Robot arm angle adjusting device

Abstract

The utility model discloses a robot arm angle adjusting device, and relates to the technical field of robots. The angle adjusting mechanism comprises two mechanical arms, an adjusting assembly used for adjusting the angle is arranged between the mechanical arms, a mounting plate is arranged on the adjusting assembly, and a fixing assembly used for connecting the mounting plate and the mechanical arms is further arranged on the mounting plate. The adjusting assembly comprises a first mounting block located at the rear end, the front end of the first mounting block is rotationally connected with an adjusting disc, and the front end of the adjusting disc is fixedly connected with a second mounting block. The movable plate and the adjusting rod are driven to move through the first threaded rod and the first sleeve rod, the connecting plate and the mounting plate are driven to move through the adjusting rod, the problem that in the prior art, the length of the mechanical arm is inconvenient to adjust is solved, meanwhile, the vertical clamping plate is driven to move through the two-way threaded rod, and the mechanical arm is convenient to adjust. And the mounting plate is clamped on the mechanical arm through the vertical clamping plate and the longitudinal clamping plate, so that the problem that the mechanical arm is inconvenient to mount and dismount in the prior art is solved.

Description

Technical Field

[0001] This utility model belongs to the field of robotics technology, and in particular relates to a robot arm angle adjustment device. Background Technology

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. It can assist or even replace humans in completing some dangerous, heavy, and complex tasks, improving work efficiency and quality. A robot is mainly composed of four parts: mechanical structure, sensors, controllers, and software systems. The mechanical structure is the basic skeleton of the robot and is an essential part of it. The mechanical structure includes components such as robotic arms, motion axes, joints, and end effectors. The robotic arm is the main part of the robot and can be used to perform various actions. The joints are generally called angle adjustment devices and are used to change the posture and position of the robotic arm. The end effector is used to perform tasks such as grasping and assembly.

[0003] An existing document with publication number CN222222662U discloses an industrial robot arm angle adjustment device, including a mounting base, a coarse adjustment unit, and a fine adjustment unit; the mounting base is a square plate; the coarse adjustment unit includes an electric turntable, clamping blocks, connecting blocks, a motor, a movable shaft, and a main movable arm; the electric turntable is fixedly mounted on the upper end of the mounting base, and two clamping blocks are symmetrically distributed on the upper end of the electric turntable; the fine adjustment unit is installed at the connection between two adjacent movable joints;

[0004] However, it still has the following drawbacks in practical use:

[0005] 1. The angle adjustment device mentioned above realizes the relative rotation between the main moving arm, the second moving arm and the third moving arm through the coarse adjustment unit and the fine adjustment unit. However, in use, its function is relatively simple. It can only realize the rotation of the robotic arm and cannot adjust the length of the robotic arm, resulting in a small range of application and poor practicality.

[0006] 2. In the angle adjustment device mentioned above, the lower end of the main movable arm is fixedly connected to the upper end of the connecting block, the upper end of the main movable arm is movably connected to a second movable arm, and the end of the second movable arm is rotatably connected to a third movable arm. In use, it is not convenient to quickly install and disassemble the robotic arm and joint, which makes it inconvenient to inspect and replace the robotic arm or joint.

[0007] To address these issues, we provide a robotic arm angle adjustment device. Utility Model Content

[0008] The purpose of this utility model is to provide a robot arm angle adjustment device. The first threaded rod and the first sleeve rod drive the moving plate and the adjusting rod to move, and the adjusting rod drives the connecting plate and the mounting plate to move. This solves the problem of inconvenience in adjusting the length of the robot arm in the prior art. At the same time, the bidirectional threaded rod drives the vertical clamping plate to move, and the vertical clamping plate and the longitudinal clamping plate clamp the mounting plate on the robot arm, solving the problem of inconvenience in installing and disassembling the robot arm in the prior art.

[0009] To solve the above-mentioned technical problems, this utility model is achieved through the following technical solution:

[0010] This utility model is a robot arm angle adjustment device, including two robotic arms, an adjustment component for adjusting the angle is provided between the robotic arms, a mounting plate is provided on the adjustment component, and a fixing component for connecting the mounting plate and the robotic arms is also provided on the mounting plate.

