CN113103217A - Mechanical arm - Google Patents
Mechanical arm Download PDFInfo
- Publication number
- CN113103217A CN113103217A CN202110422405.4A CN202110422405A CN113103217A CN 113103217 A CN113103217 A CN 113103217A CN 202110422405 A CN202110422405 A CN 202110422405A CN 113103217 A CN113103217 A CN 113103217A
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- CN
- China
- Prior art keywords
- support arm
- arm assembly
- assembly
- component
- output end
- 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.)
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Classifications
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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
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
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- 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
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a manipulator, wherein the manipulator comprises: the support comprises a base, a first support arm component, a second support arm component, a third support arm component and a fourth support arm component, wherein the first support arm component is rotatably arranged on the base; the first support arm component is provided with a first driving piece and a first transmission component connected with the first driving piece, and the output end of the first transmission component protrudes upwards; the second support arm component is arranged at the output end of the first transmission component; the second support arm assembly is provided with a second driving piece and a second transmission assembly connected with the second driving piece, and the output end of the second transmission assembly is arranged relative to the output end of the first transmission assembly; the third support arm component is arranged at the output end of the second transmission component; the third support arm component is provided with a liftable sliding block, and the sliding block is lifted relative to the output end of the second transmission component; the fourth support arm component is arranged on the sliding block; and the fourth support arm assembly is provided with an installation part, and the installation part is used for installing external parts and driving the external parts to move.
Description
Technical Field
The invention relates to the field of industrial equipment, in particular to a manipulator.
Background
The manipulator is generally applied to in the industrial production to through manipulator equipment function, with the use of realizing the function under different scenes, in prior art, be equipped with the pars contractilis that stretches out and draws back in vertical direction on the manipulator, this pars contractilis removes along vertical direction, and drives the function and use in vertical direction, leads to the moving direction of manipulator single.
Disclosure of Invention
In order to solve the technical problems, the invention adopts the following technical scheme:
according to one aspect of the present invention, there is provided a robot arm comprising:
a base;
a first arm assembly rotatably mounted to the base and moving circumferentially relative to the base; the first support arm component is provided with a first driving piece and a first transmission component connected with the first driving piece, and the output end of the first transmission component protrudes upwards;
the second support arm component is arranged at the output end of the first transmission component; the second support arm assembly is provided with a second driving piece and a second transmission assembly connected with the second driving piece, and the output end of the second transmission assembly is arranged relative to the output end of the first transmission assembly and circumferentially swings with the output end of the first transmission assembly as the center;
the third support arm component is arranged at the output end of the second transmission component; the third support arm component is provided with a liftable sliding block, and the sliding block is lifted relative to the output end of the second transmission component;
the fourth supporting arm component is arranged on the sliding block; and the fourth support arm assembly is provided with an installation part, and the installation part is used for installing external parts and driving the external parts to move.
Optionally, a rotatable rotor is arranged in the base, and the rotor is connected with and bears the first support arm assembly; one end of the first support arm component is butted with the rotor.
Optionally, the rotor is movably mounted on the inner wall of the base and ascends and descends along the vertical direction; the base is internally provided with a telescopic groove for the first support arm component to stretch, and the first support arm component moves under the guide of the telescopic groove.
Optionally, the two arm assemblies are located above the one arm assembly and are stacked with the first arm assembly in the vertical direction along with the swing of the output end of the first transmission assembly; the projections of the two support arm assemblies in the vertical direction are positioned in the outer contour of the first support arm assembly.
Optionally, a harmonic reducer is arranged on the one arm assembly, and an output end of the harmonic reducer is connected with the two arm assemblies and drives the two arm assemblies to rotate around the two arm assemblies; and one end of the two support arm assemblies, which is far away from the harmonic reducer, is connected with the third support arm assembly.
Optionally, the third arm assembly is movably mounted to the second arm assembly and moves relative to the positioning member along the length direction of the second arm assembly.
Optionally, the third arm assembly includes a lifting module and a sliding seat, and the sliding seat is connected to the sliding block and lifted along with the lifting of the sliding block; the end part of the third support arm assembly is positioned at the upper side of the bottom of the second support arm assembly, and a gap is formed between the end part of the third support arm assembly and the top of the first support arm assembly in the height direction, so that the third support arm assembly can be driven by the second support arm assembly to be positioned right above the first support arm assembly.
