Lightweight mechanical arm structure and robot hand

Abstract

The utility model relates to mechanical arm technical field discloses a kind of lightweight mechanical arm structure and manipulator, including base, the top of the base is fixedly connected with mounting support, the top of the mounting support is rotatably connected with rotating support, the top of the rotating support is rotatably connected with mechanical arm body, the outside electrical connection of the mechanical arm body is connected with connecting wire, the outside right side front and rear ends of the mechanical arm body are fixedly connected with mounting bracket, the outside right side sliding connection of the mechanical arm body has extension column. In the utility model, press rotating clamping plate to make positioning clamping rod disengage from clamping groove, can pull extension column and adjust length;Loosen after in place, install spring rebound and let clamping rod tightly clamping groove fixed, it is easy to operate, can flexibly adjust mechanical arm length, spring power fixing is stable, adapt to different operation range requirement, improve the versatility and operating convenience of mechanical arm, ensure that the structure is stable and reliable after adjusting.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a lightweight robotic arm structure and robotic hand. Background Technology

[0002] Lightweight robotic arm structures and robotic hands have been widely used in many fields such as industrial assembly, logistics handling, medical assistance, and service industries due to their flexible and efficient operation performance. Their core advantage lies in achieving high load capacity and motion accuracy with low self-weight.

[0003] In the existing technology, some lightweight robotic arm structures and manipulators are constructed by using high-strength lightweight materials to build a multi-joint linkage arm structure. With the help of a high-precision servo drive system, the power is transmitted to each joint through a harmonic reducer or planetary gear reducer, so as to realize the flexible rotation and extension of the arm in three-dimensional space. At the same time, with the help of the manipulator installed at the end of the arm, the opening and closing and angle adjustment of the fingers or gripping parts are controlled by the drive module.

[0004] However, in practical use, the advantage of modular robotic arms is that they can adapt to a variety of tasks. But if the length of the extension column is fixed, different lengths of extension columns need to be replaced for different tasks, which increases replacement time and cost and reduces work efficiency. In response to the above problems, a lightweight robotic arm structure and robotic hand are proposed. Utility Model Content

[0005] To overcome the above shortcomings, this utility model provides a lightweight robotic arm structure and manipulator, aiming to improve the problem that some lightweight robotic arm structures and manipulators in the prior art cannot adjust the length of the extension column.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A lightweight robotic arm structure includes a base, a mounting bracket fixedly connected to the top of the base, a rotating bracket rotatably connected to the top of the mounting bracket, a robotic arm body rotatably connected to the top of the rotating bracket, a connecting wire electrically connected to the outside of the robotic arm body, mounting frames fixedly connected to both the front and rear ends of the outer right side of the robotic arm body, an extension column slidably connected to the outer right side of the robotic arm body, a connecting shaft fixedly connected inside the mounting frame, a reset assembly fixedly connected to the outside of the connecting shaft, a rotating locking plate rotatably connected to the outside of the connecting shaft, and a positioning locking rod fixedly connected to the outside of the rotating locking plate.

[0008] As a further description of the above technical solution:

[0009] The reset assembly includes a telescopic rod, which is fixedly connected to the outside of the rotating plate, and a mounting spring is sleeved on the outside of the telescopic rod.

[0010] As a further description of the above technical solution:

[0011] The rotating plate is externally rotatably connected to the outside of the mounting frame, and the outside of the positioning rod is engaged with the slot outside the extension column;

[0012] As a further description of the above technical solution:

[0013] The lightweight robotic arm structure includes a connecting and fixing frame, a mounting base rotatably connected to the outer right side of the connecting and fixing frame, and a robotic claw body fixedly connected to the outer right side of the mounting base.

[0014] As a further description of the above technical solution:

[0015] The mounting base has a pressing rod slidably connected to both the front and rear sides inside. The pressing rod is fixedly connected to a connecting frame. The connecting frame is rotatably connected to a rotating plate inside. The other end of the rotating plate is rotatably connected to a connecting frame. The connecting frame is fixedly connected to a sliding latch.

[0016] As a further description of the above technical solution:

[0017] The mounting base is provided with a telescopic rod 2 inside, and a return spring is sleeved on the outside of the telescopic rod 2;

[0018] As a further description of the above technical solution:

[0019] The mechanical claw body has slidably connected limit levers on both its front and rear sides, and the outer sides of the sliding levers are locked with the outer sides of the limit levers.

[0020] As a further description of the above technical solution:

[0021] One end of the reset spring is fixedly connected to the inside of the mounting base, and the other end of the reset spring is fixedly connected to the outside of the sliding lever.

