CN215511110U - Compact manipulator - Google Patents

Abstract

The application provides a compact manipulator, which comprises two clamping arms; a motor; a screw member connected with an output shaft of the motor; a nut member threadedly coupled with the screw member, the nut member having a lead angle smaller than a static friction angle thereof; the two connecting mechanisms are in one-to-one correspondence with the two clamping arms, and each connecting mechanism is respectively connected with the nut member and the corresponding clamping arm; the screw rod component and the nut component are arranged in the area covered by the motor, when the motor runs, the nut component moves relative to the screw rod component along the length direction of the output shaft, and drives the two clamping arms to move so as to achieve mutual approaching or departing. The clamping device is compact in structure, thin in thickness, small in size, large in clamping force, stable and reliable. The application also provides a robot.

Description

Compact manipulator

Technical Field

The application relates to the field of robots, in particular to a compact manipulator.

Background

A manipulator is a robot part that can perform a function similar to a human hand. A robot hand is a part for holding a workpiece or a tool, and is one of important actuators of a robot.

In the manipulator on the existing market, the gear is driven to rotate through the operation of the motor so as to drive the clamping piece to clamp the object, so that the function of clamping the object by the manipulator is realized.

A novel manipulator is disclosed in the patent with the publication number of CN205380685U, and comprises a paw mounting plate, a paw guide rod seat, a finger sliding guide rod, a linear bearing, a finger sliding block, a rack, a paw gear, a paw motor and fingers, wherein the rack comprises an upper rack and a lower rack, the paw motor is mounted at the rear part of the paw mounting plate, and the paw gear is mounted on an output shaft of the paw motor; the paw gear is combined with the upper rack and the lower rack; the finger sliding guide rod is arranged at the lower part of the paw guide rod seat and sequentially passes through the left paw guide rod seat, the left paw sliding block, the linear bearing, the right paw sliding block and the right paw guide rod seat; the left finger sliding block and the right finger sliding block axially slide along the finger sliding guide rod through the linear bearing; the left finger and the right finger are respectively fixed at the front ends of the left finger sliding block and the right finger sliding block. Unfortunately, the gears and the racks in the transmission mechanism are arranged at intervals along the thickness direction of the manipulator, the left finger slide block is used as a connecting component of the transmission mechanism and the left finger, the right finger slide block is used as a connecting component of the transmission mechanism and the right finger, the left finger slide block and the right finger slide block are both in a cuboid shape, the long axis direction of the cuboid shape is parallel to the thickness direction of the manipulator, and when power is transmitted in the transmission mechanism and the connecting component, the transmission direction of the power is changed, so that the thickness of the manipulator is large, and the size of the manipulator is increased invisibly. In a limited space, the increase of the volume of the manipulator means the reduction of the working space of the manipulator; furthermore, the increased bulk of the robot arm also means an increase in the weight of the robot arm itself, which may reduce the payload of the robot arm.

Therefore, how to provide a compact robot arm, which reduces the thickness of the robot arm and thus the volume of the robot arm, is a technical problem to be solved in the field.

The above is only for the purpose of assisting understanding of the technical solutions created by the present invention, and does not represent an admission that the above is prior art.

SUMMERY OF THE UTILITY MODEL

The application aims to provide a manipulator, and the problem to be solved is as follows: how to reduce the thickness of the manipulator under the condition of ensuring large clamping force and stable clamping, thereby reducing the volume and the weight of the manipulator.

The application is realized by the following technical scheme:

< first aspect >

A first aspect of the present application provides a compact robot arm comprising: two clamping arms; and

a motor; and

a screw member connected with an output shaft of the motor; and

a nut member threadedly connected with the screw member; and

the two connecting mechanisms correspond to the two clamping arms one to one, wherein each connecting mechanism is respectively connected with the nut member and the corresponding clamping arm;

the screw rod component and the nut component are arranged in the area range covered by the motor, when the motor runs, the nut component moves relative to the screw rod component along the length direction of the output shaft, and drives the two clamping arms to move so as to achieve mutual approaching or departing.

