CN113334413A

CN113334413A - Mechanical arm

Info

Publication number: CN113334413A
Application number: CN202110656984.9A
Authority: CN
Inventors: 卢志彪; 王晓彬; 黄标; 文志欣; 徐航; 周友平
Original assignee: Gree Electric Appliances Inc of Zhuhai; Gree Changsha HVAC Equipment Co Ltd
Current assignee: Gree Electric Appliances Inc of Zhuhai; Gree Changsha HVAC Equipment Co Ltd
Priority date: 2021-06-11
Filing date: 2021-06-11
Publication date: 2021-09-03

Abstract

The invention discloses a manipulator, comprising: the cylinder component comprises a cylinder ejector rod; the connecting block is fixedly connected to the cylinder ejector rod through a first screw and is provided with a first fixing hole; the top plate is connected with the head of the first screw, and a second fixing hole is formed in the top plate; the pull block is used for completing opening and closing actions, and a stress hole is formed in the pull block; the pin penetrates through the first fixing hole, the second fixing hole and the stress hole simultaneously, and can move in the stress hole; the cylinder ejector pin drives the pin to move through pushing the connecting block, and the pin drives the pulling block to move in the moving process. The manipulator effectively solves the problem that the manipulator is easy to damage in the prior art.

Description

Mechanical arm

Technical Field

The invention relates to the technical field of production line equipment, in particular to a manipulator.

Background

In the prior art, a three-dimensional stamping production line is an industry leading automatic stamping production technology, mainly comprises three major parts, namely three-dimensional stamping equipment, a three-dimensional manipulator and a sheet metal die, and is widely applied to the industry at present.

At present, the structure of a manipulator is very complex, and the number of parts of the manipulator is as many as forty, such as the manipulator shown in fig. 1, which not only has the basic structures of a clamping block 1, a rubber pressing block 2, a cylinder 3 and the like, but also has very many and complex matching parts; the manipulator needs to be matched with the self structure, a plurality of screws are used, the situation that the screws are loosened easily occurs in repeated work, and the manipulator is further damaged easily.

Disclosure of Invention

The embodiment of the invention provides a manipulator, which aims to solve the problem that the manipulator is easy to damage in the prior art.

In order to achieve the above object, the present invention provides a robot hand including: the cylinder component comprises a cylinder ejector rod; the connecting block is fixedly connected to the cylinder ejector rod through a first screw and is provided with a first fixing hole; the top plate is connected with the head of the first screw, and a second fixing hole is formed in the top plate; the pull block is used for completing opening and closing actions, and a stress hole is formed in the pull block; the pin penetrates through the first fixing hole, the second fixing hole and the stress hole simultaneously, and can move in the stress hole; the cylinder ejector pin drives the pin to move through pushing the connecting block, and the pin drives the pulling block to move in the moving process.

Furthermore, at least one end of the pin is provided with a pin hole, and a lock pin is inserted in the pin hole.

Further, a gasket is arranged between the lock pin and the connecting block.

Further, the top plate is inserted into the head hole of the first screw.

Further, the connecting block includes the curb plate of two relative settings, all is provided with a first fixed orifices on every curb plate, and two first fixed orifices coaxial lines, top plate are located between two curb plates.

Furthermore, an installation space is formed between the two side plates, the first end of the pulling block is arranged in the installation space, and a stress hole is formed in the first end of the pulling block.

Further, the first end of the pull block penetrates through the pivot shaft, and the first end of the pull block forms the pivot end of the pull block.

Further, still include the cushion, the cushion is connected on cylinder part, wears to be equipped with the pivotal axis on the cushion, draws and forms the centre gripping space between piece and the cushion, draws the piece to keep away from or be close to the action that opens and shuts of cushion in order to accomplish the manipulator centre gripping through rotating.

Furthermore, a metal pressing block is fixedly connected to the pulling block and is used for contacting with a part to be clamped in the working process.

