CN104772752A - Mechanical arm - Google Patents

Abstract

The invention discloses a mechanical arm which comprises a supporting portion, a connecting portion and a grabbing hand portion. One end of the connecting portion is arranged on the supporting portion, connecting arms can slide along the supporting portion, the grabbing hand portion is connected to the other end of the connecting portion, and the grabbing hand portion can be driven by the connecting portion to move and clamp articles. The mechanical arm can drive the connecting arms to swing to the appointed position and move the articles through a power device, so that the automation degree is improved. The mechanical arm has the advantages of being simple in structure, low in cost and convenient to maintain.

Description

a mechanical arm

technical field

The invention belongs to the technical field of automatic mechanical equipment, and relates to a mechanical arm.

Background technique

Nowadays, with the continuous increase of labor costs, the use of industrial robots is imminent. Industrial robots are tools used in the production environment to improve production efficiency and reduce labor costs and intensity of workers. It can replace human heavy and repetitive labor to achieve production. Automation and mechanization can operate in an environment that endangers human health to protect human life, so it is widely used in machinery manufacturing, metallurgy, electronics, logistics and handling and other departments. For example, in logistics handling, it is unbearable for such repeated and continuous labor to be done by humans, so it is necessary for industrial robots to replace manpower to continue uninterrupted work, which can liberate workers from this tedious routine work; Robots can also be used to bomb, paint rooms, etc. according to program requirements, and perform functions in many social applications.

The robotic arm is the executive element of the robot and an important part of the robot. The tasks of handling, welding, machine packaging, disassembly and assembly all require robotic arms to perform tasks. Its biggest advantage is that it can repeat the same action and never feel tired. Its application is becoming more and more extensive. , which is due to the accuracy and continuity of the operation of the robotic arm. With the development and progress of science and technology, the robotic arm is developing in the direction of lightness, intelligence and diversification, and it can better apply different requirements and complete corresponding actions in different scenarios.

The current industrial manipulators are more expensive, too large and heavy, complicated to operate, and poor in versatility and mobility.

Contents of the invention

The object of the present invention is to provide a mechanical arm for the above problems existing in the prior art. The technical problem to be solved by the present invention is how to provide a mechanical arm with low cost, good flexibility, good mobility and simple operation.

The object of the present invention can be realized through the following technical solutions:

A mechanical arm comprising:

support part;

a connecting part, one end of which is arranged on the supporting part, and the connecting arm can slide along the supporting part;

The handle part is connected to the other end of the connection part, and the handle part can move under the drive of the connection part and hold the article.

The support part includes:

two support seats;

An upright support, the two ends of which are respectively arranged on one of the support bases, and the upright support can slide along the support base;

A rack, which is arranged on any one of the support seats;

a gear, which is provided on the upright support, and the gear is meshed with the rack;

A motor is arranged on the upright support, and the motor can drive the gear to rotate.

The support base includes:

base;

a guide rail fixed on the base;

The slider is sheathed on the guide rail, and the slide can slide along the guide rail.

The connection part includes:

first connecting arm;

a second connecting arm, one end of which is hinged to the first connecting arm;

One end of the third connecting arm is hinged with the second connecting arm, and the other end is hinged with the handle portion.

A connecting piece is also included, and the second connecting arm is hinged to the first connecting arm and the third connecting arm through the connecting piece.

The connectors include:

axis of rotation;

The expansion sleeve is sleeved on the outside of the rotating shaft.

The handle includes:

a mechanical claw, which is hinged to the third connecting arm;

Two support members, one end of which is fixedly connected to the mechanical claw;

two first joints, one end of which is hinged to the support;

Two second joints, one end of which is hinged to the first joint;

Two chucks, one end of which is fixed on the second joint;

The steering gear is fixed on the supporting member, and the steering gear can drive the first joint to move relative to the supporting member, and drive the distance between the two chucks to increase or decrease.

It also includes a pressure sensor, which is arranged on the clamp and can sense the pressure of the clamp and the object clamped by the clamp.

