CN111152211B - Robot arm - Google Patents

Robot arm Download PDF

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Publication number
CN111152211B
CN111152211B CN202010122816.7A CN202010122816A CN111152211B CN 111152211 B CN111152211 B CN 111152211B CN 202010122816 A CN202010122816 A CN 202010122816A CN 111152211 B CN111152211 B CN 111152211B
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CN
China
Prior art keywords
plate
barrel body
rotating shaft
sealing ring
cavity
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202010122816.7A
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Chinese (zh)
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CN111152211A (en
Inventor
费国敏
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Taicang Hengqi mechanical equipment Co.,Ltd.
Original Assignee
Taicang Hengqi Mechanical Equipment Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Taicang Hengqi Mechanical Equipment Co ltd filed Critical Taicang Hengqi Mechanical Equipment Co ltd
Priority to CN202010122816.7A priority Critical patent/CN111152211B/en
Publication of CN111152211A publication Critical patent/CN111152211A/en
Priority to JP2020158077A priority patent/JP2021133495A/en
Priority to GB2019439.5A priority patent/GB2592468B/en
Application granted granted Critical
Publication of CN111152211B publication Critical patent/CN111152211B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/144—Linear actuators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0075—Means for protecting the manipulator from its environment or vice versa
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B25J9/0021—All motors in base
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention provides a mechanical arm of a robot, and belongs to the technical field of machinery. The robot mechanical arm comprises a bottom plate, a support arranged on the bottom plate and an arm fixedly arranged on one side of the support, wherein a barrel body is vertically arranged on the bottom plate, the barrel body is fixedly connected with the bottom plate, an upper plate capable of sliding up and down and a lower plate horizontally fixed are arranged in the barrel body, the upper plate and the lower plate separate an inner cavity of the barrel body into an upper cavity which is not communicated with each other, the barrel body comprises a middle cavity and a lower cavity, two air holes which are respectively communicated with the upper cavity and the lower cavity are formed in the barrel wall of the barrel body, a motor is fixed in the lower cavity and comprises a main shaft, a through hole for allowing the upper end of the main shaft of the motor to penetrate through is formed in the lower plate, the main shaft and the through hole are sealed through a first sealing ring, a tubular rotating shaft is rotatably arranged on the upper plate, the upper end and the lower end of the rotating shaft are sealed and opened, the upper end of the rotating shaft extends out of the barrel body and is fixedly connected with a support, the rotating shaft and the main shaft are connected through splines, and the rotating shaft is respectively sealed with the upper plate and the barrel body through a second sealing ring and a third sealing ring. The mechanical arm of the robot has compact structure.

