CN212684009U

CN212684009U - Mechanical arm

Info

Publication number: CN212684009U
Application number: CN202020805114.4U
Authority: CN
Inventors: 常君瑞
Original assignee: Hetao College
Current assignee: Hetao College
Priority date: 2020-05-13
Filing date: 2020-05-13
Publication date: 2021-03-12
Anticipated expiration: 2030-05-13

Abstract

The application provides a manipulator, including the inside shell that is equipped with actuating mechanism, stretch into the finger in the shell with first end, actuating mechanism can drive the finger opens and shuts the motion, still includes: one end of the elastic mechanism is connected with the shell, the other end of the elastic mechanism is connected with the finger, and the connecting part of the finger and the elastic mechanism is arranged far away from the first end of the finger; when the driving mechanism drives the fingers to stretch outwards, the elastic mechanism is in a stretching state. Set up elastic mechanism between shell and finger, when the finger does not open, elastic mechanism is in the initial condition of original length, opens when the finger, when snatching the material, and elastic mechanism is in the tensile state that resumes original length trend, and at this moment, elastic mechanism exerts pulling force to the finger, has solved the finger longer term for the tip atress is less, takes place easily to snatch the unstable problem of material.

Description

Mechanical arm

Technical Field

The utility model relates to the technical field of robots, in particular to manipulator.

Background

A Robot (Robot) is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The existing manipulator is various in structure, and a manipulator with longer finger length is often used for grabbing large materials conveniently, but the manipulator easily grabs the unstable problem when grabbing the materials, so that the practicability of the manipulator is reduced.

Disclosure of Invention

In view of the problem that exists among the prior art, the utility model provides a manipulator, including the inside shell that is equipped with actuating mechanism, stretch into the finger in the shell with first end, actuating mechanism can drive the finger opens and shuts the motion, still includes: one end of the elastic mechanism is connected with the shell, the other end of the elastic mechanism is connected with the finger, and the connecting part of the finger and the elastic mechanism is arranged far away from the first end of the finger; when the driving mechanism drives the fingers to stretch outwards, the elastic mechanism is in a stretching state.

The utility model discloses an in some embodiments, be provided with the mounting hole on the finger outer wall, the round pin axle passes elastic mechanism is close to the one end of finger, and stretch into in the mounting hole with finger fixed connection.

In some embodiments of the present invention, the mounting hole is provided with a plurality of mounting holes, and the mounting holes are arranged along the direction away from the housing.

In some embodiments of the present invention, the elastic mechanism comprises a fixed sleeve, a connecting rod partially extending into the fixed sleeve, and a return spring; one end of the reset spring is connected with the fixed sleeve, and the other end of the reset spring is connected with the connecting rod; one end of the fixing sleeve, which is far away from the connecting rod, is hinged on the outer wall of the shell; one end of the connecting rod, which is far away from the fixed sleeve, is hinged on the outer wall of the finger.

In some embodiments of the present invention, the driving mechanism includes: a hydraulic oil input pipe; the hydraulic cylinder is connected with the hydraulic oil input pipe; the oil cylinder piston is arranged in the hydraulic cylinder, and one end, far away from the hydraulic cylinder, of the oil cylinder piston is coaxially provided with a transmission rod; the transmission rack is fixedly connected with the transmission rod; and one side of the transmission gear, which is far away from the transmission rack, is meshed with the finger.

In some embodiments of the present invention, the manipulator further comprises a fixing base, the fixing base is fixed at one end of the housing close to the fingers, and the fixing base is located between two fingers; the fixed seat is hinged with the fixed sleeve through a pin shaft.

The utility model discloses an in some embodiments, the finger is kept away from be fixed with the sucking disc on the one end outer wall of shell, the manipulator still includes the air duct, the air duct sets up the inside of finger, the one end of air duct with the air pump in the robot is connected to the sucking disc intercommunication, the other end.

The utility model provides a manipulator sets up elastic mechanism between shell and finger, and when the finger did not open, elastic mechanism was in the initial condition of original length, opened when the finger, when snatching the material, elastic mechanism was in the tensile state who resumes the original length trend, and at this moment, elastic mechanism applyed the pulling force to the finger, has solved the longer term of finger for the tip atress is less, takes place easily to snatch the unstable problem of material.

