CN213999497U

CN213999497U - Mechanical arm

Info

Publication number: CN213999497U
Application number: CN202022239924.0U
Authority: CN
Inventors: 李洪振
Original assignee: Huangshi Torch Technology Industrial Co ltd
Current assignee: Huangshi Torch Technology Industrial Co ltd
Priority date: 2020-10-10
Filing date: 2020-10-10
Publication date: 2021-08-20
Anticipated expiration: 2030-10-10

Abstract

The utility model discloses a manipulator, including frame and the fan-shaped manipulator of swivelling joint in frame one side, the bottom of fan-shaped manipulator is provided with the operating head, be provided with the hydro-cylinder between fan-shaped manipulator and the frame, the both ends of hydro-cylinder all are provided with rotatory end block, the side of fan-shaped manipulator and the side of frame all are equipped with two and rotate the corresponding connection end block of end block, be equipped with just dismouting connecting elements between rotatory end block and the connection end block, just dismouting connecting elements includes the axostylus axostyle, the axostylus axostyle runs through connection end block and rotatory end block; through setting up the just dismouting connecting elements who comprises axostylus axostyle, C shape fastener, interior fixture block, card hole and canceling release mechanical system for the hydro-cylinder can be quick install between frame and fan-shaped manipulator, has improved the assembly efficiency of hydro-cylinder, also brings the convenience for follow-up operating personnel to the dismantlement maintenance of hydro-cylinder simultaneously, has solved the inconvenient problem of hydro-cylinder dismouting in the former device.

Description

Mechanical arm

Technical Field

The utility model belongs to the technical field of the manipulator, concretely relates to manipulator.

Background

The manipulator is a manipulator with a fan-shaped moving track, is generally arranged on various automatic production lines, can simulate certain action functions of a human hand and an arm, can grab and carry objects or operation tools according to a fixed program, and is widely applied to departments of mechanical manufacturing, metallurgy, electronics, light industry and the like.

When using, current manipulator need install the hydro-cylinder between fan-shaped manipulator and frame for can realize fan-shaped manipulator's fan-shaped swing after the hydro-cylinder operation, nevertheless because the connected mode between current hydro-cylinder and fan-shaped manipulator and the frame is comparatively loaded down with trivial details, the assembly efficiency who leads to the hydro-cylinder is not high, and also can cost more time when follow-up operating personnel need pull down the hydro-cylinder and overhaul, and is comparatively inconvenient, for this reason the utility model provides a manipulator.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a manipulator, with current manipulator that proposes in solving above-mentioned background art when using, need install the hydro-cylinder between fan-shaped manipulator and frame, make the fan-shaped swing that can realize fan-shaped manipulator after the hydro-cylinder operation, nevertheless because the connected mode between current hydro-cylinder and fan-shaped manipulator and the frame is comparatively loaded down with trivial details, the assembly efficiency that leads to the hydro-cylinder is not high, and also can cost more time when follow-up operating personnel need pull down the hydro-cylinder and overhaul, comparatively inconvenient problem.

In order to achieve the above object, the utility model provides a following technical scheme: the mechanical arm comprises a base and a fan-shaped mechanical arm rotationally connected to one side of the base, an operating head is arranged at the bottom end of the fan-shaped mechanical arm, an oil cylinder is arranged between the fan-shaped mechanical arm and the base, rotating end blocks are arranged at two ends of the oil cylinder, two connecting end blocks corresponding to the rotating end blocks are arranged on the side surface of the fan-shaped mechanical arm and the side surface of the base, a connecting assembly convenient to disassemble and assemble is arranged between the rotating end blocks and the connecting end blocks, the connecting assembly convenient to disassemble and assemble comprises a shaft rod, the shaft rod penetrates through and is connected with the connecting end blocks and the rotating end blocks, two C-shaped clamping pieces are sleeved at two ends of the shaft rod, an integrated inner clamping piece is arranged on the inner side surface of each of the two C-shaped clamping pieces, a clamping hole corresponding to the inner clamping piece is formed in the, spring grooves are formed in the two ends of the C-shaped clamping piece, an inner pushing block and a spring are arranged in each spring groove, and the end portion of the connecting rod penetrates through the inner side of each spring groove to be fixed with the inner pushing block.

Preferably, the bottom end of the fan-shaped manipulator is provided with a sheath, and the operating head is positioned on the inner side of the sheath.