Description

Robot arm
Technical Field
The invention belongs to the technical field of machinery, relates to a robot, and particularly relates to a mechanical arm of the robot.
Background
The mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Because of its unique operational flexibility, it has been widely used in the fields of industrial assembly, safety and explosion protection.
The existing mechanical arm generally includes a movable seat, an arm disposed on the movable seat, and a driving mechanism, wherein the driving mechanism is used for driving the movable seat to perform lifting or rotating motion. The existing driving mechanisms for lifting or rotating are generally mutually independent and respectively cause the overall structure of the mechanical arm to be looser and the occupied space to be large.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a robot mechanical arm with a compact structure.
The purpose of the invention can be realized by the following technical scheme: a mechanical arm of a machine comprises a bottom plate, a support arranged on the bottom plate and an arm fixedly arranged on one side of the support, and is characterized in that a barrel body is vertically arranged on the bottom plate, a barrel opening of the barrel body is arranged downwards and is fixedly connected with the bottom plate, an upper plate capable of sliding up and down and a lower plate are arranged in the barrel body and horizontally fixed on the lower plate, the inner cavity of the barrel body is divided into an upper cavity, a middle cavity and a lower cavity which are not communicated by the upper plate and the lower plate, two air holes respectively communicated with the upper cavity and the middle cavity are arranged on the barrel wall of the barrel body, a motor is fixed in the lower cavity and comprises a vertically arranged main shaft, the lower plate is provided with a through hole for the upper end of the main shaft of the motor to pass through, a seal is formed between the main shaft and the through hole by a seal ring, a tubular rotating shaft is arranged on the upper plate, the upper end and the lower end of the rotating shaft are respectively in a closed shape and an open shape, the upper end of the rotating shaft extends out of the barrel body and is fixedly connected with the support, the lower end of the rotating shaft is sleeved outside the main shaft, and the rotating shaft is connected with the main shaft through a spline, and the rotating shaft is respectively sealed with the upper plate and the barrel body through a second sealing ring and a third sealing ring.
When the air supply device is installed, the two air holes are both connected with an air supply source; the using process is as follows: gas is flushed into the middle cavity through the corresponding gas holes and drives the upper plate to move upwards so that the arm moves to an operation position, then the gas is flushed into the upper cavity through the corresponding gas holes so that the upper cavity and the middle cavity keep air pressure balance to press the upper plate, and then the motor drives the rotating shaft to rotate so that the arm rotates to a specified position to perform grabbing operation.
The motor and the rotating shaft are arranged in the barrel body, and the rotating shaft is matched with the upper plate arranged in the barrel body to move up and down and rotate, so that the distance between each part can be effectively reduced, and the structure of the whole mechanical arm becomes more compact.
In foretell robot arm, foretell upper plate includes that sealing washer four and level set up the plate body in the staving, has seted up annular groove four on the plate body lateral wall, and sealing washer four is located annular groove four, and the lateral wall of sealing washer four offsets with the inside wall of staving.
In the robot mechanical arm, the plate body is provided with the tubular supporting part, the supporting part and the plate body are of an integrated structure, the plate body is located between the supporting part and the lower plate, the supporting part is sleeved outside the rotating shaft and is in rotating connection with the rotating shaft through the bearing, and the sealing ring II is located below the bearing. By adopting the design, the bearing and the upper plate are convenient to connect.
In the robot mechanical arm, the inner side wall of the plate body is provided with a second annular groove, the second sealing ring is positioned in the second annular groove, and the inner side wall of the second sealing ring is abutted to the outer side wall of the rotating shaft.
In the robot mechanical arm, an annular groove I is formed in the outer side wall of the main shaft, a sealing ring I is located in the annular groove I, and the outer side wall of the sealing ring I abuts against the hole wall of the through hole.
Compared with the prior art, the robot mechanical arm has the advantages that the motor and the rotating shaft are arranged in the barrel body, the rotating shaft is enabled to have lifting and rotating motions under the matching of the upper plate arranged in the barrel body, the distance between each part can be effectively reduced, and the structure of the whole mechanical arm is enabled to be compact.
Drawings
Fig. 1 is a schematic structural view of the robot arm of the present robot.
Fig. 2 is an enlarged schematic view of a structure at a in fig. 1.
In the figure, 1, a bottom plate; 2. a support; 3. an arm; 4. a barrel body; 4a, an upper cavity; 4b, a middle cavity; 4c, a lower cavity; 4d, air holes; 5. an upper plate; 5a, a sealing ring IV; 5b, a plate body; 5b1, a support; 6. a lower plate; 7. a motor; 8. a first sealing ring; 9. a rotating shaft; 10. a bearing; 11. a second sealing ring; 12. and a third sealing ring.
Detailed Description
The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.
As shown in fig. 1, the robot arm includes a base plate 1, a support 2 disposed on the base plate 1, and an arm 3 fixedly disposed on one side of the support 2, wherein the arm 3 is a conventional product and is commercially available. The vertical staving 4 that is equipped with on the bottom plate 1, 4 bung holes of staving set up down, and staving 4 and bottom plate 1 link firmly. In the present embodiment, the connection between the tub 4 and the floor 1 is as follows: an annular flanging is integrally formed on the outer side wall of the barrel body 4, the annular flanging is tightly pressed on the bottom plate 1, and the annular flanging is detachably fixedly connected with the bottom plate 1 through a plurality of screws.
Specifically, an upper plate 5 capable of sliding up and down and a lower plate 6 horizontally fixed are arranged in the barrel body 4, and the upper plate 5 and the lower plate 6 divide the inner cavity of the barrel body 4 into an upper cavity 4a, a middle cavity 4b and a lower cavity 4c which are not communicated with each other. Wherein, the side wall of the lower plate 6 is tightly contacted with the inner wall of the barrel body 4 to form a seal, and the lower plate 6 is fixedly connected with the barrel body 4 in a welding mode so as to further strengthen the sealing degree formed between the lower plate 6 and the barrel body 4. The upper plate 5 comprises four sealing rings 5a and a plate body 5b horizontally arranged in the barrel body 4, an annular groove four is formed in the side wall of the plate body 5b, the four sealing rings 5a are located in the annular groove four, and the outer side walls of the four sealing rings 5a are abutted to the inner side wall of the barrel body 4.
As shown in fig. 1 and 2, two air holes 4d respectively communicated with the upper chamber 4a and the middle chamber 4b are formed in the wall of the barrel body 4, a motor 7 is fixed in the lower chamber 4c, the motor 7 comprises a vertically arranged main shaft, a through hole for the upper end of the main shaft of the motor 7 to pass through is formed in the lower plate 6, and a seal is formed between the main shaft and the through hole through a seal ring I8. The upper plate 5 is provided with a tubular rotating shaft 9 in a rotating manner, at the moment, the lower end of the rotating shaft 9 is positioned in the middle cavity 4b, the upper end and the lower end of the rotating shaft 9 are respectively in a closed shape and an open shape, and the upper end of the rotating shaft 9 extends out of the barrel body 4 and is fixedly connected with the support 2. The lower end of the rotating shaft 9 is sleeved outside the upper end of the main shaft, and the rotating shaft 9 is connected with the main shaft through a spline. The rotating shaft 9 is respectively sealed with the upper plate 5 and the barrel body 4 through a second sealing ring 11 and a third sealing ring 12.
The connection mode of the rotating shaft 9 and the upper plate 5 is as follows: the plate body 5b is provided with a tubular supporting part 5b1, the supporting part 5b1 and the plate body 5b are of an integrated structure, the plate body 5b is located between the supporting part 5b1 and the lower plate 6, the supporting part 5b1 is sleeved outside the rotating shaft 9 and is in rotating connection with the rotating shaft through a bearing 10, and the second sealing ring 11 is located below the bearing 10. Further, a second annular groove is formed in the inner side wall of the plate body 5b, the second sealing ring 11 is located in the second annular groove, and the inner side wall of the second sealing ring 11 abuts against the outer side wall of the rotating shaft 9.
The spindle and the lower plate 6 are connected as follows: an annular groove I is formed in the outer side wall of the main shaft, a first sealing ring 8 is located in the annular groove I, and the outer side wall of the first sealing ring 8 is abutted to the hole wall of the through hole.
The connection mode of the rotating shaft 9 and the barrel body 4 is as follows: the barrel body 4 is provided with a connecting hole for the upper end of the rotating shaft 9 to penetrate through, the hole wall of the connecting hole is provided with a third annular groove, a third sealing ring 12 is located in the third annular groove, and the inner side wall of the third sealing ring 12 is abutted to the outer side wall of the rotating shaft 9.
When the air supply device is installed, the two air holes 4d are both connected with an air supply source; the using process is as follows: the gas is flushed into the middle cavity 4b through the corresponding gas hole 4d and drives the upper plate 5 to move upwards to enable the arm 3 to move to an operation position, then the gas is flushed into the upper cavity 4a through the corresponding gas hole 4d to enable the upper cavity 4a and the middle cavity 4b to keep air pressure balance so as to press the upper plate 5 tightly, and then the motor 7 drives the rotating shaft 9 to rotate to enable the arm 3 to rotate to a specified position to carry out grabbing operation. The motor 7 and the rotating shaft 9 are arranged in the barrel body 4, and the rotating shaft 9 is lifted and rotated under the matching of the upper plate 5 arranged in the barrel body 4, so that the distance between each part can be effectively reduced, and the structure of the whole mechanical arm becomes more compact.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.

