Multi-azimuth rotating type robot arm

Abstract

This utility model discloses a multi-directional rotating robotic arm, including a base, a rotating disk rotatably connected to the upper side of the base, a rocker arm rotatably connected to the rotating disk, a cavity in the base, a fixed ring fixedly connected to the cavity, an electric push rod fixedly connected to the fixed ring via a mounting bracket, a connecting ring fixedly connected to the telescopic end of the electric push rod, and circumferentially spaced fixed rings embedded in the fixed ring. A suction cup is connected to the lower side of a fixed tube, and an air extraction structure is provided inside the fixed tube. This utility model, by setting up an air extraction structure, allows the connecting ring to simultaneously pull six connecting rods upwards, causing the connecting rods to move the fixed disk upwards. The fixed disk compresses a spring upwards, causing the spring to compress and store force. The piston does not move upwards; the spring force acts on the fixed shell, causing the piston to experience an upward pulling force, increasing the suction force between the suction cup and the worktable, and improving the stability of the robotic arm.

Description

Technical Field

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

[0002] A robotic arm is a mechanical device capable of performing a variety of industrial and automation tasks. It is primarily used in manufacturing, particularly in automotive assembly lines, to improve production efficiency and precision. With technological advancements, robotic arms have become increasingly flexible and intelligent, equipped with advanced sensors and computer vision systems, enabling them to adapt to complex task environments.

[0003] Utility model patent CN218052616U discloses a multi-directional rotating robotic arm, including a base. A rotating disk is located at the upper end of the base, and a first motor is located at the lower end of the rotating disk. The output end of the first motor is connected to the rotating disk. A second motor is located on the rotating disk, and a first rocker arm is located at the output end of the second motor. A third motor is located at one end of the first rocker arm, and a second rocker arm is located at the output end of the third motor, with the second rocker arm rotatably connected to the first rocker arm. A fourth motor is located at one end of the second rocker arm, and a rotating rod is located at the output end of the fourth motor, rotatably connected to the second rocker arm. A fifth motor is located on the rotating rod, and a mounting plate is located at the output end of the fifth motor, rotatably connected to the rotating rod. This device, through multiple rotating structures, allows the robotic arm to rotate in multiple directions, providing a large operating space, enabling processing in different directions, and facilitating movement without tipping over.

[0004] Although the above-mentioned device uses suction cups to easily change the position of the robotic arm, it still has the following drawbacks: 1. The above device uses a suction cup to directly attach to the worktable, so that the robotic arm is mounted on the worktable. Without external force, the suction force between the suction cup and the worktable is limited. After long-term use, there is a risk that the suction cup will fall off the worktable, which may easily cause the robotic arm to tip over during operation.

[0005] 2. Although the above-mentioned device uses an extension support plate to improve the stability of the robotic arm, the position of the extension support plate is fixed and its length is limited. The above-mentioned device cannot be adjusted according to the working conditions of the robotic arm, thus reducing the applicability of the robotic arm.

[0006] Therefore, it is necessary to design a multi-directional rotating robotic arm to address the shortcomings of the aforementioned devices. Utility Model Content

[0007] (a) Technical problems to be solved To address the problems existing in the prior art, this utility model provides a multi-directional rotating robotic arm to solve the technical problem mentioned in the background art that the suction cup alone is not firmly attached.

[0008] (II) Technical Solution To achieve the above objectives, this utility model provides the following technical solution: a multi-directional rotating robotic arm, comprising a base, a rotating disk rotatably connected to the upper side of the base, a rocker arm rotatably connected to the rotating disk, a rocker arm rotatably connected to a second rocker arm, a rotating rod rotatably connected to the second rocker arm, and a gripper mounted on the rotating rod. The rotating disk, the first rocker arm, the second rocker arm, the rotating rod, and the gripper are all driven by a motor. The base has a cavity, and a fixing ring is fixedly connected to the cavity of the base. An electric push rod is fixedly connected to the fixing ring via a mounting bracket. A connecting ring is fixedly connected to the telescopic end of the electric push rod. The fixing ring is embedded with circumferentially spaced fixing rings. A suction cup is connected to the lower side of a fixing tube, and an air extraction structure is provided inside the fixing tube. A support structure is provided on the outer side of the base.