Further, the metal pressing block is connected to the pulling block through a second screw.

The invention provides a brand new mechanical arm structure, which pushes a connecting block through the reciprocating motion of a cylinder ejector rod, the connecting block drives a pin to move, and the pin pushes a pulling block to open and close when moving in a stressed hole. The manipulator structure of the invention can also complete the preset opening and closing actions of the manipulator, compared with the prior art, the structure has fewer parts, simple structure and direct structural matching, and is not easy to damage in the long-term repeated use process. Moreover, aiming at the situation that the screw of the manipulator in the prior art is loosened in the operation process, the screw loosening prevention mechanism is designed, the top plate is connected with the head of the first screw, and the top plate is fixed through the pin, so that the first screw, the top plate and the pin are integrated to move relatively, the situation that the first screw falls off due to loosening can be absolutely avoided, the problem of easy damage is avoided, and the structural stability and the safety of the manipulator are greatly improved.

Drawings

FIG. 1 is a schematic illustration of an explosive structure of a robot in the prior art;

FIG. 2 is a schematic diagram of an explosive structure of a robot in an embodiment of the invention;

FIG. 3 is a schematic view of a portion of the robot of FIG. 2;

FIG. 4 is a schematic structural view showing an open state of a robot according to an embodiment of the present invention; and

fig. 5 is a schematic structural diagram of a robot according to an embodiment of the present invention.

Detailed Description

The invention is described in further detail below with reference to the figures and the examples, but without limiting the invention.

Referring to fig. 2 to 5, according to an embodiment of the present invention, there is provided a robot arm including a cylinder part 10, a connection block 20, a first screw 30, a top plate 40, a pull block 50, and a pin 60. The cylinder component 10 comprises a cylinder top rod 11, the connecting block 20 is fixedly connected to the cylinder top rod 11 through a first screw 30, and the connecting block 20 is provided with a first fixing hole 21. The top plate 40 is connected to the head of the first screw 30, and the top plate 40 is provided with a second fixing hole 41. The pull block 50 is used for completing opening and closing actions, a stress hole 51 is formed in the pull block 50, the pin 60 penetrates through the first fixing hole 21, the second fixing hole 41 and the stress hole 51 simultaneously, and the pin 60 can move in the stress hole 51. The cylinder top rod 11 drives the pin 60 to move by pushing the connecting block 20, and the pin 60 drives the pulling block 50 to act in the movement.

The invention provides a brand-new manipulator structure, which pushes a connecting block 20 through the reciprocating motion of a cylinder ejector rod 11, the connecting block 20 drives a pin 60 to move, and the pin 60 pushes a pull block 50 to open and close when moving in a stress hole 51. The manipulator structure of the invention can also complete the preset opening and closing actions of the manipulator, compared with the prior art, the structure has fewer parts, simple structure and direct structural matching, and is not easy to damage in the long-term repeated use process. Moreover, aiming at the situation that the screw of the manipulator in the prior art is loosened in the operation process, the screw loosening prevention mechanism is designed, the top plate is connected with the head of the first screw, and the top plate is fixed through the pin, so that the first screw, the top plate and the pin are integrated to move relatively, the situation that the first screw falls off due to loosening can be absolutely avoided, the problem of easy damage is avoided, and the structural stability and the safety of the manipulator are greatly improved.

At least one end of the pin 60 is provided with a pin hole, and a lock pin 61 is inserted in the pin hole. The pin 60 is limited and fixed by the lock pin 61, and is prevented from falling off. The pin in this embodiment is an operating head at one end and has a pin hole at the other end. Of course, in other embodiments not shown, pin holes may be provided at both ends of the pin. In order to prevent structural loss due to wear, a spacer 62 is provided between the lock pin 61 and the connecting block 20.