Optionally, the lifting module is provided with a lifting motor, and the lifting motor is arranged on one side of the third support arm assembly facing the second support arm assembly and is arranged in the vertical direction relative to the second support arm assembly; the lifting motor is arranged above the second driving piece and is arranged at intervals with the second driving piece.
Optionally, the external member is provided with a mounting seat, and the mounting seat mounts the mounting portion and is swingably connected to the mounting portion, so that the external member swings in the vertical direction with respect to the mounting portion.
Optionally, the external part may be a welding assembly or a screw mounting assembly.
According to the technical scheme, the embodiment of the invention at least has the following advantages and positive effects:
in the manipulator of the embodiment of the invention, a first support arm component is rotatably arranged on the base and moves circularly relative to the base; the first support arm component is provided with a first driving piece and a first transmission component connected with the first driving piece, and the output end of the first transmission component protrudes upwards; the second support arm component is arranged at the output end of the first transmission component; the second support arm assembly is provided with a second driving piece and a second transmission assembly connected with the second driving piece, and the output end of the second transmission assembly is arranged relative to the output end of the first transmission assembly and circumferentially swings with the output end of the first transmission assembly as the center; the third support arm component is arranged at the output end of the second transmission component; the third support arm component is provided with a liftable sliding block, and the sliding block is lifted relative to the output end of the second transmission component; the fourth support arm component is arranged on the sliding block; be equipped with the installation department on the fourth arm subassembly, this installation department is used for installing external parts, and drives external parts removes, wherein, through the relative rotation between first arm subassembly, second arm subassembly, third arm subassembly and the fourth arm subassembly, so that first arm subassembly, second arm subassembly, third arm subassembly and fourth arm subassembly range upon range of design in vertical direction, reduce holistic volume of manipulator and the holistic storage space of manipulator, and be convenient for the manipulator operation in a plurality of directions, improve the flexibility ratio of manipulator in a plurality of directions, in order to adapt to different operational environment, richen the moving direction of manipulator.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is an internal schematic view of a robot proposed by the present invention;
FIG. 2 is an internal schematic view of another embodiment of a robot proposed by the present invention;
FIG. 3 is an internal schematic view of a first arm assembly in the robot proposed by the present invention;
FIG. 4 is an internal schematic view of a second arm assembly in the proposed robot;
the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
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.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout includes three juxtapositions, exemplified by "A and/or B" including either A or B or both A and B. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The manipulator is generally applied to in the industrial production to through manipulator equipment function, with the use of realizing the function under different scenes, in prior art, be equipped with the pars contractilis that stretches out and draws back in vertical direction on the manipulator, this pars contractilis removes along vertical direction, and drives the function and use in vertical direction, leads to the moving direction of manipulator single.
Referring to fig. 1 to 4, the present invention provides a robot including a base 1, a first arm assembly 2, a second arm assembly 3, a third arm assembly 4, and a fourth arm assembly 5, wherein the first arm assembly 2, the second arm assembly 3, the third arm assembly 4, and the fourth arm assembly 5 are rotated relative to each other, so that the first arm assembly 2, the second arm assembly 3, the third arm assembly 4, and the fourth arm assembly 5 are stacked in a vertical direction, thereby reducing the overall size of the robot and the overall storage space of the robot, facilitating the operation of the robot in multiple directions, improving the flexibility of the robot in multiple directions to adapt to different working environments, and enriching the moving direction of the robot.
The first arm component 2 is rotatably arranged on the base 1 and moves circularly relative to the base 1; wherein, a rotatable rotor 11 is arranged in the base 1, and the rotor 11 is connected with and bears the first support arm component 2; one end of the first arm assembly 2 abuts against the rotor 11 and moves circularly with the rotation of the rotor 11.
Referring to fig. 1 to 4, in another embodiment, the rotor 11 is movably installed on the inner wall of the base 1 and ascends and descends in a vertical direction; the base 1 is internally provided with a telescopic groove for the first arm component 2 to stretch, and the first arm component 2 moves under the guide of the telescopic groove so as to accommodate the first arm component 2 and make full use of the space above the base 1.
Referring to fig. 1 to 4, the first arm assembly 2 is provided with a first driving member 21 and a first transmission assembly 22 connected to the first driving member 21, and an output end of the first transmission assembly 22 protrudes upward, wherein the first driving member 21 may be a driving motor, and an output end thereof is connected to the first transmission assembly 22.