[0011] The adjustment assembly includes a first mounting block located at the rear end, an adjustment disc rotatably connected to the front end of the first mounting block, a second mounting block fixedly connected to the front end of the adjustment disc, mounting seats fixedly connected to the top and bottom of the first and second mounting blocks at both ends, an adjustment rod movably passing through the mounting seat, a movable plate fixedly connected to one end of the adjustment rod, a first sleeve rod rotatably passing through the surface of the movable plate, a first threaded rod passing through the internal thread of the first sleeve rod, one end of the first threaded rod fixedly connected to the outer wall of one side of the first or second mounting block, a limit nut threadedly fitted to the other end of the first threaded rod, a connecting plate fixedly connected to the other end of the adjustment rod, and a mounting plate fixedly connected to the outer wall of the connecting plate on the side away from the adjustment rod.

[0012] The fixed assembly includes a mounting frame fixedly connected to one side of the mounting plate. A bidirectional threaded rod is rotatably connected inside the mounting frame. Both ends of the bidirectional threaded rod are fixedly connected to screw caps. Slider blocks are threaded on the upper and lower sides of the outer wall of the bidirectional threaded rod. A vertical clamping plate is fixedly connected to the end of the slider located outside the mounting frame. The vertical clamping plate is respectively clamped to the top and bottom of the robotic arm. A longitudinal clamping plate is movably connected to the side of the vertical clamping plate away from the mounting frame. The longitudinal clamping plate is attached to the front or rear face of the robotic arm.

[0013] A further feature of this invention is that a drive motor is fixedly connected to the rear end face of the first mounting block via a motor frame, the output shaft of the drive motor rotates through the end face of the first mounting block and is fixedly connected to the rear end face of the adjustment disc, a fixing rod is fixedly connected to the front end face of the adjustment disc, the front end of the fixing rod passes through the end face of the second mounting block and is threaded with a fastening nut, and the fastening nut is attached to the front end face of the second mounting block.

[0014] A further feature of this invention is that multiple limiting holes are longitudinally provided around the end face of the second mounting block, and limiting rods are fitted inside the limiting holes with clearance. The rear ends of the limiting rods are respectively fixedly connected to the front end face of the adjusting disc around the end face.

[0015] A further feature of this invention is that baffles are fitted on both sides of the outer wall of the first sleeve rod, and the baffles are respectively attached to the outer walls of both sides of the movable plate. A first anti-slip sleeve is also fitted on one side of the outer wall of the first sleeve rod.

[0016] A further feature of this invention is that: a first positioning hole is provided around the perimeter of the end of the robotic arm near the mounting plate, and a first positioning rod is fitted inside the first positioning hole with clearance; the end of the first positioning rod located outside the first positioning hole is fixedly connected to the perimeter of the outer wall of the mounting plate near the robotic arm.

[0017] A further feature of this invention is that mounting rods are fixedly connected to both the upper and lower sides of one side of the outer wall of the mounting frame, and the end of the mounting rod away from the mounting frame is fixedly connected to the outer wall of the mounting plate near the mounting frame.

[0018] A further feature of this invention is that: multiple second positioning holes are provided at the top and bottom of the end of the robotic arm near the mounting frame, and a second positioning rod is fitted inside each of the second positioning holes with clearance; one end of the second positioning rod located outside the second positioning hole is fixedly connected to the end face of the vertical clamping plate near the robotic arm.

[0019] A further feature of this invention is that a second sleeve rod is rotatably connected to the end face of the vertical clamping plate along the longitudinal direction, a second anti-slip sleeve is fitted on the outer wall of the second sleeve rod, a second threaded rod is threaded inside the second sleeve rod, one end of the second threaded rod located outside the second sleeve rod is fixedly connected to the center position of the end face of the longitudinal clamping plate near the robotic arm, and sliding rods are fixedly connected to both sides of the end face of the longitudinal clamping plate near the robotic arm, with the end of the sliding rod away from the longitudinal clamping plate movably connected to the inside of the vertical clamping plate.

