CN216543370U

CN216543370U - Industrial robot arm of high flexibility

Info

Publication number: CN216543370U
Application number: CN202122968553.4U
Authority: CN
Inventors: 徐春均; 陈林佳
Original assignee: Zhejiang Heyi Technology Co ltd
Current assignee: Zhejiang Heyi Technology Co ltd
Priority date: 2021-11-30
Filing date: 2021-11-30
Publication date: 2022-05-17
Anticipated expiration: 2031-11-30

Abstract

The utility model discloses a high-flexibility industrial robot mechanical arm which comprises a fixed seat, wherein a hydraulic cylinder is fixedly installed in the fixed seat, two symmetrical connecting blocks are fixedly connected to two ends of the top of the fixed seat, two groups of first connecting rods are rotatably connected to the tops of the symmetrical connecting blocks, clamping jaw assemblies are arranged at the other ends of the two groups of first connecting rods, and the hydraulic cylinder is connected with the two groups of first connecting rods through a movable mechanism; the utility model relates to the technical field of mechanical arms. This industrial robot arm of high flexibility, through the gripper jaw subassembly that sets up, the realization is to the centre gripping of material, and under the elastic force of first spring, second spring, make the gripper jaw more steady when the centre gripping removes, make the centre gripping more reliable, improve this device stability, make this device snatch the dynamics and easily control, be difficult to press from both sides garrulous or drop, through the coupling assembling that sets up, can adjust the distance between the grip block, thereby improve the size that can add the holding material.

Description

Industrial robot arm of high flexibility

Technical Field

The utility model relates to the technical field of mechanical arms, in particular to a high-flexibility industrial robot mechanical arm.

Background

At the end of the 20 th century, 50 s, industrial robots began to come into use at the earliest. The servo system of Joseph Engelberg has developed an industrial robot-YOUMEITT with George DeWol, which is used in the production workshop of general-purpose automobile in 1961. The initial industrial robots were relatively simple in construction and performed the function of picking up car parts and placing them on a conveyor belt, without the ability to interact with other work environments, i.e. to perform exactly the same repetitive movement according to a predetermined basic program. The application of the 'UNIMELT' is simple and repeated operation, but shows the good prospect of industrial mechanization, and also draws the sequence for the vigorous development of industrial robots.

When grabbing the heavy object, current arm is grabbing to indicate can not be stable snatch the heavy object, and the dynamics of grabbing to indicate is not controlled well, presss from both sides the bits of broken glass easily or drops.

SUMMERY OF THE UTILITY MODEL

Aiming at the defects of the prior art, the utility model provides the industrial robot mechanical arm with high flexibility, and solves the problems that when the existing mechanical arm grabs a heavy object, a grabbing finger cannot stably grab the heavy object, the force of the grabbing finger is not easy to control, and the grabbing finger is easy to crush or fall.

In order to achieve the purpose, the utility model is realized by the following technical scheme: the high-flexibility industrial robot mechanical arm comprises a fixed seat, wherein a hydraulic cylinder is fixedly installed in the fixed seat, two symmetrical connecting blocks are fixedly connected to two ends of the top of the fixed seat, two groups of first connecting rods are rotatably connected to the top of the symmetrical connecting blocks, clamping jaw assemblies are arranged at the other ends of the two groups of first connecting rods, and the hydraulic cylinder is connected with the two groups of first connecting rods through a movable mechanism; the gripper jaw subassembly includes and sets up the grip block on two sets of head rods, the inside of grip block is seted up flutedly, sliding connection has the fixed plate in the recess, and has seted up two sets of straight flutes on the fixed plate, be provided with two sets of coupling assembling on the fixed plate, it is two sets of coupling assembling's one end is run through grip block and fixedly connected with grip block, two sets of first spring of fixedly connected with on the inner wall of recess, it is two sets of the other end of first spring passes the straight flute on the fixed plate and runs through the inner wall fixed connection of grip block and grip block.

Preferably, the side surfaces of the symmetrical clamping blocks facing each other are correspondingly provided with clamping grooves for clamping, and the side surfaces of the symmetrical clamping blocks facing each other are correspondingly provided with cushions for clamping.

Preferably, coupling assembling includes the fixed plate, fixed plate fixedly connected with locating lever, flexible groove has been seted up to the inside of locating lever, sliding connection has the stopper in flexible groove, the one end fixedly connected with dead lever of stopper, the other end fixedly connected with second spring of stopper, and the second spring is located flexible inslot.

Preferably, the other end of the positioning rod penetrates through the clamping block and is fixedly connected with the clamping plate, and the other end of the fixing rod penetrates through the positioning rod and the fixing plate and is fixedly connected with the inner wall of the groove.

Preferably, the movable mechanism comprises a fixed block fixedly connected with the output end of the hydraulic cylinder, the two ends of the fixed block are movably connected with second connecting rods, and the other ends of the second connecting rods are movably connected with the inner walls of the first connecting rods.