The first transmission assembly 22 includes a first positioning member 221, a first swinging member 222 and a first synchronous belt 223, the first positioning member 221 is connected to the rotor 11, the first swinging member 222 is located on one side of the first positioning member 221 and connected through the first synchronous belt 223, the first driving member 21 is connected to and drives the first positioning member 221 so that the first positioning member rotates in situ, and the first swinging member 222 swings relative to the first positioning member 221 through the first synchronous belt 223 and the first positioning member 221.
Optionally, a first rotating portion is disposed in the first positioning element 221, and the first rotating portion can rotate in a positioning manner and drive the second arm assembly 3 to rotate.
Referring to fig. 1 to 4, the second arm assembly 3 is mounted at the output end of the first transmission assembly 22; the second arm assembly 3 is provided with a second driving part 31 and a second transmission assembly 32 connected with the second driving part 31, the output end of the second transmission assembly 32 is arranged relative to the output end of the first transmission assembly 22, and the second transmission assembly circumferentially swings around the output end of the first transmission assembly 22, so that the second arm assembly 3 is driven by the first arm assembly 2 to circumferentially swing.
The two arm assemblies 3 are positioned above the arm assembly 2 and are stacked with the first arm assembly 2 in the vertical direction along with the swing of the output end of the first transmission assembly 22; the projection of the two arm assemblies 3 in the vertical direction is positioned in the outer contour of the first arm assembly 2, so that the two arm assemblies 3 are stacked with the first arm assembly 2 in the vertical direction, and the storage of the second arm assembly 3 relative to the first arm assembly 2 is realized by utilizing the space above the first arm assembly 2.
A harmonic reducer is arranged on the support arm component 2, and the output end of the harmonic reducer is connected with the two support arm components 3 and drives the two support arm components 3 to rotate around the harmonic reducer; and one end of the two support arm assemblies 3, which is far away from the harmonic reducer, is connected with the third support arm assembly 4, and the swinging of the two support arm assemblies 3 is realized through the harmonic reducer.
Optionally, the second transmission assembly 32 includes a second positioning element 321, a second swinging element 322, and a second timing belt 323: the second positioning element 321 is installed at the output end of the first transmission assembly 22; the second swinging member 322 is disposed at an interval at one side of the second positioning member 321, and is in the same horizontal direction as the second positioning member 321; the second timing belt 323 is sleeved on the second positioning element 321 and the second swinging element 322, and is meshed with the second positioning element 321 and the second swinging element 322, and the second timing belt 323 drives the second positioning element 321 and the second swinging element 322 to swing relatively, so that a screw rod transmission assembly is replaced, the cost is reduced, and the same swinging effect is realized. In addition, the second driving member 31 is connected to the positioning member and drives the positioning member to rotate in situ; the swinging piece swings relative to the positioning piece under the transmission of the synchronous belt. And are not limited herein.
Referring to fig. 1 to 4, optionally, the third arm assembly 4 is movably mounted on the second arm assembly 3 and moves relative to the positioning member along the length direction of the second arm assembly 3, so that the third arm assembly 4 completes movement on the second arm assembly 3, and adjustment of the distance between the third arm assembly 4 and the third arm assembly 4 is realized, so as to enrich the application scenarios and the operation range of the manipulator.
The third arm component 4 is arranged at the output end of the second transmission component 32; the third arm assembly 4 is provided with a liftable sliding block, and the sliding block is lifted relative to the output end of the second transmission assembly 32, so that the movement of the manipulator in the vertical direction is realized.
The third arm assembly 4 comprises a lifting module 41 and a sliding seat 42, wherein the sliding seat 42 is connected with the sliding block and is lifted along with the lifting of the sliding block; the end part of the third support arm component 4 is positioned at the upper side of the bottom of the second support arm component 3, and a gap is formed between the end part of the third support arm component 4 and the top of the first support arm component 2 in the height direction, so that the third support arm component 4 can be driven by the second support arm component 3 to be positioned right above the first support arm component 2, the space in the vertical direction is fully utilized, and the space utilization rate of the manipulator is improved.
In addition, the lifting module 41 is provided with a lifting motor 411, and the lifting motor 411 is arranged on one side of the third arm assembly 4 facing the second arm assembly 3 and is arranged relative to the second arm assembly 3 in the vertical direction; the lifting motor 411 is located above the second driving member 31 and spaced apart from the second driving member 31.
