A robotic arm structure for embodied robots

Abstract

This utility model relates to the field of automated mechanical equipment technology, specifically to a robotic arm structure for a robot, including a base and a working component. The working component includes multiple adjustment structures, multiple fixing plates, a multi-axis robotic arm, and a gripper. By operating the adjustment frame at the corresponding position, it slides on the adjustment rail at the corresponding position in conjunction with the guide to adjust the position of the fixing plate and its mounting hole. Then, the locking component is inserted into the limiting hole at the corresponding position of the adjustment rail to fix the position of the adjustment frame. Finally, screws are used to pass through the mounting holes on the fixing plate in sequence and connect with the corresponding holes on the robot's mounting part to complete the assembly of the overall device. This solves the problem that in existing robot robotic arm structures, the position of the fixing holes on the base is fixed, making it impossible to adjust the position of the fixing holes to adapt to different robot mounting positions, thus resulting in low versatility.

Description

Technical Field

[0001] This utility model relates to the field of automated mechanical equipment technology, and in particular to a robotic arm structure for a body-worn robot. Background Technology

[0002] Embossed robots are robots that possess body structures, motor abilities, and sensory capabilities similar to humans or other living beings, enabling more natural and efficient interaction and operation. They generally require the use of robotic arm structures, but existing robotic arm structures are quite complex.

[0003] The prior art (CN203901298U) discloses a robotic arm structure, including a base, on which a rotating column that can rotate around its own axis is mounted. The lower end of the rotating column is connected to the base, and a mounting seat is fixedly connected to the upper end of the rotating column. A first arm is provided on the mounting seat. One end of the first arm is hinged to the mounting seat, and a second arm is also hinged to the other end of the first arm. The inner end of the second arm is hinged to the first arm. Both the first arm and the second arm can swing up and down. This robotic arm structure is convenient to move, install and disassemble, and is also simple to control.

[0004] However, with the above method, since the position of the fixing holes on the base is fixed, it is impossible to adjust the position of the fixing holes to adapt to different installation positions of the robot, resulting in low versatility. Utility Model Content

[0005] The purpose of this invention is to provide a robotic arm structure for a robot, aiming to solve the problem that existing robotic arm structures for robots have fixed positions on the base, making it impossible to adjust the position of the fixing holes to adapt to different installation positions of the robot, thus resulting in low versatility.

[0006] To achieve the above objectives, this utility model provides a robotic arm structure for an embodied robot, including a base and working components.

[0007] The working components include multiple adjustment structures, multiple fixing plates, a multi-axis robotic arm, and clamping components;

[0008] Multiple adjustment structures are located on one side of the base; each adjustment structure includes an adjustment rail, an adjustment frame, multiple guides, a locking member, and a flipping member. The adjustment rail is fixedly connected to the base and located on one side of the base. The adjustment rail has multiple limiting holes, each located on one side of the adjustment rail. The adjustment frame is slidably connected to the adjustment rail and located on one side of the adjustment rail. Multiple guides are respectively disposed on one side of the adjustment frame. The locking member is disposed on one side of the adjustment frame. The flipping member is disposed on one side of the adjustment frame. Multiple fixing plates are fixedly connected to multiple flipping members and are respectively located on one side of multiple flipping members. The fixing plates have mounting holes, each located on one side of the fixing plates. The multi-axis robotic arm is fixedly connected to the base and located on one side of the base. The clamping member is disposed on one side of the multi-axis robotic arm.

[0009] The guide includes a rotating shaft and a guide roller. The rotating shaft is rotatably connected to the adjusting frame and is located on one side of the adjusting frame. The guide roller is fixedly connected to the rotating shaft and is located on one side of the rotating shaft.

[0010] The locking component includes an operating frame, a locking screw, and a pin. The operating frame is fixedly connected to the adjusting frame and is located on one side of the adjusting frame. The locking screw is threadedly connected to the operating frame and is located on one side of the operating frame. The pin is fixedly connected to the locking screw and is located on one side of the locking screw.

[0011] The flipping component includes a flipping frame, a rotating rod, a rotating bracket, and a locking cap. The flipping frame is fixedly connected to the adjusting frame and located on one side of the adjusting frame. The rotating rod is fixedly connected to the flipping frame and located on one side of the flipping frame. The rotating bracket is rotatably connected to the rotating rod and located on one side of the rotating rod. The locking cap is threadedly connected to the rotating rod, abuts against the rotating bracket, and is located on one side of the rotating rod.