Preferably, the top of the sheath is symmetrically provided with two integrated side blocks, and the two side blocks are respectively clamped on the surfaces of two sides of the fan-shaped manipulator.

Preferably, the inner side of the side block is provided with an integrated triangular lug, and the surface of the fan-shaped manipulator is provided with a rectangular clamping groove corresponding to the triangular lug.

Preferably, the top end of the spring groove is provided with a rod hole corresponding to the connecting rod, and the rod hole is communicated with the end surface of the C-shaped clamping piece.

Preferably, a plurality of strip-shaped grooves are formed in the surfaces of the two sides of the C-shaped clamping piece, and the connecting rod is fixed with the inner pushing block in a welding mode.

Preferably, a first through hole corresponding to the shaft rod is formed in the surface of the rotating end block, and second through holes corresponding to the shaft rod are formed in the surfaces of the two connecting end blocks.

Compared with the prior art, the beneficial effects of the utility model are that:

1. through setting up the just dismouting connecting elements who comprises axostylus axostyle, C shape fastener, interior fixture block, card hole and canceling release mechanical system for the hydro-cylinder can be quick install between frame and fan-shaped manipulator, has improved the assembly efficiency of hydro-cylinder, also brings the convenience for follow-up operating personnel to the dismantlement maintenance of hydro-cylinder simultaneously, has solved the inconvenient problem of hydro-cylinder dismouting in the former device.

2. Through sheath, side piece, triangle-shaped lug and the rectangle draw-in groove that sets up for fan-shaped manipulator during the dead, operating personnel can install the bottom at fan-shaped manipulator with the hydro-cylinder, thereby carries out good protection to the operating head, avoids operating head and external object to take place to wipe and bump and damage.

Drawings

Fig. 1 is a schematic structural view of the present invention;

FIG. 2 is an enlarged view of a portion of the area A in FIG. 1 according to the present invention;

figure 3 is a side cross-sectional view of the junction of the rotating end block and the connecting end block of the present invention;

FIG. 4 is a cross-sectional view of the joint of the C-shaped fastener and the shaft lever of the present invention;

FIG. 5 is an enlarged view of a portion of the area C of FIG. 4 according to the present invention;

fig. 6 is a partial enlarged view of the area B in fig. 1 according to embodiment 2 of the present invention;

fig. 7 is a side sectional view of the joint of the sheath and the fan-shaped manipulator according to embodiment 2 of the present invention;

in the figure: 1. a machine base; 2. a fan-shaped manipulator; 3. connecting the end block; 4. an oil cylinder; 5. a sheath; 6. a rotating end-block; 7. a shaft lever; 8. c-shaped clamping pieces; 9. an inner clamping block; 10. a clamping hole; 11. a spring slot; 12. an inner push block; 13. a spring; 14. a connecting rod; 15. a side block; 16. a triangular bump; 17. a rectangular clamping groove; 18. And (4) operating the head.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Example 1

Referring to fig. 1 to 5, the present invention provides a technical solution: the mechanical arm comprises a base 1 and a fan-shaped mechanical arm 2 which is rotatably connected to one side of the base 1 through a rotating shaft, the bottom end of the fan-shaped mechanical arm 2 is provided with an operating head 18, an oil cylinder 4 is arranged between the fan-shaped mechanical arm 2 and the base 1, two ends of the oil cylinder 4 are respectively provided with a rotating end block 6, two connecting end blocks 3 corresponding to the rotating end blocks 6 are welded on the side surface of the fan-shaped mechanical arm 2 and the side surface of the base 1, a connecting assembly convenient to disassemble and assemble is arranged between the rotating end blocks 6 and the connecting end blocks 3 and comprises a shaft lever 7, the shaft lever 7 penetrates through and is connected with the rotating

end blocks

3 and 6, two C-shaped clamping pieces 8 are sleeved at two ends of the shaft lever 7, the inner side surfaces of the two C-shaped clamping pieces 8 are respectively provided with an integrated inner clamping piece 9, the end part of the shaft lever 7 is provided with a clamping hole 10 corresponding to the inner clamping piece 9, a resetting mechanism is arranged between the two C-shaped clamping pieces 8, so that the oil cylinder 4 is easy to disassemble and assemble, the reset mechanism comprises two connecting rods 14, spring grooves 11 are formed in two ends of the C-shaped clamping pieces 8, inner pushing blocks 12 and springs 13 are arranged in the spring grooves 11, the end portions of the connecting rods 14 penetrate through the inner sides of the spring grooves 11 to be fixed with the inner pushing blocks 12, the springs 13 are sleeved on the surfaces of the connecting rods 14, and the two C-shaped clamping pieces 8 can reset under the action of the springs 13 after being pulled open.

