CN216759920U

CN216759920U - Four-bar linkage manipulator

Info

Publication number: CN216759920U
Application number: CN202123238976.7U
Authority: CN
Inventors: 龙海生
Original assignee: Hebei Yiwalker Robot Technology Co ltd
Current assignee: Hebei Yiwalker Robot Technology Co ltd
Priority date: 2021-12-21
Filing date: 2021-12-21
Publication date: 2022-06-17
Anticipated expiration: 2031-12-21

Abstract

The utility model provides a four-bar mechanical arm, which comprises a connecting seat connected to a mechanical arm, two four-bar hand grippers distributed on the connecting seat in a mirror image manner, and a transmission piece arranged on the connecting seat and used for driving the two four-bar hand grippers to synchronously open and close, wherein the transmission piece is used for being connected with the output end of a driving mechanism; the four-connecting-rod hand grab comprises a driving arm, a driven rod and a clamp; one end of the driving arm is hinged to the connecting seat and connected with the transmission part, and the other end of the driving arm extends towards the front of the mechanical arm; one end of the driven rod is hinged to the connecting seat, the hinged end is positioned outside the hinged end of the driving arm, and the other end of the driven rod extends towards the front of the mechanical arm; the clamp is hinged with the extending end of the driving arm and the extending end of the driven rod respectively; wherein, the driving arm is provided with an accommodating space suitable for accommodating the driven rod to pass through. The four-bar mechanical hand provided by the utility model has a compact structure and is flexible to use.

Description

Four-bar linkage manipulator

Technical Field

The utility model belongs to the technical field of robots, and particularly relates to a four-bar linkage manipulator.

Background

At present, along with the continuous improvement of degree of automation, the range of application of robot is also wider and wider, and to snatching type robot, need adopt two to hold the manipulator that opens and shuts in step as the terminal actuating mechanism of robot usually, to service environment's difference, the structure of manipulator also is diverse, but basically all leave not to have left connecting rod drive mechanism.

The connecting rod transmission mechanism adopted by the manipulator usually needs to separate connecting rods to meet the requirements of respective movement spaces, and the connecting rod transmission mechanism is a main factor for restricting the flexibility of the manipulator.

SUMMERY OF THE UTILITY MODEL

The embodiment of the utility model provides a four-bar linkage mechanical arm, aiming at solving the problem that a linkage mechanism adopted by the existing mechanical arm occupies a large space and improving the use flexibility of the mechanical arm in a narrow and complex environment.

In order to achieve the purpose, the utility model adopts the technical scheme that: the four-bar linkage mechanical arm comprises a connecting seat, two four-bar linkage hand grippers and a transmission piece, wherein the connecting seat is used for being connected to the mechanical arm, the two four-bar linkage hand grippers are distributed on the connecting seat in a mirror image manner, the transmission piece is arranged on the connecting seat and used for driving the two four-bar linkage hand grippers to be synchronously opened and closed, and the transmission piece is used for being connected with the output end of a driving mechanism; the four-connecting-rod hand grab comprises a driving arm, a driven rod and a clamp; one end of the driving arm is hinged to the connecting seat and connected with the transmission part, and the other end of the driving arm extends towards the front of the mechanical arm; one end of the driven rod is hinged to the connecting seat, the hinged end is positioned outside the hinged end of the driving arm, and the other end of the driven rod extends towards the front of the mechanical arm; the clamp is hinged with the extending end of the driving arm and the extending end of the driven rod respectively; wherein, the driving arm is provided with an accommodating space suitable for accommodating the driven rod to pass through.

In one possible embodiment, the drive arm is bent toward the driven rod near its joint end, and the bent portion has a receiving space.

In some embodiments, the driving arm includes two driving rods spaced apart from each other along the axial direction of the hinge shaft, and the space between the two driving rods is a receiving space.

Illustratively, the sunken chamber has been seted up respectively on the both sides wall of connecting seat, and the hinged end of driven lever stretches into the sunken intracavity and articulates with the chamber wall in sunken chamber.

In a possible implementation mode, the connecting seat is internally provided with a transmission cavity suitable for accommodating the transmission part, and the hinge shaft of the driving arm penetrates into the transmission cavity to be connected with the transmission part.

In some embodiments, the drive member comprises two drive wheels, and a drive rod; wherein, the two driving wheels are respectively sleeved on the parts of the articulated shafts of the two driving arms penetrating into the transmission cavity; the transmission rod is respectively connected with the two transmission wheels and connected with the output end of the driving mechanism for driving the two transmission wheels to synchronously rotate.

Illustratively, the transmission wheel is a circular or fan-shaped straight gear, and the transmission rod is a rack in meshed connection with the straight gear.