[0009] The present invention is further configured such that the air extraction structure includes a piston, the piston is slidably connected to a fixed tube, the piston is fixedly connected to a fixed shell, the fixed shell is slidably connected to a connecting rod, the connecting rod is fixedly connected to a connecting ring, the lower end of the connecting rod is fixedly connected to a fixed disc, and a connecting sleeve is fitted with a spring, the two ends of the spring being fixedly connected to the fixed disc and the fixed shell respectively.

[0010] The present invention is further configured such that the support structure includes a support ring, the support ring is fixedly connected to the outer side of the base, the support ring is provided with circumferentially spaced insertion holes, the outer side of the support ring is provided with an annular groove, a plurality of connecting blocks are provided in the annular groove of the support ring, the connecting blocks are provided with through holes, the through holes of the connecting blocks communicate with adjacent insertion holes, two elastic plates are fixedly connected to the connecting blocks, a sliding pin is slidably connected between two adjacent elastic plates, a rotating sleeve is rotatably connected to the sliding pin, a support rod is fixedly connected to the rotating sleeve, pins are inserted into the insertion holes and the through holes of the connecting blocks, and a limit component is provided between the two elastic plates and the adjacent rotating sleeves.

[0011] The present invention is further configured such that the limiting component includes two limiting discs, the two limiting discs are respectively fixed to the opposite sides of two adjacent elastic plates, and limiting discs are fixed to both sides of the rotating sleeve. The limiting discs cooperate with the adjacent limiting discs to limit the movement.

[0012] The present invention is further configured such that a fixed shaft is fixedly connected to one side of the sliding pin, and a handle is rotatably connected to the fixed shaft, and the fixed shaft is located at an eccentric position of the handle.

[0013] The present invention is further configured such that the support rod is fixedly connected to a lead screw, the lead screw is threadedly connected to a threaded sleeve, and the threaded sleeve is hinged to an anti-slip block.

[0014] (III) Beneficial Effects Compared with the prior art, this utility model provides a multi-directional rotating robotic arm, which has the following beneficial effects: This invention features an air extraction structure. The connecting ring simultaneously pulls six connecting rods upwards, causing the fixed plate to move upwards. The fixed plate then compresses the spring, storing its force. Since there is virtually no air between the suction cup and the worktable, the piston does not move upwards. The spring's elasticity acts on the fixed shell, causing the piston to experience an upward pull. This increases the suction force between the suction cup and the worktable, improving the stability of the robotic arm. Furthermore, it allows for easy disassembly and assembly, enhancing the convenience of adjusting the robotic arm's position.

[0015] This invention, through the setting of a support structure and the limiting cooperation of limiting plate one and limiting plate two, not only facilitates the adjustment of the support rod angle but also facilitates the return of the support rod to its original position, ensuring the support rod is in a vertical state when transporting the robotic arm and reducing the floor space occupied. Furthermore, the combined action of multiple support rods increases the support range of the base, enhancing its stability and reducing the risk of the robotic arm tipping over. By adjusting the position of the connecting block, the position of the support rods can be changed, ensuring that the support direction of the multiple support rods is the same as the working direction of the robotic arm, further improving the stability of the robotic arm.

[0016] This utility model uses a lead screw and a threaded sleeve to easily change the distance between the anti-slip block and the connecting block. After adjusting to the appropriate length, the threaded sleeve is stopped from rotating, and then the support rod is swung to the appropriate angle again, which improves the safety of this robotic arm. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the front structure of a multi-directional rotating robotic arm according to the present invention; Figure 2 This is a schematic diagram of the mounting structure of a multi-directional rotating robotic arm according to the present invention (viewed from below). Figure 3 This is a cross-sectional view of the base in this utility model; Figure 4 This is a cross-sectional view of the fixing tube and suction cup in this utility model; Figure 5 This is a schematic diagram of the support ring and support rod in this utility model; Figure 6 This is a cross-sectional view of the threaded sleeve in this utility model; Figure 7 This is a schematic diagram of the structure of the limiting disk one and the limiting disk two in this utility model.

