CN210757787U

CN210757787U - Mechanical arm

Info

Publication number: CN210757787U
Application number: CN201921595967.3U
Authority: CN
Inventors: 杨磊; 钟洪亮
Original assignee: Shanghai Junzheng Network Technology Co Ltd
Current assignee: Shanghai Junzheng Network Technology Co Ltd
Priority date: 2019-09-24
Filing date: 2019-09-24
Publication date: 2020-06-16
Anticipated expiration: 2029-09-24

Abstract

The utility model relates to a manipulator, which comprises two oppositely arranged clamping parts; the adjusting mechanism comprises a power device and a transmission part, the power device is connected with the transmission part, the transmission part is connected with the clamping parts, the power device drives the transmission part to rotate, and the clamping parts move through the transmission part to adjust the distance between the two clamping parts. The application provides a manipulator comprises the clamping part of two relative settings, and adjustment mechanism includes power device and drive division, and the drive division is connected with the clamping part, and power device drive transmission rotates to drive the clamping part and remove the distance between in order to adjust the clamping part, guarantee can automatically regulated distance between the clamping part, finally realize the centre gripping to article. The application provides a manipulator, the big or small space of clamping part can have great area of contact according to the big or small automatically regulated of article size, and the article of the not isostructure of being applicable to, appearance that can be fine, the application scene of the manipulator that further increases has better suitability.

Description

Mechanical arm

Technical Field

The utility model relates to the field of mechanical engineering, especially, relate to a manipulator.

Background

The development of industrial automation has promoted the demand of industrial robots, which have the function of fixedly gripping and transporting objects, and have been used for replacing human beings gradually to complete repetitive and heavy-load work. Along with the development of various industries, the requirements and application scenes of the industrial robot also show a diversified development trend, and particularly, in the structural design of the manipulator, the manipulator with different structures can better complete the operation according to the difference of operation requirements.

The transfer robot is a field with more manipulator applications, grasps article and transfers next station through the manipulator, can reduce workman's repetition work, provides work efficiency simultaneously. However, the conventional manipulator usually needs to design a clamping part matched with the article to be transported, and only some articles with special structures can be transported in use, so that the application scene is single.

The manipulator that can be applied to article to size difference, structure difference in the existing market and realize automatic centre gripping is comparatively lacking.

SUMMERY OF THE UTILITY MODEL

Therefore, a manipulator is needed to automatically clamp articles with different sizes and structures.

A manipulator comprises two oppositely arranged clamping parts; the adjusting mechanism comprises a power device and a transmission part, the power device is connected with the transmission part, the transmission part is connected with the clamping part, the power device drives the transmission part to rotate, and the clamping part moves to adjust the distance between the clamping parts.

Further, the clamping parts are L-shaped, and a U-shaped cavity is formed between the two clamping parts.

Further, the transmission part comprises a main gear, an auxiliary gear and a spiral rod which are meshed with each other, the main gear is connected with the output end of the power device, the auxiliary gear is sleeved on the spiral rod, the spiral rod is connected with the clamping part, the main gear rotates to drive the auxiliary gear to rotate, and the auxiliary gear rotates to drive the spiral rod to rotate.

Furthermore, the output end of the power device is vertically arranged, the screw rod is horizontally arranged, the rotation axis of the main gear is coaxial with the rotation axis of the output end, and the rotation axis of the auxiliary gear is coaxial with the rotation axis of the screw rod.

Furthermore, the screw rod is connected with the clamping part through a support, the support is sleeved on the screw rod and connected with the clamping part, and a matched spiral structure is arranged between the support and the screw rod.

Further, the clamping device further comprises a connecting frame, the connecting frame comprises a bottom plate and a cantilever, the cantilever is perpendicular to the bottom plate, and the clamping part and the adjusting mechanism are fixed on the connecting frame.

Further, the link includes two cantilevers that set up relatively, two are connected respectively at the both ends of hob cantilever, the hob wind the cantilever rotates.

Further, the link still includes the slide, two are connected respectively at the both ends of slide the cantilever, the slide with hob parallel arrangement.

Further, the connecting frame further comprises a back plate, the back plate is perpendicular to the bottom plate, the slide way is arranged on the back plate, and the power device is connected with the back plate.

Furthermore, two moving blocks capable of moving along the slide way are arranged on the slide way, and the two moving blocks are respectively connected with the two clamping parts.

The utility model provides a manipulator comprises the clamping part of two relative settings, and adjustment mechanism includes power device and drive division, and the drive division is connected with the clamping part, and power device drive transmission rotates to drive the clamping part and remove the distance between in order to adjust the clamping part, guarantee can automatically regulated distance between the clamping part, finally realize the centre gripping to article. The utility model provides a manipulator, the big or small space of clamping part can be according to the big or small automatically regulated of article size, and L type clamping part has great area of contact, the article of the not isostructure of being applicable to, appearance that can be fine, and the application scene of the manipulator that further increases has better suitability.

