CN107379010A

CN107379010A - New mechanical arm

Info

Publication number: CN107379010A
Application number: CN201710468048.9A
Authority: CN
Inventors: 钱万水
Original assignee: Wuhu Blue Sky Project Plastic Cement Co Ltd
Current assignee: Wuhu Blue Sky Project Plastic Cement Co Ltd
Priority date: 2017-06-20
Filing date: 2017-06-20
Publication date: 2017-11-24

Abstract

The invention discloses a kind of new mechanical arm, extension arm one end is removably fixed in Chuck top, and the other end is set in outside mechanical arm one end；Formed with raised rotating disc on base interior bottom face, drum is set in rotating disc upper rotary shaft, line one ends wound is pulled on drum, the other end sequentially passes through pedestal, extension arm and mechanical arm and extended to along mechanical arm length direction to be connected with being placed in gripper outside the mechanical arm other end；Gripper includes at least two pawl bars, and root, which is connected to, to be pulled on the line other end, and middle part is connected by spring so that proper drum rotates drives when pulling line and tightening up, two pawl bar root retraction mechanical arm other ends and head is close to each other；When drum, which reversely transfers drive pulling line, to be loosened, two pawl bar roots stretch out the mechanical arm other ends and head is located remotely from each other.It is simple in construction, easy to use, it can fast clamp and transport article, it is time saving and energy saving, significantly reduce operator's labor intensity.

Description

Novel mechanical arm

Technical Field

The invention relates to industrial production equipment, in particular to a novel mechanical arm.

Background

In the industrial production field, various tools or assemblies are used during the production process or in subsequent processes such as processing and packaging. For example, in the plastic part manufacturing process, each time a product is manufactured, an operator needs to repeat the operation of taking and placing the plastic part, and the repeated operation causes physical fatigue of the operator, so that the speed is gradually reduced, and the production efficiency of the product is affected. Meanwhile, some machining assembly parts or machining tools are placed at positions far away from the operator, and when the machining assembly parts or the machining tools are taken, the operator needs to operate remotely, so that time and labor are wasted.

For this reason, the operator is often assisted by some auxiliary tool, such as a ladder, a hooked long stick, etc. However, these tools have single function and irregular structure, and are rather clumsy to use and act on the contrary.

Therefore, it is urgently needed to provide a novel mechanical arm which has a simple structure and is convenient to use and can quickly clamp and transport articles.

Disclosure of Invention

The invention aims to provide a novel mechanical arm which is simple in structure, convenient to use, capable of quickly clamping and transporting articles, time-saving and labor-saving and capable of greatly reducing the labor intensity of operators.

In order to achieve the above object, the present invention provides a novel manipulator, which comprises a hollow base, a hollow extension arm, a hollow mechanical arm, a pulling line, a wire coil and a gripper; wherein,

one end of the extension arm is detachably and fixedly connected to the top end of the base, the other end of the extension arm is sleeved outside one end of the mechanical arm, and the connection part of the extension arm and the mechanical arm is fixed through a fastening bolt;

a convex rotating disc is formed on the bottom end face inside the base, the wire coil is sleeved on a rotating shaft on the rotating disc, one end of the pulling wire is wound on the wire coil, and the other end of the pulling wire sequentially penetrates through the base, the extension arm and the mechanical arm and extends to be connected with a mechanical claw arranged outside the other end of the mechanical arm along the length direction of the mechanical arm;

the mechanical claw comprises at least two claw strips, the two claw strips are V-shaped with the middle sections protruding outwards, and the included angle of the V shape is 135 degrees; the root parts of the two claw strips are respectively connected to the other end of the pulling line, and the middle parts of the two claw strips are connected through a spring so that when the wire coil rotates to drive the pulling line to be tightened, the root parts of the two claw strips retract into the other end of the mechanical arm and the head parts of the two claw strips are close to each other; when the wire coil reversely transfers and drives the pulling wire to loosen, the roots of the two claw strips extend out of the other end of the mechanical arm, and the heads of the two claw strips are far away from each other.

Preferably, a coil guide is arranged on the rotating disc, the coil guide extends upwards to be coaxial with the rotating disc, and the other end of the pulling wire is pulled out of the coil, penetrates through the coil guide and then sequentially penetrates through the base, the extension arm and the mechanical arm.