The working principle of the present invention is: the base of the mechanical arm plays a supporting role, two linear guide rails are fixed on the top surface of the base, and a linear rack is fixed on the inner side of one base, and the two guide rails have two sliders respectively. , the slider is fixed with the entire mechanical arm, the mechanical arm is supported by an upright bracket, a motor is installed at the lower end of the upright bracket, a gear is installed on the output shaft of the motor, the gear and the rack are locked together, and the gear is driven by the motor to rotate, thereby realizing The entire mechanical arm moves back and forth in a straight line; the first connecting arm of the mechanical arm and the upright support are hinged through a rotating shaft, and a reducer is installed at one end of the rotating shaft, and the reducer is fixedly connected with the output axis of the motor, and the rotating shaft and the first connecting arm are connected by an expansion sleeve The fixed connection is integrated, the output shaft of the motor drives the reducer to rotate, the reducer drives the rotation shaft to rotate, and the rotation shaft also drives the first connecting arm to rotate. The principle of hinged connection between the second connecting arm and the first connecting arm is the same as the above-mentioned principle. The expansion sleeve is also used to fix the rotating shaft and the second connecting arm. One end of the rotating shaft is fixedly connected to the reducer, and the reducer is fixedly connected to the output shaft of the motor. , under the rotation of the motor, the rotating shaft is driven to rotate, thereby also driving the second connecting arm to rotate. Similarly, the same principle applies to the third connecting arm. Driven by the two servos, the mechanical claws are multi-jointly linked so that the two chucks can open and close each other. By controlling the swing of the connecting arm to reach the designated position and then grasping or releasing the object, the purpose of transferring materials or production and processing is achieved, and the degree of automation is improved; the mechanical arm has a simple structure and low cost. It has the advantages of convenient maintenance, convenient movement, installation and disassembly, and simple control, which can greatly save workers, improve efficiency, and reduce production costs.

Description of drawings

The present invention is described in detail below in conjunction with embodiment and accompanying drawing, wherein:

Fig. 1 is a structural schematic diagram of the present invention.

Fig. 2 is a schematic structural diagram of the supporting part in Fig. 1 .

Fig. 3 is a schematic structural view of the supporting seat in Fig. 2 .

Fig. 4 is a structural schematic diagram of the connecting arm in the present invention.

Fig. 5 is a schematic diagram of the second structure of the connecting arm in the present invention.

Fig. 6 is a schematic structural view of the handle part in the present invention.

Detailed ways

Further set forth the specific embodiment of the present invention below in conjunction with accompanying drawing:

The following are specific embodiments of the present invention and in conjunction with the accompanying drawings, further describe the technical solutions of the present invention, but the present invention is not limited to these implementations.

As shown in Figure 1, a mechanical arm of the present invention includes a support part 1, a connecting part 2 and a handle part 3, one end of the connecting part 2 is arranged on the supporting part 1, and the connecting arm part 2 can slide along the supporting part 1 ; The handle part 3 is connected to the other end of the connecting part 2 .

As shown in FIG. 2 , the supporting part of the present invention includes: two supporting bases 11 , an upright bracket 12 , a rack 13 , a gear 14 and a motor 15 . The two ends of the upright support 12 are respectively arranged on a support base 11, and the upright support 12 can slide along the support base 11; the tooth bar 13 is arranged on any support base 11; The racks 13 are engaged; the motor 15 is arranged on the upright support 12, and the motor 15 can drive the gear 14 to rotate.

As shown in FIG. 3 , the support base 11 includes: a base 111 , a guide rail 112 and a slider 113 . The guide rail 112 is fixed on the base 111 ; the slider 112 is sheathed on the guide rail 112 and can slide along the dry rail 112 .

As shown in FIG. 4 , the connecting part 2 of the present invention includes a first connecting arm 21 , a second connecting arm 22 , a second connecting arm 23 , a connecting piece 24 and a power device 25 . One end of the second connecting arm 22 is hinged to the first connecting arm 21 ; one end of the third connecting arm 23 is hinged to the second connecting arm 22 , and the other end is hinged to the handle portion 3 . The second connecting arm 22 is hinged to the first connecting arm 21 and the third connecting arm 23 through the connecting piece 24 . The connecting piece 24 includes: a rotating shaft 241 and an expansion sleeve 242 ; the expansion sleeve 242 is sleeved on the outside of the rotating shaft 241 . The power unit 25 includes a motor 251 and a reducer 252. The power unit 25 is fixed at the hinge of the second connecting arm 22 and the first connecting arm 21 and the third connecting arm 23, and the power unit 25 drives the first connecting arm 21, the second connecting arm The movement of the second connecting arm 22 and the third connecting arm 23.

