Three-coordinate measuring and grabbing mechanical arm

Abstract

The utility model discloses a three-coordinate measuring and grabbing mechanical arm, which belongs to the technical field of mechanical arms and is characterized by comprising a mechanical arm body, a base is fixedly connected to the bottom of the mechanical arm body, mounting mechanisms are arranged on two sides of the base, and a pushing mechanism is arranged on the left side of the base. The mounting mechanism comprises two clamping rails, a chamfer, a plurality of balls and two rollers, and solves the problems that part of existing mechanical arms are directly placed at working positions and are mounted through a plurality of bolts, due to the fact that the mechanical arms have certain weight and size, the mechanical arms need to be moved to designated maintenance stations for operation after working for a long time, and the mechanical arms are inconvenient to operate. And during mounting and resetting, external hoisting equipment needs to be connected for auxiliary movement, the hoisting equipment needs to be arranged and debugged in advance in use, a certain requirement is made for the space of a working site, inconvenience is easily brought to movement of the mechanical arm, and the maintenance working efficiency of the mechanical arm is affected.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a three-coordinate measuring and grasping robotic arm. Background Technology

[0002] A coordinate measuring and gripping robotic arm is an automated device that integrates coordinate measuring and gripping functions, and is widely used in industrial production, precision testing and other fields.

[0003] Existing workpiece gripping robotic arms drive joints and actuators through a control system to achieve gripping actions. Although existing workpiece gripping robotic arms have made significant progress in improving production efficiency and accuracy, they still have some shortcomings and problems. For example, they are prone to damaging fragile workpieces when gripping them, and when gripping workpieces with complex shapes and irregular surfaces, it is often necessary to replace the entire gripping structure, which is complicated to do, thus resulting in a limited range of applications.

[0004] The existing patent (publication number: CN221021056U) discloses a workpiece gripping robotic arm. By controlling the operation of motor 2 through a microcontroller, it can firmly grip the workpiece while avoiding damage to the workpiece due to excessive gripping force. This allows the workpiece gripping robotic arm to be quickly adjusted according to the actual situation of different workpieces, and it can select and install grippers that match the workpiece, greatly increasing the applicability of the workpiece gripping robotic arm.

[0005] To address the aforementioned issues, existing patents offer solutions. However, some existing robotic arms are placed directly in the working position and installed using multiple bolts. Due to the weight and size of the robotic arm, after prolonged use, it needs to be moved to a designated maintenance station for operation. When reinstalling or resetting the robotic arm, external hoisting equipment is required for assistance. The use of hoisting equipment requires advance planning and debugging, and it also has certain requirements for the workspace, which can easily cause inconvenience to the movement of the robotic arm and affect the efficiency of robotic arm maintenance.

[0006] To address this, a three-coordinate measuring gripping robotic arm is proposed. Utility Model Content

[0007] The purpose of this invention is to provide a three-coordinate measuring and grasping robotic arm that solves the problem that some existing robotic arms are directly placed in the working position and installed with multiple bolts. Due to the weight and size of the robotic arm, after long-term operation, it needs to be moved to a designated maintenance station for operation, and when it is installed and reset, external hoisting equipment is required for auxiliary movement. However, the use of hoisting equipment requires advance planning and debugging, and has certain requirements for the work site space, which can easily cause inconvenience to the movement of the robotic arm and affect the efficiency of the robotic arm maintenance work.

[0008] To achieve the above objectives, this utility model provides the following technical solution: a three-coordinate measuring and grasping robotic arm, including a robotic arm body, a base fixedly connected to the bottom of the robotic arm body, mounting mechanisms on both sides of the base, and a pushing mechanism on the left side of the base;

[0009] The mounting mechanism includes two rails, a chamfer, several balls, and two rollers. The rollers are rotatably connected to the bottom of the base. The chamfer is located on the left side of the bottom of the inner wall of the rail. The balls are rotatably connected to the bottom of the base, and the bottom of the balls contacts the bottom of the inner wall of the rail. The base is movably inserted into the inside of the rail.

[0010] Preferably, the pushing mechanism includes a fixed bar, a push rod, two connecting frames, and a top block. The fixed bar is fixedly connected between the left sides of the two connecting frames. The push rod is threadedly connected inside the fixed bar. The top block is rotatably connected to the right side of the push rod. The right side of the top block contacts the left side of the base.

