CN211565877U

CN211565877U - Multi-link robot and clamping mechanism thereof

Info

Publication number: CN211565877U
Application number: CN202020060634.7U
Authority: CN
Inventors: 刘红兵; 彭少华; 屈爱英
Original assignee: Suzhou Penn Robot Co ltd
Current assignee: Suzhou Penn Robot Co ltd
Priority date: 2020-01-13
Filing date: 2020-01-13
Publication date: 2020-09-25
Anticipated expiration: 2030-01-13

Abstract

The utility model provides a multi-connecting-rod robot and a clamping mechanism thereof, the multi-connecting-rod robot comprises a box body base, a rotating mechanism arranged in the box body base, a driving arm seat connected with the rotating mechanism, a big arm mechanism arranged on the driving arm seat, a small arm connected with the big arm mechanism, a wrist mechanism connected with the small arm and a clamping mechanism connected with the wrist mechanism, the clamping mechanism comprises a shell, a pair of clamping hands connected with the shell and a clamping driving component for driving the clamping hands to open and close, the clamping driving component comprises a clamping driving motor, a first gear connected with the clamping driving motor, a second gear meshed with the first gear, a third gear meshed with the second gear and a fourth gear meshed with the third gear, the third gear and the fourth gear are respectively provided with a first driving plate and a second driving plate which extend outwards from the tooth part. The utility model discloses the reliability is high, improves production efficiency.

Description

Multi-link robot and clamping mechanism thereof

Technical Field

The utility model relates to a many connecting rods robot and fixture thereof.

Background

With the development of industrialization, robots have been commonly used in various fields, and can replace manpower to complete long-time and high-intensity repeated labor under various complex conditions and hazardous and inferior environments. In industrial production, often need carry the removal to the product, traditional transport is removed and is adopted manual operation, it is big to lead to work load, work efficiency is low, seriously extravagant manpower resources, along with the development of modern industry and science and technology, traditional manual handling has been replaced completely in automatic transport (like transfer robot), current automatic haulage equipment all is provided with to press from both sides gets fixed knot and constructs, so that fix the centre gripping to the object, convenient the removal, but still there is the flexibility ratio low, centre gripping poor stability scheduling problem.

Accordingly, those skilled in the art have been devoted to developing a new multi-link robot and a clamping mechanism thereof to solve the above problems.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a many connecting rods robot that clamping stability is high and fixture thereof.

In order to achieve the above object, the utility model discloses a technical scheme be: a multi-link robot comprises a box body base, a rotating mechanism arranged in the box body base, a driving arm seat connected with the rotating mechanism, a large arm mechanism arranged on the driving arm seat, a small arm connected with the large arm mechanism, a wrist mechanism connected with the small arm and a clamping mechanism connected with the wrist mechanism, wherein the clamping mechanism comprises a shell, a pair of clamping hands connected with the shell and a clamping driving assembly driving the clamping hands to open and close, the clamping driving assembly comprises a clamping driving motor, a first gear connected with the clamping driving motor, a second gear meshed with the first gear, a third gear meshed with the second gear and a fourth gear meshed with the third gear, and the third gear and the fourth gear are respectively provided with a first driving plate and a second driving plate extending outwards from a tooth part, the first driving plate and the second driving plate are connected to the clamping handle in mirror symmetry.

The shell is provided with a cavity, the first gear, the second gear, the third gear and the fourth gear are arranged in the cavity, and the clamping driving motor is arranged on the outer side of the shell.

The clamping mechanism further comprises a pair of first driven plates and a second driven plate which are in mirror symmetry and connected with the clamping hand, the first driven plates and the first driving plates move in parallel, and the second driven plates and the second driving plates move in parallel.

The end parts of the first driven plate and the second driven plate are provided with through holes, fixed shafts are accommodated in the through holes, a pair of fixed plates sleeved on the fixed shafts are arranged at two ends of each through hole respectively, and the first driven plate and the second driven plate are arranged between the pair of fixed plates respectively.

