CN117415837B - Mechanical arm suitable for rapid sorting of devices and capable of generating heat in compact type with low friction - Google Patents
Mechanical arm suitable for rapid sorting of devices and capable of generating heat in compact type with low friction Download PDFInfo
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- CN117415837B CN117415837B CN202311734281.9A CN202311734281A CN117415837B CN 117415837 B CN117415837 B CN 117415837B CN 202311734281 A CN202311734281 A CN 202311734281A CN 117415837 B CN117415837 B CN 117415837B
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- 230000007246 mechanism Effects 0.000 claims abstract description 23
- 230000005540 biological transmission Effects 0.000 claims description 12
- 238000000926 separation method Methods 0.000 claims description 9
- 230000020169 heat generation Effects 0.000 abstract description 14
- 230000000694 effects Effects 0.000 description 4
- 238000002955 isolation Methods 0.000 description 4
- 238000005096 rolling process Methods 0.000 description 3
- 230000017525 heat dissipation Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The application provides a compact low friction heat generation's arm suitable for quick letter sorting of device relates to arm technical field. The mechanical arm comprises a mechanical arm main body, a wire harness guide block, a plurality of air pipes and a plurality of servo mechanisms, wherein the wire harness guide block is connected with the mechanical arm main body, and a plurality of guide holes are vertically formed in the wire harness guide block; each servo mechanism comprises a suction nozzle and a servo motor, and the suction nozzle and the servo motor are arranged on the mechanical arm main body; the air pipes at the two sides are far away from one end of the suction nozzle from bottom to top and pass through the corresponding guide holes and pass through the side surfaces of the servo motors and then are connected to the mechanical arm main body, the air pipes at the middle part are far away from one end of the suction nozzle from bottom to top and pass through the corresponding guide holes and pass through the gaps between the two adjacent servo motors and then are connected to the mechanical arm main body, friction force between a wire harness and the servo motors can be reduced, friction heat generation is reduced, and load of the servo motors is reduced.
Description
Technical Field
The application relates to the technical field of mechanical arms, in particular to a compact type mechanical arm with low friction and heat generation and suitable for rapid sorting of devices.
Background
The prior art mechanical arm separately arranges and routes the wire harnesses of each group of servomechanism, the wire harnesses pass through the middle or the front of two adjacent groups of servomechanisms and are directly connected to the next-stage wiring position, and as each group of wire harnesses pass through the middle gaps of the two groups of servomechanisms, a plurality of problems are covered under the conditions of larger gaps and fewer wire harnesses.
In the chip manufacturing field, equipment tends to miniaturization and precision, in order to achieve miniaturization of the mechanical arm, each servo mechanism is installed more closely, the distance between servo motors of adjacent servo mechanisms is very small, friction force between various wire harnesses and the servo motors is increased, friction is generated, in addition, the servo motors cannot radiate heat well due to the fact that the wire harnesses are tightly surrounded, and service life of the servo motors is shortened. More importantly, due to the existence of friction force between the wire harnesses, the wire harness terminal is connected with the actuating mechanism, so that the load of the servo motor is obviously increased, the magnitude of the friction force is irregularly changed, the servo motor is required to be adjusted one by one when related parameters such as gain and the like are adjusted, and when the working condition changes, the parameters basically lose efficacy, and the servo motor is required to be readjusted, so that time and labor are wasted.
Disclosure of Invention
The utility model provides an aim at includes, provides a compact low friction heat generation's arm suitable for device letter sorting fast, and it can reduce the frictional force between pencil and the servo motor, reduces friction heat generation, reduces servo motor's load.