Preferably, each group of first connecting rods is provided with four, and two ends of the four first connecting rods are movably connected with one ends of the connecting blocks and the clamping blocks.

Advantageous effects

The utility model provides an industrial robot mechanical arm with high flexibility. Compared with the prior art, the method has the following beneficial effects:

(1) the high-flexibility industrial robot mechanical arm controls the work of the hydraulic cylinder, the hydraulic cylinder drives the two second connecting rods to be close to each other, the second connecting rods drive the first connecting rods to be close to each other, the first connecting rods drive the clamping blocks of the two clamping jaw assemblies to be close to material workpieces, when the clamping blocks are close to the materials, the buffer pads on the surface of the clamping plate contact the material workpiece to reduce direct clamping impact, which is beneficial to clamping some materials which are easily stressed, after the clamping plate contacts the materials, the clamping plates are continuously close to each other along with the clamping blocks to realize the clamping of the materials, and under the elastic acting force of the first spring and the second spring, the clamping claws are more stable in clamping movement, make the centre gripping more reliable, improve this device stability, make this device snatch the dynamics and easily control, be difficult to press from both sides the bits of broken glass or drop, the flexibility of the device of reinforcing greatly.

(2) This industrial robot arm of high flexibility through the coupling assembling that sets up, can adjust the distance between the grip block to improve the size that can add the held material, hydraulic cylinder can also provide the extrusion force simultaneously, further improves the reliability of centre gripping.

Drawings

FIG. 1 is a perspective view of the external structure of the present invention;

FIG. 2 is a perspective sectional view of the gripper jaw assembly of the present invention;

fig. 3 is a perspective sectional view showing the structure of the connecting member of the present invention.

In the figure: 1. a fixed seat; 2. a hydraulic cylinder; 3. connecting blocks; 4. a first connecting rod; 5. a gripper jaw assembly; 7. a movable mechanism; 501. a clamping block; 502. a groove; 503. a fixing plate; 504. a connecting assembly; 505. a clamping plate; 506. a first spring; 507. a clamping groove; 508. a cushion pad; 601. positioning a rod; 602. a telescopic groove; 603. a limiting block; 604. fixing the rod; 605. a second spring; 701. a fixed block; 702. a second connecting rod.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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 invention.

Referring to fig. 1-3, the present invention provides a technical solution: the high-flexibility industrial robot mechanical arm comprises a fixed seat 1, wherein a hydraulic cylinder 2 is fixedly installed in the fixed seat 1, two symmetrical connecting blocks 3 are fixedly connected to two ends of the top of the fixed seat 1, two groups of first connecting rods 4 are rotatably connected to the top of the symmetrical connecting blocks 3, clamping jaw assemblies 5 are arranged at the other ends of the two groups of first connecting rods 4, and the hydraulic cylinder 2 is connected with the two groups of first connecting rods 4 through a movable mechanism 7; the gripper jaw assembly 5 comprises gripper blocks 501 arranged on two groups of first connecting rods 4, a groove 502 is arranged inside the gripper block 501, a fixing plate 503 is connected in the groove 502 in a sliding manner, two groups of straight grooves are arranged on the fixing plate 503, two groups of connecting assemblies 504 are arranged on the fixing plate 503, one ends of the two groups of connecting assemblies 504 penetrate through the gripper block 501 and are fixedly connected with a gripper plate 505, two groups of first springs 506 are fixedly connected on the inner wall of the groove 502, the other ends of the two groups of first springs 506 penetrate through the straight grooves on the fixing plate 503 and penetrate through the gripper block 501 and are fixedly connected with the inner wall of the gripper plate 505, the first connecting rods 4 drive the gripper blocks 501 of the two gripper jaw assemblies 5 to mutually lean against a material workpiece, when the gripper blocks 501 are close to the material, a cushion 508 on the surface of the gripper plate 505 firstly contacts the material workpiece to reduce direct gripping impact, which is beneficial to gripping of materials which are vulnerable to some forces, after the gripper plate 505 contacts the material, as the clamping blocks 501 are continuously close to each other, the clamping of the material is realized, and under the elastic acting force of the first spring 506 and the second spring 605, the clamping is more reliable, the stability of the device is improved, the grabbing force of the device is easy to control, and the material is not easy to break or fall; the sides of the symmetrical clamping blocks 501 facing each other are correspondingly provided with clamping grooves 507 for clamping, the sides of the symmetrical clamping plates 505 facing each other are correspondingly provided with buffering pads 508 for clamping, and the clamping jaws are more stable in clamping movement through the arranged clamping grooves 507 and the buffering pads 508; the connecting assembly 504 comprises a fixing plate 503, a positioning rod 601 is fixedly connected to the fixing plate 503, a telescopic groove 602 is formed in the positioning rod 601, a limiting block 603 is slidably connected in the telescopic groove 602, one end of the limiting block 603 is fixedly connected with a fixing rod 604, the other end of the limiting block 603 is fixedly connected with a second spring 605, the second spring 605 is located in the telescopic groove 602, and the distance between the clamping plates 505 can be adjusted through the arranged connecting assembly 504, so that the size of a material which can be clamped is improved; the other end of the positioning rod 601 penetrates through the clamping block 501 and is fixedly connected with the clamping plate 505, and the other end of the fixing rod 604 penetrates through the positioning rod 601 and the fixing plate 503 and is fixedly connected with the inner wall of the groove 502; the movable mechanism 7 comprises a fixed block 701 fixedly connected with the output end of the hydraulic cylinder 2, two ends of the fixed block 701 are movably connected with a second connecting rod 702, and the other end of the second connecting rod 702 is movably connected with the inner wall of the first connecting rod 4; each group of the first connecting rods 4 is provided with four, and two ends of the four first connecting rods 4 are movably connected with the connecting block 3 and one end of the clamping block 501.