Along the output shaft direction projection of motor, the projection of screw member and nut component is in the projection range of motor, therefore, manipulator thickness depends on the size of a dimension of motor, and the drive ratio of screw member and nut component is big, and under the condition that provides the same clamping-force, the application can select for use the motor that power is littleer, generally speaking, the power of motor and the size of a dimension of motor are positive correlation, and the motor power of the application is littleer, just means that the diameter of motor is littleer, and after the diameter of motor reduced, the thickness of manipulator had just reduced.

In some aspects, the robot further comprises a housing that is stationary relative to the body of the motor,

the two connecting mechanisms are respectively arranged on two sides of the nut component,

the connecting mechanism includes: one end of the first connecting rod component is hinged with the nut component, the other end of the first connecting rod component is used for driving the clamping arm corresponding to the connecting mechanism to move,

the first link member is hinged to the housing at a region between one end and the other end thereof.

In some aspects, the hinge of the first link member to the housing, one end of the first link member, and the other end are not collinear.

In some aspects, the connection mechanism further comprises: a second link member and a third link member; wherein the content of the first and second substances,

one end of the second link member is hinged with the other end of the first link member, the other end is hinged with one end of the third link member,

the other end of the third link member is hinged with the shell,

and the second connecting rod component or the third connecting rod component is connected with the clamping arm corresponding to the connecting mechanism.

In some embodiments, the second link member and the third link member are connected to the corresponding clamp arm of the connecting mechanism at the hinge joint.

In some embodiments, one end of the first link member is hinged to the nut member by a fourth link member,

wherein one end of the fourth link member is hinged to one end of the first link member, and the other end is hinged to the nut member.

In some embodiments, the other end of the first link member is provided with a first connecting groove for receiving and hinging one end of the second link member.

In some technical solutions, both ends of the third link member are respectively provided with a second connection groove and a third connection groove,

the second connecting groove is used for accommodating and hinging the other end of the second connecting rod component, and the third connecting groove is used for accommodating and hinging the shell.

In some embodiments, the screw member is a trapezoidal screw;

and the thread lead angle of the trapezoidal screw rod is smaller than the static friction angle of the trapezoidal screw rod.

< second aspect >

A second aspect of the present application provides a robot comprising:

the compact robot of the first aspect.

Compared with the prior art, the application can at least realize the following beneficial effects:

compare with the gear of current manipulator, along the output shaft direction projection of motor, the projection of the screw rod component and the nut component of this application is in within the projection range of motor, consequently, manipulator thickness depends on the size of a dimension of motor, and the drive ratio of screw rod component and nut component is big, under the condition that provides the same clamping-force, the motor that power is littleer can be selected for use to this application, generally speaking, the power of motor and the size of a dimension of motor become positive correlation, the motor power of this application is littleer, just also means that the diameter of motor is littleer, the diameter of motor reduces the back, the thickness of manipulator has just also reduced.

Under the condition that the power of the motor is the same, the transmission ratio of the screw rod component and the nut component is large, and the manipulator can provide larger clamping force.

In addition, the screw component of this application is trapezoidal lead screw, just trapezoidal lead screw thread lead angle is less than its static friction angle, means can only one-way transmission, and the manipulator can overcome self mechanical clearance earlier when pressing from both sides the clamp and get the object, reaches again with object rigid contact, the elastic deformation of each position of its transmission system makes the manipulator after the centre gripping object, even the motor no longer maintains position control, or direct outage, presss from both sides the power and also can maintain always to realize stably pressing from both sides and get and the auto-lock of outage.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art according to the drawings.