The application can be realized as follows:
the application provides a compact type mechanical arm with low friction and heat generation and suitable for rapid sorting of devices, which comprises a mechanical arm main body, a wire harness guide block, a plurality of air pipes and a plurality of servo mechanisms, wherein the wire harness guide block is connected with the mechanical arm main body;
the wire harness guide blocks comprise first guide blocks and second guide blocks, the first guide blocks and the second guide blocks are vertically distributed, the first guide blocks and the second guide blocks are arranged on the mechanical arm main body, a plurality of guide holes are formed in the first guide blocks and the second guide blocks, guide pieces are arranged in each guide hole, a plurality of guide channels are formed in each guide piece, and guide wheels are arranged in each guide channel;
each servo mechanism comprises a suction nozzle and a servo motor, the suction nozzles and the servo motors are arranged on the mechanical arm main body, and the suction nozzles and the servo motors in the servo mechanisms are uniformly arranged at intervals along the horizontal direction;
the air pipes are connected with the suction nozzles in a one-to-one correspondence manner, one end of each air pipe positioned at two sides, which is far away from the suction nozzle, passes through the corresponding guide hole from bottom to top and passes through the side surface of the corresponding servo motor, and then is connected to the mechanical arm main body, and one end of each air pipe positioned at the middle part, which is far away from the suction nozzle, passes through the corresponding guide hole from bottom to top and passes through a gap between two adjacent servo motors, and then is connected to the mechanical arm main body;
each servo mechanism comprises a photoelectric switch, each photoelectric switch is provided with a second wire, a plurality of second wires are bundled along the horizontal direction and extend to one side of the mechanical arm main body, and the second wires are bundled through a fastening piece; the mechanical arm is characterized in that a separation plate is arranged on the mechanical arm main body, the second guide block is arranged on one side of the separation plate, and the photoelectric switch is arranged on the other side of the separation plate.
Optionally, the mechanical arm further includes a plurality of ground wires, the plurality of ground wires are connected with the plurality of suction nozzles in a one-to-one correspondence, one end of the ground wires, which is located at two sides, far away from the suction nozzles passes through the corresponding guide holes from bottom to top and passes through the side surfaces of the servo motors, and then is connected to the mechanical arm main body, and one end of the ground wires, which is located at the middle, far away from the suction nozzles passes through the corresponding guide holes from bottom to top and passes through the gaps between two adjacent servo motors and then is connected to the mechanical arm main body.
Optionally, the mechanical arm further includes a plurality of heat shrink tubes, and a single heat shrink tube is sleeved with one of the ground wires and one of the air tubes adjacent to the ground wire.
Optionally, each servo motor is provided with a first wire, a plurality of first wires are bundled along a horizontal direction and extend to one side of the mechanical arm main body, and a plurality of first wires are bundled through a fastening piece.
Optionally, each servo mechanism further comprises a transmission assembly, wherein in the single servo mechanism, an output shaft of the servo motor is in transmission connection with the transmission assembly, and the transmission assembly is connected with the suction nozzle so as to drive the suction nozzle to move vertically.
Optionally, the transmission subassembly includes gear and rack, servo motor's output shaft with the gear is connected, the rack slip set up in on the arm main part, just the rack with the gear cooperatees, the suction nozzle with the rack is connected.
Optionally, each servo mechanism further comprises a guide shaft and a fixing block, the guide shafts are arranged in parallel with the racks, the guide shafts are slidably arranged on the mechanical arm main body, the fixing blocks are simultaneously connected with the guide shafts and the racks, and the suction nozzles are arranged on the fixing blocks.
Optionally, the guide shaft and the rack are both provided with linear bearings.
The mechanical arm suitable for the rapid sorting of the devices has the beneficial effects that in order to reduce the friction force between the wire harness and the servo motor, reduce the friction heat, reduce the load of the servo motor, the mechanical arm main body is provided with the wire harness guide block, the wire harness guide block comprises a first guide block and a second guide block, guide pieces are arranged in guide holes on the first guide block and the second guide block, and guide wheels are arranged in guide channels on each guide piece; after a plurality of air pipes are connected with a plurality of suction nozzles in a one-to-one correspondence manner, one ends of the air pipes positioned at two sides, which are far away from the suction nozzles, penetrate through corresponding guide holes from bottom to top and are connected to the mechanical arm main body after passing through the side surfaces of the servo motors, one ends of the air pipes positioned at the middle part, which are far away from the suction nozzles, penetrate through corresponding guide holes from bottom to top and are connected to the mechanical arm main body after passing through gaps between two adjacent servo motors, so that the air pipes are dispersed, too many air pipes are not concentrated between the adjacent servo motors, and the rolling friction of the guide wheels is utilized when the air pipes pass through the guide wheels, so that the friction force is reduced, the equipment energy loss is reduced, the equipment efficiency is improved, the friction force between a wire harness and the servo motors is reduced, the load of the servo motors is reduced, and the partition plate separates part of the air pipes from the photoelectric switch, so that the friction heat between the air pipes and the photoelectric switch is effectively reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a mechanical arm in an embodiment of the present application;
FIG. 2 is a front view of a robotic arm according to an embodiment of the present application;
FIG. 3 is a side view of a robotic arm according to an embodiment of the present application;
FIG. 4 is a schematic view of a guide in an embodiment of the present application;
fig. 5 is a schematic view for showing the air pipe and ground wire passing guide in the embodiment of the present application.
