CN107443420B

CN107443420B - Robot arm

Info

Publication number: CN107443420B
Application number: CN201710790490.3A
Authority: CN
Inventors: 吕政昂
Original assignee: Individual
Current assignee: Individual
Priority date: 2017-09-05
Filing date: 2017-09-05
Publication date: 2020-11-27
Anticipated expiration: 2037-09-05
Also published as: CN107443420A

Abstract

The invention discloses a robot mechanical arm, which comprises a driving cylinder, wherein the left end of the driving cylinder is provided with two connecting blocks which are arranged in parallel, the connecting blocks are provided with connecting holes so as to facilitate the fixing of the left end of the driving cylinder, the right end of the driving cylinder is provided with a tentacle which is made of rubber materials, the right end part of the tentacle is provided with a contraction-shaped tip, the cross section of the tentacle is rectangular, a negative pressure cavity is arranged inside the tentacle, and the upper surface of the tentacle is provided with a plurality of contraction grooves at equal intervals. Thereby make things convenient for injection moulding, machining efficiency is high, helps improving the production efficiency of device, and the practicality is strong.

Description

Robot arm

Technical Field

The invention relates to the technical field of mechanical arms, in particular to a robot mechanical arm.

Background

A Robot (Robot) is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task of which is to assist or replace human work, such as production, construction, or dangerous work.

That is, the robot body and the arm part of the robot body generally adopt a spatial open-chain link mechanism, wherein a kinematic pair (a revolute pair or a revolute pair) is often called a joint, and the number of joints is usually the degree of freedom of the robot. The robot actuator may be classified into rectangular coordinate type, cylindrical coordinate type, polar coordinate type, joint coordinate type, and the like according to the joint configuration type and the motion coordinate type. For the purpose of personification, the relevant parts of the robot body are often referred to as a base, a waist, an arm, a wrist, a hand (gripper or end effector), a walking part (for a mobile robot), and the like.

Aiming at different environments, different schemes are needed to solve, a robot used for the service industry needs to hold a cup, the existing mechanical arm is used for mechanically holding mechanical arms of other industries, and although the problem of holding the cup can be solved, the mechanical arm is relatively high in price and not suitable for the service industry, and aiming at the problems, an octopus touch type mechanical arm is provided firstly.

Disclosure of Invention

The present invention is directed to a robot arm, which solves the above problems of the prior art.

In order to achieve the purpose, the invention provides the following technical scheme:

a robot mechanical arm comprises a driving cylinder, wherein the left end of the driving cylinder is provided with two connecting blocks which are arranged in parallel, connecting holes are formed in the connecting blocks, so that the left end of the driving cylinder can be conveniently fixed, the right end of the driving cylinder is provided with a tentacle which is made of rubber materials, the position of the right end of the tentacle is provided with a contraction-shaped tip, the cross section of the tentacle is rectangular, a negative pressure cavity is formed in the tentacle, the upper surface of the tentacle is provided with a plurality of contraction grooves at equal intervals, the deformation resistance of the upper surface of the tentacle is smaller than that of the lower surface of the tentacle, the groove widths of the contraction grooves are sequentially increased from left to right, anti-slip strips are arranged on the surfaces of the tentacle adjacent to the contraction grooves, a plurality of suckers for improving the firmness of the tentacle for clamping an object are arranged at equal intervals on the upper surface of the anti-slip strips, the cross section of, the piston cavity is internally provided with a piston block in a matching manner, the middle position of the left end of the piston block is vertically provided with a threaded sleeve, a plurality of reinforcing plates are arranged between the piston block and the right side of the threaded sleeve for improving the mechanical property between the threaded sleeve and the piston block, the left end of the threaded sleeve is provided with a threaded hole, a screw rod is arranged in the threaded hole in a matching manner, the left end of the screw rod is connected with the output end of a driving motor, and the left end of the driving motor is fixedly connected with the left inner wall of a.

As a further scheme of the invention: the driving cylinder is composed of a first cylinder body and a second cylinder body, and the first cylinder body is connected with the second cylinder body through a connecting flange.

As a further scheme of the invention: and a sealing gasket is arranged between the connecting flanges.

As a further scheme of the invention: the driving motor is electrically connected with the controller.

As a further scheme of the invention: the anti-slip strip is rectangular and is equivalent to the width of the upper surface of the tentacle.

Compared with the prior art, the invention has the beneficial effects that: the cup holder has a simple and reasonable structure, the tentacles made of flexible plastics are hollowed, and then the tensile capacities of the upper and lower surfaces of the tentacles are set to be different, so that the tentacles can be bent to different degrees by adjusting the air pressure in the tentacles, the cups can be conveniently rolled, when the piston block moves leftwards, the interiors of the piston cavity and the negative pressure cavity are in a negative pressure state, the tentacles can be bent upwards due to the shrinkage grooves formed in the upper surfaces of the tentacles, the groove widths of the shrinkage grooves are sequentially increased from left to right, the curvature of the right end of the tentacles is larger than that of the left end of the tentacles, the tentacles can be better rolled, the anti-slip strips and the suckers can help to fix the cups, when the piston block moves rightwards, the air in the piston cavity and the negative pressure cavity can be compressed, the tentacles can expand, and the upper surfaces of the tentacles can be, the cup is put down, so that the mechanical arm can finish the processes of taking and placing materials, compared with the existing mechanical arm box wall, the cup holder is simpler in structure, and is beneficial to reducing the cost, and the tentacles are made of plastic materials, so that the cup holder is convenient to injection mold, high in machining efficiency, and high in practicability, and is beneficial to improving the production efficiency of the device.

Drawings

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

Fig. 2 is a schematic structural view of the cleat of the present invention.