Preferably, two guide wheels are arranged at the other end of the mechanical arm and respectively abut against the outer walls of the two claw strips.

Preferably, the upper parts of the outer walls of the two claw bars are recessed inwards to form guide rolling grooves matched with the two guide wheels.

Preferably, the base comprises a base and a lifting platform arranged on the base, and one end of the extension arm is detachably and fixedly connected to the top end of the lifting platform.

Preferably, the top of elevating platform is equipped with the pivot, and the one end of extension arm articulates in vertical plane on the pivot and the pivot can drive the extension arm and rotate around the central axis of elevating platform.

Preferably, the middle section of the rotating shaft and the extension arm is connected with a telescopic supporting rod.

Preferably, the contact part of the head parts of the two claw bars is respectively provided with a rubber holding bar.

Preferably, the surface of the rubber holding strip is formed with concave-convex saw teeth.

According to the technical scheme, one end of the extension arm is detachably and fixedly connected to the top end of the base, and the other end of the extension arm is sleeved outside one end of the mechanical arm and fixed through a fastening bolt; like this, through loosening and rotatory locking fastening bolt again can adjust the total length after extension arm and arm equipment to in a flexible way as required adjustment manipulator get a scope. A convex rotating disc is formed on the bottom end face inside the base, the wire coil is sleeved on a rotating shaft on the rotating disc, one end of the pulling wire is wound on the wire coil, and the other end of the pulling wire sequentially penetrates through the base, the extension arm and the mechanical arm and extends to be connected with a mechanical claw arranged outside the other end of the mechanical arm along the length direction of the mechanical arm; the mechanical claw comprises at least two claw strips, the two claw strips are V-shaped with the middle sections protruding outwards, and the included angle of the V shape is 135 degrees; the root parts of the two claw strips are respectively connected to the other end of the pulling line, and the middle parts of the two claw strips are connected through a spring, so that when the wire coil rotates to drive the pulling line to be tightened, the root parts of the two claw strips and the wall of the mechanical arm interact to be retracted into the other end of the mechanical arm, and the head parts of the two claw strips are close to each other, so that objects can be grabbed; similarly, when the wire coil is reversely transferred to drive the pulling wire to be loosened, the extruded spring exerts force outwards to restore the original state so that the roots of the two claw strips extend out of the other end of the mechanical arm, and the heads of the two claw strips are far away from each other, so that the grabbed objects can be loosened. Therefore, the novel mechanical arm is simple in structure and convenient to use, can clamp and transport articles quickly, is time-saving and labor-saving, and greatly reduces the labor intensity of operators.

Additional features and advantages of the invention will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

fig. 1 is a schematic structural diagram of a novel manipulator in an embodiment provided in the present invention.

Description of the reference numerals

1-extension arm 2-mechanical arm

3-pulling wire 4-fastening bolt

5-claw strip 6-base

7-lifting platform 8-rubber holding strip

9-spring 10-wire coil

11-wire loop 12-guide wheel

13-Telescopic support rod

Detailed Description

The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.

In the present invention, unless otherwise specified, the terms of orientation such as "top, bottom, inside, outside" and the like included in a term merely represent the orientation of the term in a conventional use state or are colloquially known by those skilled in the art, and should not be construed as limiting the term.

Referring to fig. 1, the present invention provides a novel manipulator including a hollow base, a hollow extension arm 1, a hollow robot arm 2, a pulling line 3, a wire coil 10, and a gripper; wherein,

one end of the extension arm 1 is detachably and fixedly connected to the top end of the base, the other end of the extension arm is sleeved outside one end of the mechanical arm 2, and the connection part of the extension arm 1 and the mechanical arm 2 is fixed through a fastening bolt 4;

a raised rotating disc is formed on the bottom end face inside the base, a wire coil 10 is sleeved on a rotating shaft on the rotating disc, one end of a pulling wire 3 is wound on the wire coil 10, and the other end of the pulling wire sequentially penetrates through the base, the extension arm 1 and the mechanical arm 2 and extends to be connected with a mechanical claw arranged outside the other end of the mechanical arm 2 along the length direction of the mechanical arm 2;