[0018] In the diagram: 1. Base; 2. Rotating disc; 3. Rocker arm one; 4. Rocker arm two; 5. Rotating rod; 6. Gripper; 7. Fixing ring; 8. Electric push rod; 9. Connecting ring; 10. Fixing tube; 11. Suction cup; 12. Piston; 13. Fixing shell; 14. Connecting rod; 15. Fixing disc; 16. Spring; 17. Support ring; 18. Insertion hole; 19. Connecting block; 20. Elastic plate; 21. Sliding pin; 22. Rotating sleeve; 23. Support rod; 24. Pin; 25. Limiting disc one; 26. Limiting disc two; 27. Fixing shaft; 28. Handle; 29. ​​Lead screw; 30. Threaded sleeve; 31. Anti-slip block. Detailed Implementation

[0019] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0020] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0021] In this utility model, unless otherwise stated, the orientations used, such as "up" and "down", usually refer to the direction shown in the accompanying drawings, or to the vertical, perpendicular, or gravitational direction; similarly, for ease of understanding and description, "left" and "right" usually refer to the left and right shown in the accompanying drawings; "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not used to limit this utility model.

[0022] Please see Figures 1-3 A multi-directional rotating robotic arm includes a base 1, a rotating disk 2 rotatably connected to the upper side of the base 1, a rocker arm rotatably connected to the rotating disk 2, a rocker arm 4 rotatably connected to the rocker arm 3, a rotating rod 5 rotatably connected to the rocker arm 4, and a gripper 6 mounted on the rotating rod 5. The rotating disk 2, rocker arm 3, rocker arm 4, rotating rod 5, and gripper 6 are all driven by a motor. The base 1 has a cavity, and a fixing ring 7 is fixedly connected to the cavity of the base 1. An electric push rod 8 is fixedly connected to the fixing ring 7 through a mounting bracket. A connecting ring 9 is fixedly connected to the telescopic end of the electric push rod 8. The fixing ring 7 is embedded with circumferentially spaced fixing rings 7. A suction cup 11 is connected to the lower side of a fixing tube 10. An air extraction structure is provided inside the fixing tube 10. A support structure is provided on the outer side of the base 1.

[0023] Please see Figure 3 and Figure 4The air extraction structure includes a piston 12, which is slidably connected to a fixed tube 10. A fixed shell 13 is fixedly connected to the piston 12. A connecting rod 14 is slidably connected to the fixed shell 13. The connecting rod 14 is fixedly connected to a connecting ring 9. A fixed plate 15 is fixedly connected to the lower end of the connecting rod 14. A spring 16 is sleeved on the connecting sleeve. The two ends of the spring 16 are fixedly connected to the fixed plate 15 and the fixed shell 13, respectively.

[0024] In this embodiment, when it is necessary to change the position of the robotic arm, the base 1 needs to be placed on the workbench at the installation position. The following description will take short-term fixation as an example: When fixing, the base 1 needs to be pressed down, and all the suction cups 11 are attached to the worktable. Then, the electric push rod 8 is activated. The telescopic end of the electric push rod 8 drives the connecting ring 9 to move upward. At the same time, the connecting ring 9 pulls the six connecting rods 14 upward. When the connecting rods 14 move upward, since the suction cups 11 are already attached to the worktable, there can be no air between the suction cups 11 and the worktable. When the connecting rods 14 move upward, they drive the fixed plate 15 to move upward. The fixed plate 15 compresses the spring 16, causing the spring 16 to compress and store force. Since there can be no air between the suction cups 11 and the worktable, the piston 12 will not move upward. The elastic force of the spring 16 acts on the fixed shell 13. Under the elastic force of the spring 16, the piston 12 is subjected to an upward pulling force, which increases the suction force between the suction cups 11 and the worktable, improves the stability of the robotic arm, and allows for simple disassembly and assembly, improving the convenience of adjusting the position of the robotic arm.