Icon: 100-a robotic arm body; 110-a harness mounting plate; 120-separating plates; 200-wire harness guide blocks; 210-a first guide block; 211-a first guide hole; 220-a second guide block; 221-a second guide hole; 240-guide; 241-guide channel; 242-guide wheels; 300-trachea; 400-servo mechanism; 410-suction nozzle; 420-a servo motor; 421—a first wire; 430-an optoelectronic switch; 431-second wire; 440-rack; 450-guiding shaft; 460-a fixed block; 500-ground.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present application, it should be noted that, if the terms "upper," "lower," "inner," "outer," and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, or the azimuth or the positional relationship in which the inventive product is conventionally put in use, it is merely for convenience of describing the present application and simplifying the description, and it is not indicated or implied that the apparatus or element referred to must have a specific azimuth, be configured and operated in a specific azimuth, and thus should not be construed as limiting the present application.
Furthermore, the terms "first," "second," and the like, if any, are used merely for distinguishing between descriptions and not for indicating or implying a relative importance.
It should be noted that, without conflict, features in embodiments of the present application may be combined with each other.
In order to miniaturize the mechanical arm, each servo mechanism is installed more tightly, the interval between the servo motors of adjacent servo mechanisms is very small, friction force between various wire harnesses and the servo motors is increased, friction generates heat, in addition, the servo motors cannot radiate heat well due to being tightly surrounded by the wire harnesses, and service life of the servo motors is reduced. More importantly, due to the existence of friction force between the wire harnesses, the wire harness terminal is connected with the actuating mechanism, so that the load of the servo motor is obviously increased, the magnitude of the friction force is irregularly changed, the servo motor is required to be adjusted one by one when related parameters such as gain and the like are adjusted, and when the working condition changes, the parameters basically lose efficacy, and the servo motor is required to be readjusted, so that time and labor are wasted. Embodiments of the present application provide a compact low-friction heat-generating mechanical arm suitable for rapid sorting of devices, which is at least used for solving the above-mentioned technical problems.
Referring to fig. 1-3, the mechanical arm provided in the embodiments of the present application includes a mechanical arm main body 100, a wire harness guide block 200, a plurality of air pipes 300, and a plurality of servomechanisms 400, where the wire harness guide block 200 is connected to the mechanical arm main body 100, and a plurality of guide holes are vertically formed in the wire harness guide block 200; each of the servomechanisms 400 includes a suction nozzle 410 and a servomotor 420, the suction nozzle 410 and the servomotor 420 are disposed on the robot arm body 100, and the suction nozzles 410 and the servomotors 420 in the servomechanisms 400 are disposed at uniform intervals in the horizontal direction; the plurality of air pipes 300 are connected with the plurality of suction nozzles 410 in a one-to-one correspondence, one end of each air pipe 300, which is positioned at two sides, far from the suction nozzle 410 passes through the corresponding guide hole from bottom to top and is connected to the mechanical arm main body 100 after passing through the side surface of the corresponding servo motor 420, and one end of each air pipe 300, which is positioned at the middle, far from the suction nozzle 410 passes through the corresponding guide hole from bottom to top and is connected to the mechanical arm main body 100 after passing through the gap between the two adjacent servo motors 420.
It should be noted that, the mechanical arm main body 100 is provided with a wire harness mounting plate 110, and the top end of the wire harness mounting plate 110 is higher than the mechanical arm main body 100; the opening direction of the guide holes is vertical, and the arrangement direction of the plurality of guide holes is horizontal, namely the length direction of the wire harness guide block 200; the servo motors 420 are uniformly arranged at intervals along the horizontal direction, and gaps for the air supply pipe 300 to pass through are formed between adjacent servo motors 420; the air pipe 300 is one type of wire harness, one end of the air pipe 300 is connected with the suction nozzle 410, and the other end of the air pipe 300 extends from bottom to top and is connected to the top end of the wire harness mounting plate 110; the suction nozzle 410 at the edge is positioned at the side surface of the servo motor 420, so that the air pipe 300 extends from bottom to top to get through the side surface of the servo motor 420, and the rest of the air pipes 300 extend from bottom to top to get through the gap between two adjacent servo motors 420; the air tube 300 cooperates with the opposite suction nozzle 410 in a substantially straight line design to substantially reduce frictional heat generation due to line bending and the like.