Specifically, the rack is a cylindrical rack.

For example, the transmission wheel is a circular or fan-shaped worm wheel, and the transmission rod is a worm meshed with the worm wheel.

The four-bar linkage manipulator provided by the utility model has the beneficial effects that: compared with the prior art, the four-bar linkage manipulator comprises a connecting seat, a driving arm, clamps and a driven rod which are sequentially hinged to form a four-bar linkage mechanism of the four-bar linkage gripper, when the driving arm is driven by a transmission part to swing, the two four-bar linkage gripper clamps are synchronously far away or close to each other under the matching action of the driving arm and the driven rod, so that the two four-bar linkage gripper clamps synchronously open and close.

Drawings

Fig. 1 is a schematic structural diagram of a four-bar linkage manipulator (with a connecting seat cut away) according to an embodiment of the present invention;

fig. 2 is a schematic perspective view of a four-bar linkage manipulator according to an embodiment of the present invention;

FIG. 3 is a schematic view of a portion of the enlarged structure at A in FIG. 2;

FIG. 4 is a schematic diagram of a specific structure of a transmission member used in the embodiment of the present invention.

In the figure: 10. a connecting seat; 11. a transmission cavity; 12. a recessed cavity; 20. four-bar grab; 21. a drive arm; 210. an accommodating space; 211. a drive rod; 22. a driven lever; 23. a clamp; 30. a transmission member; 31. a spur gear; 32. a cylindrical rack; 33. a worm gear; 34. a worm.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.

Referring to fig. 1 and 2 together, the four-bar robot according to the present invention will now be described. The four-bar mechanical arm comprises a connecting seat 10 connected to the mechanical arm, two four-bar hand grips 20 distributed on the connecting seat 10 in a mirror image manner, and a transmission piece 30 arranged on the connecting seat 10 and used for driving the two four-bar hand grips 20 to be synchronously opened and closed, wherein the transmission piece 30 is used for being connected with the output end of a driving mechanism; wherein, the four-bar linkage gripper 20 comprises a driving arm 21, a driven rod 22 and a clamp 23; one end of the driving arm 21 is hinged on the connecting seat 10 and connected with the transmission part 30, and the other end extends towards the front of the mechanical arm; one end of the driven rod 22 is hinged on the connecting seat 10, the hinged end is positioned outside the hinged end of the driving arm 21, and the other end extends towards the front of the mechanical arm; the clamp 23 is hinged with the extending end of the driving arm 21 and the extending end of the driven rod 22 respectively; wherein the driving arm 21 has an accommodating space 210 adapted to accommodate the driven rod 22 to pass through.

It should be understood that the robot arm, as an end executing mechanism of the robot, needs to be connected to a robot arm, the robot arm drives the robot arm to move in a spatial direction, and the robot arm is usually used as an executing terminal for clamping or picking up an object; the four links of the four-link gripper 20 can be specifically understood in this embodiment as the positions between two hinge points of the driving arm 21, the driven rod 22, and the clamp 23, and the position between two hinge points of one of the four-link grippers 20 corresponding to the connecting seat 10, and it should be understood that the lengths of the four links are determined according to the action requirement of the four-link gripper 20 (mainly two clamps 23), for example, if an object with parallel surfaces needs to be clamped, it is necessary that the clamping surfaces of the two clamps 23 are always parallel, at this time, the four links are parallelogram, that is, the distance between two hinge points of the driving arm 21 is equal to the distance between two hinge points of the driven rod 22, and the distance between two hinge points of the connecting seat 10 is equal to the distance between two hinge points of the clamp 23, if the clamping surface of the clamp 23 itself needs to have an action similar to looping when the object is clamped, four connecting rods with different lengths are needed, and in short, the specific forming mode of the four-connecting-rod hand grab 20 is matched with the actual application requirement, and is not limited herein; it should be further understood that, since the driving arm 21 generally has more complex and higher moment relative to the driven rod 22, the structure of the driving arm 21 may be wider than that of the driven rod 22, and based on this situation, by providing an accommodating space 210 capable of accommodating the driven rod 22 on the driving arm 21, the driven rod 22 can pass through the driving arm 21, specifically, the accommodating space 210 is formed by notching the outer side wall of the driving arm 21, or the driving arm 21 itself adopts a split combination of two lever arms (the same end of which is hinged to the connecting seat 10 through a hinge shaft, and the other end of which is hinged to the clamp 23 through a hinge shaft), so that the space formed between the two lever arms can accommodate the driven rod 22 with smaller space requirement.