the mechanical claw comprises at least two claw strips 5, the two claw strips 5 are V-shaped with the middle sections protruding outwards, and the included angle of the V shape is 135 degrees; the roots of the two claw strips 5 are respectively connected to the other end of the pulling line 3, and the middle parts of the two claw strips are connected through a spring 9, so that when the wire coil 10 rotates to drive the pulling line 3 to be tightened, the roots of the two claw strips 5 are retracted into the other end of the mechanical arm 2, and the heads of the two claw strips are close to each other; when the wire coil 10 is reversely transferred to drive the pulling wire 3 to be loosened, the roots of the two claw strips 5 extend out of the other end of the mechanical arm 2, and the heads of the two claw strips are far away from each other.

Through the technical scheme, one end of the extension arm 1 is detachably and fixedly connected to the top end of the base, and the other end of the extension arm is sleeved outside one end of the mechanical arm 2 and fixed through the fastening bolt 4; in this way, the total length of the extension arm 1 assembled with the robot arm 2 can be adjusted by loosening and re-rotating the locking fastening bolt 4, so that the workpiece taking range of the robot arm can be flexibly adjusted as required. A convex rotating disc is formed on the bottom end face inside the base, a wire coil 10 is sleeved on a rotating shaft on the rotating disc, one end of a pulling wire 3 is wound on the wire coil 10, and the other end of the pulling wire sequentially penetrates through the base, the extension arm 1 and the mechanical arm 2 and extends to be connected with a mechanical claw arranged outside the other end of the mechanical arm 2 along the length direction of the mechanical arm 2; the mechanical claw comprises at least two claw strips 5, the two claw strips 5 are V-shaped with the middle sections protruding outwards, and the included angle of the V shape is 135 degrees; the roots of the two claw strips 5 are respectively connected to the other end of the pulling wire 3, and the middle parts of the two claw strips are connected through a spring 9, so that when the wire coil 10 rotates to drive the pulling wire 3 to be tightened, the roots of the two claw strips 5 and the wall of the mechanical arm 2 interact to retract into the other end of the mechanical arm 2, and the heads of the two claw strips are close to each other, so that the object can be grabbed; similarly, when the wire coil 10 is reversely transferred to release the pulling wire 3, the compressed spring 9 exerts force outwards to restore the original state, so that the root parts of the two claw bars 5 extend out of the other end of the mechanical arm 2, and the head parts of the two claw bars are far away from each other, thereby releasing the grabbed object. Therefore, the novel mechanical arm is simple in structure and convenient to use, can clamp and transport articles quickly, is time-saving and labor-saving, and greatly reduces the labor intensity of operators.

In the present embodiment, in order to restrain the traveling direction of the pull wire 3 and prevent the pull wire from deviating from the preset direction and causing difficulty in pulling, it is preferable that the rotating disk is provided with the wire loop 11, the wire loop 11 extends upward to be coaxial with the rotating disk, and the other end of the pull wire 3 is pulled out from the wire loop, passes through the wire loop 11, and then sequentially passes through the base, the extension arm 1, and the robot arm 2.

When the claw bars 5 move inwards and outwards frequently, the claw bars and the other end of the mechanical arm 2 can repeatedly contact with each other for many times, so that the work efficiency is not affected due to the fact that parts with overlarge friction between the claw bars and the mechanical arm are damaged or the claw bars 5 do not move inwards and outwards smoothly, preferably, two guide wheels 12 are arranged at the other end of the mechanical arm 2, and the two guide wheels 12 abut against the outer walls of the two claw bars 5 respectively.

Also, in order to prevent the guide wheels 12 from deviating from the preset direction and losing their original functions, it is preferable that upper portions of the outer walls of the two claw bars 5 are recessed inward to form guide rolling grooves to be engaged with the two guide wheels 12.

In order to further enlarge the range of the simple manipulator in the vertical plane and improve the applicability, the base preferably comprises a base 6 and a lifting platform 7 arranged on the base 6, and one end of the extension arm 1 is detachably fixed on the top end of the lifting platform 7.

Similarly, in order to further enlarge the range of the simple manipulator in the horizontal plane and improve the applicability, preferably, a rotating shaft is provided at the top end of the lifting platform 7, one end of the extension arm 1 is hinged to the rotating shaft in the vertical plane, and the rotating shaft can drive the extension arm 1 to rotate around the central axis of the lifting platform 7.