In order to reduce friction force between the wire harness and the servo motor 420, reduce friction heat generation and reduce load of the servo motor 420, a wire harness guide block 200 is arranged on the mechanical arm main body 100, a plurality of guide holes are vertically formed in the wire harness guide block 200, after one ends of a plurality of air pipes 300 are connected with a plurality of suction nozzles 410 in a one-to-one correspondence manner, one ends of the air pipes 300 positioned at two sides, which are far away from the suction nozzles 410, pass through the corresponding guide holes from bottom to top and pass through the side surfaces of the servo motor 420 and are connected to the mechanical arm main body 100, one ends of the air pipes 300 positioned at the middle part, which are far away from the suction nozzles 410, pass through the corresponding guide holes from bottom to top and pass through a gap between two adjacent servo motors 420 and are connected to the mechanical arm main body 100, so that the plurality of air pipes 300 are dispersed, and too many air pipes 300 are not converged between the adjacent servo motors 420, thereby reducing friction force between the air pipes 300 and the servo motor 420, reducing friction heat, reducing load of the servo motor 420 and preventing overload alarm of the servo motor 420; in addition, the air pipe 300 is penetrated from bottom to top, and heat in each area is taken away through the heat dissipation effect of the air pipe 300, so that heat concentration is reduced.
The wire harness guide block 200 comprises a first guide block 210 and a second guide block 220, the first guide block 210 and the second guide block 220 are vertically arranged, the first guide block 210 and the second guide block 220 are arranged on the mechanical arm main body 100, the guide holes comprise a first guide hole 211 and a second guide hole 221, a plurality of first guide holes 211 are formed in the first guide block 210, and a plurality of second guide holes 221 are formed in the second guide block 220; referring to fig. 4 and 5, guide members 240 are disposed in the first guide hole 211 and the second guide hole 221, a plurality of guide channels 241 are formed on each guide member 240, and a guide wheel 242 is disposed in each guide channel 241.
It should be noted that, the first guide holes 211 on the first guide block 210 and the second guide holes 221 on the second guide block 220 are aligned vertically, when the air pipe 300 extends from bottom to top, the air pipe 300 passes through the first guide holes 211 and the second guide holes 221, and due to the longer length of the air pipe 300, the extending direction of the air pipe 300 can be kept vertical by the double guidance of the first guide block 210 and the second guide block 220; four rows of guide wheels 242 are arranged in each guide channel 241 along the circumferential direction of the guide channel 241, so that a better guide effect is achieved on the wire harness passing through the guide channels 241. In the embodiment of the application, the mechanical arm further includes a plurality of ground wires 500, the plurality of ground wires 500 are connected with the plurality of suction nozzles 410 in a one-to-one correspondence, one end of the ground wire 500 located at two sides, which is far away from the suction nozzles 410, passes through the corresponding first guide hole 211 and the second guide hole 221 from bottom to top and is connected to the mechanical arm main body 100 after passing through the side surface of the servo motor 420, and one end of the ground wire 500 located at the middle, which is far away from the suction nozzles 410, passes through the corresponding first guide hole 211 and the second guide hole 221 from bottom to top and is connected to the mechanical arm main body 100 after passing through the gap between two adjacent servo motors 420.
It should be noted that, each suction nozzle 410 is connected to a ground wire 500, and since the mechanical arm may damage the device if static electricity is generated at the suction nozzle 410 during operation, the ground wire 500 needs to be grounded, and one end of the ground wire 500 away from the suction nozzle 410 is connected to the top end of the harness mounting board 110.
The ends of the ground wires 500 at two sides, which are far away from the suction nozzle 410, pass through the corresponding first guide holes 211 and the second guide holes 221 from bottom to top and are connected to the top end of the harness mounting plate 110 after passing through the sides of the servo motors 420, and the ends of the ground wires 500 at the middle, which are far away from the suction nozzle 410, pass through the corresponding first guide holes 211 and the second guide holes 221 from bottom to top and are connected to the top end of the harness mounting plate 110 after passing through the gaps between the two adjacent servo motors 420, so that the plurality of ground wires 500 are dispersed, too many ground wires 500 are not concentrated between the adjacent servo motors 420, thereby reducing friction force between the ground wires 500 and the servo motors 420, reducing friction heat generation and reducing the load of the servo motors 420.