[0022] This utility model has the following beneficial effects:

[0023] 1. In this utility model, pressing and rotating the card plate causes the positioning card rod to disengage from the card slot, and the extension column can be pulled to adjust the length; after it is in place, it is released, and the installed spring rebounds to make the card rod lock into the card slot for fixation. The operation is simple, the length of the robotic arm can be flexibly adjusted, the spring helps to fix it firmly, adapts to different working range requirements, improves the versatility and ease of operation of the robotic arm, and ensures that the structure is stable and reliable after adjustment.

[0024] 2. In this utility model, pulling the limiting lever separates it from the sliding lever, pressing the pressing rod drives the rotating plate and the sliding lever, compressing the reset spring to disengage the lever from the mechanical claw body to complete the disassembly. During installation, the mechanical claw is clamped, the pressing rod is released, and the spring rebounds to fix the lever. The operation is convenient, and disassembly and assembly can be done quickly without tools. The spring helps to fix it firmly, making it easy to replace the mechanical claw and improving the equipment adaptability and maintenance efficiency. Attached Figure Description

[0025] Figure 1 This is a three-dimensional schematic diagram of a lightweight robotic arm structure and robotic hand proposed in this utility model;

[0026] Figure 2 This is a schematic diagram of a lightweight robotic arm structure and the extension column of the robotic hand proposed in this utility model;

[0027] Figure 3 This is a schematic diagram of a lightweight robotic arm structure and a rotating support for a robotic hand proposed in this utility model.

[0028] Figure 4 for Figure 3 Enlarged view of point A in the middle.

[0029] Legend:

[0030] 1. Base; 2. Mounting support; 3. Rotating bracket; 4. Robotic arm body; 5. Extension column; 6. Mounting frame; 7. Connecting shaft; 8. Telescopic rod one; 9. Mounting spring; 10. Rotating clamping plate; 11. Positioning clamping rod; 12. Connecting fixing frame; 13. Mounting seat; 14. Robotic claw body; 15. Pressing rod; 16. Connecting frame; 17. Rotating plate; 18. Connecting frame; 19. Sliding clamping rod; 20. Telescopic rod two; 21. Return spring; 22. Limiting clamping rod; 23. Connecting wire. Detailed Implementation

[0031] 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.

[0032] Example 1

[0033] Reference Figures 1 to 2This utility model provides an embodiment of a lightweight robotic arm structure, including a base 1. The bottom of the base 1 is designed with multiple mounting holes and is firmly connected to the ground or equipment platform by chemical anchors. The base 1 is hollow and filled with damping material, which can effectively absorb the vibration generated during the operation of the robotic arm and prevent the vibration from being transmitted to the support surface. The top of the base 1 is fixedly connected to a mounting bracket 2, which is a ball joint structure with a self-lubricating bearing embedded inside. Its bottom is fixedly connected to the annular guide rail on the top of the base 1 by bolts. The top of the mounting bracket 2 is rotatably connected to a rotating bracket 3, which is designed with a U-shaped groove on its top and is connected to the robotic arm body 4 by a high-precision bearing. A built-in torque sensor monitors the load in real time to prevent overload damage. The top of the rotating bracket 3 is rotatably connected to the robotic arm body 4, which is made of a titanium alloy and carbon fiber composite structure and consists of three articulated arms. Each articulated arm is hollow and integrates components such as a drive motor, reducer, and encoder. Its end is designed with a standard flange interface, which can quickly replace different types of actuators. The external electrical connection of the robotic arm body 4 is a connecting wire 23. The length of the connecting wire 23 is designed according to the working range of the robotic arm, with sufficient redundancy to avoid damage due to pulling during the movement of the robotic arm. The front and rear ends of the right side of the robotic arm body 4 are fixedly connected to the mounting bracket 6 for fixing the connecting shaft 7. The external surface is designed with reinforcing ribs to improve the structural strength. The outer side of the mounting bracket 6 is equipped with a limit baffle. The right side of the robotic arm body 4 is slidably connected to the extension column 5. The bottom of the extension column 5 is slidably connected to the robotic arm body 4 through a linear guide rail and has a built-in ball screw transmission mechanism.