[0012] The clamping component includes a clamping frame, two clamping cylinders, and two abutting blocks. The clamping frame is fixedly connected to the output end of the multi-axis robotic arm and is located on one side of the multi-axis robotic arm. The two clamping cylinders are respectively fixedly connected to the clamping frame and are located on both sides of the clamping frame. The two abutting blocks are respectively fixedly connected to the output ends of the two clamping cylinders and are located on one side of the two clamping cylinders.

[0013] This utility model discloses a robotic arm structure for a unibody robot. During the assembly of the overall device, the adjustment frame at the corresponding position is operated according to the hole position of the robot part. The guide slides on the adjustment rail at the corresponding position to adjust the position of the fixing plate and its mounting hole. Then, the locking member is inserted into the limiting hole at the corresponding position of the adjustment rail to fix the position of the adjustment frame. Then, the flipping member is operated to adjust the fixing angle of the fixing plate according to different installation conditions. Finally, screws are used to pass through the mounting holes on the fixing plate and connect with the corresponding holes on the robot's mounting part to complete the assembly of the overall device. Then, the multi-axis robotic arm cooperates with the clamping member to realize the robotic arm clamping operation. This solves the problem that the existing robotic arm structure of robots has a fixed position of the fixing hole on the base, which cannot be adapted to different installation positions of the robot, resulting in low versatility. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0015] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0016] Figure 2 This is a structural schematic diagram of the entire utility model from another angle.

[0017] Figure 3 This is a front view of the entire utility model.

[0018] Figure 4 This is a cross-sectional view of the adjustment structure and fixing plate of this utility model.

[0019] 101-Base, 102-Adjustment structure, 103-Fixed plate, 104-Multi-axis robotic arm, 105-Clamping component, 106-Adjustment rail, 107-Adjustment frame, 108-Guide component, 109-Locking component, 110-Flipping component, 111-Limiting hole, 112-Mounting hole, 113-Rotating shaft, 114-Guide roller, 115-Operating frame, 116-Locking screw, 117-Pin, 118-Flipping frame, 119-Rotating rod, 120-Rotating frame, 121-Locking cap, 122-Clamping frame, 123-Clamping cylinder, 124-Abutting block. Detailed Implementation

[0020] The embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, but should not be construed as limiting the present invention.

[0021] Please see Figures 1-4 ,in, Figure 1 This is a schematic diagram of the overall structure of this utility model. Figure 2 This is a structural schematic diagram of the entire utility model from another angle. Figure 3 This is a front view of the entire utility model. Figure 4 This is a cross-sectional view of the adjustment structure and fixing plate of this utility model.

[0022] This utility model discloses a robotic arm structure for a body-worn robot, comprising a base 101 and a working assembly. The working assembly includes multiple adjustment structures 102, multiple fixing plates 103, a multi-axis robotic arm 104, and a clamping component 105. Each adjustment structure 102 includes an adjustment rail 106, an adjustment frame 107, multiple guides 108, a locking component 109, and a flipping component 110. The adjustment rail 106 has multiple limiting holes 111, and the fixing plates 103 have mounting holes 112. The guides 108 include a rotating shaft 113 and a guide roller 114. The locking component 109 includes an operating frame 115, a locking screw 116, and a pin 117. The flipping component 110 includes a flipping frame 118, a rotating rod 119, a rotating frame 120, and a locking cap 121. The clamping component 105 includes a clamping frame 122, two clamping cylinders 123, and two abutting blocks 124. The aforementioned solution solves the problem that the existing robot manipulator structure has low versatility because the position of the fixing hole on the base 101 is fixed, and therefore cannot be adapted to different installation positions of the robot by adjusting the position of the fixing hole.

[0023] In this specific embodiment, the base 101 is used to support the assembly of the working components.