Illustratively, four guiding channels 241 are formed on each guiding element 240, wherein two guiding channels 241 are internally penetrated with the air pipe 300, and the other two guiding channels 241 are internally penetrated with the ground wire 500, and rolling friction occurs between the air pipe 300, the ground wire 500 and the guiding wheel 242 due to the guiding of the guiding wheel 242 in the guiding channels 241, so that the rolling friction generates less heat compared with sliding friction, the friction heat generation is greatly reduced, the energy loss of equipment is reduced, and the equipment efficiency is improved.
In the embodiment of the present application, the mechanical arm further includes a plurality of heat shrink tubes, and a single heat shrink tube is sleeved with one of the ground wires 500 and one of the air tubes 300 adjacent to the ground wire 500.
It should be noted that the surface of the heat shrinkage tube is smooth, the single suction nozzle 410 is connected with the ground wire 500 and the air pipe 300, and the ground wire 500 and the air pipe 300 connected to the single suction nozzle 410 are sleeved with the heat shrinkage tube, so that the friction force between the heat shrinkage tube and the servo motor 420 is small due to the fact that the heat shrinkage tube is smooth, and friction heat generation among the air pipe 300, the ground wire 500 and the servo motor 420 can be reduced.
In the embodiment of the present application, each of the servo motors 420 is provided with a first wire 421, and the plurality of first wires 421 are bundled in a horizontal direction and extend to one side of the mechanical arm main body 100, and the plurality of first wires 421 are bundled by a fastening member.
The first wire 421 is extended from the top end of the servo motor 420 and then bundled in the horizontal direction, and the bundled first wire 421 extends to one side of the mechanical arm main body 100, so that gaps between adjacent servo motors 420 are avoided, wire harnesses in the gaps between the servo motors 420 are reduced, friction is reduced, the first wire 421 avoids the air pipe 300 and the ground wire 500, scratch between the wire harnesses is reduced, and resistance of moving the wire harnesses is reduced. When the plurality of first wires 421 are bundled by the bundling member, the bundling member may be disposed at intervals to ensure a bundling effect, so as to prevent the bundle from being scattered, the bundling member may be a ribbon, etc., and the bundling member bundles the first wires 421 and is fixed on the mechanical arm main body 100.
In the embodiment of the present application, each of the servomechanisms 400 includes a photoelectric switch 430, each of the photoelectric switches 430 is provided with a second wire 431, and the plurality of second wires 431 are bundled in a horizontal direction and extend to one side of the mechanical arm main body 100, and the plurality of second wires 431 are bundled by a fastening member; the mechanical arm main body 100 is provided with a separation plate 120, the second guide block 220 is disposed on one side of the separation plate 120, and the photoelectric switch 430 is disposed on the other side of the separation plate 120.
The second wires 431 are extended from the top end of the photoelectric switch 430 and then bundled in the horizontal direction, and the bundled second wires 431 extend to one side of the robot arm body 100, thereby avoiding gaps between adjacent servo motors 420, reducing wire bundles in the gaps between the servo motors 420, thereby reducing friction, and the second wires 431 avoid the air pipe 300 and the ground wire 500, reducing scratch between the wire bundles, and reducing resistance of moving wire bundles. When the plurality of second wires 431 are bundled by the bundling piece, the bundling piece can be arranged at intervals to ensure the bundling effect so as to prevent the wire bundles from being scattered, and the bundling piece bundles the second wires 431 and then is fixed on the isolation plate 120; the isolation board 120 is arranged between the second guide block 220 and the photoelectric switch 430, the isolation board 120 isolates the part of the air pipe 300 from the photoelectric switch 430, so that friction heat generation between the air pipe 300 and the photoelectric switch 430 is effectively reduced, meanwhile, the isolation board 120 isolates the air pipe 300 and the second lead 431 from each other, heat accumulation is avoided, heat retention in a compact and confined space is reduced, and heat dissipation efficiency is improved.
Wherein the first conductive line 421 and the second conductive line 431 each include a power line and a signal feedback line.
In the embodiment of the present application, each servo mechanism 400 further includes a transmission assembly, and in the single servo mechanism 400, the output shaft of the servo motor 420 is in transmission connection with the transmission assembly, and the transmission assembly is connected with the suction nozzle 410, so as to drive the suction nozzle 410 to move vertically.