FIG. 1 is a schematic illustration of the connection arrangement of the motors, screw members, nut members, coupling mechanisms and clamping arms of the robot of the present application in some embodiments;

figure 2 is a schematic illustration of the coupling arrangement of the nut member, coupling mechanism and gripper arms of the robot of the present application in some embodiments;

figure 3 is a further schematic illustration of a coupling arrangement of the nut member, coupling mechanism and gripper arm of the robot of the present application in some embodiments;

figure 4 is a further schematic illustration of a coupling arrangement of the nut member, coupling mechanism and gripper arm of the robot of the present application in some embodiments;

FIG. 5 is a schematic view of a robot of the present application in some embodiments;

FIG. 6 is yet another schematic view of a robot of the present application in some embodiments;

FIG. 7 is an exploded schematic view of the robot of the present application in some embodiments;

FIG. 8 is a side view schematic illustration of a robot of the present application in some embodiments;

FIG. 9 is a schematic cross-sectional view taken at A-A in FIG. 8;

reference numerals:

1. a manipulator; 10. clamping arms; 10a, a first clamping arm; 10b, a second clamping arm; 20. a motor; 30. a screw member; 300. a trapezoidal screw rod; 40. a nut member; 50. a connecting mechanism; 50a, a first connecting mechanism; 50b, a second connecting mechanism; 510. a first link member; 511. a first connecting groove; 520. a second link member; 530. a third link member; 530a, a second connecting groove; 530b, a third connecting groove; 540. a fourth link member; 60. a housing; 60a, an inner shell; 60b, an outer shell.

Detailed Description

The technical solutions in the embodiments of the present application are clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

< first aspect >

As shown in fig. 1 and 8, a first aspect of the present application provides a compact robot arm 1 including: two clamp arms 10; and

a motor 20; and

a screw member 30, the screw member 30 being connected to an output shaft of the motor 20; and

a nut member 40, the nut member 40 being threadedly connected with the screw member 30; and

two connecting mechanisms 50 corresponding to the two clamping arms 10 one to one, wherein each connecting mechanism 50 is connected to the nut member 40 and the corresponding clamping arm 10 respectively;

wherein the screw member 30 and the nut member 40 are disposed in the area covered by the motor 20, and when the motor 20 is operated, the nut member 40 moves relative to the screw member 30 along the length direction of the output shaft, and drives the two clamping arms 10 to move to approach or separate from each other.

Specifically, the screw member 30 is fixedly connected to the output shaft of the motor 20, the length direction of the screw member 30 and the output shaft of the motor 20 are located on a straight line, the nut member 40 is in threaded connection with the screw member 30, the nut member 40 is configured as a cube, the side length of the direction is smaller than the diameter of the motor 20, the motor 20 forms a cross section in the direction perpendicular to the output shaft of the motor 20, a hollow cylindrical channel is formed by vertically penetrating through the center of the top and bottom surfaces of the cube, the inner wall of the channel is provided with a thread matched with the screw member 30 to realize the threaded connection of the screw member 30 and the nut member 40, two convex connecting portions, preferably hinged portions, are symmetrically arranged on the left side and the right side of the cube, and the two connecting mechanisms 50 are configured as a first connecting mechanism 50a and a second connecting mechanism 50b, the first connecting mechanism 50a has one end hinged to one hinge portion of the nut member 40 and the other end connected to (preferably integrally formed with) the first clip arm 10a, and the second connecting mechanism 50b has one end hinged to the other hinge portion of the nut member 40 and the other end connected to (preferably integrally formed with) the second clip arm 10 b.

When the motor 20 is started, the motor 20 drives the screw member 30 to rotate, the screw member 30 drives the nut member 40 to move along the length direction of the screw member 30, the nut member 40 drives the first connecting mechanism 50a and the second connecting mechanism 50b hinged thereto to scissor-type close or open, the first connecting mechanism 50a and the second connecting mechanism 50b respectively drive the first clamping arm 10a and the second clamping arm 10b to approach or separate from each other, and thus the clamping and unloading functions of the manipulator 1 are realized.