Drawings

Fig. 1 is an overall schematic view of a manipulator according to an embodiment of the present invention;

FIG. 2 is an assembly view of a finger according to an embodiment of the present invention;

fig. 3 is a schematic view of an internal structure of a manipulator according to an embodiment of the present invention (without a support portion installed);

FIG. 4 is an enlarged view taken at A in FIG. 3;

fig. 5 is a schematic sectional structure diagram of an elastic mechanism according to an embodiment of the present invention.

Detailed Description

The present invention will be further described with reference to the accompanying drawings.

Referring to fig. 1, there is shown an overall schematic view of the robot of the present application.

As shown in fig. 1, a manipulator includes a housing 10 with a driving mechanism inside, and a finger 20 with a first end extending into the housing 10, where the driving mechanism can drive the finger 20 to open and close, and further includes: one end of the elastic mechanism 40 is connected with the shell 10, and the other end of the elastic mechanism 40 is connected with the finger 20, wherein the connection part of the finger 20 and the elastic mechanism 40 is arranged far away from the first end of the finger 20; when the driving mechanism drives the finger 20 to be stretched, the elastic mechanism 40 is in a stretching state.

By applying the technical scheme of the embodiment, the fingers 20 are meshed with the driving mechanism inside the shell 10, so that the driving mechanism can be driven to control the opening degree of the fingers 20, when the fingers 20 are not opened, the elastic mechanism 40 is in the original state of the original length, when the fingers 20 are opened to grab materials, the elastic mechanism 40 is in the stretching state of recovering the original length trend, at the moment, the elastic mechanism 40 applies a pulling force to the fingers 20, and the problems that when the fingers 20 are long, the end part is stressed less, and the grabbed materials are unstable are easily caused are solved.

As shown in fig. 1 and 2, the outer wall of the finger 20 is provided with a mounting hole 21, and the pin shaft passes through one end of the elastic mechanism 40 close to the finger 20 and extends into the mounting hole 21 to be fixedly connected with the finger 20. In this way, the elastic means 40 are articulated with the finger 20. Specifically, the mounting holes 21 are opened in plural, and the plural mounting holes 21 are arranged in a direction away from the housing 10.

This kind of structural design, the staff stretches into the mounting hole 21 of different positions with the round pin axle, can adjust the pulling force that finger 20 received when the same position to improve finger 20's the effect of snatching. In a specific embodiment, when the pin is inserted into the first mounting hole 21 in the direction away from the housing 10, the finger 20 is opened by an angle of 40 °, wherein the pulling force exerted by the elastic mechanism 40 on the finger 20 is F1, and when the pin is inserted into the second mounting hole 21 in the direction away from the housing 10, the finger 20 is opened by an angle of 40 °, wherein the pulling force exerted by the elastic mechanism 40 on the finger 20 is F2, wherein F2 is greater than F1.

For the specific structure of the manipulator, as shown in fig. 1 and 2, the manipulator further includes a fixing base 30, the fixing base 30 is fixed at one end of the housing 10 close to the fingers 20, and the fixing base 30 is located between the two fingers 20; the fixing seat 30 is hinged with the fixing sleeve 41 through a pin shaft. Thus, the two fixing sleeves 41 are hinged to the fixing base 30, so that the integrity of the housing 10 can be prevented from being damaged, and the housing 10 can conveniently protect the driving mechanism inside the housing.

Referring to fig. 3, an overall structural view of the robot of the present application is shown.

As for a specific structure of the driving mechanism, as shown in fig. 3, the driving mechanism includes: a hydraulic oil input pipe 11; a hydraulic cylinder 12 connected to the hydraulic oil input pipe 11; an oil cylinder piston 13 is arranged in the hydraulic cylinder 12, and one end, far away from the hydraulic cylinder 12, of the oil cylinder piston 13 is coaxially provided with a transmission rod; a transmission rack 14 fixedly connected with the transmission rod; and the transmission gear 15 is meshed and connected with the transmission rack 14, and one side of the transmission gear 15, which is far away from the transmission rack 14, is meshed and connected with the finger 20.