[0034] The mounting bracket 6 is internally fixedly connected to a connecting shaft 7. The axis of the connecting shaft 7 is perpendicular to the sliding direction of the extension column 5, ensuring that the positioning rod 11 can accurately engage with the slot of the extension column 5. The connecting shaft 7 is externally fixedly connected to a reset assembly, which includes a telescopic rod 8 filled with damping oil to achieve smooth telescopic movement. Its fixed end is connected to the outer side of the rotating plate 10 by welding, and its telescopic end contacts the inner wall of the mounting bracket 6. The telescopic rod 8 is externally fixedly connected to the outside of the rotating plate 10. A mounting spring 9 is sleeved on the outside of the telescopic rod 8, with one end fixedly connected to the rotating plate 10 and the other end abutting against the mounting bracket 6. The elastic coefficient of the spring 9 is precisely calculated to ensure sufficient restoring force when the rotating plate 10 rotates, while avoiding excessive impact force between the positioning rod 11 and the slot due to excessive elastic force. The rotating plate 10 is rotatably connected to the outside of the connecting shaft 7. The rotation of the rotating plate 10 is controlled by the reset component. When there is no external force, the positioning rod 11 is kept in a locked state with the slot of the extension column 5 under the action of the spring 9. The positioning rod 11 is fixedly connected to the outside of the rotating plate 10. The length of the positioning rod 11 is precisely calculated to ensure that it can withstand the maximum working load of the extension column 5 in the locked state, while ensuring that the process of locking and unlocking the slot is smooth and unobstructed. The outside of the rotating plate 10 is rotatably connected to the outside of the mounting bracket 6, and the outside of the positioning rod 11 is locked with the slot outside of the extension column 5.

[0035] Working principle: When adjusting the length of the extension column 5, pressing the rotating plate 10 causes it to press the telescopic rod 8, which in turn presses the mounting spring 9. This causes the mounting spring 9 to deform, which in turn causes the rotating plate 10 to separate the positioning rod 11 from the slot on the outside of the extension column 5. The extension column 5 can then be moved by pulling it. When the desired position is reached, releasing the rotating plate 10 causes the mounting spring 9 to rebound, which in turn causes the rotating plate 10 to lock the positioning rod 11 into the slot on the outside of the extension column 5. This allows for the adjustment of the length of the robotic arm body 4.

[0036] Example 2

[0037] Reference Figures 3 to 4The robotic arm includes an extension column 5 and a connecting bracket 12, which are rotatably connected to a mounting base 13. This provides stable support for the mounting base 13 and allows it to rotate at a certain angle to accommodate different gripping angles. The mounting base 13 is rotatably connected to the outer right side of the connecting bracket 12, providing flexible steering for the robotic gripper body 14. This facilitates adjusting the gripping direction of the robotic gripper body 14, enabling it to grip items from different angles. The robotic gripper body 14 is fixedly connected to the outer right side of the mounting base 13. The roots of the two grippers are connected to the mounting base 13 via a pivot, allowing for opening and closing actions under the action of a drive device to complete the gripping and release of items. Pressing rods 15 are slidably connected to the front and rear sides of the interior of the mounting base 13. The pressing rods 15 can be slidably connected to the mounting base... The push rod 15 slides back and forth in the internal slide rail. When the operator or automatic control device presses one end of the push rod 15, it can drive the connecting frame 16 to move synchronously, which plays the role of transmitting external force. The external part of the push rod 15 is fixedly connected to the connecting frame 16. The main function of the connecting frame 16 is to convert the linear motion of the push rod 15 into the rotational motion of the rotating plate 17, so as to realize the transmission of force and the conversion of motion form. The internal part of the connecting frame 16 is rotatably connected to the rotating plate 17. When the connecting frame 16 moves under the drive of the push rod 15, the rotating plate 17 will rotate around the pin connected to the connecting frame 16, thereby driving the connecting frame 18 to move, which plays the role of intermediate transmission. The other end of the rotating plate 17 is rotatably connected to the connecting frame 18. The connecting frame 18 can convert the rotational motion of the rotating plate 17 into the linear sliding of the sliding rod 19.