[0011] Preferably, the two rails are fixedly connected to limit frames on opposite sides, and the connecting bracket is movably inserted into the limit frames.

[0012] Preferably, a crank handle is rotatably connected to the surface of the push rod.

[0013] Preferably, a screw is provided at the top of the rail, and the bottom of the screw passes through the rail and is connected to the internal thread of the base.

[0014] Preferably, a connecting plate is fixedly connected between the two opposite sides of the rails, and the connecting plate is made of inelastic metal.

[0015] Preferably, the bottom of the rail is fixedly connected to a mounting block, and the number of mounting blocks is three and they are evenly distributed at the bottom of the rail.

[0016] Preferably, the base, rail, and mounting block are all made of tungsten steel.

[0017] Compared with the prior art, the beneficial effects of this utility model are:

[0018] 1. This application, by setting up an installation mechanism, uses rollers and balls to support the rotation of the base, which eliminates the need for external hoisting auxiliary equipment, making it easy to install, position, disassemble, and move the base and the robotic arm body, and facilitating the movement of the robotic arm body to a designated location for maintenance.

[0019] 2. By setting up a pushing mechanism, this application can push the base into the inside of the rail with less effort, making it easier to install and position the robotic arm body. Attached Figure Description

[0020] Figure 1 This is an overall structural diagram of the coordinate measuring and grasping robotic arm of this utility model;

[0021] Figure 2 This is a left view showing the connection between the base and the rail in this utility model;

[0022] Figure 3 This is a three-dimensional connection diagram of the pushing mechanism in this utility model;

[0023] Figure 4 This is a three-dimensional connection diagram of the robotic arm body and the base in this utility model;

[0024] Figure 5 This is a three-dimensional exploded view of the guide rail and screw in this utility model;

[0025] Figure 6 This is a three-dimensional structural diagram of the bottom of the base in this utility model.

[0026] In the diagram, 1. Robotic arm body; 2. Base; 3. Connecting plate; 4. Handle; 5. Pushing mechanism; 501. Fixing strip; 502. Push rod; 503. Connecting frame; 504. Top block; 6. Mounting block; 7. Mounting mechanism; 701. Rail; 702. Chamfer; 703. Ball bearing; 704. Roller; 8. Screw; 9. Limit frame. Detailed Implementation

[0027] 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.

[0028] Please see Figure 1-6 The present invention provides the following technical solution:

[0029] A three-coordinate measuring and grasping robotic arm includes a robotic arm body 1, a base 2 fixedly connected to the bottom of the robotic arm body 1, mounting mechanisms 7 on both sides of the base 2, and a pushing mechanism 5 on the left side of the base 2.

[0030] The mounting mechanism 7 includes two rails 701, a chamfer 702, several balls 703, and two rollers 704. The rollers 704 are rotatably connected to the bottom of the base 2. The chamfer 702 is located on the left side of the bottom of the inner wall of the rail 701. The balls 703 are rotatably connected to the bottom of the base 2. The bottom of the balls 703 contacts the bottom of the inner wall of the rail 701. The base 2 is movably inserted into the inside of the rail 701.

[0031] In this embodiment: First, the rail 701 is fixed in the desired position by the mounting block 6. The inelastic metal connecting plate 3 ensures the stability of the rail 701. The roller 704 pushes the robotic arm body 1 so that the base 2 aligns with the rail 701. The connecting frame 503 is inserted into the limiting frame 9. The crank handle 4 rotates the push rod 502, and the top block 504 pushes the base 2 into the rail 701. The roller 704 and the ball bearing 703 reduce friction, and the chamfer 702 reduces the difficulty of installation. After the base 2 is in place, it is fixed with screws 8. Then, the connecting frame 503 is removed. When it needs to be moved to the maintenance position, the screws 8 are removed, and the robotic arm body 1 is pushed to the left. The 704 rollers bear weight by contacting the ground, and with minimal rolling friction, they can easily push the robot to the designated position without the need for external hoisting equipment. This solves the problem that some existing robotic arms are directly placed in the working position and installed with multiple bolts. Due to the weight and size of the robotic arm, after long-term use, it is necessary to move it to a designated maintenance station for operation, and when it is installed and reset, external hoisting equipment is required for assistance. The use of hoisting equipment requires advance planning and debugging, and has certain requirements for the work area space, which can easily cause inconvenience to the movement of the robotic arm and affect the efficiency of robotic arm maintenance.