As shown in fig. 3 and 4, a suction cup 22 is fixed on the outer wall of one end of the finger 20 far away from the housing 10, the manipulator further comprises an air duct 50, the air duct 50 is arranged inside the finger 20, one end of the air duct 50 is communicated with the suction cup 22, and the other end is connected with an air pump in the robot. Thus, when the manipulator picks up a light and thin object, the air pump pumps air in the suction cup 22 to suck the object, and convenience in operation of the manipulator can be improved.

Referring to fig. 5, a schematic cross-sectional view of the elastic mechanism 40 when the return spring 43 of the present application is in an original length state is shown.

As shown in fig. 5, the elastic mechanism 40 includes a fixed sleeve 41, a connecting rod 42 partially extending into the fixed sleeve 41, and a return spring 43; one end of the return spring 43 is connected with the fixed sleeve 41, and the other end is connected with the connecting rod 42; wherein, one end of the fixed sleeve 41 far away from the connecting rod 42 is hinged on the outer wall of the shell 10; the end of the connecting rod 42 remote from the fixing sleeve 41 is hinged to the outer wall of the finger 20. The return spring 43 in this embodiment is an extension spring. In this way, one end of the return spring 43 is fixed to the fixing sleeve 41, and the other end is fixed to the connecting rod 42, so that the connecting rod 20 can be stretched in the axial direction of itself when the finger 20 is opened, and the return spring 43 applies a pulling force to the finger 20 in order to restore the original length tendency.

The above description is only a preferred embodiment of the present invention, and it should be noted that: for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be considered as the protection scope of the present invention.

Claims

1. The utility model provides a manipulator, includes inside shell (10) that is equipped with actuating mechanism and finger (20) that first end stretched into in shell (10), actuating mechanism can drive finger (20) open and shut the motion, its characterized in that still includes: the elastic mechanism (40), one end of the elastic mechanism (40) is connected with the shell (10), the other end of the elastic mechanism is connected with the finger (20), wherein the connecting part of the finger (20) and the elastic mechanism (40) is arranged far away from the first end of the finger (20); when the driving mechanism drives the finger (20) to stretch outwards, the elastic mechanism (40) is in a stretching state.

2. The manipulator according to claim 1, characterized in that a mounting hole (21) is formed in an outer wall of the finger (20), and a pin shaft penetrates through one end of the elastic mechanism (40) close to the finger (20) and extends into the mounting hole (21) to be fixedly connected with the finger (20).

3. The manipulator according to claim 2, wherein the mounting hole (21) is opened in plural, and the plural mounting holes (21) are arranged in a direction away from the housing (10).

4. The manipulator according to claim 1, characterized in that the elastic means (40) comprise a fixed sleeve (41), a connecting rod (42) partially projecting inside the fixed sleeve (41) and a return spring (43);

one end of the return spring (43) is connected with the fixed sleeve (41), and the other end of the return spring is connected with the connecting rod (42); wherein one end of the fixing sleeve (41) far away from the connecting rod (42) is hinged on the outer wall of the shell (10); one end of the connecting rod (42) far away from the fixed sleeve (41) is hinged on the outer wall of the finger (20).

5. The robot hand of claim 1, wherein the drive mechanism comprises:

a hydraulic oil input pipe (11); a hydraulic cylinder (12) connected with the hydraulic oil input pipe (11);

an oil cylinder piston (13) is installed in the hydraulic cylinder (12), and a transmission rod is coaxially arranged at one end, far away from the hydraulic cylinder (12), of the oil cylinder piston (13);

a transmission rack (14) fixedly connected with the transmission rod;

and the transmission gear (15) is meshed and connected with the transmission rack (14), and one side, far away from the transmission rack (14), of the transmission gear (15) is meshed and connected with the finger (20).

6. The manipulator according to claim 4, characterized in that the manipulator further comprises a fixed seat (30), the fixed seat (30) is fixed at one end of the housing (10) close to the fingers (20), and the fixed seat (30) is located between two fingers (20);

the fixed seat (30) is hinged with the fixed sleeve (41) through a pin shaft.

7. The manipulator according to claim 1, characterized in that a suction cup (22) is fixed on the outer wall of one end of the finger (20) far away from the housing (10), the manipulator further comprises an air duct (50), the air duct (50) is arranged inside the finger (20), one end of the air duct (50) is communicated with the suction cup (22), and the other end is connected with an air pump in the robot.