[0038] This is a key component connecting the rotating plate 17 and the sliding lever 19, ensuring smooth motion transmission. The sliding lever 19 is fixedly connected to the outside of the connecting frame 18. The end of the sliding lever 19 is designed with locking teeth that match the locking groove on the outside of the limiting lever 22. By sliding itself, it can lock or disengage with the limiting lever 22, thereby controlling the position of the limiting lever 22. The mounting base 13 is equipped with a telescopic rod 20 inside. The telescopic rod 20 can extend and retract with the sliding lever 19, providing guidance for the movement of the sliding lever 19 and ensuring that the sliding lever 19 always moves in a straight line to avoid deviation. A return spring 21 is sleeved on the outside of the telescopic rod 20. When the external force disappears, the return spring 21 releases elastic potential energy, pushing the sliding lever 19 closer to the limiting lever 22. The locking lever 22 moves in the direction of the movement, returning it to its initial locking state, ensuring that the sliding lever 19 and the limiting lever 22 can be stably engaged. The front and rear sides of the mechanical claw body 14 are slidably connected to the limiting lever 22. When the sliding lever 19 and the limiting lever 22 are locked together, the opening and closing angle of the claw of the mechanical claw body 14 can be limited, which can fix the state of the mechanical claw body 14. When the two are separated, the claw of the mechanical claw body 14 can open and close freely. The outside of the sliding lever 19 is locked with the outside of the limiting lever 22. One end of the return spring 21 is fixedly connected to the inside of the mounting base 13, and the other end of the return spring 21 is fixedly connected to the outside of the sliding lever 19, thereby ensuring that the mechanical claw body 14 maintains a stable opening and closing state when gripping the object, preventing the object from falling due to accidental loosening.

[0039] Working principle: When disassembling and assembling the mechanical gripper body 14, pulling the limiting lever 22 separates it from the sliding lever 19, which in turn pulls the pressing lever 15. Under the action of the pressing lever 15, the pressing lever 15 rotates through the connecting frame 16 and the rotating plate 17, causing the rotating plate 17 to drive the sliding lever 19 to press the telescopic rod 20 through the connecting frame 18. This causes the return spring 21 outside the telescopic rod 20 to deform, which in turn causes the sliding lever 19 to separate from the mechanical gripper body 14, allowing the mechanical gripper body 14 to be removed. When installing the mechanical gripper body 14, by clamping the mechanical gripper body 14 with the mounting base 13, and then releasing the pressing lever 15, the return spring 21 rebounds, which in turn clamps the sliding lever 19 with the mechanical gripper body 14, thus enabling the installation of the mechanical gripper body 14.

[0040] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., 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 lightweight robotic arm structure comprising a base (1), characterized in that: The top of the base (1) is fixedly connected to the mounting bracket (2), the top of the mounting bracket (2) is rotatably connected to the rotating bracket (3), the top of the rotating bracket (3) is rotatably connected to the robotic arm body (4), the robotic arm body (4) is electrically connected to the outside of the connecting wire (23), the front and rear ends of the right side of the robotic arm body (4) are fixedly connected to the mounting frame (6), the right side of the robotic arm body (4) is slidably connected to the extension column (5), the inside of the mounting frame (6) is fixedly connected to the connecting shaft (7), the outside of the connecting shaft (7) is fixedly connected to the reset component, the outside of the connecting shaft (7) is rotatably connected to the rotating plate (10), and the outside of the rotating plate (10) is fixedly connected to the positioning rod (11).

2. The lightweight robotic arm structure according to claim 1, characterized in that: The reset assembly includes a telescopic rod (8), which is externally fixedly connected to the outside of the rotating plate (10), and a mounting spring (9) is sleeved on the outside of the telescopic rod (8).

3. The lightweight robotic arm structure according to claim 2, characterized in that: The rotating plate (10) is rotatably connected to the outside of the mounting bracket (6), and the outside of the positioning rod (11) is engaged with the slot outside the extension column (5).

4. A robotic arm, characterized in that: The lightweight robotic arm structure according to any one of claims 1-3 includes a connecting bracket (12), a mounting base (13) is rotatably connected to the outer right side of the connecting bracket (12), and a robotic claw body (14) is fixedly connected to the outer right side of the mounting base (13).

5. The robotic arm according to claim 4, characterized in that: The mounting base (13) has a pressing rod (15) slidably connected to both the front and rear sides inside. The pressing rod (15) is fixedly connected to a connecting frame (16) outside. The connecting frame (16) is rotatably connected to a rotating plate (17) inside. The other end of the rotating plate (17) is rotatably connected to a connecting frame (18). The connecting frame (18) is fixedly connected to a sliding latch (19) outside.

6. The robotic arm according to claim 5, characterized in that: The mounting base (13) is provided with a telescopic rod two (20) inside, and a return spring (21) is sleeved on the outside of the telescopic rod two (20).

7. The robotic arm according to claim 6, characterized in that: The mechanical claw body (14) has slidably connected limit levers (22) on both the front and rear sides. The outside of the sliding lever (19) is locked with the outside of the limit lever (22).

8. The robotic arm according to claim 6, characterized in that: One end of the return spring (21) is fixedly connected to the inside of the mounting base (13), and the other end of the return spring (21) is fixedly connected to the outside of the sliding lever (19).

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