The fourth arm component 5 is arranged on the sliding block; and the fourth support arm assembly 5 is provided with an installation part 51 for lifting, the installation part 51 is used for installing an external part 6 and driving the external part 6 to move, so that the external part 6 moves in the vertical direction, and the external part 6 performs pre-pressing and other treatments on the object to be treated in the vertical direction. The external member 6 may be a welding assembly or a screw mounting assembly.
Optionally, the external member 6 is provided with a mounting seat 61, the mounting seat 61 mounts the mounting portion 51, and is swingably connected to the mounting portion 51, so that the external member 6 swings in the vertical direction relative to the mounting portion 51, and the external member 6 is processed on the object to be processed at different angles.
The above description is only an alternative embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A manipulator, characterized by comprising:
a base;
a first arm assembly rotatably mounted to the base and moving circumferentially relative to the base; the first support arm component is provided with a first driving piece and a first transmission component connected with the first driving piece, and the output end of the first transmission component protrudes upwards;
the second support arm component is arranged at the output end of the first transmission component; the second support arm assembly is provided with a second driving piece and a second transmission assembly connected with the second driving piece, and the output end of the second transmission assembly is arranged relative to the output end of the first transmission assembly and circumferentially swings with the output end of the first transmission assembly as the center;
the third support arm component is arranged at the output end of the second transmission component; the third support arm component is provided with a liftable sliding block, and the sliding block is lifted relative to the output end of the second transmission component;
the fourth supporting arm component is arranged on the sliding block; and the fourth support arm assembly is provided with an installation part, and the installation part is used for installing external parts and driving the external parts to move.
2. The robot of claim 1, wherein a rotatable rotor is disposed within said base, said rotor being connected to and carrying said first arm assembly; one end of the first support arm component is butted with the rotor.
3. The robot of claim 2, wherein the rotor is movably installed at an inner wall of the base and ascends and descends in a vertical direction; the base is internally provided with a telescopic groove for the first support arm component to stretch, and the first support arm component moves under the guide of the telescopic groove.
4. The robot of claim 1, wherein the two arm assemblies are positioned above the one arm assembly and are stacked vertically with the first arm assembly as the output end of the first drive assembly swings; the projections of the two support arm assemblies in the vertical direction are positioned in the outer contour of the first support arm assembly.
5. The manipulator according to claim 1, wherein a harmonic reducer is provided on the arm assembly, and an output end of the harmonic reducer is connected with the two arm assemblies and drives the two arm assemblies to rotate around the harmonic reducer; and one end of the two support arm assemblies, which is far away from the harmonic reducer, is connected with the third support arm assembly.
6. The robot of claim 5, wherein said third arm assembly is movably mounted to said second arm assembly and moves relative to said positioning member along the length of said second arm assembly.
7. The robot of claim 1, wherein said third arm assembly includes a lift module, a slide coupled to said slide and being raised and lowered in response to the raising and lowering of said slide; the end part of the third support arm assembly is positioned at the upper side of the bottom of the second support arm assembly, and a gap is formed between the end part of the third support arm assembly and the top of the first support arm assembly in the height direction, so that the third support arm assembly can be driven by the second support arm assembly to be positioned right above the first support arm assembly.
8. The robot hand according to claim 7, wherein the lift module is provided with a lift motor provided on a side of the third arm assembly facing the second arm assembly and arranged in a vertical direction with respect to the second arm assembly; the lifting motor is arranged above the second driving piece and is arranged at intervals with the second driving piece.
9. The robot hand of claim 1, wherein the external member is provided with a mount base which mounts the mount portion and is swingably connected to the mount portion so that the external member swings in a vertical direction with respect to the mount portion.
10. The robot of claim 1, wherein the foreign object is a welding assembly, a screw mounting assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110422405.4A CN113103217A (en) | 2021-04-20 | 2021-04-20 | Mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110422405.4A CN113103217A (en) | 2021-04-20 | 2021-04-20 | Mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113103217A true CN113103217A (en) | 2021-07-13 |
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ID=76718822
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110422405.4A Pending CN113103217A (en) | 2021-04-20 | 2021-04-20 | Mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113103217A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113652647A (en) * | 2021-08-16 | 2021-11-16 | 佛山市博顿光电科技有限公司 | Protective baffle replacing equipment and replacing method thereof, and protective baffle of film coating machine |
-
2021
- 2021-04-20 CN CN202110422405.4A patent/CN113103217A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113652647A (en) * | 2021-08-16 | 2021-11-16 | 佛山市博顿光电科技有限公司 | Protective baffle replacing equipment and replacing method thereof, and protective baffle of film coating machine |
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