In order to further increase the flexibility of the manipulator in the operation process and simultaneously ensure the fixing stability of the front and rear extension arms 1, preferably, the middle section of the rotating shaft and the extension arm 1 is connected with a telescopic support rod 13.

In the present embodiment, it is preferable that the rubber clip strips 8 are provided at the contact portions of the heads of the two claw strips 5, and concave-convex saw teeth are formed on the surfaces of the rubber clip strips 8.

So design can increase two claw strips 5 and increase extrusion force and frictional force to its surface when the centre gripping object, effectively prevent claw strip 5 and grab behind the article and drop and the article damage that causes, saved manufacturing cost from on the other hand, improved production efficiency.

The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.

It should be noted that the various technical features described in the above embodiments can be combined in any suitable manner without contradiction, and the invention is not described in any way for the possible combinations in order to avoid unnecessary repetition.

In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.

Claims

1. The novel manipulator is characterized by comprising a hollow base, a hollow extension arm (1), a hollow mechanical arm (2), a pulling wire (3), a wire coil (10) and a mechanical claw; wherein,

one end of the extension arm (1) is detachably and fixedly connected to the top end of the base, the other end of the extension arm is sleeved outside one end of the mechanical arm (2), and the connection part of the extension arm (1) and the mechanical arm (2) is fixed through a fastening bolt (4);

a convex rotating disc is formed on the bottom end face in the base, the wire coil (10) is sleeved on a rotating shaft on the rotating disc, one end of the pulling wire (3) is wound on the wire coil (10), and the other end of the pulling wire sequentially penetrates through the base, the extension arm (1) and the mechanical arm (2) and extends to be connected with the mechanical claw arranged outside the other end of the mechanical arm (2) along the length direction of the mechanical arm (2);

the mechanical claw comprises at least two claw strips (5), the two claw strips (5) are V-shaped with the middle sections protruding outwards, and the included angle of the V shape is 135 degrees; the roots of the two claw strips (5) are respectively connected to the other end of the pulling line (3), and the middle parts of the two claw strips are connected through a spring (9) so that when the wire coil (10) rotates to drive the pulling line (3) to be tightened, the roots of the two claw strips (5) are retracted into the other end of the mechanical arm (2) and the heads of the two claw strips are close to each other; when drum (10) reverse turn-on drive draw line (3) relax, the root of two claw strips (5) stretches out the other end and the head of arm (2) are kept away from each other.

2. The novel mechanical arm of claim 1, wherein a wire coil (11) is arranged on the rotating disc, the wire coil (11) extends upwards to be coaxial with the rotating disc, and the other end of the pulling wire (3) is pulled out of the wire coil, passes through the wire coil (11) and then sequentially passes through the base, the extension arm (1) and the mechanical arm (2).

3. The new manipulator according to claim 1, characterized in that two guide wheels (12) are provided on the other end of the mechanical arm (2), and the two guide wheels (12) respectively abut against the outer walls of the two gripper bars (5).

4. The novel manipulator according to claim 3, characterized in that the upper parts of the outer walls of the two jaw bars (5) are recessed inwards to form guide rolling grooves matched with the two guide wheels (12).

5. The novel manipulator according to claim 1, characterized in that the base comprises a base (6) and a lifting platform (7) arranged on the base (6), and one end of the extension arm (1) is detachably and fixedly connected to the top end of the lifting platform (7).

6. The novel mechanical hand of claim 5, wherein a rotating shaft is arranged at the top end of the lifting platform (7), one end of the extension arm (1) is hinged to the rotating shaft in a vertical plane, and the rotating shaft can drive the extension arm (1) to rotate around the central axis of the lifting platform (7).

7. The novel manipulator according to claim 6, characterized in that a telescopic support rod (13) is connected to the middle section of the rotating shaft and the extension arm (1).

8. The novel mechanical hand according to claim 1 is characterized in that rubber clamping strips (8) are respectively arranged at the contact positions of the heads of the two claw strips (5).

9. The new manipulator according to claim 8, characterized in that the surface of the rubber holding strip (8) is formed with concave-convex shaped saw teeth.