The projection of the screw member 30 and the nut member 40 is within the projection range of the motor 20 along the direction of the output shaft of the motor 20, so the thickness w of the manipulator 1 depends on the size of the motor 20, the transmission ratio of the screw member 30 and the nut member 40 is large, and the motor 20 with smaller power can be selected in the application under the condition of providing the same clamping force, generally speaking, the power of the motor 20 is positively correlated with the size of the motor 20, the power of the motor 20 in the application is smaller, namely, the diameter of the motor 20 is small, and after the diameter of the motor 20 is reduced, the thickness w of the manipulator 1 is also reduced.

In some embodiments, the robot 1 further comprises a housing 60 that is stationary with respect to the body of the motor 20,

two of the coupling mechanisms 50 are respectively provided at both sides of the nut member 40,

the connection mechanism 50 includes: a first link member 510, wherein one end of the first link member 510 is used for being hinged with the nut member 40, and the other end is used for driving the clamping arm 10 corresponding to the connecting mechanism 50 to move,

the first link member 510 is hinged to the housing 60 at a region between one end and the other end thereof.

Specifically, as shown in fig. 2, the motor 20 and the housing 60 are both fixedly connected to the arm of the robot 0, the motor 20 and the housing 60 are kept relatively stationary, and the housing 60 includes an inner housing 60a and an outer housing 60 b. Each of the connecting mechanisms is composed of a first connecting rod member 510, the first connecting rod member 510 may be a straight rod or a non-straight rod, one end of the first connecting rod member 510 of the first connecting mechanism 50a is hinged to the nut member 40, the other end of the first connecting rod member 510 of the first connecting mechanism 50a is connected (preferably integrally formed) to the first clamping arm 10a, one end of the first connecting rod member 510 of the second connecting mechanism 50b is hinged to the nut member 40, the other end of the first connecting rod member 510 of the second connecting mechanism 50b is connected (preferably integrally formed) to the second clamping arm 10b, the two first connecting rod members 510 are symmetrically disposed on two sides of the cube-shaped nut member 40, and the inflection points of the two L-shaped first connecting rod members 510 are hinged to the housing 60.

When the motor 20 is started, the motor 20 drives the screw member 30 to rotate, the screw member 30 drives the nut member 40 to move along the length direction of the screw member 30, the nut member 40 drives the two first link members 510 hinged thereto to rotate, the two first link members 510 are closed or opened in a scissor manner, and the two first link members 510 respectively drive the first clamping arm 10a and the second clamping arm 10b to approach or separate from each other, so that the clamping and unloading functions of the manipulator 1 are realized.

In some embodiments, the hinge of the first link member 510 to the housing 60, one end of the first link member 510, and the other end are not collinear.

Specifically, as shown in fig. 2, the first link member 510 is similar to an L-shape, one end of the L-shaped first link member 510 is hinged to the nut member 40, the other end of the L-shaped first link member 510 is connected to the corresponding clamping arm, and the inflection point of the L-shaped first link member 510 is hinged to the housing 60.

In some embodiments, the connection mechanism 50 further comprises: a second link member 520 and a third link member 530; wherein the content of the first and second substances,

one end of the second link member 520 is hinged to the other end of the first link member 510, and the other end is hinged to one end of the third link member 530,

the other end of the third link member 530 is hinged with the housing 60,

the second link member 520 or the third link member 530 is connected to the corresponding clamp arm 10 of the connecting mechanism 50.

Specifically, as shown in fig. 3, each of the connection mechanisms 50 further includes a second link member 520 and a third link member 530 in addition to the first link member 510, in each of the connection mechanisms 50, one end of the second link member 520 is hinged to the other end of the first link member 510, the other end is hinged to one end of the third link member 530, the other end of the third link member 530 is hinged to the housing, and the second link member 520 is connected to the corresponding arm 10 of the connection mechanism 50, that is, the connection between the second link member 520 and the corresponding arm 10 may be a direct connection or an indirect connection. Wherein the first link member 510 and the third link member 530 are parallel, and the second link is parallel to a line connecting a hinge point of the first link member 510 and the housing and a hinge point of the third link member 530 and the housing 60, thereby forming a parallel four-bar linkage.