[0020] This utility model has the following beneficial effects:

[0021] 1. This utility model, by setting an adjustment component, rotates the first sleeve rod through the first anti-slip sleeve, and drives the moving plate to move through the threaded connection between the first sleeve rod and the first threaded rod. The moving plate then drives the connecting plate to move through the adjustment rod. The connecting plate drives the robotic arm to move relative to the first mounting block and the second mounting block through the mounting plate, thereby changing the distance between the robotic arms and thus achieving the adjustment of the length of the robotic arm. This facilitates the adjustment of the robotic arm, increases its applicability, and improves its practicality.

[0022] 2. This utility model, by setting a fixed component, rotates the rotating cap, which drives the bidirectional threaded rod to rotate. The bidirectional threaded rod drives the slider to move, and the slider drives the vertical clamping plate to move, so that the vertical clamping plate is respectively locked onto the top and bottom of the robotic arm. Then, the second set of rods drives the longitudinal clamping plate to move, so that the longitudinal clamping plate fits against the front or rear face of the robotic arm. This realizes the installation of the angle adjustment structure on the robotic arm, which is convenient for maintenance or replacement, and thus facilitates the angle adjustment between robotic arms. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0024] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0025] Figure 2 This is a schematic diagram of the structure of the robotic arm of this utility model.

[0026] Figure 3 This is a schematic diagram of the structure of the adjustment component of this utility model.

[0027] Figure 4 This is a structural disassembly diagram of the first mounting block, the adjusting plate, and the second mounting block of this utility model.

[0028] Figure 5 This is a structural disassembly diagram of the adjusting rod, the moving plate, and the connecting plate of this utility model.

[0029] Figure 6 This is a schematic diagram of the structure of the fixing component of this utility model.

[0030] Figure 7 This is a structural disassembly diagram of the mounting frame and the bidirectional threaded rod of this utility model.

[0031] Figure 8 This is a structural disassembly diagram of the vertical clamping plate and the longitudinal clamping plate of this utility model.

[0032] The attached diagram lists the components represented by each number as follows:

[0033] 1-Robotic arm, 101-First positioning hole, 102-Second positioning hole, 2-Adjusting assembly, 201-First mounting block, 201a-Mounting base, 202-Adjusting disc, 202a-Motor frame, 202b-Drive motor, 202c-Fixing rod, 202d-Fasting nut, 202e-Limiting rod, 203-Second mounting block, 203a-Limiting hole, 204-Adjusting rod, 205-Moving plate, 206-First threaded rod, 206a-First sleeve rod, 206b- Limit nut, 206c-baffle, 206d-first anti-slip sleeve, 207-connecting plate, 3-mounting plate, 301a-first positioning rod, 4-fixing component, 401-mounting frame, 401a-mounting rod, 402-double threaded rod, 402a-screw cap, 403-vertical clamping plate, 403a-slider, 403b-second positioning rod, 404-longitudinal clamping plate, 404a-slide rod, 404b-second threaded rod, 405-second sleeve rod, 405a-second anti-slip sleeve. Detailed Implementation

[0034] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention.

[0035] Example 1

[0036] Please see Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, this is the first embodiment of the present invention. This embodiment provides a robot arm angle adjustment device, including two robotic arms 1. An adjustment component 2 for adjusting the angle is arranged between the robotic arms 1. The adjustment component 2 is provided with a mounting plate 3. The adjustment component 2 includes a first mounting block 201, an adjustment plate 202, a second mounting block 203, an adjustment rod 204, a moving plate 205, a first threaded rod 206, and a connecting plate 207. The first threaded rod 206 and the first sleeve rod 206a drive the moving plate 205 and the adjustment rod 204 to move, and the adjustment rod 204 drives the connecting plate 207 and the mounting plate 3 to move. This solves the problem of inconvenience in adjusting the length of the robotic arm 1 in the prior art.