For example, the transmission assembly includes a gear and a rack 440, the output shaft of the servo motor 420 is connected with the gear, the rack 440 is matched with the gear, the rack 440 is slidably disposed on the mechanical arm main body 100, and the rack 440 is connected with the suction nozzle 410, when the servo motor 420 is started, the suction nozzle 410 can be driven to move vertically by the driving of the rack 440.
Since the bottom ends of the ground wire 500 and the air tube 300 move along with the suction nozzle 410, the ground wire 500 and the air tube 300 are routed from bottom to top to ensure that the extending direction of the ground wire 500 and the air tube 300 is approximately parallel to the moving direction of the suction nozzle 410, so that friction and resistance can be reduced.
In other embodiments, the transmission assembly may also be a screw slider assembly, where the servo motor 420 is connected to the screw, and the slider is connected to the suction nozzle 410, and the screw is driven by the servo motor 420 to rotate, so that the suction nozzle 410 is driven to move vertically when the slider moves.
In the embodiment of the present application, each servo mechanism 400 further includes a guide shaft 450 and a fixing block 460, the guide shaft 450 is parallel to the rack 440, the guide shaft 450 is slidably disposed on the mechanical arm main body 100, the fixing block 460 connects the guide shaft 450 and the rack 440 at the same time, and the suction nozzle 410 is disposed on the fixing block 460.
By slidably arranging two guide shafts 450 and racks 440 parallel to each other on the mechanical arm main body 100, the guide shafts 450 are connected with the racks 440 through fixing blocks 460 to form a parallel double-linear stable supporting structure, so that the lifting stability of the suction nozzle 410 is better ensured.
In the embodiment of the present application, linear bearings are provided on both the guide shaft 450 and the rack 440.
The linear bearings are disposed inside the mechanical arm main body 100, and the guide shaft 450 and the rack 440 are respectively disposed in the corresponding linear bearings, so that the linear bearings can further improve the stability of the operation of the guide shaft 450 and the rack 440, that is, the stability of the lifting of the suction nozzle 410.
In summary, the embodiment of the present application provides a compact mechanical arm suitable for rapid sorting of devices with low friction and heat generation, wherein one end of the air tube 300 and the ground wire 500 at two sides far away from the suction nozzle 410 passes through the corresponding guide holes from bottom to top and passes through the side surfaces of the servo motor 420 and then is connected to the top end of the harness mounting plate 110, one end of the air tube 300 and the ground wire 500 at the middle part far away from the suction nozzle 410 passes through the corresponding guide holes from bottom to top and passes through the gap between the two adjacent servo motors 420 and then is connected to the top end of the harness mounting plate 110, so that the air tubes 300 and the ground wires 500 are dispersed, too many air tubes 300 and ground wires 500 are not concentrated between the adjacent servo motors 420, thereby reducing friction force between the air tube 300 and the servo motor 420, reducing friction and heat generation, reducing load of the servo motor 420 and preventing overload alarm of the servo motor 420. In addition, the wires on the servo motor 420 and the photoelectric switch 430 are bundled in the horizontal direction after extending from the top end, and the bundled wires extend to one side of the mechanical arm main body 100, so that gaps between adjacent servo motors 420 are avoided, wire harnesses in the gaps between the servo motors 420 are reduced, and friction is reduced.
The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions easily conceivable by those skilled in the art within the technical scope of the present application should be covered in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (8)
1. The mechanical arm is characterized by comprising a mechanical arm main body, a wire harness guide block, a plurality of air pipes and a plurality of servo mechanisms, wherein the wire harness guide block is connected with the mechanical arm main body;
the wire harness guide blocks comprise first guide blocks and second guide blocks, the first guide blocks and the second guide blocks are vertically distributed, the first guide blocks and the second guide blocks are arranged on the mechanical arm main body, a plurality of guide holes are formed in the first guide blocks and the second guide blocks, guide pieces are arranged in each guide hole, a plurality of guide channels are formed in each guide piece, and guide wheels are arranged in each guide channel;
each servo mechanism comprises a suction nozzle and a servo motor, the suction nozzles and the servo motors are arranged on the mechanical arm main body, and the suction nozzles and the servo motors in the servo mechanisms are uniformly arranged at intervals along the horizontal direction;
the air pipes are connected with the suction nozzles in a one-to-one correspondence manner, one end of each air pipe positioned at two sides, which is far away from the suction nozzle, passes through the corresponding guide hole from bottom to top and passes through the side surface of the corresponding servo motor, and then is connected to the mechanical arm main body, and one end of each air pipe positioned at the middle part, which is far away from the suction nozzle, passes through the corresponding guide hole from bottom to top and passes through a gap between two adjacent servo motors, and then is connected to the mechanical arm main body;
each servo mechanism comprises a photoelectric switch, each photoelectric switch is provided with a second wire, a plurality of second wires are bundled along the horizontal direction and extend to one side of the mechanical arm main body, and the second wires are bundled through a fastening piece; the mechanical arm is characterized in that a separation plate is arranged on the mechanical arm main body, the second guide block is arranged on one side of the separation plate, and the photoelectric switch is arranged on the other side of the separation plate.