When the motor 20 is started, the motor 20 drives the screw member 30 to rotate, the screw member 30 drives the nut member 40 to move along the length direction of the screw member 30, the nut member 40 drives the two first link members 510 hinged thereto to rotate, the first link members 510 drive the second link members 520 to move in a translation manner, the second link members 520 drive the third link members 530 to rotate, the third link members 530 and the first link members 510 are always parallel in the rotating process, the two first link members 510 and the two third link members 530 are both in a scissor-type closing or opening manner, the two second link members 520 respectively drive the two clamping arms 10 to move close to or away from each other in a translation manner, and thus the clamping and unloading functions of the manipulator 1 are realized.

In some embodiments, the second link member 520 and the third link member 530 are connected to the corresponding clamping arm 10 of the connecting mechanism 50 at the hinge.

Specifically, as shown in fig. 3, the hinged portion of the second link member 520 and the third link member 530 is directly connected to the corresponding clamping arm 10 of the connecting mechanism 50, preferably, the second link member 520 and the corresponding clamping arm are integrally formed, and after the integral forming, the clamping surfaces of the two clamping arms 10 are parallel to the output shaft of the motor 20.

In some embodiments, one end of the first link member 510 is hinged to the nut member 40 by a fourth link member 540,

wherein one end of the fourth link member 540 is hinged to one end of the first link member 510, and the other end is hinged to the nut member 40.

Specifically, as shown in fig. 4, each of the connecting mechanisms 50 further includes a set of fourth link members 540, two sets of fourth link members 540 are symmetrically disposed on two sides of the nut member 40, each set of fourth link members 540 includes two fourth link members 540, two fourth link members 540 in each set of fourth link members 540 are also symmetrically disposed on two sides of the nut member 40, one end of each of the two fourth link members 540 is hinged to the nut member 40, the other end of each of the two fourth link members 540 is hinged to one end of the first link member 510, and the connection relationship among the first link member 510, the second link member 520, the third link member 530, the clamping arm 10 and the housing 60 is the same as that in the foregoing embodiment.

As shown in fig. 4 and 9, when the motor 20 is started, the motor 20 drives the screw member 30 to rotate in the forward direction, the screw member 30 drives the nut member 40 to approach the motor 20 along the length direction of the screw member 30, the nut member 40 drives the first link members 510 on the left and right sides in the figure to rotate in the clockwise direction and the counterclockwise direction respectively through the fourth link members 540, the first link members 510 on the left and right sides in the figure drive the two second link members 520 to move linearly in the direction of approaching each other respectively, the two second link members 520 drive the third link members 530 on the left and right sides in the figure to rotate in the clockwise direction and the counterclockwise direction respectively, the first link member 510 and the third link member 530 in each set of link mechanisms are always kept parallel during the rotation, and the two second link members 520 drive the two clamp arms 10 to move linearly in the direction of approaching each other, thereby realizing the parallel gripping function of the robot 1.

As shown in fig. 4 and 9, when the motor 20 is started, the motor 20 drives the screw member 30 to rotate in the reverse direction, the screw member 30 drives the nut member 40 to move away from the motor 20 along the length direction of the screw member 30, the nut member 40 drives the first link members 510 on the left and right sides in the figure to rotate in the counterclockwise direction and the clockwise direction respectively through the fourth link members 540, the first link members 510 on the left and right sides in the figure drive the two second link members 520 to move linearly in the direction away from each other respectively, the two second link members 520 drive the third link members 530 on the left and right sides in the figure to rotate in the counterclockwise direction and the clockwise direction respectively, the first link member 510 and the third link member 530 in each set of link mechanisms are always parallel during the rotation, and the two second link members 520 drive the two clamp arms 10 to move linearly in the direction away from each other, thereby realizing the opening and unloading functions of the manipulator 1.

In some embodiments, the other end of the first link member 510 is provided with a first connection groove 511, and the first connection groove 511 is used for receiving and hinging one end of the second link member 520.