[0032] Specifically, such as Figure 1 and Figure 3 As shown, the pushing mechanism 5 includes a fixed bar 501, a push rod 502, two connecting frames 503 and a top block 504. The fixed bar 501 is fixedly connected between the left sides of the two connecting frames 503. The push rod 502 is threadedly connected to the inside of the fixed bar 501. The top block 504 is rotatably connected to the right side of the push rod 502. The right side of the top block 504 contacts the left side of the base 2.

[0033] Specifically, such as Figure 3 and Figure 5 As shown, the two rails 701 are fixedly connected to the limit frame 9 on opposite sides, and the connecting bracket 503 is movably inserted into the inside of the limit frame 9.

[0034] Specifically, such as Figure 3 As shown, a crank handle 4 is rotatably connected to the surface of the push rod 502.

[0035] In this embodiment: by inserting the connecting bracket 503 into the limiting frame 9, the crank handle 4 can be turned to rotate the push rod 502, so that the push rod 502 pushes the top block 504, and the top block 504 can push the base 2 into the rail 701.

[0036] Specifically, such as Figure 4 and Figure 5 As shown, a screw 8 is provided on the top of the rail 701, and the bottom of the screw 8 passes through the rail 701 and is connected to the internal thread of the base 2.

[0037] Specifically, such as Figure 5 As shown, a connecting plate 3 is fixedly connected between the two opposite sides of the two rails 701. The connecting plate 3 is made of inelastic metal.

[0038] In this embodiment: by connecting the screw 8 to the internal thread of the base 2, the base 2 and the rail 701 can be stably connected. The two rails 701 are connected by a non-elastic metal connecting plate 3 to prevent the two rails 701 from being misaligned.

[0039] Specifically, such as Figure 5 As shown, the bottom of the rail 701 is fixedly connected to a mounting block 6, and there are three mounting blocks 6 evenly distributed on the bottom of the rail 701.

[0040] Specifically, such as Figure 2 As shown, the base 2, the rail 701, and the mounting block 6 are all made of tungsten steel.

[0041] In this embodiment, the position of the rail 701 can be easily fixed by using an external bolt passing through the mounting block 6. The base 2, the rail 701 and the mounting block 6 are all made of tungsten steel. Tungsten steel has the characteristics of high hardness and low elasticity, which allows the entire robotic arm body 1 to withstand large external forces without easily deforming after installation and fixation, thus ensuring the high precision of the robotic arm body 1 in three-coordinate measurement and grasping operations.