Wherein: the device comprises a driving cylinder 1, a driving motor 2, a connecting block 3, a connecting hole 4, a threaded sleeve 5, a screw rod 6, a threaded hole 7, a piston block 8, a piston cavity 9, a tentacle 10, a negative pressure cavity 11, a contraction groove 12, an anti-slip strip 13, a sucker 14 and a connecting flange 15.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-2, in the embodiment of the present invention, a robot arm includes a driving cylinder 1, two parallel connection blocks 3 are disposed at a left end of the driving cylinder 1, connection holes 4 are disposed on the connection blocks 3, so as to facilitate fixing of the left end of the driving cylinder 1, a tentacle 10 is disposed at a right end of the driving cylinder 1, the tentacle 10 is made of a rubber material, a tip of the tentacle 10, which is in a contracted shape, is disposed at a right end of the tentacle 10, a cross section of the tentacle 10 is rectangular, a negative pressure chamber 11 is disposed inside the tentacle 10, a plurality of contraction grooves 12 are disposed on an upper surface of the tentacle 10 at equal intervals, the arrangement of the contraction grooves 12 makes an anti-deformation capability of an upper end surface of the tentacle 10 smaller than that of a lower end surface of the tentacle 10, groove widths of the contraction grooves 12 are sequentially increased from left to right, an anti-slip strip 13 is disposed, the upper surface of the antislip strip 13 is provided with a plurality of suckers 14 at equal intervals, the suckers 14 are used for improving the firmness of clamping an object by a tentacle, the section of the driving cylinder 1 is rectangular, a piston cavity 9 is arranged inside the driving cylinder 1, the right end of the piston cavity 9 is communicated with a negative pressure cavity 11 inside the tentacle 10, a piston block 8 is arranged in the piston cavity 9 in a matching way, a threaded sleeve 5 is vertically arranged at the middle position of the left end of the piston block 8, a plurality of reinforcing plates are arranged between the piston block 8 and the right side of the threaded sleeve 5 in order to improve the mechanical property between the threaded sleeve 5 and the piston block 8, a threaded hole 7 is arranged at the left end of the threaded sleeve 5, a screw 6 is arranged in the threaded hole 7 in a matching way, the left end of the screw 6 is connected with the output end of the driving motor 2, the left end of the driving motor 2 is fixedly connected with the left inner wall of the driving cylinder 1, the driving motor 2, under the action of the screw thread, the piston block 8 moves left and right along the piston cavity 9, when the piston block 8 moves left, the interior of the piston cavity 9 and the interior of the negative pressure cavity 11 are in a negative pressure state, because the upper surface of the tentacle 10 is provided with the contraction groove 12, the tentacle 10 can be bent upwards, the groove width of the contraction groove 12 is sequentially increased from left to right, the curvature of the right end of the tentacle 10 is larger than the curvature of the left end of the tentacle 10, the tentacle can well roll the cup, the anti-slip strip 13 and the sucker 14 are beneficial to fixing the cup, when the piston block 8 moves right, the air in the piston cavity 9 and the negative pressure cavity 11 can be compressed, the tentacle 10 can be expanded, the upper surface of the tentacle 10 can be extended, the cup can be put down, the mechanical arm can finish the material taking and placing processes, and the structure of the mechanical arm is simpler than that of the existing, thereby help reduce cost, tentacle here adopts plastic materials to make moreover to make things convenient for injection moulding, machining efficiency is high, helps improving the production efficiency of device, and the practicality is strong, driving cylinder 1 has a barrel and No. two barrels to constitute, connects through flange 15 between a barrel and No. two barrels, is equipped with sealed the pad between flange 15, and this kind of mode of dismantling the connection has made things convenient for device later maintenance.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The robot arm comprises a driving cylinder (1) and is characterized in that two connecting blocks (3) which are arranged in parallel are arranged at the left end of the driving cylinder (1), connecting holes (4) are formed in the connecting blocks (3), the left end of the driving cylinder (1) is convenient to fix, a tentacle (10) is arranged at the right end of the driving cylinder (1), the tentacle (10) is made of rubber materials, the position of the right end of the tentacle (10) is in a contraction shape, the cross section of the tentacle (10) is rectangular, a negative pressure cavity (11) is formed inside the tentacle (10), a plurality of contraction grooves (12) are formed in the upper surface of the tentacle (10) at equal intervals, the deformation resistance of the upper end face of the tentacle (10) is smaller than that of the lower end face of the tentacle (10) due to the arrangement of the contraction grooves (12), the groove widths of the contraction grooves (12) are sequentially increased from left to right, anti-slip strips (13) are, the upper surface of the anti-slip strip (13) is equidistantly provided with a plurality of suckers (14) for improving the firmness of clamping an object by a tentacle, the section of the driving cylinder (1) is rectangular, a piston cavity (9) is arranged in the driving cylinder (1), the right end of the piston cavity (9) is communicated with a negative pressure cavity (11) in the tentacle (10), a piston block (8) is arranged in the piston cavity (9) in a matched manner, a threaded sleeve (5) is vertically arranged in the middle position of the left end of the piston block (8), a plurality of reinforcing plates are arranged between the piston block (8) and the right side of the threaded sleeve (5) in order to improve the mechanical property between the threaded sleeve (5) and the piston block (8), the left end of the threaded sleeve (5) is provided with a threaded hole (7), a screw rod (6) is arranged in the threaded hole (7) in a matched manner, the left end of the screw rod (6) is connected with the output end of the driving motor (2, the driving cylinder (1) is provided with a cylinder body and a cylinder body II, the cylinder body and the cylinder body II are connected through a connecting flange (15), a sealing gasket is arranged between the connecting flanges (15), the driving motor (2) is electrically connected with the controller, and the anti-slip strips (13) are rectangular and are equivalent to the width of the upper surface of the tentacle (10).