[0037] Specifically, an adjusting plate 202 is rotatably connected to the front end of the first mounting block 201, and a second mounting block 203 is fixedly connected to the front end of the adjusting plate 202. Mounting seats 201a are fixedly connected to the top and bottom front and rear ends of both the first mounting block 201 and the second mounting block 203. An adjusting rod 204 is movably inserted through the mounting seat 201a. A movable plate 205 is fixedly connected to one end of the adjusting rod 204. A first sleeve rod 206a rotatably passes through the surface of the movable plate 205. A first threaded rod 206 passes through the internal thread of the first sleeve rod 206a. One end of the first threaded rod 206 is fixedly connected to the outer wall of one side of the first mounting block 201 or the second mounting block 203. A limiting nut 206b is threaded onto the other end of the first threaded rod 206. A connecting plate 207 is fixedly connected to the other end of the adjusting rod 204. The mounting plate 3 is fixedly connected to the connecting plate 207 away from the adjusting rod 204. On one side of the outer wall of component 4, the first mounting block 201 and the second mounting block 203 are used to connect the robotic arm 1 to the adjusting plate 202. The mounting base 201a is used to movably connect the first mounting block 201 and the second mounting block 203 to the adjusting rod 204. The adjusting plate 202 is used to adjust the angle between the two robotic arms 1. The adjusting rod 204 is used to drive the connecting plate 207 to move. The moving plate 205 is used to drive the adjusting rod 204 to move. The first threaded rod 206 and the first sleeve rod 206a are used to drive the moving plate 205 to move. The limiting nut 206b is used to limit the movement of the moving plate 205. The connecting plate 207 is used to install the mounting plate 3. The mounting plate 3 is used to connect the robotic arm 1 to the first mounting block 201 and the second mounting block 203.

[0038] Furthermore, a drive motor 202b is fixedly connected to the rear end face of the first mounting block 201 via a motor frame 202a. The output shaft of the drive motor 202b rotates through the end face of the first mounting block 201 and is fixedly connected to the rear end face of the adjusting plate 202. A fixing rod 202c is fixedly connected to the front end face of the adjusting plate 202. The front end of the fixing rod 202c passes through the end face of the second mounting block 203 and is threaded with a fastening nut 202d. The fastening nut 202d fits against the front end face of the second mounting block 203.

[0039] The end face of the second mounting block 203 is provided with multiple limiting holes 203a along the longitudinal direction. Each limiting hole 203a is fitted with a limiting rod 202e with clearance. The rear ends of the limiting rods 202e are fixedly connected to the front end face of the adjusting plate 202.

[0040] Both sides of the outer wall of the first rod 206a are fitted with baffles 206c, which are respectively attached to the outer walls of the two sides of the movable plate 205. A first anti-slip sleeve 206d is also fitted on one side of the outer wall of the first rod 206a.

[0041] The robotic arm 1 has first positioning holes 101 around its perimeter near the mounting plate 3. Each first positioning hole 101 has a first positioning rod 301a fitted inside it with clearance. The end of the first positioning rod 301a located outside the first positioning hole 101 is fixedly connected to the perimeter of the outer wall of the mounting plate 3 near the robotic arm 1.

[0042] The operation process of this embodiment is as follows: the first anti-slip sleeve 206d rotates the first sleeve rod 206a, and the threaded connection between the first sleeve rod 206a and the first threaded rod 206 drives the moving plate 205 to move. The moving plate 205 then drives the connecting plate 207 to move through the adjusting rod 204. The connecting plate 207 drives the robotic arm 1 to move relative to the first mounting block 201 and the second mounting block 203 through the mounting plate 3, thereby changing the distance between the robotic arms 1 and thus achieving the adjustment of the length of the robotic arm 1.

[0043] Example 2

[0044] Please see Figure 1 , Figure 2 , Figure 6 , Figure 7 and Figure 8 As shown, this is the second embodiment of the present invention. This embodiment is based on the previous embodiment, but differs from the previous embodiment in that: the mounting plate 3 is also provided with a fixing component 4 for connecting the mounting plate 3 and the robotic arm 1. The fixing component 4 includes a mounting frame 401, a bidirectional threaded rod 402, a vertical clamping plate 403 and a longitudinal clamping plate 404. The bidirectional threaded rod 402 drives the vertical clamping plate 403 to move, and the vertical clamping plate 403 and the longitudinal clamping plate 404 clamp the mounting plate 3 onto the robotic arm 1, which solves the problem of inconvenience in installing and disassembling the robotic arm 1 in the prior art.