Various specific structures of the present application, as well as the functions and effects thereof, will be described in further detail below with reference to the accompanying drawings.

Drawings

FIG. 1 is a perspective view of a robot according to one embodiment of the present application;

FIG. 2 is a front view of a robot according to one embodiment of the present application;

figure 3 is a side view of a robot according to one embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be further clearly and completely described below with reference to the accompanying drawings, but it should be noted that the following embodiments are only some preferred embodiments in the present application, and do not refer to all embodiments covered by the technical solutions of the present application.

It should be noted that when an element is referred to as being "fixed" to another element in the description of the present application, it may be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Fig. 1 is a perspective view of a robot according to an embodiment of the present application, the robot including two gripping portions 1 and an adjusting mechanism 2. Wherein, two clamping parts 1 set up relatively, and adjustment mechanism 2 is connected with clamping part 1 for adjust the distance between two clamping parts 1. The clamping part 11 of clamping part 1 is the L type to form U type cavity in the middle of making two relative clamping part 1 that set up, through adjusting the width of U type cavity, the article that will need the centre gripping is fixed in between the U type cavity, thereby realizes the centre gripping to not unidimensional article. It should be noted that, the end 11 of the clamping portion 1 is provided with an L-shape, and if the object to be clamped is in a regular cubic structure, the L-shaped clamping portion 1 can clamp the article in the cavity thereof, but a designer can design the clamping portion 1 with a different structure according to the actual structure of the object to be clamped.

The adjustment mechanism 2 comprises a power device 21 and a transmission part comprising a main gear 22, a pinion 23, a pair of brackets 24 and a screw rod 25. In this embodiment, the power device 21 is used for outputting power, for example, the power device 21 is a motor, and drives the main gear 22 connected to the output end thereof to rotate, the main gear 22 is engaged with the sub-gear 23, and the sub-gear 23 is sleeved on the screw rod 25. The rotation axis of the main gear 22 is arranged coaxially with the rotation axis of the output end of the power unit 21, and the rotation axis of the screw rod 25 is arranged coaxially with the rotation axis of the pinion 23. When the power device 21 drives the main gear 22 to rotate, the main gear 22 rotates to drive the pinion 23 engaged with the main gear to rotate, and the pinion 23 is sleeved on the screw rod 25 and fixedly connected with the screw rod 25, so that the pinion 23 can drive the screw rod 25 to rotate together. In actual machining, the pinion 23 and the screw rod 25 can be separately manufactured and clamped together through pins and the like, or can be integrally machined and manufactured, and a designer can select a proper scheme according to actual needs and cost consideration.

The screw rod 25 is connected with the clamping part 1 through the support 24, the support 24 is sleeved on the screw rod 25 and is respectively connected with one clamping part 1, the pinion 23 rotates to drive the screw rod 25 to rotate, and the joint of the support 24 and the screw rod 25 is provided with a matched spiral structure, so that the rotary motion of the screw rod 25 can be converted into the linear motion of the support 24. For example, the screw 25 may be a lead screw and the bracket 24 a lead screw sleeve. When the screw rod 25 rotates, the bracket 24 can be driven to reciprocate along the screw rod 25, so that the distance between the two clamping parts 1 is changed. In practical design, considering that the spiral structure will cause the support 24 to rotate when moving along the spiral rod 25, other auxiliary designs are needed to limit the rotation of the support 24, so as to ensure that the support 24 moves axially along the spiral rod 25, and the detailed scheme will be developed in the following.

Further, in the present embodiment, the holding portion 1 and the adjusting mechanism 2 are fixed to the connecting frame 3 by adding the connecting frame 3, so that the entire robot is integrated for easy installation and movement. The connecting frame 3 comprises a cantilever 31 and a bottom plate 32, wherein the bottom plate 32 is horizontally arranged, and the cantilever 31 is arranged perpendicular to the bottom plate 32. Specifically, the connecting frame 3 includes two opposite cantilevers 31, the screw rod 25 is horizontally disposed, two cantilevers 31 are respectively connected to two ends of the screw rod 25, and the screw rod 25 can rotate around the cantilevers 31, such as installing the screw rod 25 on the cantilevers 31 through a bearing. In the embodiment, the cantilever 31 is in an inverted L shape, one end of which is connected to the screw rod 25 and the other end of which is connected to the base plate 32, but other structures of the cantilever 31 can be used for supporting the screw rod 25, such as a triangle, are allowed by the present application.