As shown in FIG. 6 , the gripper part 3 in the present invention includes: a mechanical gripper 31 , a support 32 , a steering gear 33 , a first joint 34 , a second joint 35 , an auxiliary part 36 , a chuck 37 and a pressure sensor 38 . The manipulator claw 31 is hinged to the third connecting arm 23; one end of the support member 32 is fixedly connected to the manipulator claw 31; one end of the first joint 34 is hinged to the support member 32; one end of the second joint 35 is hinged to the first joint 34; one end of the chuck 37 is fixed On the second joint 35; the steering gear 33 is fixed on the support member 32, and the steering gear 33 can drive the first joint 34 to move relative to the support member 32, and drive the distance between the movement of the chuck 37 to increase or decrease . The pressure sensor 38 is disposed on the chuck 37 and can sense the pressure of the chuck and the object clamped by the chuck. The two ends of the auxiliary part 36 are respectively fixed on the second joint 35 and the supporting part 32 to further fix the first joint 34 and the second joint 35 .

In this embodiment, the support is provided with four pieces, and two pieces form a group. One end of the support 32 is fixed to one end of the support 32 up and down, and the other end of the support 32 is connected to the second joint through a rotating shaft 39. Easy to turn. The aiding member is also connected with the second joint and the supporting member through a rotating shaft, so as to facilitate rotation.

In the present invention, the base plays a supporting role, and guide rails are installed on the base, and the guide rails can move linearly along the base. A motor is fixed at the lower end, the output shaft of the motor is hinged to the gear, and the gear and the rack are meshed. In this way, the motor rotates to drive the gear, so that the entire manipulator can move linearly along the guide rail. The maximum sliding distance is 6 meters, which can be extended and lengthened.

In this embodiment, the upper end of the upright bracket is hinged to the rotating shaft, one end of the rotating shaft is fixedly connected to the speed reducer and a bearing with seat is placed in the bearing groove with seat, the other end is hinged to the first connecting arm, and the first connecting arm is connected to the first connecting arm through the expansion sleeve. The rotating shafts are tightly hugged, and there is a thrust ball bearing groove in the upper end of the upright bracket for embedded thrust ball bearings. The upper end of the first connecting arm is hinged to the second connecting arm, and the rotating shaft and the second connecting arm are also connected through the expansion sleeve. Hold it tight, similarly the third connecting arm also uses an expansion sleeve to hold it tightly with the rotating shaft. In this way, under the rotation of the motor, more force is obtained through the reducer to drive the rotating shaft to rotate, thereby also driving the first connecting arm 7, the second connecting arm and the third connecting arm to swing, and the maximum swing is 180°. The third connecting arm is hinged with the mechanical claw through the output shaft of the motor, the motor is fixedly connected with the third connecting arm, and the output shaft of the motor is fixedly connected with the mechanical claw, so that when the motor rotates, it drives the mechanical claw to rotate, so that it can be grasped or released Materials with different orientation angles. The mechanical claw adopts multi-joint linkage mode. Two steering gears are fixed on the mechanical claw. The output shaft of the steering gear is fixedly connected to the first joint. The first joint is hinged to the second joint through the rotating shaft, and the second joint is fixed to the chuck. Connect, so that driven by the rotation of the steering gear, the chuck can be driven to open and close. The maximum opening of the chuck is 0.2m. The pressure sensor strain block is embedded in the chuck to prevent the material from falling off. The motors in the present invention all adopt stepping motors to achieve precise operation and high accuracy.