Big arm mechanism includes the big arm of first big arm and the big arm of second that are parallel to each other, connects the big arm of third of the big arm of first big arm with the big arm of second, connect respectively in the first driving motor and the second driving motor of first big arm tip both sides, the big arm of third with the forearm connect respectively in first big arm with the both ends of the big arm of second, the big arm of third with the second driving motor is connected.

The multi-link robot further comprises a moving mechanism for fixing the box body base, the moving mechanism comprises a supporting plate and wheels mounted on the supporting plate, and the box body base is fixed on the supporting plate.

In order to achieve the above object, the present invention further adopts a technical solution: a clamping mechanism comprises a shell, a pair of clamping hands connected with the shell and a clamping driving assembly for driving the clamping hands to open and close, wherein the clamping driving assembly comprises a clamping driving motor, a first gear connected with the clamping driving motor, a second gear meshed with the first gear, a third gear meshed with the second gear and a fourth gear meshed with the third gear, the third gear and the fourth gear are respectively provided with a first driving plate and a second driving plate which extend outwards from a tooth part, and the first driving plate and the second driving plate are connected to the clamping hands in mirror symmetry.

Compared with the prior art, the utility model discloses many connecting rod robot and fixture's beneficial effect lies in: the clamping driving assembly adopts gear transmission and has the characteristics of accurate transmission ratio, stable transmission and high efficiency; the casing is equipped with the cavity, and first gear, second gear, third gear and fourth gear set up in the cavity, and elegant appearance prevents during foreign matters such as dust from getting into the gear, improves the life-span of gear and driven accurate nature.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments are briefly introduced below, and 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 without inventive work, wherein:

FIG. 1 is a schematic view of a multi-link robot according to the present invention;

FIG. 2 is an enlarged view of a portion of FIG. 1;

FIG. 3 is another partial schematic view of FIG. 1;

fig. 4 is a schematic view of the rotating mechanism of the present invention;

fig. 5 is a schematic view of the clamping mechanism of the present invention;

FIG. 6 is a partial schematic view of FIG. 5;

fig. 7 is a partial schematic view of fig. 6.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely below, and it should be apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

Referring to fig. 1 to 7, the present invention relates to a multi-link robot for gripping products, including a box base 1, a rotating mechanism 2 installed in the box base 1, a driving arm base 3 connected to the rotating mechanism 2, a big arm mechanism 4 disposed on the driving arm base 3, a small arm 5 connected to the big arm mechanism 4, a wrist mechanism 6 connected to the small arm 5, and a clamping mechanism 7 connected to the wrist mechanism 6, wherein the big arm mechanism 4 includes a first big arm 41 and a second big arm 42 parallel to each other, a third big arm 43 connected to the first big arm 41 and the second big arm 42, a first driving motor 44 and a second driving motor 45 respectively connected to both sides of an end of the first big arm 41, the third big arm 43 and the small arm 5 are respectively connected to both ends of the first big arm 41 and the second big arm 42, the third big arm 43 is connected to the second driving motor 45, the wrist mechanism 6 includes a wrist joint 61 and a wrist driving assembly 62 for driving the wrist joint 61 to move, the wrist driving unit 62 is connected to the wrist joint 61 and the first large arm 41 at both ends thereof.

Referring to fig. 2 and 3, the driving arm base 3 includes a horizontal plate 31, a first vertical plate 32 and a second vertical plate 33 respectively vertically connected to the horizontal plate 31, a rotating plate 34 located below the horizontal plate 31, and a rotating shaft 35 connected to the rotating plate 34, the rotating shaft 35 is connected to the rotating mechanism 2, two first connecting plates 411 and two second connecting plates 412 parallel to each other are disposed at the end of the first large arm 41, the first connecting plates 411 and the first driving motor 44 are connected to two sides of the first vertical plate 32 by connecting flanges, and the second connecting plates 412, the third large arm 43 and the second driving motor 45 are connected to two sides of the second vertical plate 33 by connecting flanges. The two ends of the second big arm 42 are respectively provided with a rotating shaft 421, the second big arm 42 is respectively connected with the third big arm 43 and the small arm 5 through the rotating shaft 421, and under the action of the first driving motor 44 and the second driving motor 45, the first big arm 41 and the third big arm 43 rotate to drive the second big arm 42 and the small arm 5 to move, so that the flexibility is high and the reliability is good.