In this embodiment, the top plate 40 is inserted into the head hole of the first screw 30. The first screw 30 is a socket head cap screw, and the top plate 40 is inserted into the hole of the head of the first screw 30 to prevent the first screw 30 from rotating, thereby preventing the first screw 30 from loosening.

As shown in the combination of the figures 2 and 3, the connecting block 20 comprises two side plates 22 which are oppositely arranged, each side plate 22 is provided with a first fixing hole 21, the two first fixing holes 21 are coaxial, the top plate 40 is positioned between the two side plates 22, the two side plates 22 are arranged to provide the two first fixing holes 21, the pins 60 are arranged in the two first fixing holes 21 in a penetrating manner, the structure is more stable, the stress of the connecting block and the pins is more balanced and uniform, and the stress concentration is avoided. The whole U-shaped piece that is of connecting block 20, two curb plates 22 are connected through the bottom plate in the middle of, and the bottom plate is used for installing first screw 30, and first screw 30 passes the bottom plate and then fixes connecting block 20 whole on cylinder ejector pin 11. The top sheet 40 is located between the two side plates 22, and as can be seen in the figure, the two first fixing holes 21 and the second fixing holes 41 are coaxial.

An installation space is formed between the two side plates 22, a first end of the pull block 50 is disposed at the installation space, and a force receiving hole 51 is disposed at the first end of the pull block 50. The two side plates 22 are provided with the pins 60 in a penetrating way, and the pull block 50 is positioned between the two side plates 22 for matching, so that the structure is more stable.

Referring to fig. 2, 4 and 5, a first end of the pull block 50 is disposed through the pivot shaft 70, and the first end of the pull block 50 forms a pivot end of the pull block 50. The pivot shaft 70 uses a pin structure as a shaft structure in the present embodiment, and the pull block 50 rotates with the first end thereof as a pivot end.

The manipulator still includes cushion 80, and cushion 80 connects on cylinder unit 10, and cushion 80 passes through the screw connection on cylinder unit 10 in this embodiment, wears to be equipped with pivotal shaft 70 on the cushion 80, draws and forms the centre gripping space between piece 50 and the cushion 80, draws piece 50 to keep away from or be close to the opening and shutting action of cushion 80 in order to accomplish the manipulator centre gripping through rotating. In this embodiment, the force receiving hole 51 is a kidney-shaped hole having a part of an arc-shaped section for guiding the pin 60.

When the pull block 50 and the cushion block 80 need to be opened, the cylinder push rod 11 retracts, the cylinder push rod 11 pulls the connecting block 20 to move, the connecting block 20 drives the pin 60 to move in the stress hole 51, the pin 60 pulls the pull block 50 through the stress hole 51, the first end of the pull block 50 is a pivoting end, the shape of the stress hole 51 is matched, the pull block 50 rotates according to a preset track, the pull block 50 is far away from the cushion block 80, and at the moment, the pull block 50 and the cushion block 80 complete opening movement in opening and closing movement, as shown in fig. 4.

When the pull block 50 and the cushion block 80 need to be closed, the cylinder ejector rod 11 is pushed out, the cylinder ejector rod 11 pushes the connecting block 20 to move, the connecting block 20 drives the pin 60 to move in the stress hole 51, the pin 60 pushes the pull block 50 through the stress hole 51, the first end of the pull block 50 is a pivoting end, the shapes of the stress holes 51 are matched, the pull block 50 is enabled to rotate according to a preset track, the pull block 50 is close to the cushion block 80, and at the moment, the pull block 50 and the cushion block 80 complete closing motion in opening and closing motion, as shown in fig. 5. The cylinder part 11 continuously drives the manipulator to perform clamping opening and closing actions in the reciprocating working process.

In the prior art, the clamping block and the rubber pressing block of the manipulator are repeatedly produced, the rubber pressing block is easy to damage and loosen, in order to solve the problem, the invention is further improved, the pulling block 50 is fixedly connected with the metal pressing block 90, and the metal pressing block 90 is used for contacting with a part to be clamped in the working process. The metal pressing block 90 is less prone to damage than a rubber pressing block, and the structure is more wear-resistant and cannot deform and loosen.