In this embodiment, preferably, a rod hole corresponding to the connecting rod 14 is formed at the top end of the spring slot 11, and the rod hole communicates with the end surface of the C-shaped clip 8, so that the connecting rod 14 can smoothly penetrate through the spring slot 11.

In this embodiment, preferably, a plurality of strip-shaped grooves are formed in the surfaces of the two sides of the C-shaped clamping piece 8, so that when an operator pulls the side of the C-shaped clamping piece 8 open, the hand does not slip easily, and the connecting rod 14 is welded and fixed to the inner pushing block 12.

In this embodiment, preferably, a first through hole corresponding to the shaft rod 7 is formed in a surface of the rotating end block 6, and second through holes corresponding to the shaft rod 7 are formed in surfaces of both the two connecting end blocks 3.

Example 2

Referring to fig. 1 to 7, the present invention provides a technical solution: the mechanical arm comprises a base 1 and a fan-shaped mechanical arm 2 which is rotatably connected to one side of the base 1 through a rotating shaft, the bottom end of the fan-shaped mechanical arm 2 is provided with an operating head 18, an oil cylinder 4 is arranged between the fan-shaped mechanical arm 2 and the base 1, two ends of the oil cylinder 4 are respectively provided with a rotating end block 6, two connecting end blocks 3 corresponding to the rotating end blocks 6 are welded on the side surface of the fan-shaped mechanical arm 2 and the side surface of the base 1, a connecting assembly convenient to disassemble and assemble is arranged between the rotating end blocks 6 and the connecting end blocks 3 and comprises a shaft lever 7, the shaft lever 7 penetrates through and is connected with the rotating

end blocks

In the present embodiment, it is preferable that the sheath 5 is installed at the bottom end of the sector robot 2, and the operating head 18 is located inside the sheath 5, so that the operating head 18 can be protected during the period of time when the sector robot 2 is not in use.

In this embodiment, preferably, the top of the sheath 5 is symmetrically provided with two integrated side blocks 15, the two side blocks 15 are respectively clamped on the two side surfaces of the fan-shaped manipulator 2, the inner sides of the side blocks 15 are provided with integrated triangular protruding blocks 16, the sheath 5, the side blocks 15 and the triangular protruding blocks 16 are all made of rubber, and the surface of the fan-shaped manipulator 2 is provided with rectangular clamping grooves 17 corresponding to the triangular protruding blocks 16, so that the sheath 5 is easy to mount.

The model of the middle oil cylinder 4 of the utility model is HSGK 01-125E/63-450;

the utility model discloses a theory of operation and use flow: when an operator needs to install the oil cylinder 4 between the base 1 and the fan-shaped manipulator 2, the rotating end block 6 at the end part of the oil cylinder 4 is pushed into the two connecting end blocks 3, the shaft rod 7 penetrates through the connecting end blocks 3 and the rotating end blocks 6, so that two ends of the shaft rod 7 can respectively penetrate through the outer sides of the two connecting end blocks 3, then the two C-shaped clamping pieces 8 are simultaneously pulled laterally, so that the inner pushing block 12 is pulled to the top end of the spring groove 11 by the connecting rod 14, the spring 13 is gradually compressed, the distance between the two C-shaped clamping pieces 8 is gradually enlarged until the inner clamping piece 9 does not block the C-shaped clamping piece 8 from being sleeved on the surface of the shaft rod 7, at the moment, the two C-shaped clamping pieces 8 are sleeved on the surface of the end part of the shaft rod 7, then the C-shaped clamping piece 8 is rotated, so that the inner clamping piece 9 can be aligned with the clamping hole 10, at the moment, the spring 13 can push the inner pushing piece 12 back to the bottom end of the spring groove 11 under the self elastic action, the two C-shaped clamping pieces 8 are reset, the inner clamping block 9 can be clamped into the inner side of the clamping hole 10, the connection of the C-shaped clamping pieces 8 and the shaft rod 7 can be completed, the limit of the shaft rod 7 is completed, the installation of the oil cylinder 4 is completed, the installation mode of the oil cylinder 4 is more convenient, when the oil cylinder 4 needs to be dismounted for maintenance in the subsequent process, the two C-shaped clamping pieces 8 only need to be pulled laterally at the same time, the inner clamping pieces 9 are moved out from the inner side of the clamping hole 10, then the C-shaped clamping pieces 8 are taken down from the surface of the shaft rod 7, under the condition that the limit of the C-shaped clamping pieces 8 does not exist, an operator can directly pull the shaft rod 7 out from between the connecting end block 3 and the rotating end block 6, then the rotating end block 6 is moved out from the inner side of the connecting end block 3, the dismounting of the oil cylinder 4 can be completed quickly, and the problem that the oil cylinder 4 in the original device is inconvenient to dismount is solved;