[0045] Specifically, the mounting frame 401 is fixedly connected to one side of the mounting plate 3. A bidirectional threaded rod 402 is rotatably connected inside the mounting frame 401. Both ends of the bidirectional threaded rod 402 are fixedly connected to a nut 402a. Slider 403a is threadedly sleeved on the upper and lower sides of the outer wall of the bidirectional threaded rod 402. A vertical clamping plate 403 is fixedly connected to one end of the slider 403a located outside the mounting frame 401. The vertical clamping plate 403 is respectively clamped to the top and bottom of the robotic arm 1. A longitudinal clamping plate 404 is movably connected to the side of the vertical clamping plate 403 away from the mounting frame 401. The longitudinal clamping plate 404 is attached to the front end face or rear end face of the robotic arm 1.

[0046] Furthermore, mounting rods 401a are fixedly connected to both the upper and lower sides of one side of the outer wall of the mounting frame 401. The end of the mounting rod 401a away from the mounting frame 401 is fixedly connected to the outer wall of the mounting plate 3 near the mounting frame 401.

[0047] Multiple second positioning holes 102 are provided at the top and bottom of the end of the robotic arm 1 near the mounting frame 401. Each second positioning hole 102 is fitted with a second positioning rod 403b with clearance. The end of the second positioning rod 403b located outside the second positioning hole 102 is fixedly connected to the end face of the vertical clamping plate 403 near the robotic arm 1.

[0048] A second sleeve rod 405 is rotatably connected to the end face of the vertical clamping plate 403 along the longitudinal direction. A second anti-slip sleeve 405a is fitted on the outer wall of the second sleeve rod 405. A second threaded rod 404b is threaded inside the second sleeve rod 405. One end of the second threaded rod 404b located outside the second sleeve rod 405 is fixedly connected to the center position of the end face of the longitudinal clamping plate 404 near the robot arm 1. Slide rods 404a are fixedly connected to both sides of the end face of the longitudinal clamping plate 404 near the robot arm 1. The end of the slide rod 404a away from the longitudinal clamping plate 404 is movably connected to the inside of the vertical clamping plate 403.

[0049] The rest of the structure is the same as in Example 1.

[0050] The operation process of this embodiment is as follows: Rotate the rotating cap 402a, which drives the bidirectional threaded rod 402 to rotate. The bidirectional threaded rod 402 drives the slider 403a to move, and the slider 403a drives the vertical clamping plate 403 to move, so that the vertical clamping plate 403 is respectively engaged with the top and bottom of the robotic arm 1. Then, the second set of rods 405 drives the longitudinal clamping plate 404 to move, so that the longitudinal clamping plate 404 fits against the front end face or rear end face of the robotic arm 1, thereby realizing the installation of the angle adjustment structure on the robotic arm 1.

[0051] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

Claims

1. A robot arm angle adjustment device comprising two robot arms (1), characterized in that: The mechanical arm (1) is provided with an adjusting assembly (2) for adjusting the angle, and the adjusting assembly (2) is provided with a mounting plate (3), and the mounting plate (3) is further provided with a fixing assembly (4) for connecting the mounting plate (3) and the mechanical arm (1); The adjusting assembly (2) comprises a first mounting block (201) at the rear end, and the front end of the first mounting block (201) is rotatably connected with an adjusting disc (202), the front end of the adjusting disc (202) is fixedly connected with a second mounting block (203), and the top and bottom front and rear ends of the first mounting block (201) and the second mounting block (203) are fixedly connected with mounting seats (201a), the mounting seats (201a) are movably penetrated by adjusting rods (204), one end of the adjusting rod (204) is fixedly connected with a moving plate (205), the surface of the moving plate (205) is rotatably penetrated by a first sleeve rod (206a), the inside of the first sleeve rod (206a) is threadedly penetrated by a first threaded rod (206), one end of the first threaded rod (206) is fixedly connected to the outer wall of one side of the first mounting block (201) or the second mounting block (203), the other end of the first threaded rod (206) is threadedly sleeved with a limiting nut (206b), the other end of the adjusting rod (204) is fixedly connected with a connecting plate (207), and the mounting plate (3) is fixedly connected to the outer wall of one side of the connecting plate (207) away from the adjusting rod (204); The fixing assembly (4) comprises a mounting frame (401) fixedly connected to one side of the mounting plate (3), and the inside of the mounting frame (401) is rotatably connected with a bidirectional threaded rod (402), both ends of the bidirectional threaded rod (402) are fixedly connected with rotating nuts (402a), and the outer wall of the bidirectional threaded rod (402) is threadedly sleeved with a sliding block (403a) above and below, one end of the sliding block (403a) fixedly connected with a vertical clamping plate (403) outside the mounting frame (401), and the vertical clamping plate (403) is respectively clamped on the top and bottom of the mechanical arm (1), the side of the vertical clamping plate (403) away from the mounting frame (401) is movably connected with a longitudinal clamping plate (404), and the longitudinal clamping plate (404) is attached to the front end face or the rear end face of the mechanical arm (1).