The working principle of the present invention is: the base of the mechanical arm plays a supporting role, two linear guide rails are fixed on the top surface of the base, and a linear rack is fixed on the inner side of one base, and the two guide rails have two sliders respectively. , the slider is fixed with the entire mechanical arm, the mechanical arm is supported by an upright bracket, a motor is installed at the lower end of the upright bracket, a gear is installed on the output shaft of the motor, the gear and the rack are locked together, and the gear is driven by the motor to rotate, thereby realizing The entire mechanical arm moves back and forth in a straight line; the first connecting arm of the mechanical arm and the upright support are hinged through a rotating shaft, and a reducer is installed at one end of the rotating shaft, and the reducer is fixedly connected with the output axis of the motor, and the rotating shaft and the first connecting arm are connected by an expansion sleeve The fixed connection is integrated, the output shaft of the motor drives the reducer to rotate, the reducer drives the rotation shaft to rotate, and the rotation shaft also drives the first connecting arm to rotate. The principle of hinged connection between the second connecting arm and the first connecting arm is the same as the above-mentioned principle. The expansion sleeve is also used to fix the rotating shaft and the second connecting arm. One end of the rotating shaft is fixedly connected to the reducer, and the reducer is fixedly connected to the output shaft of the motor. , under the rotation of the motor, the rotating shaft is driven to rotate, thereby also driving the second connecting arm to rotate. Similarly, the same principle applies to the third connecting arm. Driven by the two servos, the mechanical claws are multi-jointly linked so that the two chucks can open and close each other. By controlling the swing of the connecting arm to reach the designated position and then grasping or releasing the object, the purpose of transferring materials or production and processing is achieved, and the degree of automation is improved; the mechanical arm has a simple structure and low cost. It has the advantages of convenient maintenance, convenient movement, installation and disassembly, and simple control, which can greatly save workers, improve efficiency, and reduce production costs.

The specific embodiments described herein are not merely illustrative of the spirit of the invention. Those skilled in the art to which the present invention belongs can make various modifications or supplements to the described embodiments or replace them in similar ways, but they will not deviate from the spirit of the present invention or go beyond the definition of the appended claims range.

Claims (9)

1. a mechanical arm, is characterized in that, comprising:

Support portion;

Connecting portion, its one end is located on described support portion, and described linking arm can slide along described support portion;

Grip, it is connected to the other end of described connecting portion, and described grip can be moved under the drive of described connecting portion, and presss from both sides

Hold article.

2. mechanical arm according to claim 1, is characterized in that, described support portion comprises:

Two supporting seats;

Up-right support, its two ends are located on supporting seat described in respectively, and described up-right support can slide along described supporting seat;

Tooth bar, it is located on supporting seat described in any;

Gear, it is located on described up-right support, and described gear is meshed with described tooth bar;

Motor, it is located on described up-right support, and described motor can drive described pinion rotation.

3. mechanical arm according to claim 2, is characterized in that, described supporting seat comprises:

Base;

Guide rail, it is fixedly arranged on described base;

Slide block, it is sheathed on described guide rail, and described slip can along described slide.

4. require the mechanical arm described in 1 according to profit, it is characterized in that, described connecting portion comprises:

First linking arm;

Second linking arm, its one end and described first linking arm are hinged;

3rd linking arm, its one end and described second linking arm are hinged, and its other end and described grip are hinged.

5. mechanical arm according to claim 4, is characterized in that, also comprises connector, described second linking arm all by described connector and described first linking arm and described 3rd linking arm hinged.

6. mechanical arm according to claim 5, is characterized in that, described connector comprises:

Turning cylinder;

Expansion sleeve, it is sheathed on the outside of described turning cylinder.

7. mechanical arm according to claim 1, is characterized in that, described grip comprises:

Mechanical paw, itself and described 3rd linking arm are hinged;

Two support members, its one end is fixedly connected with described mechanical paw;

Two first joints, one end and described support member hinged;

Two second joints, its one end and described first joint hinged;

Two chucks, its one end is fixed on described second joint;

Steering wheel, it is fixedly arranged on described support member, and described steering wheel can drive described first joint relative to described support movements, and drives the distance described in two between chuck become large or diminish.

8. mechanical arm according to claim 7, is characterized in that, also comprises pressure sensor, and it is located on described chuck, and can respond to the pressure of the article clamped by chuck and chuck.

9. mechanical arm according to claim 8, it is characterized in that, described up-right support is provided with a thrust ball bearing groove, and be embedded with a thrust ball bearing in described thrust ball bearing groove, described turning cylinder is located in described thrust ball bearing groove, described first linking arm lateral surface overlaps with the groove face of described thrust ball bearing groove, thus compresses described thrust ball bearing.