when fan-shaped manipulator 2 stopped using, operating personnel can remove sheath 5 to the bottom of fan-shaped manipulator 2, cause sheath 5 can be with operating head 18 parcel in the inboard, then the inboard of rectangle draw-in groove 17 is gone into to the triangle-shaped lug 16 card that inclines 15 side, can accomplish the installation of sheath 5, can play effectual guard action to operating head 18 under the effect of sheath 5, prevent that operating head 18 from taking place to wipe with external object and bumping and damaging, when need launch fan-shaped manipulator 2 again afterwards, only need break off with the fingers and thumb the edge of side piece 15, cause triangle-shaped lug 16 to follow the inboard of rectangle draw-in groove 17 and shift out, can be smooth pull out sheath 5.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. Manipulator, including frame (1) and fan-shaped manipulator (2) of swivelling joint in frame (1) one side, the bottom of fan-shaped manipulator (2) is provided with operating head (18), be provided with between fan-shaped manipulator (2) and frame (1) hydro-cylinder (4), the both ends of hydro-cylinder (4) all are provided with rotatory end block (6), the side of fan-shaped manipulator (2) and the side of frame (1) all are equipped with two and the corresponding end block (3) of being connected of rotatory end block (6), be equipped with just dismouting connecting elements between rotatory end block (6) and the connecting end block (3), its characterized in that: the connecting assembly convenient to disassemble and assemble comprises a shaft rod (7), the shaft rod (7) is in penetrating connection with an end block (3) and a rotating end block (6), two C-shaped clamping pieces (8) are sleeved at two ends of the shaft rod (7), an integrated inner clamping block (9) is arranged on the inner side surface of each of the two C-shaped clamping pieces (8), a clamping hole (10) corresponding to the inner clamping block (9) is formed in the end portion of the shaft rod (7), a reset mechanism is arranged between the two C-shaped clamping pieces (8), each reset mechanism comprises two connecting rods (14), spring grooves (11) are formed in two ends of each C-shaped clamping piece (8), inner pushing blocks (12) and springs (13) are arranged inside the spring grooves (11), and the end portions of the connecting rods (14) penetrate through the inner sides of the spring grooves (11) and are fixed with the inner pushing blocks (12).

2. The robot hand according to claim 1, wherein: the bottom end of the fan-shaped manipulator (2) is provided with a sheath (5), and the operating head (18) is positioned on the inner side of the sheath (5).

3. The robot hand according to claim 2, wherein: the top of the sheath (5) is symmetrically provided with two integrated side blocks (15), and the two side blocks (15) are respectively clamped on the surfaces of two sides of the fan-shaped manipulator (2).

4. The robot hand according to claim 3, wherein: the inner side of the side block (15) is provided with an integrated triangular protruding block (16), and the surface of the fan-shaped manipulator (2) is provided with a rectangular clamping groove (17) corresponding to the triangular protruding block (16).

5. The robot hand according to claim 1, wherein: the top end of the spring groove (11) is provided with a rod hole corresponding to the connecting rod (14), and the rod hole is communicated with the end surface of the C-shaped clamping piece (8).

6. The robot hand according to claim 1, wherein: a plurality of strip-shaped grooves are formed in the surfaces of the two sides of the C-shaped clamping piece (8), and the connecting rod (14) is fixed with the inner pushing block (12) in a welding mode.

7. The robot hand according to claim 1, wherein: the surface of the rotating end block (6) is provided with a first through hole corresponding to the shaft rod (7), and the surfaces of the two connecting end blocks (3) are provided with second through holes corresponding to the shaft rod (7).