Referring to fig. 4, the rotating mechanism 2 includes a rotating driving motor 21, a first bevel gear 22 connected to the rotating driving motor 21, and a second bevel gear 23 engaged with the first bevel gear 22, the first bevel gear 22 and the second bevel gear 23 are vertically engaged with each other, a rotating shaft 35 is connected to the second bevel gear 23, the first bevel gear 22, the second bevel gear 23, and the rotating shaft 35 are disposed inside the box base 1, and the rotating driving motor 21 is disposed outside the box base 1. The rotary driving motor 21 drives the first bevel gear 22 to rotate, the first bevel gear 22 drives the second bevel gear 23 to rotate, and the driving arm base 3 drives the large arm mechanism 4 to rotate.

Referring to fig. 5 to 7, the clamping mechanism 7 includes a housing 71, a pair of clamping arms 72 connected to the housing 71, and a clamping driving assembly 73 for driving the clamping arms 72 to open and close, the wrist joint 61 is connected to the housing 71, the clamping driving assembly 73 includes a clamping driving motor 731, a first gear 732 connected to the clamping driving motor 731, and a second gear 733 engaged with the first gear 731, a third gear 734 engaged with the second gear 733 and a fourth gear 735 engaged with the third gear 734, the third gear 734 and the fourth gear 735 are respectively provided with a first driving plate 736 and a second driving plate 737 extending outward from the tooth portions, the first driving plate 736 and the second driving plate 737 are connected to the gripper 72 in mirror symmetry, the housing 71 is provided with a cavity 711, the first gear 732, the second gear 733, the third gear 734 and the fourth gear 735 are arranged in the cavity 711, and the clamping driving motor 731 is arranged outside the housing 71. The clamping driving motor 731 drives the first gear 732 to rotate, the second gear 733 drives the third gear 734 to rotate, the fourth gear 735 also rotates, and the first driving plate 736 and the second driving plate 737 drive the clamping handle 72 to loosen or clamp the product. The clamping driving assembly 73 adopts gear transmission and has the characteristics of accurate transmission ratio, stable transmission and high efficiency.

The clamping mechanism 7 further comprises a pair of first driven plates 74 and second driven plates 75 which are mirror-symmetrical and connected with the clamping handle 72, the first driven plates 74 and the first driving plates 736 move in parallel, the second driven plates 75 and the second driving plates 727 move in parallel, through holes are formed in the end portions of the first driven plates 74 and the second driven plates 75, fixing shafts 76 are accommodated in the through holes, a pair of fixing plates 77 which are sleeved on the fixing shafts 76 are respectively arranged at the two ends of the through holes, the first driven plates 74 and the second driven plates 75 are respectively arranged between the fixing plates 77, the first driven plates 74 and the second driven plates 75 can rotate around the fixing shafts 76, when the first driving plates 736 and the second driving plates 737 drive the clamping handle 72 to open and close, the first driven plate 74 and the second driven plate 75 also move correspondingly with the first driving plate 736 and the second driving plate 737, so that the balance and accuracy of the product clamped by the clamping hands 72 are enhanced.

The clamping hands can be set to be in a corresponding shape according to the shape of a product to be clamped. In this embodiment, the product to be gripped is circular, the pair of grippers 72 are respectively provided with an arc 721 recessed inward from the surface thereof, and the pair of arcs 721 form a circle for gripping the circular product.

Referring to fig. 1, the multi-bar robot further includes a moving mechanism 8 for fixing the box base 1, the moving mechanism 8 includes a supporting plate 81 and wheels 82 mounted on the supporting plate 81, the box base 1 is fixed on the supporting plate 81, and the moving mechanism 8 is arranged to move the robot to a desired position, so that labor is saved.

