic arm (54), a second robotic arm (513), and a third robotic arm (514). The first robotic arm (54), the second robotic arm (513), and the third robotic arm (514) are arranged linearly and uniformly. A rotating seat (52) is fixedly installed on the left side wall of each of the first robotic arm (54), the second robotic arm (513), and the third robotic arm (514). A U-shaped frame (51) is rotatably mounted on the outer wall of each of the rotating seats (52) via a rotating shaft. A connecting plate (511) is fixedly installed on the left side wall of each of the U-shaped frames (51). A connecting plate (510) is fixedly installed on the left side wall of each of the connecting plates (511). The first robotic arm (54), the second robotic arm (513), the third robotic arm (514 ... Limiting grooves (56) are provided on the front and rear walls of the first robotic arm (54), the second robotic arm (513) and the third robotic arm (514). Through openings (55) are provided on the right side walls of the first robotic arm (54), the second robotic arm (513) and the third robotic arm (514). Hydraulic rods (57) are fixedly installed on the inner walls of the first robotic arm (54), the second robotic arm (513) and the third robotic arm (514). Cross blocks (58) are fixedly installed on the movable ends of several hydraulic rods (57). Movable columns (59) are fixedly installed on the right side walls of several cross blocks (58). Drive motors (53) are fixedly installed on the front walls of several U-shaped frames (51). A mechanical claw (512) is fixedly installed on the right end of the rightmost movable column (59).

2. The multi-joint robotic arm according to claim 1, characterized in that: The connecting plate 2 (510) located on the far left is fixedly connected to the right side wall of the lifting assembly (4). The outer walls of several cross blocks (58) are slidably connected to the inner walls of the corresponding limiting grooves (56). The outer walls of several movable columns (59) are slidably connected to the inner walls of the corresponding through holes (55). The right ends of several movable columns (59) are fixedly connected to the corresponding connecting plate 2 (510). The power shaft of the drive motor (53) passes through the corresponding U-shaped frame (51) through the bearing and is fixedly connected to the corresponding rotating shaft.

3. The multi-joint robotic arm according to claim 1, characterized in that: The lifting assembly (4) includes a C-shaped frame (41), the bottom end of which is fixedly connected to the top wall of the counterweight assembly (3). An electric slide rail (42) is installed on the inner wall of the C-shaped frame (41), and an electric slider (43) is slidably installed on the outer wall of the electric slide rail (42). The right side wall of the electric slider (43) is fixedly connected to the corresponding connecting plate (510).

4. A multi-joint robotic arm according to claim 1, characterized in that: The counterweight assembly (3) includes a base (31), the bottom wall of which is fixedly connected to the top wall of the base plate (1).

5. A multi-joint robotic arm according to claim 4, characterized in that: An electric turntable (35) is fixedly installed on the top wall of the base (31), and an mounting base (34) is fixedly installed on the top wall of the electric turntable (35). The top wall of the mounting base (34) is fixedly connected to the bottom wall of the C-shaped frame (41).

6. A multi-joint robotic arm according to claim 4, characterized in that: The outer walls of the base (31) are all fixedly equipped with load-bearing frames (32), and the outer walls of the two load-bearing frames (32) are slidably equipped with counterweights (33).

7. A multi-joint robotic arm according to claim 1, characterized in that: The base plate (1) has fastening bolts (2) screwed into the four corners of its top wall.

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