The screw rod 25 is supported by the cantilever 31, but in order to prevent the clamping part 1 from rotating around the cantilever 31, a slideway 33 and a moving block 34 are additionally arranged, wherein the slideway 33 is arranged in parallel with the screw rod 25 and is positioned below the screw rod 25, the moving block 34 is sleeved on the slideway 33 and can move along the slideway 33, and the moving block 34 is positioned below the bracket 24 and is connected with the bottom of the clamping part 1, so that the rotation of the clamping part 1 around the screw rod 25 is limited. The slideway 33 and the moving block 34 play a guiding role, so that the support 24 can move more stably, and the support 24 moves along the screw rod 25 under the driving of the screw rod 25, so that the clamping or loosening of the clamping part 1 is realized. Finally, the pinion 23 is driven to rotate by the main gear 22, so that the bracket 24 moves along the screw rod 25, and the two clamping parts 1 are driven to move towards each other or move away from each other, thereby clamping and loosening the object.

Fig. 2 is a front view of the robot according to an embodiment of the present invention, showing the longitudinal distribution of the structures, the output end of the power device 21 is vertical, the screw rod 25 is horizontally disposed, two ends of the screw rod are connected to the suspension arms 31, the top of the clamping portion 1 is connected to the screw rod 25 through the bracket 24, and the bottom of the clamping portion 1 is connected to the slide rail 33 through the moving block 34. Preferably, the two ends of the slideway 33 are respectively connected with the cantilevers 31, but in practical design, in order to enable the power device 21 and other structures to be better installed on the connecting frame 3, an integrated back plate 35 is arranged between the two cantilevers 31, the slideway 33 is arranged on the back plate 35, and meanwhile, the power device 21 is fixed through the back plate 35, so that the structure of the manipulator is stable, and the structural strength of the whole device is ensured.

Fig. 3 is a side view of the robot according to an embodiment of the present invention, in which the base plate 32 is horizontally disposed, the suspension arms 31 are disposed at the end of the base plate 32 and perpendicular to the base plate 32, and the back plate 35 connects the two suspension arms 31 and provides a fixed position for mounting the power unit 21. The top of the manipulator clamping part 1 is connected with a bracket 24, the bracket 24 and a screw rod 25 are sleeved together through a spiral structure, and in order to prevent the clamping part 1 from rotating around the screw rod 25 along with the rotation of the bracket 24, a moving block 34 is added at the bottom of the clamping part 1, so that the rotation of the clamping part 1 is limited. The moving block 34 is arranged on the slideway 33 and can move along the slideway 33, so that the clamping part 1 is ensured to move along the screw rod 25, and finally, the size of the cavity between the mechanical arm clamping parts 1 is automatically adjusted.

In addition, the manipulator that this application provided can be through increasing the sensor, further control power device's work, if set up the sensor on manipulator clamping part, the sensor sends the instruction to power device after the centre gripping article, and power device stops rotating after receiving the instruction to make clamping part keep under the state of centre gripping article.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A manipulator, characterized by comprising:

two oppositely arranged clamping parts;

the adjusting mechanism comprises a power device and a transmission part, the power device is connected with the transmission part, the transmission part is connected with the clamping part, the power device drives the transmission part to rotate, and the clamping part moves to adjust the distance between the clamping parts.

2. The manipulator according to claim 1, wherein the clamping portion is L-shaped, and a U-shaped cavity is formed between the two clamping portions.

3. The manipulator according to claim 2, wherein the transmission portion includes a main gear, a sub-gear and a screw rod, the main gear is connected to an output end of the power device, the sub-gear is sleeved on the screw rod, the screw rod is connected to the clamping portion, the main gear rotates to drive the sub-gear to rotate, and the sub-gear rotates to drive the screw rod to rotate.

4. The robot hand according to claim 3, wherein an output end of the power unit is vertically disposed, the screw rod is horizontally disposed, a rotation axis of the main gear is coaxial with a rotation axis of the output end, and a rotation axis of the sub gear is coaxial with a rotation axis of the screw rod.

5. The manipulator according to claim 4, wherein the screw rod is connected to the clamping portion through a bracket, the bracket is sleeved on the screw rod and connected to the clamping portion, and a matched screw structure is arranged between the bracket and the screw rod.

6. The manipulator according to claim 5, further comprising a connecting frame including a base plate and a cantilever perpendicular to the base plate, the clamping portion and the adjustment mechanism being fixed to the connecting frame.

7. The manipulator according to claim 6, wherein the connecting frame comprises two opposite cantilevers, two ends of the screw rod are respectively connected with the two cantilevers, and the screw rod rotates around the cantilevers.

8. The manipulator according to claim 7, wherein the connecting frame further comprises a slide, two ends of the slide are respectively connected with the two cantilevers, and the slide is parallel to the screw rod.

9. The manipulator according to claim 8, wherein the connecting frame further comprises a back plate perpendicular to the bottom plate, the slide is disposed on the back plate, and the power device is connected to the back plate.

10. The manipulator according to claim 8 or 9, wherein two moving blocks are provided on the slide, the two moving blocks being movable along the slide, and the two moving blocks are connected to the two gripping portions, respectively.