CN111716387A - a robotic arm - Google Patents

Abstract

The invention discloses a robot mechanical arm which comprises a lower support ring, an upper support ring, a support rod, a support leg, a connecting rod and a universal wheel, wherein the upper support ring is horizontally arranged above the lower support ring, the upper support ring is fixedly connected with the lower support ring through the support rod, the upper end of the support rod is fixedly connected with the lower support ring, the upper end of the support leg is fixedly connected with the lower end of the lower support rod, and the universal wheel is fixedly connected with the lower end of the support leg. The lower limb training instrument used after the lower limb operation can realize 3 support modes of palm support, elbow support and armpit support by arranging the upper support ring and the lower support ring and changing the length of the connecting rod, thereby realizing the purpose of changing the support mode.

Description

a robotic arm

technical field

The invention relates to the technical field of machinery, in particular to a robotic arm.

Background technique

A robot is an intelligent machine that can work semi-autonomously or fully autonomously. The earliest robots in history were found in puppet robots created by craftsmen ordered by Emperor Yang of the Sui Dynasty. In the prior art, most of the robotic arms of the robot mainly play a clamping role, but the robot needs to move stably and be well supported during special operations. Therefore, in order to improve the support stability of the robotic arm of the robot, continuous improvement and Innovation.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a robot arm in order to solve the above problems.

The present invention realizes above-mentioned purpose through following technical scheme:

A robot manipulator includes a lower support ring, an upper support ring, a support rod, a support leg, a connecting rod and a universal wheel, the upper support ring is horizontally arranged above the lower support ring, and the upper support ring passes through the The support rod is fixedly connected to the lower support ring, the upper end of the support rod is fixedly connected to the lower support ring, the upper end of the support leg is fixedly connected to the lower end of the lower support rod, the universal wheel Fixed connection with the lower end of the support leg, the lower support ring and the upper support ring are coaxially arranged, the diameter of the upper support ring is smaller than the diameter of the lower support ring, and the diameter of the upper support ring is not less than the chest width of the user;

The support rod includes an outer rod and an inner rod, the upper end of the outer rod is vertically and fixedly connected with the lower side surface of the lower support ring, the upper end of the inner rod is fixedly connected with the upper end of the support leg, and the outer rod is fixedly connected. The rod is a sleeve structure, the upper end of the inner rod is arranged in the outer rod, and can slide up and down along the outer rod. The outer rod and the inner rod are provided with a plurality of equal distances from top to bottom. A through hole, the outer rod and the inner rod are fixedly connected by a bolt passing through the through hole.

Preferably, the number of the supporting rods, the supporting legs and the connecting rods is not less than 3, and they are evenly distributed along the central axis of the lower supporting ring.

Specifically, the lower side of the upper support ring and the upper side of the lower support ring are provided with threaded holes, both ends of the connecting rod are provided with external threads adapted to the threaded holes, and the connecting rod is provided with There are various models, and the connecting rods of different models are provided with different lengths.

Specifically, the support legs are inclined, and a plurality of the support legs are inclined at the same angle, and the distance between the universal wheel and the central axis of the lower support ring is greater than the radius of the lower support ring.

The beneficial effects of the present invention are:

The robot arm of the present invention can realize the support modes of the robot palm support, elbow support and armpit support by setting the upper support ring and the lower support ring, and by changing the length of the connecting rod, so as to achieve the purpose of changing the support mode. It can improve the movement stability of the robot during special operations, and has the value of popularization and application.

Description of drawings

Fig. 1 is the front view of the present invention;

Figure 2 is a side view of the present invention;

FIG. 3 is a schematic view of the structure of the support rod according to the present invention.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings:

As shown in Figure 1, Figure 2 and Figure 3, a robot arm of the present invention includes a lower support ring 2, an upper support ring 1, a support rod 4, a support leg 5, a connecting rod 3 and a universal wheel 6, and the upper support The ring 1 is horizontally arranged above the lower support ring 2, the upper support ring 1 is fixedly connected with the lower support ring 2 through the support rod 4, the upper end of the support rod 4 is fixedly connected with the lower support ring 2, and the upper end of the support leg 5 is connected with the lower support rod 4. The lower end of the upper support ring 1 is fixedly connected with the lower end of the support leg 5, the lower side of the upper support ring 1 and the upper side of the lower support ring 2 are provided with threaded holes, and both ends of the connecting rod 3 are provided with threaded holes. There are various types of connecting rods 3, the connecting rods 3 of different models are set to different lengths, the supporting legs 5 are inclined, and the inclination angles of the plurality of supporting legs 5 are the same, and the universal wheel 6 and the lower support The distance between the central axes of the rings 2 is greater than the radius of the lower support ring 2 .