And those not described in detail in this specification are well within the skill of those in the art.

When the device works, by controlling the work of the hydraulic cylinder 2, the hydraulic cylinder 2 drives the two second connecting rods 702 to approach each other, the second connecting rods 702 drive the first connecting rods 4 to approach each other, the first connecting rods 4 drive the clamping blocks 501 of the two clamping jaw assemblies 5 to approach each other against material workpieces, when the clamping blocks 501 approach materials, the cushion pads 508 on the surfaces of the clamping plates 505 firstly contact the material workpieces to reduce direct clamping impact, which is beneficial to clamping of some materials which are easily damaged by stress, after the clamping plates 505 contact the materials, the clamping blocks 501 continue to approach each other to clamp the materials, and under the elastic acting force of the first springs 506 and the second springs 605, the clamping jaws are more stable during clamping movement, so that the clamping is more reliable, the stability of the device is improved, the grabbing force of the device is easy to control, and the device is not easy to break or drop, through the arranged connecting assembly 504, can adjust distance between grip block 505 to improve the size that can add the held material, hydraulic cylinder 2 can also provide the extrusion force simultaneously, further improves the reliability of centre gripping, the theory of operation of the industrial robot arm of above exactly high flexibility.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

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 utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. Industrial robot arm of high flexibility, including fixing base (1), its characterized in that: the hydraulic cylinder (2) is fixedly installed in the fixed seat (1), two symmetrical connecting blocks (3) are fixedly connected to two ends of the top of the fixed seat (1), two groups of first connecting rods (4) are rotatably connected to the top of the symmetrical connecting blocks (3), clamping jaw assemblies (5) are arranged at the other ends of the two groups of first connecting rods (4), and the hydraulic cylinder (2) is connected with the two groups of first connecting rods (4) through a movable mechanism (7);

gripper jaw subassembly (5) include with clamping block (501) of setting on two sets of head rods (4), the inside of clamping block (501) is seted up flutedly (502), sliding connection has fixed plate (503) in recess (502), and has seted up two sets of straight flutes on fixed plate (503), be provided with two sets of coupling assembling (504) on fixed plate (503), it is two sets of clamping block (501) and fixedly connected with grip block (505) are run through to the one end of coupling assembling (504), two sets of first spring of fixedly connected with (506) on the inner wall of recess (502), two sets of the other end of first spring (506) passes the straight flute on fixed plate (503) and runs through the inner wall fixed connection of clamping block (501) and grip block (505).

2. High flexibility industrial robot arm according to claim 1, characterized by: clamping grooves (507) for clamping are correspondingly arranged on the sides, facing each other, of the symmetrical clamping blocks (501), and buffering pads (508) for clamping are correspondingly arranged on the sides, facing each other, of the symmetrical clamping plates (505).

3. High flexibility industrial robot arm according to claim 1, characterized by: the connecting assembly (504) comprises a fixing plate (503), the fixing plate (503) is fixedly connected with a positioning rod (601), a telescopic groove (602) is formed in the positioning rod (601), a limiting block (603) is connected in the telescopic groove (602) in a sliding mode, a fixing rod (604) is fixedly connected to one end of the limiting block (603), a second spring (605) is fixedly connected to the other end of the limiting block (603), and the second spring (605) is located in the telescopic groove (602).

4. High flexibility industrial robot arm according to claim 3, characterized in that: the other end of the positioning rod (601) penetrates through the clamping block (501) and is fixedly connected with the clamping plate (505), and the other end of the fixing rod (604) penetrates through the positioning rod (601) and the fixing plate (503) and is fixedly connected with the inner wall of the groove (502).

5. High flexibility industrial robot arm according to claim 1, characterized by: the movable mechanism (7) comprises a fixed block (701) fixedly connected with the output end of the hydraulic cylinder (2), the two ends of the fixed block (701) are movably connected with second connecting rods (702), and the other ends of the second connecting rods (702) are movably connected with the inner walls of the first connecting rods (4).

6. High flexibility industrial robot arm according to claim 1, characterized by: four first connecting rods (4) are arranged in each group, and two ends of each first connecting rod (4) are movably connected with the connecting block (3) and one end of the clamping block (501).