[0024] Among them, multiple adjustment structures 102 are respectively located on one side of the base 101; the adjustment rail 106 is fixedly connected to the base 101 and located on one side of the base 101; multiple limiting holes 111 are respectively located on one side of the adjustment rail 106; the adjustment frame 107 is slidably connected to the adjustment rail 106 and located on one side of the adjustment rail 106; multiple guide members 108 are respectively disposed on one side of the adjustment frame 107; the locking member 109 is disposed on one side of the adjustment frame 107; the flipping member 110 is disposed on one side of the adjustment frame 107; multiple fixing plates 103 are respectively fixedly connected to multiple flipping members 110 and are respectively located on one side of multiple flipping members 110; the mounting hole 112 is located on one side of the fixing plate 103; the multi-axis robotic arm 104 is fixedly connected to the base 101 and located on one side of the base 101; the clamping member 105 is disposed on one side of the multi-axis robotic arm 104, and is operated according to the hole position of the assembled robot part. The adjustment frame 107, positioned accordingly, slides on the adjustment rail 106 in conjunction with the guide 108 to adjust the position of the fixing plate 103 and its mounting hole 112. Then, the locking member 109 is inserted into the limiting hole 111 at the corresponding position of the adjustment rail 106 to fix the position of the adjustment frame 107. Next, the flipping member 110 is used to adjust the fixing angle of the fixing plate 103 according to different installation conditions. Finally, screws are passed through the mounting holes 112 on the fixing plate 103 and threaded into the corresponding holes on the robot's mounting part to complete the assembly of the entire device. Then, the multi-axis robotic arm 104, in conjunction with the clamping member 105, performs robotic gripping operations. The multi-axis robotic arm 104 is existing technology; for example, the rotating column, motor one, mounting base, first arm, second arm, rotary cylinder, and motor two in patent document CN203901298U are examples. ABB models are also preferred. The IRB1600-10 / 1.45 six-axis robotic arm solves the problem of low versatility in existing robot arm structures, where the fixed holes on the base 101 are in fixed positions and cannot be adjusted to fit different robot installation locations.

[0025] Secondly, the rotating shaft 113 is rotatably connected to the adjusting frame 107 and is located on one side of the adjusting frame 107; the guide roller 114 is fixedly connected to the rotating shaft 113 and is located on one side of the rotating shaft 113. The rotating shaft 113 is used to support the rotating rod of the guide roller 114. The guide roller 114 is used to rotate when the adjusting frame 107 slides on the adjusting rail 106, providing guidance for the adjusting frame 107 during sliding, making the sliding of the adjusting frame 107 more convenient.

[0026] Furthermore, the operating frame 115 is fixedly connected to the adjusting frame 107 and is located on one side of the adjusting frame 107; the locking screw 116 is threadedly connected to the operating frame 115 and is located on one side of the operating frame 115; the pin 117 is fixedly connected to the locking screw 116 and is located on one side of the locking screw 116. When the adjusting frame 107 moves to a suitable position, the locking screw 116 is twisted to drive the pin 117 to be inserted into the limiting hole 111 on the adjusting rail 106, thereby completing the limiting of the position of the operating frame 115.

[0027] In addition, the flipping frame 118 is fixedly connected to the adjusting frame 107 and is located on one side of the adjusting frame 107; the rotating rod 119 is fixedly connected to the flipping frame 118 and is located on one side of the flipping frame 118; the rotating frame 120 is rotatably connected to the rotating rod 119 and is located on one side of the rotating rod 119; the locking cap 121 is threadedly connected to the rotating rod 119 and abuts against the rotating frame 120 and is located on one side of the rotating rod 119. The rotating frame 120 is used to cooperate with the rotating rod 119 on the flipping frame 118 to rotate and adjust the fixing angle of the fixing plate 103. Then, by operating the locking cap 121 to abut against the rotating frame 120, the position of the fixing plate 103 after adjustment can be fixed.

[0028] Furthermore, the clamping frame 122 is fixedly connected to the output end of the multi-axis robotic arm 104 and is located on one side of the multi-axis robotic arm 104; the two clamping cylinders 123 are fixedly connected to the clamping frame 122 respectively and are located on both sides of the clamping frame 122; the two abutting blocks 124 are fixedly connected to the output ends of the two clamping cylinders 123 respectively and are located on one side of the two clamping cylinders 123. The clamping frame 122 supports the assembly of the two clamping cylinders 123, and the two clamping cylinders 123 are used to drive the two abutting blocks 124 to realize the clamping operation of the robotic arm.