Compared with the prior art, the four-bar linkage manipulator provided by the embodiment has the advantages that the connecting seat 10, the driving arm 21, the clamp 23 and the driven rod 22 are sequentially hinged to form a four-bar linkage mechanism of the four-bar linkage gripper 20, when the transmission component 30 drives the driving arm 21 to swing, the clamps 23 of the two four-bar linkage grippers 20 are synchronously far away or close under the matching action of the respective driving arm 21 and the driven rod 22, so that the synchronous opening and closing action of the two four-bar linkage grippers 20 is realized, the structure is simple and reliable, during the process of opening and closing the four-bar linkage gripper 20, the driven rod 22 can move in the accommodating space 210 on the driving arm 21, thereby avoiding the driven rod 22 from occupying the space outside the driving arm 21, improving the structural compactness of the driving arm 21 and the driven rod 22, the purpose of reducing the occupied space of the four-bar linkage mechanism of the four-bar linkage hand grab 20 per se is achieved, and the use flexibility of the manipulator in a narrow and complex environment is improved.

In some embodiments, referring to fig. 1, a portion of the driving arm 21 near its hinged end is bent toward the driven rod 22, and the bent portion has a receiving space 210. It can also be understood that, because the accommodating space 210 is arranged on the driving arms 21, the parts of the driving arms 21 close to the hinged ends thereof can be bent towards the driven rods 22, so that a space structure similar to a pair of brackets is formed between the two driving arms 21, which is beneficial to grabbing objects with larger volume, and from another perspective, just because the structure can improve the grabbing volume of the four-bar-linkage hand grab 20, for objects with the same volume, the volume of the four-bar-linkage hand grab 20 itself can be reduced, and the relatively smaller four-bar-linkage hand grab 20 is adopted to achieve the grabbing volume with the same requirement, so as to improve the adaptability to complex and narrow operating environments, and the use is flexible and convenient.

Specifically, referring to fig. 2, the driving arm 21 includes two driving rods 211 spaced along the axial direction of the hinge shaft, and a space between the two driving rods 211 is an accommodating space 210. The two driving rods 211 are arranged at intervals to form the driving arm 21, so that on one hand, the strength requirement of the driving arm 21 can be ensured, on the other hand, a space (namely, the accommodating space 210) enough for accommodating the driven rod 22 can be formed between the two driving rods 211, the driven rod 22 and the driving arm 21 can be prevented from interfering, and the structure is compact and reliable.

In order to further reduce the space occupied by the driven rod 22 located outside the driving arm 21, referring to fig. 2 and 3, recessed cavities 12 are respectively formed on two side walls of the connecting seat 10, and the hinged end of the driven rod 22 extends into the recessed cavity 12 and is hinged with the cavity wall of the recessed cavity 12. Can hold the hinged end of driven lever 22 through setting up sunken chamber 12 to avoid the tip of driven lever 22 to bulge towards the outside of connecting seat 10, compact structure can reduce the whole volume of four-bar linkage hand grab 20, is convenient for stretch into the narrow and small position in space and carries out the operation.

In some possible implementations, referring to fig. 1, a transmission cavity 11 adapted to accommodate the transmission member 30 is formed inside the connecting seat 10, and the hinge shaft of the driving arm 21 penetrates into the transmission cavity 11 to be connected to the transmission member 30. Can avoid driving medium 30 to expose to can avoid the foreign matter to influence the normal operating of driving medium 30, improve operating stability.

In some embodiments, the transmission member 30 is configured as shown in fig. 1, and the transmission member 30 includes two transmission wheels, and a transmission rod; wherein, the two driving wheels are respectively sleeved on the parts of the articulated shafts of the two driving arms 21 penetrating into the transmission cavity 11; the transmission rod is respectively connected with the two transmission wheels and connected with the output end of the driving mechanism for driving the two transmission wheels to synchronously rotate. Because the opening and closing of the two four-bar grab 20 depend on the swinging of the two driving arms 21, the two driving wheels need to rotate synchronously and reversely under the driving of the driving rods no matter the motion mode of the driving rods.

Illustratively, as an embodiment of the transmission member 30, referring to fig. 1, the transmission wheel is a circular or fan-shaped spur gear 31, and the transmission rod is a rack engaged with the spur gear 31. It should be understood, because two spur gears 31 are located the both sides of spur rack respectively (the both sides of spur rack all have with the tooth structure of corresponding spur gear 31 meshing), therefore the spur rack is when drive mechanism's drive down linear motion, two spur gears 31 are synchronous reverse rotation, thereby drive two synchronous reverse swings of actuating arm 21 respectively, in order to realize two four-bar linkage hand grab 20's synchronous opening and shutting motion, moreover, the steam generator is simple in structure, the transmission is reliable and stable, it should be said, under the prerequisite that satisfies actuating arm 21 swing range demand, sector structure should preferentially be selected for use to spur gear 31, thereby be favorable to reducing the volume requirement to transmission chamber 11, and then reduce the volume of connecting seat 10, and the compactness of structure is improved.