[0025] During the use of the robotic arm, the motors on each arm control the rotating disk 2, rocker arm 1 3, rocker arm 2 4, rotating rod 5, and gripper 6 to perform the specified actions. When the position of the robotic arm needs to be adjusted again, simply reset the telescopic end of the electric push rod 8, and then pull up the base 1 to release the six suction cups 11 from the worktable. When it is necessary to fix the long parts of the robotic arm, simply use bolts to install the base 1 on the worktable.

[0026] Please see Figure 2 , Figure 6 and Figure 7The support structure includes a support ring 17, which is fixed to the outside of the base 1. The support ring 17 has circumferentially spaced insertion holes 18. An annular groove is provided on the outside of the support ring 17. Multiple connecting blocks 19 are provided in the annular groove of the support ring 17. Each connecting block 19 has a through hole, which communicates with the adjacent insertion hole 18. Two elastic plates 20 are fixedly connected to the connecting blocks 19. A sliding pin 21 is slidably connected between two adjacent elastic plates 20. A rotating sleeve 22 is rotatably connected to the sliding pin 21. A support rod 23 is fixedly connected to the rotating sleeve 22. Pins are inserted into the insertion holes 18 and the through holes of the connecting blocks 19. 24. A limiting assembly is provided between the two elastic plates 20 and the adjacent rotating sleeve 22; the limiting assembly includes two limiting discs 25, which are fixed to the opposite sides of the two adjacent elastic plates 20 respectively, and limiting discs 26 are fixed to both sides of the rotating sleeve 22. The limiting discs 25 cooperate with the adjacent limiting discs 26 to limit the movement; a fixed shaft 27 is fixed to one side of the sliding pin 21, and a handle 28 is rotatably connected to the fixed shaft 27. The fixed shaft 27 is located at the eccentric position of the handle 28; a lead screw 29 is fixed to the support rod 23, and a threaded sleeve 30 is threaded to the lead screw 29. An anti-slip block 31 is hinged to the threaded sleeve 30.

[0027] In this embodiment, when the robotic arm needs to frequently change position, its center of gravity may shift during operation, potentially causing it to tip over. After the base 1 is installed, initially, the elastic plate 20 is compressed, and the limiting disc 25 and the adjacent limiting disc 26 are in a limiting state. When the handle 28 is rotated, because the handle 28 is eccentric to the fixed shaft 27, after rotation, the handle 28 no longer compresses the adjacent elastic plate 20 and resets under the elastic force of the elastic plate 20 itself. The elastic plates 20 on both sides then drive the limiting discs 25 and 26 on them respectively. 5. Reset and release the contact with the second limiting plate 26. Then rotate the support rod 23 to make the anti-slip block 31 contact the worktable. Then rotate the handle 28 in the opposite direction. The handle 28 presses the elastic plate 20 again. Under the action of the sliding pin 21, the two adjacent elastic plates 20 deform again. The first limiting plate 25 and the second limiting plate 26 are released again, thereby fixing the position of the rotating sleeve 22. Then repeat the above operation to adjust the support rods 23 in other positions. Through the joint action of multiple support rods 23, the support range of the base 1 is increased, the stability of the base 1 is increased, and the risk of the robot arm tipping over is reduced.

[0028] If the robotic arm is working in one direction for a long time, after pulling out all the pins 24, move the connecting block 19 to the same position as the working direction of the robotic arm. The connecting block 19 slides along the annular groove of the support ring 17. When it slides to the designated position, the through hole of the connecting block 19 connects with the insertion hole 18. Then, insert the pins 24 into the insertion hole 18 and fix them according to the position of the connecting block 19. Then repeat the above operation to make the support rod 23 contact the worktable again. By adjusting the support position of the support rod 23, the support direction of the support rod 23 is the same as the working direction of the robotic arm, which further improves the stability of the robotic arm.