2. The robotic arm angle adjustment device of claim 1, wherein, The rear end face of the first mounting block (201) is fixedly connected with a driving motor (202b) through a motor bracket (202a), the output shaft of the driving motor (202b) is rotatably penetrated through the end face of the first mounting block (201) and fixedly connected to the rear end face of the adjusting disc (202), the front end of the fixing rod (202c) is penetrated through the end face of the second mounting block (203) and threadedly sleeved with a fastening nut (202d), and the fastening nut (202d) is attached to the front end face of the second mounting block (203).

3. The robotic arm angle adjustment device of claim 2, wherein, The end face of the second mounting block (203) is provided with a plurality of limiting holes (203a) around the longitudinal direction, and the inside of the limiting hole (203a) is matched with a limiting rod (202e) in a clearance fit, and the rear end of the limiting rod (202e) is fixedly connected to the front end face of the adjusting disc (202).

4. The robotic arm angle adjustment device of claim 1, wherein, The outer wall of the first sleeve rod (206a) is provided with a baffle (206c) on both sides, and the baffle (206c) is attached to the outer wall on both sides of the moving plate (205), and the outer wall of the first sleeve rod (206a) is provided with a first anti-skid sleeve (206d) on one side.

5. The robotic arm angle adjustment device of claim 1, wherein, The end of the mechanical arm (1) near the mounting plate (3) is provided with a first positioning hole (101) around the longitudinal direction, and the inside of the first positioning hole (101) is matched with a first positioning rod (301a) in a clearance fit, and the end of the first positioning rod (301a) outside the first positioning hole (101) is fixedly connected to the outer wall of the mounting plate (3) near the mechanical arm (1).

6. The robotic arm angle adjustment device of claim 1, wherein, The outer wall of the mounting frame (401) is fixedly connected with a mounting rod (401a) on both sides, and the end of the mounting rod (401a) away from the mounting frame (401) is fixedly connected to the outer wall of the mounting plate (3) near the mounting frame (401).

7. The robotic arm angle adjustment device of claim 1, wherein, The end of the mechanical arm (1) near the mounting frame (401) is provided with a plurality of second positioning holes (102) on the top and bottom, and the inside of the second positioning hole (102) is matched with a second positioning rod (403b) in a clearance fit, and the end of the second positioning rod (403b) outside the second positioning hole (102) is fixedly connected to the end face of the vertical clamping plate (403) near the mechanical arm (1).

8. The robotic arm angle adjustment device of claim 1, wherein, The end face of the vertical clamping plate (403) is rotatably connected with a second sleeve rod (405) in the longitudinal direction, and the outer wall of the second sleeve rod (405) is provided with a second anti-skid sleeve (405a), and the inside of the second sleeve rod (405) is provided with a second threaded rod (404b), and the end of the second threaded rod (404b) outside the second sleeve rod (405) is fixedly connected to the end face of the vertical clamping plate (403) near the mechanical arm (1), and the end face of the vertical clamping plate (403) is fixedly connected with a sliding rod (404a) on both sides, and the end of the sliding rod (404a) away from the vertical clamping plate (403) is movably connected to the inside of the vertical clamping plate (403).

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