Further preventing the metal pressing block 90 from being coupled to the pulling block 50 by the second screw 91.

The manipulator disclosed by the invention also has the following advantages:

1. the manipulator is simple and direct in structural matching and more stable in clamping in use.

2. The manipulator has improved the structure, and the part reduces to tens parts, and the structure is simple and easy and easily processing.

3. The structure is simplified, the machining can be fed back, the components can be produced in batches by adopting the stamping die, and the production mode of the CNC machining component, the numerical control stamping component and the numerical control bending component is eliminated. The method realizes fast batch production of parts, more than 98% of single-piece qualification rate and higher interchangeability of the parts.

4. The motion principle of whole cubic element line body is unchangeable, carries out the innovative design to the structure of product on the line body, makes more reliable and more stable in the middle of the product production process, and life is longer.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise, and it should be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of features, steps, operations, devices, components, and/or combinations thereof.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein.

Of course, the above is a preferred embodiment of the present invention. It should be noted that, for a person skilled in the art, several modifications and refinements can be made without departing from the basic principle of the invention, and these modifications and refinements are also considered to be within the protective scope of the invention.

Claims

1. A manipulator, characterized by comprising:

the cylinder component (10), the cylinder component (10) comprises a cylinder ejector rod (11);

the connecting block (20) is fixedly connected to the cylinder ejector rod (11) through a first screw (30), and a first fixing hole (21) is formed in the connecting block (20);

a top plate (40) connected with the head of the first screw (30), wherein a second fixing hole (41) is arranged on the top plate (40);

the pull block (50) is used for completing opening and closing actions, and a stress hole (51) is formed in the pull block (50);

a pin (60) simultaneously penetrating the first fixing hole (21), the second fixing hole (41) and the force receiving hole (51), the pin (60) being movable in the force receiving hole (51);

the cylinder ejector rod (11) drives the pin (60) to move by pushing the connecting block (20), and the pin (60) drives the pull block (50) to act in the movement.

2. The manipulator according to claim 1, characterized in that the pin (60) is provided with a pin hole at least one end, and a lock pin (61) is inserted in the pin hole.

3. A manipulator according to claim 2, characterized in that a spacer (62) is arranged between the locking pin (61) and the connecting piece (20).

4. The manipulator according to claim 1, characterized in that the top plate (40) is inserted at the head hole site of the first screw (30).

5. The manipulator according to claim 1, characterized in that the connecting block (20) comprises two oppositely arranged side plates (22), each side plate (22) is provided with one first fixing hole (21), the two first fixing holes (21) are coaxial, and the top plate (40) is positioned between the two side plates (22).

6. The robot hand according to claim 5, wherein an installation space is formed between the two side plates (22), a first end of the pull block (50) is disposed at the installation space, and the first end of the pull block (50) is provided with the force receiving hole (51).

7. The manipulator according to claim 6, characterized in that the first end of the pull block (50) is threaded on a pivot shaft (70), the first end of the pull block (50) forming the pivot end of the pull block (50).

8. The manipulator according to claim 7, further comprising a spacer block (80), wherein the spacer block (80) is connected to the cylinder part (10), the pivot shaft (70) is arranged on the spacer block (80) in a penetrating manner, a clamping space is formed between the pull block (50) and the spacer block (80), and the pull block (50) moves away from or close to the spacer block (80) through rotation to complete the opening and closing actions of the manipulator clamping.

9. The manipulator according to claim 1, characterized in that a metal pressing block (90) is fixedly connected to the pulling block (50), and the metal pressing block (90) is used for contacting with a part to be clamped during working.

10. The manipulator according to claim 9, characterized in that the metal pressing block (90) is connected to the pulling block (50) by means of a second screw (91).