Claims (3)

1. A mechanical arm of a machine comprises a bottom plate, a support arranged on the bottom plate and an arm fixedly arranged on one side of the support, and is characterized in that a barrel body is vertically arranged on the bottom plate, a barrel opening of the barrel body is arranged downwards and is fixedly connected with the bottom plate, an upper plate capable of sliding up and down and a lower plate are arranged in the barrel body and horizontally fixed on the lower plate, the inner cavity of the barrel body is divided into an upper cavity, a middle cavity and a lower cavity which are not communicated by the upper plate and the lower plate, two air holes respectively communicated with the upper cavity and the middle cavity are arranged on the barrel wall of the barrel body, a motor is fixed in the lower cavity and comprises a vertically arranged main shaft, the lower plate is provided with a through hole for the upper end of the main shaft of the motor to pass through, a seal is formed between the main shaft and the through hole by a seal ring, a tubular rotating shaft is arranged on the upper plate, the upper end and the lower end of the rotating shaft are respectively in a closed shape and an open shape, the upper end of the rotating shaft extends out of the barrel body and is fixedly connected with the support, the lower end of the rotating shaft is sleeved outside the main shaft, the rotating shaft is connected with the main shaft through a spline, and the rotating shaft is respectively sealed with the upper plate and the barrel body through a second sealing ring and a third sealing ring; the upper plate comprises a fourth sealing ring and a plate body horizontally arranged in the barrel body, the side wall of the plate body is provided with a fourth annular groove, the fourth sealing ring is positioned in the fourth annular groove, and the outer side wall of the fourth sealing ring is abutted against the inner side wall of the barrel body; the plate body on be had and be pipy supporting part, supporting part and plate body formula structure as an organic whole, and the plate body is located between supporting part and the hypoplastron, the supporting part cover is outside the pivot and rotate through the bearing between the two and connect, sealing washer two be in the bearing below.
2. The robot arm of claim 1, wherein a second annular groove is formed in an inner sidewall of the plate, the second sealing ring is located in the second annular groove, and an inner sidewall of the second sealing ring abuts against an outer sidewall of the rotating shaft.
3. The robot arm of claim 1, wherein a first annular groove is formed on an outer side wall of the spindle, the first sealing ring is located in the first annular groove, and an outer side wall of the first sealing ring abuts against a wall of the through hole.
CN202010122816.7A 2020-02-27 2020-02-27 Robot arm Active CN111152211B (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN202010122816.7A CN111152211B (en) 2020-02-27 2020-02-27 Robot arm
JP2020158077A JP2021133495A (en) 2020-02-27 2020-09-23 Robot arm
GB2019439.5A GB2592468B (en) 2020-02-27 2020-12-10 A robotic manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010122816.7A CN111152211B (en) 2020-02-27 2020-02-27 Robot arm