The lower support ring 2 and the upper support ring 1 are coaxially arranged, the diameter of the upper support ring 1 is smaller than the diameter of the lower support ring 2, the diameter of the upper support ring 1 is not less than the chest width of the user, the support rod 4, the support leg 5 and the connection The number of rods 3 is not less than 3, and they are evenly distributed along the central axis of the lower support ring 2 .

The support rod 4 includes an outer rod 7 and an inner rod 10, the upper end of the outer rod 7 is vertically and fixedly connected with the lower side of the lower support ring 2, the upper end of the inner rod 10 is fixedly connected with the upper end of the support leg 5, and the outer rod 7 is a sleeve. Structure, the upper end of the inner rod 10 is arranged in the outer rod 7, and can slide up and down along the outer rod 7, the outer rod 7 and the inner rod 10 are provided with a plurality of through holes 8 with equal distances from top to bottom, the outer rod 7 and the inner rod 10 is fixedly connected by a pin 10 passing through the through hole 8 .

The working principle of the present invention is as follows:

During use, according to the height of the robot and the length of the mechanical arm, the relative position between the outer rod 7 and the inner rod 10 is adjusted, so as to achieve the purpose of adjusting the height. It is suitable to walk and achieve the purpose of stable movement. The length of the support rod 4 is determined by the plug 10, that is, the fixing function can be realized.

When the robot does not need to be supported by the mechanical arm, the upper support ring 1 is installed on the upper support ring 1 by changing the model of the connecting rod 3 and selecting a suitable connecting rod 3 .

When the length of the selected connecting rod 3 is just enough to fix the upper support ring 1 at the elbow position, it can be supported by the elbow to perform stable movement.

When the length of the selected connecting rod 3 is just enough to fix the upper support rod 4 at the position of the armpit, the exercise can be carried out through the armpit support.

A variety of supporting purposes are achieved to adapt to different environments.

The technical solutions of the present invention are not limited to the limitations of the above-mentioned specific embodiments, and all technical modifications made according to the technical solutions of the present invention fall within the protection scope of the present invention.

Claims (4)

1. a robot mechanical arm, is characterized in that: comprise lower support ring, upper support ring, support rod, support leg, connecting rod and universal wheel, and described upper support ring is horizontally arranged above the lower support ring, The upper support ring is fixedly connected to the lower support ring through the support rod, the upper end of the support rod is fixedly connected to the lower support ring, and the upper end of the support leg is fixedly connected to the lower end of the lower support rod , the universal wheel is fixedly connected with the lower end of the support leg, the lengths of the connecting rod and the support rod can be adjusted, the lower support ring and the upper support ring are coaxially arranged, and the upper support The diameter of the ring is smaller than the diameter of the lower support ring, and the diameter of the upper support ring is not less than the chest width of the user; The support rod includes an outer rod and an inner rod, the upper end of the outer rod is vertically and fixedly connected with the lower side surface of the lower support ring, the upper end of the inner rod is fixedly connected with the upper end of the support leg, and the outer rod is fixedly connected. The rod is a sleeve structure, the upper end of the inner rod is arranged in the outer rod, and can slide up and down along the outer rod. The outer rod and the inner rod are provided with a plurality of equal distances from top to bottom. A through hole, the outer rod and the inner rod are fixedly connected by a bolt passing through the through hole. 2 . The robot arm according to claim 1 , wherein the number of the support rods, the support legs and the connecting rods is not less than 3, and the number of the support rods along the lower support ring is not less than 3. 3 . The central axis is evenly distributed. 3 . The robotic arm according to claim 1 , wherein the lower side of the upper support ring and the upper side of the lower support ring are provided with threaded holes, and both ends of the connecting rod are provided with threaded holes. 4 . As for the external thread adapted to the threaded hole, the connecting rod is provided with various models, and the connecting rods of different models are provided with different lengths. 4 . The robot arm according to claim 1 , wherein the support legs are inclined, and a plurality of the support legs are inclined at the same angle, and the universal wheel and the lower support ring are slanted. 5 . The distance between the central axes is greater than the radius of the lower support ring.

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