Specifically, as shown in fig. 5 and 7, the other end of the first link member 510 is provided with a first connecting groove 511, the first connecting groove 511 is U-shaped, and the first connecting groove 511 is used for accommodating one end of the second link member 520 and is hinged to two sides thereof.

In some embodiments, the third link member 530 is provided at both ends thereof with a second coupling groove 530a and a third coupling groove 530b,

the second connecting slot 530a is used for accommodating and hinging the other end of the second link member 520, and the third connecting slot 530b is used for accommodating and hinging the shell 60.

Specifically, as shown in fig. 5 and 7, the third link member 530 is configured as an H-shaped, two ends of the H-shaped third link member 530 are respectively provided with a second connection groove 530a and a third connection groove 530b, the second connection groove 530a is used for accommodating the other end of the second link member 520 and is hinged to two sides of the second link member, and the third connection groove 530b is used for accommodating the inner housing 60a and is hinged to outer walls of two sides of the inner housing.

In some embodiments, the screw member 30 is a trapezoidal screw 300;

wherein, the thread lead angle of the trapezoidal screw rod 300 is smaller than the static friction angle thereof. The clamping force can be maintained all the time even if the motor 20 does not maintain position control or is directly powered off after the manipulator 1 clamps the object, so that stable clamping and power-off self-locking are realized.

< second aspect >

A second aspect provides a robot comprising a manipulator 1 as described in the first aspect.

While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application. It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.

Claims (10)

1. A compact manipulator, includes two arm lock, its characterized in that includes:

a motor; and

a screw member connected with an output shaft of the motor; and

a nut member threadedly connected with the screw member; and

the two connecting mechanisms correspond to the two clamping arms one to one, wherein each connecting mechanism is respectively connected with the nut member and the corresponding clamping arm;

the screw rod component and the nut component are arranged in the area range covered by the motor, when the motor runs, the nut component moves relative to the screw rod component along the length direction of the output shaft, and drives the two clamping arms to move so as to achieve mutual approaching or departing.

2. A compact manipulator as claimed in claim 1, further comprising a housing that is stationary relative to the body of the motor,

the two connecting mechanisms are respectively arranged on two sides of the nut component,

the connecting mechanism comprises a first connecting rod member, wherein one end of the first connecting rod member is hinged with the nut member, the other end of the first connecting rod member is used for driving a clamping arm corresponding to the connecting mechanism to move,

the first link member is hinged to the housing at a region between one end and the other end thereof.

3. A compact manipulator as claimed in claim 2, wherein the hinges of the first linkage members with the housing, one end of the first linkage members and the other end are not collinear.

4. The compact manipulator of claim 2, wherein said connection mechanism further comprises: a second link member and a third link member; wherein the content of the first and second substances,

one end of the second link member is hinged with the other end of the first link member, the other end is hinged with one end of the third link member,

the other end of the third link member is hinged with the shell,

and the second connecting rod component or the third connecting rod component is connected with the clamping arm corresponding to the connecting mechanism.

5. A compact manipulator according to claim 4, wherein the second and third link members are connected at their hinges to respective arms of the connection mechanism.

6. A compact manipulator according to claim 2, wherein one end of the first link member is articulated to the nut member by a fourth link member,

wherein one end of the fourth link member is hinged to one end of the first link member, and the other end is hinged to the nut member.

7. A compact manipulator as claimed in claim 3, wherein the other end of the first link member is provided with a first link slot for receiving and articulating with one end of the second link member.

8. A compact manipulator according to claims 5 and 7, wherein the third link member is provided at its two ends with a second and a third connecting slot, respectively,

the second connecting groove is used for accommodating and hinging the other end of the second connecting rod component, and the third connecting groove is used for accommodating and hinging the shell.

9. A compact manipulator according to claim 1, wherein the screw member is a trapezoidal screw;

and the thread lead angle of the trapezoidal screw rod is smaller than the static friction angle of the trapezoidal screw rod.

10. A robot, characterized by comprising:

a compact robot as claimed in any of claims 1 to 9.

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