Publications (2)

Publication Number Publication Date
CN111152211A CN111152211A (en) 2020-05-15
CN111152211B true CN111152211B (en) 2021-09-14

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ID=70566815

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Application Number Title Priority Date Filing Date
CN202010122816.7A Active CN111152211B (en) 2020-02-27 2020-02-27 Robot arm

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JP (1) JP2021133495A (en)
CN (1) CN111152211B (en)
GB (1) GB2592468B (en)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2698233A1 (en) * 2012-08-16 2014-02-19 und Thomas Geschwetner GbR Jochen Manipulator comprising a multi-articulated robot and a lifting device
CN206840078U (en) * 2017-03-30 2018-01-05 彼尔（天津）机器人技术有限公司 A kind of scalable mechanical arm of building water-proof spray robot
CN108000493A (en) * 2017-12-08 2018-05-08 广西瑞克工业机器人有限公司 A kind of rotating base of industrial robot
CN108422431A (en) * 2018-03-29 2018-08-21 淮阴师范学院 A kind of smart-cut robot
CN208529090U (en) * 2018-06-25 2019-02-22 清远市美阳自动化科技有限公司 A kind of industrial machine arm pedestal with cooling, dust preventing function
CN110388544A (en) * 2019-07-28 2019-10-29 南京昱晟机器人科技有限公司 A kind of robot mounting seat
CN110405732A (en) * 2019-07-27 2019-11-05 南京昱晟机器人科技有限公司 A kind of industrial software crawl robot and grasping means
CN110561395A (en) * 2019-10-18 2019-12-13 戴震班 Four-axis three-arm combined robot

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05294445A (en) * 1992-04-23 1993-11-09 Fuji Electric Co Ltd Swivel lifter for auto-loader
JP2001009765A (en) * 1999-06-28 2001-01-16 Hirata Corp Elevating unit and robot device
JP2001237294A (en) * 2000-02-23 2001-08-31 Tatsumo Kk Robot for specific environment
JP2008246644A (en) * 2007-03-30 2008-10-16 Daihen Corp Carrier device
CN106607883A (en) * 2015-10-26 2017-05-03 广西大学 Cylindrical coordinate type simple pneumatic manipulator
CN207942545U (en) * 2017-12-27 2018-10-09 广东省智能制造研究所 Pneumatic lifting turntable

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2698233A1 (en) * 2012-08-16 2014-02-19 und Thomas Geschwetner GbR Jochen Manipulator comprising a multi-articulated robot and a lifting device
CN206840078U (en) * 2017-03-30 2018-01-05 彼尔（天津）机器人技术有限公司 A kind of scalable mechanical arm of building water-proof spray robot
CN108000493A (en) * 2017-12-08 2018-05-08 广西瑞克工业机器人有限公司 A kind of rotating base of industrial robot
CN108422431A (en) * 2018-03-29 2018-08-21 淮阴师范学院 A kind of smart-cut robot
CN208529090U (en) * 2018-06-25 2019-02-22 清远市美阳自动化科技有限公司 A kind of industrial machine arm pedestal with cooling, dust preventing function
CN110405732A (en) * 2019-07-27 2019-11-05 南京昱晟机器人科技有限公司 A kind of industrial software crawl robot and grasping means
CN110388544A (en) * 2019-07-28 2019-10-29 南京昱晟机器人科技有限公司 A kind of robot mounting seat
CN110561395A (en) * 2019-10-18 2019-12-13 戴震班 Four-axis three-arm combined robot

Also Published As

Publication number Publication date
GB2592468B (en) 2022-05-04
GB2592468A (en) 2021-09-01
CN111152211A (en) 2020-05-15
GB202019439D0 (en) 2021-01-27
JP2021133495A (en) 2021-09-13

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Effective date of registration: 20210820

Address after: 215400 group 1, power station village, Chengxiang Town, Taicang City, Suzhou City, Jiangsu Province

Applicant after: Taicang Hengqi mechanical equipment Co.,Ltd.

Address before: Room 632, building 1, 1156 Gongwang street, Fuchun street, Fuyang District, Hangzhou City, Zhejiang Province

Applicant before: HANGZHOU DEBIAO NEW ENERGY TECHNOLOGY Co.,Ltd.

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