[0029] When using this utility model, according to the hole positions of the assembled robot parts, operate the corresponding adjustment frame 107, slide it on the corresponding adjustment rail 106 in conjunction with the guide 108, adjust the position of the fixing plate 103 and its mounting hole 112, then turn the locking screw 116 to drive the pin 117 to insert into the corresponding limiting hole 111 on the adjustment rail 106, thereby limiting the position of the operation frame 115 and fixing the position of the adjustment frame 107. Then, according to different installation conditions, operate the flipping member 110 to adjust the fixing angle of the fixing plate 103. The rotating frame 120 is used to cooperate with the rotating rod 119 on the flipping frame 118 to rotate and adjust the fixing angle of the fixing plate 103. The fixed angle of the fixed plate 103 is fixed, and then the locking cap 121 is operated to press against the rotating frame 120 to fix the position of the fixed plate 103 after adjustment. Finally, screws are used to pass through the mounting holes 112 on the fixed plate 103 in sequence and connect them with the corresponding holes on the robot's mounting part to complete the assembly of the whole device. Then, the multi-axis robotic arm 104, together with the gripper frame 122 and the two gripping cylinders 123, drives the two abutment blocks 124 to realize the robotic arm gripping operation. This solves the problem that the existing robotic arm structure cannot adapt to different robot mounting positions by adjusting the position of the fixed holes on the base 101 because the position of the fixed holes is fixed. This results in low versatility.

[0030] The above-disclosed embodiments are merely one or more preferred embodiments of this application and should not be construed as limiting the scope of this application. Those skilled in the art can understand that all or part of the processes for implementing the above embodiments and equivalent changes made in accordance with the claims of this application still fall within the scope of this application.

Claims

1. A mechanical hand structure for a body robot, comprising a base, characterized in that, it further comprises a working assembly, the working assembly comprises a plurality of adjusting structures, a plurality of fixing plates, a multi-axis mechanical arm and a clamping piece; a plurality of adjusting structures are respectively located on one side of the base; the adjusting structure comprises an adjusting rail, an adjusting frame, a plurality of guides, a locking piece and a turnover piece, the adjusting rail is fixedly connected with the base and located on one side of the base; the adjusting rail has a plurality of limiting holes, and a plurality of limiting holes are respectively located on one side of the adjusting rail; the adjusting frame is slidably connected with the adjusting rail and located on one side of the adjusting rail; a plurality of guides are respectively arranged on one side of the adjusting frame; the locking piece is arranged on one side of the adjusting frame; the turnover piece is arranged on one side of the adjusting frame; a plurality of fixing plates are respectively fixedly connected with a plurality of turnover pieces and respectively located on one side of a plurality of turnover pieces; the fixing plate has a mounting hole located on one side of the fixing plate; the multi-axis mechanical arm is fixedly connected with the base and located on one side of the base; the clamping piece is arranged on one side of the multi-axis mechanical arm.

2. The mechanical hand structure for a body robot according to claim 1, characterized in that, the guide comprises a rotating shaft and a guide roller, the rotating shaft is rotatably connected with the adjusting frame and located on one side of the adjusting frame; the guide roller is fixedly connected with the rotating shaft and located on one side of the rotating shaft.

3. The mechanical hand structure for a body robot according to claim 2, characterized in that, the locking piece comprises an operating frame, a locking screw and a bolt, the operating frame is fixedly connected with the adjusting frame and located on one side of the adjusting frame; the locking screw is threadedly connected with the operating frame and located on one side of the operating frame; the bolt is fixedly connected with the locking screw and located on one side of the locking screw.

4. The mechanical hand structure for a body robot according to claim 3, characterized in that, the turnover piece comprises a turnover frame, a rotating rod, a rotating frame and a locking cap, the turnover frame is fixedly connected with the adjusting frame and located on one side of the adjusting frame; the rotating rod is fixedly connected with the turnover frame and located on one side of the turnover frame; the rotating frame is rotatably connected with the rotating rod and located on one side of the rotating rod; the locking cap is threadedly connected with the rotating rod and abuts against the rotating frame and located on one side of the rotating rod.

5. The mechanical hand structure for a body robot according to claim 4, characterized in that, the clamping piece comprises a clamping frame, two clamping cylinders and two abutting blocks, the clamping frame is fixedly connected with the output end of the multi-axis mechanical arm and located on one side of the multi-axis mechanical arm; two clamping cylinders are respectively fixedly connected with the clamping frame and respectively located on both sides of the clamping frame; two abutting blocks are respectively fixedly connected with the output ends of two clamping cylinders and respectively located on one side of two clamping cylinders.

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