[0029] If it is necessary to further increase the force range of the base 1 when rotating the support rod 23, simply rotate the threaded sleeve 30. Under the action of the thread, the threaded sleeve 30 rotates along the lead screw 29 and begins to move upward, increasing the distance between the anti-slip block 31 and the connecting block 19. After adjusting to the appropriate length, stop rotating the threaded sleeve 30 and then swing the support rod 23 to the appropriate angle again.

[0030] Of all the solutions mentioned above, those involving the connection between two components can be selected according to the actual situation, such as welding, bolt and nut connection, bolt or screw connection, or other known connection methods, which will not be elaborated here. For all the fixed connections mentioned above, welding is preferred. Although embodiments of this utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this utility model. The scope of this utility model is defined by the appended claims and their equivalents.

Claims

1. A multi-directional rotating robotic arm, comprising a base (1), a rotating disk (2) rotatably connected to the upper side of the base (1), a rocker arm (3) rotatably connected to the rotating disk (2), a rocker arm (4) rotatably connected to the rocker arm (3), a rotating rod (5) rotatably connected to the rocker arm (4), and a gripper (6) mounted on the rotating rod (5), wherein the rotating disk (2), the rocker arm (3), the rocker arm (4), the rotating rod (5), and the gripper (6) are all driven by a motor, characterized in that: The base (1) is provided with a cavity, and a fixing ring (7) is fixedly connected in the cavity of the base (1). An electric push rod (8) is fixedly connected to the fixing ring (7) through a mounting bracket. A connecting ring (9) is fixedly connected to the telescopic end of the electric push rod (8). A fixing tube (10) with circumferentially equal spacing is embedded in the fixing ring (7). A suction cup (11) is connected to the lower side of the fixing tube (10). An air extraction structure is provided in the fixing tube (10). A support structure is provided on the outer side of the base (1).

2. The multi-directional rotating robotic arm according to claim 1, characterized in that: The air extraction structure includes a piston (12), which is slidably connected to a fixed tube (10). The piston (12) is fixedly connected to a fixed shell (13), and the fixed shell (13) is slidably connected to a connecting rod (14). The connecting rod (14) is fixedly connected to a connecting ring (9). The lower end of the connecting rod (14) is fixedly connected to a fixed disk (15). The connecting rod (14) is fitted with a spring (16), and the two ends of the spring (16) are fixedly connected to the fixed disk (15) and the fixed shell (13) respectively.

3. The multi-directional rotating robotic arm according to claim 1, characterized in that: The support structure includes a support ring (17), which is fixed to the outside of the base (1). The support ring (17) is provided with circumferentially spaced insertion holes (18). An annular groove is provided on the outside of the support ring (17). Multiple connecting blocks (19) are provided in the annular groove of the support ring (17). Each connecting block (19) is provided with a through hole. The through hole of the connecting block (19) communicates with the adjacent insertion hole (18). Two elastic plates (20) are fixed to the connecting block (19). A sliding pin (21) is slidably connected between two adjacent elastic plates (20). A rotating sleeve (22) is rotatably connected to the sliding pin (21). A support rod (23) is fixed to the rotating sleeve (22). A pin (24) is inserted into the insertion hole (18) and the through hole of the connecting block (19). A limit component is provided between the two elastic plates (20) and the adjacent rotating sleeve (22).

4. A multi-directional rotating robotic arm according to claim 3, characterized in that: The limiting component includes two limiting discs (25), which are fixed to the opposite sides of two adjacent elastic plates (20). Both sides of the rotating sleeve (22) are fixed to limiting discs (26), and the limiting discs (25) cooperate with the adjacent limiting discs (26) to limit movement.

5. A multi-directional rotating robotic arm according to claim 4, characterized in that: A fixed shaft (27) is fixedly connected to one side of the sliding pin (21), and a handle (28) is rotatably connected to the fixed shaft (27). The fixed shaft (27) is located at an eccentric position of the handle (28).

6. A multi-directional rotating robotic arm according to claim 5, characterized in that: The support rod (23) is fixedly connected to a lead screw (29), the lead screw (29) is threadedly connected to a threaded sleeve (30), and the threaded sleeve (30) is hinged to an anti-slip block (31).

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