[0042] Working principle: First, place the two rails 701 in the expected installation position. The bottom of the rails 701 is fixed to the ground by using external bolts passing through the mounting block 6. Since the connecting plate 3 made of inelastic metal is fixedly connected to the opposite side of the rails 701, the relative position between the two rails 701 is stable and will not be affected by elastic deformation due to external forces, thus affecting the installation accuracy of the robotic arm body 1. The base 2 is fixedly connected to the bottom of the robotic arm body 1. During installation, the base 2 and the robotic arm body 1 are easily pushed together by the rolling of the roller 704, aligning them between the two rails 701. Then, the connecting bracket 503 in the pushing mechanism 5 is inserted into the limiting frame 9. The push rod 502 is rotated by shaking the handle 4. The push rod 502 is internally threaded into the fixing strip 501 and rotates within the fixing strip 501, then moves to the right. Since the top block 504 is rotatably connected to the right side of the push rod 502, and the right side of the top block 504 contacts the left side of the base 2, as the push rod 502 moves forward, the top block 504 gradually pushes the base 2 into the rail 701. During this process, the roller 704 and ball bearing 703, rotatably connected to the bottom of the base 2, roll on the inner wall of the rail 701, reducing friction and allowing the base 2 to move smoothly to the appropriate position. The chamfered design of the chamfer 702 effectively guides the base 2 into the rail 701, reducing installation difficulty and improving installation efficiency. At this point, the roller 704 is disengaged from the ground. Once the base 2 is fully inside the rail 701, the screw 8 is used to secure the rail. 701 is fixed to the base 2. Screw 8 passes through the top of the rail 701 and connects with the internal thread of the base 2, ensuring that the base 2 is stable and immovable within the rail 701. This completes the installation and fixation of the robotic arm body 1 to the rail 701, ensuring the stability of the robotic arm body 1 during operation. After tightening screw 8, the connecting bracket 503 can be removed to avoid occupying space. When it is necessary to move the robotic arm body 1 to a designated maintenance position, first remove screw 8 from the top of the rail 701 to release the fixed connection between the rail 701 and the base 2. Push the robotic arm body 1 to the left to move the base 2 within the rail 701. As the base 2 moves out of the rail 701, the roller 704 gradually touches the ground and bears part of the weight of the robotic arm body 1. The rotatable connection to the bottom of the base 2 minimizes rolling friction with the ground, allowing the robotic arm body 1 to be easily pushed. Through continuous pushing, the robotic arm body 1 can be moved to a designated maintenance position. The entire process requires no external hoisting equipment, greatly improving the ease of movement of the robotic arm body 1. The base 2, rail 701, and mounting block 6 are all made of tungsten steel. Tungsten steel has high hardness and low elasticity, enabling the entire robotic arm body 1 to withstand significant external forces without easily deforming after installation and fixation. This ensures high precision in coordinate measuring and grasping operations. Furthermore, its high hardness guarantees wear resistance of components during installation, disassembly, and movement, extending the service life of the robotic arm body 1.This solution addresses the problem that existing robotic arms are often placed directly at the work position and installed using multiple bolts. Due to the weight and size of these arms, after prolonged use, they need to be moved to designated maintenance stations for operation. Furthermore, repositioning them requires external lifting equipment, which necessitates advance planning and testing, and has specific space requirements. This can hinder the movement of the robotic arms and negatively impact maintenance efficiency.

[0043] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A three-coordinate measuring and grasping robotic arm, comprising a robotic arm body (1), characterized in that: The bottom of the robotic arm body (1) is fixedly connected to a base (2), and mounting mechanisms (7) are provided on both sides of the base (2). A pushing mechanism (5) is provided on the left side of the base (2). The mounting mechanism (7) includes two rails (701), a chamfer (702), several balls (703) and two rollers (704). The rollers (704) are rotatably connected to the bottom of the base (2). The chamfer (702) is opened on the left side of the bottom of the inner wall of the rail (701). The balls (703) are rotatably connected to the bottom of the base (2). The bottom of the balls (703) contacts the bottom of the inner wall of the rail (701). The base (2) is movably inserted into the inside of the rail (701).

2. The coordinate measuring and grasping robotic arm according to claim 1, characterized in that: The pushing mechanism (5) includes a fixing bar (501), a push rod (502), two connecting frames (503) and a top block (504). The fixing bar (501) is fixedly connected between the left sides of the two connecting frames (503). The push rod (502) is threadedly connected to the inside of the fixing bar (501). The top block (504) is rotatably connected to the right side of the push rod (502). The right side of the top block (504) contacts the left side of the base (2).

3. The coordinate measuring and grasping robotic arm according to claim 2, characterized in that: The two rails (701) are fixedly connected to the limit frame (9) on opposite sides, and the connecting frame (503) is movably inserted into the inside of the limit frame (9).

4. The coordinate measuring and grasping robotic arm according to claim 2, characterized in that: The surface of the push rod (502) is rotatably connected to a crank (4).

5. A coordinate measuring and grasping robotic arm according to claim 1, characterized in that: The top of the rail (701) is provided with a screw (8), the bottom of which passes through the rail (701) and is connected to the internal thread of the base (2).

6. The coordinate measuring and grasping robotic arm according to claim 1, characterized in that: A connecting plate (3) is fixedly connected between the two rails (701) on opposite sides. The connecting plate (3) is made of inelastic metal.

7. A coordinate measuring and grasping robotic arm according to claim 1, characterized in that: The bottom of the rail (701) is fixedly connected to a mounting block (6), and the number of mounting blocks (6) is three and they are evenly distributed on the bottom of the rail (701).

8. A coordinate measuring and grasping robotic arm according to claim 7, characterized in that: The base (2), rail (701) and mounting block (6) are all made of tungsten steel.

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