The utility model discloses a many connecting rod robot and fixture thereof has characteristics such as simple structure, precision are good, easy to operate, convenient maintenance, can steadily, quick, accurate clamp get the product, and applicable product in pressing from both sides multiple different specifications is got, effectively replaces the manual work, and the reliability is high, improves production efficiency, reduces the cost in business.

Of course, those skilled in the art should realize that the above-mentioned embodiments are only used for illustrating the present invention, and not for limiting the present invention, and that the changes and modifications to the above-mentioned embodiments are all within the scope of the appended claims as long as they are within the true spirit of the present invention.

Claims

1. The utility model provides a multi-link robot, its include the box base, install in rotary mechanism in the box base, connect rotary mechanism's driving arm seat, set up in big arm mechanism on the driving arm seat, with the forearm that big arm mechanism is connected, with wrist mechanism that the forearm is connected and with fixture that wrist mechanism is connected, its characterized in that: the clamping mechanism comprises a shell, a pair of clamping hands connected with the shell and a clamping driving assembly for driving the clamping hands to open and close, the clamping driving assembly comprises a clamping driving motor, a first gear connected with the clamping driving motor, a second gear meshed with the first gear, a third gear meshed with the second gear and a fourth gear meshed with the third gear, the third gear and the fourth gear are respectively provided with a first driving plate and a second driving plate which extend outwards from a tooth part, and the first driving plate and the second driving plate are connected to the clamping hands in a mirror symmetry mode.

2. The multi-link robot of claim 1, wherein: the shell is provided with a cavity, the first gear, the second gear, the third gear and the fourth gear are arranged in the cavity, and the clamping driving motor is arranged on the outer side of the shell.

3. The multi-link robot of claim 1, wherein: the clamping mechanism further comprises a pair of first driven plates and a second driven plate which are in mirror symmetry and connected with the clamping hand, the first driven plates and the first driving plates move in parallel, and the second driven plates and the second driving plates move in parallel.

4. The multi-link robot of claim 3, wherein: the end parts of the first driven plate and the second driven plate are provided with through holes, fixed shafts are accommodated in the through holes, a pair of fixed plates sleeved on the fixed shafts are arranged at two ends of each through hole respectively, and the first driven plate and the second driven plate are arranged between the pair of fixed plates respectively.

5. The multi-link robot of claim 1, wherein: big arm mechanism includes the big arm of first big arm and the big arm of second that are parallel to each other, connects the big arm of third of the big arm of first big arm with the big arm of second, connect respectively in the first driving motor and the second driving motor of first big arm tip both sides, the big arm of third with the forearm connect respectively in first big arm with the both ends of the big arm of second, the big arm of third with the second driving motor is connected.

6. The multi-link robot of claim 1, wherein: the box body base is fixed on the supporting plate, and the box body base is fixed on the supporting plate.

7. A fixture, its characterized in that: the clamping driving assembly comprises a clamping driving motor, a first gear connected with the clamping driving motor, a second gear meshed with the first gear, a third gear meshed with the second gear and a fourth gear meshed with the third gear, the third gear and the fourth gear are respectively provided with a first driving plate and a second driving plate which extend outwards from a tooth part, and the first driving plate and the second driving plate are connected to the clamping arms in mirror symmetry.

8. The clamping mechanism of claim 7, wherein: the shell is provided with a cavity, the first gear, the second gear, the third gear and the fourth gear are arranged in the cavity, and the clamping driving motor is arranged on the outer side of the shell.

9. The clamping mechanism of claim 7, wherein: the pair of driving plates is connected with the clamping handles in a mirror symmetry mode, and the pair of driving plates is connected with the first driving plate in a mirror symmetry mode.

10. The clamping mechanism of claim 9, wherein: the end parts of the first driven plate and the second driven plate are provided with through holes, fixed shafts are accommodated in the through holes, a pair of fixed plates sleeved on the fixed shafts are arranged at two ends of each through hole respectively, and the first driven plate and the second driven plate are arranged between the pair of fixed plates respectively.