2. The mechanical arm for rapid sorting of devices according to claim 1, wherein the mechanical arm further comprises a plurality of ground wires, the plurality of ground wires are connected with the plurality of suction nozzles in a one-to-one correspondence manner, one ends of the ground wires on two sides, which are far away from the suction nozzles, penetrate through the corresponding guide holes from bottom to top and pass through the sides of the servo motors, are connected to the mechanical arm main body, and one ends of the ground wires, which are far away from the suction nozzles, penetrate through the corresponding guide holes from bottom to top and pass through gaps between two adjacent servo motors, are connected to the mechanical arm main body.
3. The compact, low friction, heat-generating mechanical arm for use in rapid sorting of devices of claim 2, further comprising a plurality of heat shrink tubes, a single one of said heat shrink tubes sleeved with one of said ground wires and one of said air tubes adjacent said ground wire.
4. The mechanical arm for rapid sorting of devices according to claim 1, wherein each of the servomotors is provided with a first wire, a plurality of the first wires are bundled in a horizontal direction and extend to one side of the mechanical arm body, and a plurality of the first wires are bundled by a bundling member.
5. The compact, low friction, heat generating robotic arm adapted for rapid sorting of devices of claim 1, wherein each of said servos further comprises a drive assembly, in a single one of said servos, an output shaft of said servomotor is drivingly connected to said drive assembly, said drive assembly being connected to said suction nozzle for driving said suction nozzle to move vertically.
6. The mechanical arm for rapid sorting of devices according to claim 5, wherein the transmission assembly comprises a gear and a rack, the output shaft of the servo motor is connected with the gear, the rack is slidably disposed on the mechanical arm body, the rack is matched with the gear, and the suction nozzle is connected with the rack.
7. The mechanical arm for rapid sorting of devices according to claim 6, wherein each of the servomechanisms further comprises a guide shaft and a fixed block, the guide shaft is arranged in parallel with the rack, the guide shaft is slidably arranged on the mechanical arm body, the fixed block simultaneously connects the guide shaft with the rack, and the suction nozzle is arranged on the fixed block.
8. The compact, low friction, heat generating robotic arm adapted for rapid sorting of devices of claim 7, wherein the guide shaft and the rack are each provided with linear bearings.
Priority Applications (1)
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| DE102014006406A1 (en) * | 2014-04-25 | 2015-10-29 | Audi Ag | Device and method for winding a winding carrier |
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| CN113855110A (en) * | 2020-06-30 | 2021-12-31 | 北京术锐技术有限公司 | Surgical tool drive system and surgical robot |
| CN114592163A (en) * | 2022-03-03 | 2022-06-07 | 北京华德星科技有限责任公司 | Integrated electric arc spraying system |
| CN115570586A (en) * | 2022-11-21 | 2023-01-06 | 常州喷丝板厂有限公司 | Manipulator is used in processing of high performance carbon fiber spinneret |
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2023
- 2023-12-18 CN CN202311734281.9A patent/CN117415837B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2014086086A1 (en) * | 2012-12-05 | 2014-06-12 | 国网山东省电力公司电力科学研究院 | Inspection robot platform of 500kv split conductors |
| DE102014006406A1 (en) * | 2014-04-25 | 2015-10-29 | Audi Ag | Device and method for winding a winding carrier |
| CN211440049U (en) * | 2019-12-30 | 2020-09-08 | 安徽双凯智能科技有限公司 | Automatic goods-taking mechanical arm for delivery robot |
| CN113855110A (en) * | 2020-06-30 | 2021-12-31 | 北京术锐技术有限公司 | Surgical tool drive system and surgical robot |
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| CN115570586A (en) * | 2022-11-21 | 2023-01-06 | 常州喷丝板厂有限公司 | Manipulator is used in processing of high performance carbon fiber spinneret |
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