In particular, the rack is a cylindrical rack 32. It should be understood that the cylindrical rack 32 refers to a rack structure form of annular teeth arranged on the circumferential wall of the cylinder body and distributed at intervals along the axial direction of the cylindrical rack, and the cylindrical rack 32 is adopted here to meet the requirement of a four-bar mechanical arm on rotational freedom, so that the connecting seat 10 can be rotationally connected with the mechanical arm, and teeth of the two straight gears 31 in an engaged state can circumferentially slide on the corresponding annular tooth surface of the cylindrical rack 32 in the rotating process, so that the rotating function can be realized, and the structure is simple and compact.

For example, referring to fig. 4, the transmission wheel is a circular or sector-shaped worm wheel 33, and the transmission rod is a worm 34 in meshed connection with the worm wheel 33. According to the left-hand rule (suitable for left-handed screw) or the right-hand rule (suitable for right-handed screw), when the driving mechanism drives the worm 34 to rotate, the two worm wheels 33 positioned at two sides of the worm 34 can synchronously and reversely rotate, the transmission is stable and reliable, and the driving mechanism required for driving the transmission rod to rotate is simpler and smaller in structure relative to the driving transmission rod for performing linear motion, so that the whole structure is compact, meanwhile, the transmission self-locking performance of the worm wheels 33 and the worm 34 can be utilized, the worm wheels 33 are prevented from driving the worm 34 to reversely rotate, and the grabbing stability of the two four-bar grab 20 is improved.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. The four-bar mechanical arm is characterized by comprising a connecting seat, two four-bar hand grippers and a transmission piece, wherein the connecting seat is used for being connected to the mechanical arm, the two four-bar hand grippers are distributed on the connecting seat in a mirror image manner, the transmission piece is arranged on the connecting seat and used for driving the two four-bar hand grippers to synchronously open and close, and the transmission piece is used for being connected with the output end of a driving mechanism;

wherein, the four-bar linkage hand grab includes:

one end of the driving arm is hinged to the connecting seat and connected with the transmission part, and the other end of the driving arm extends towards the front of the mechanical arm;

one end of the driven rod is hinged to the connecting seat, the hinged end of the driven rod is located on the outer side of the hinged end of the driving arm, and the other end of the driven rod extends towards the front of the mechanical arm;

the clamp is hinged with the extending end of the driving arm and the extending end of the driven rod respectively;

wherein the driving arm is provided with an accommodating space suitable for accommodating the driven rod to pass through.

2. The four-bar robot as claimed in claim 1, wherein a portion of the driving arm near the hinge end thereof is bent toward the driven bar, and the bent portion has the receiving space.

3. The four-bar robot of claim 2, wherein said actuating arm includes two actuating rods spaced apart along an axial direction of a hinge shaft thereof, and a space between said two actuating rods is said accommodating space.

4. The four-bar linkage robot of claim 3, wherein two side walls of the connecting seat are respectively provided with a recessed cavity, and the hinged end of the driven rod extends into the recessed cavity and is hinged with the wall of the recessed cavity.

5. The four-bar linkage manipulator according to claim 1, wherein the connecting seat defines a transmission cavity therein for accommodating the transmission member, and the hinge shaft of the driving arm penetrates into the transmission cavity to connect with the transmission member.

6. The four-bar robot of claim 5, wherein the transmission comprises:

the two driving wheels are respectively sleeved on the parts of the hinged shafts of the two driving arms penetrating into the transmission cavity;

and the transmission rod is respectively connected with the two transmission wheels, is connected with the output end of the driving mechanism and is used for driving the two transmission wheels to synchronously rotate.

7. The four-bar robot of claim 6, wherein the transmission wheel is a spur gear having a circular or fan shape, and the transmission rod is a rack gear engaged with the spur gear.

8. The four-bar robot of claim 7, wherein the rack is a cylindrical rack.

9. The four-bar linkage robot of claim 6, wherein the transmission wheel is a worm wheel having a circular or fan shape, and the transmission rod is a worm engaged with the worm wheel.

10. The four-bar robot according to any one of claims 1 to 9, wherein the respective hinge points between the connecting base, the driving arm, the gripper, and the driven bar are connected in a parallelogram in sequence, and the gripping surfaces of the two grippers are parallel.