CN217372355U

CN217372355U - Be applied to wrist arm of manipulator

Info

Publication number: CN217372355U
Application number: CN202123433937.2U
Authority: CN
Inventors: 林伟勇; 蔡小龙; 陈来恺; 高炳程; 李振果; 刘东辉
Original assignee: Xiamen Hongtai Intelligent Manufacturing Co Ltd
Current assignee: Xiamen Hongtai Intelligent Manufacturing Co Ltd
Priority date: 2021-12-31
Filing date: 2021-12-31
Publication date: 2022-09-06
Anticipated expiration: 2031-12-31

Abstract

The utility model discloses a be applied to wrist arm of manipulator, install first linear electric motor on the wrist arm, the cooperation has the vision camera on the first linear electric motor. The utility model discloses a be equipped with first linear electric motor and vision camera, first linear electric motor has the characteristic that the high accuracy removed, removal vision camera that can be accurate for the vision camera is accurate linear movement in step at the in-process that the arm removed, and the vision camera can real-time identification mounting tool and the difference in position between the installation station, according to the position that the difference in position real-time adjustment arm removed the mounting tool, make mounting tool and the accurate location of installation station, and then improve manipulator device's positioning accuracy.

Description

Be applied to wrist arm of manipulator

Technical Field

The utility model relates to a technical field of manipulator especially relates to a be applied to wrist arm of manipulator.

Background

Manipulators are often used in automated manufacturing lines to coordinate the production and assembly of products.

The existing manipulator usually comprises a base, a plurality of mechanical arms and an installation hanging plate, the base and the mechanical arms are sequentially connected in a rotating mode, a rotating motor is used for controlling a rotating angle, the manipulator can freely move in a space by obtaining a plurality of degrees of freedom, and the installation hanging plate is matched with the mechanical arm at the tail end and used for installing a hand grab or an electric screwdriver and the like.

However, it is found through observation that the manipulator moves the mounting hanging plate by controlling the rotation angle through the rotating motor, and then moves the grippers or the electric screwdriver on the mounting hanging plate, and the robot is limited by the low rotation precision of the rotating motor and the low positioning precision of the manipulator movement.

In view of this, the present designer is able to make a deep conception on the defects and inconveniences caused by the imperfect design of the above-mentioned manipulator structure, and actively research, improve and try to develop and design the present invention.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a be applied to wrist arm of manipulator for improve the positioning accuracy of manipulator.

In order to achieve the above purpose, the solution of the present invention is:

the utility model provides a be applied to wrist arm of manipulator, install first linear electric motor on the wrist arm, the last cooperation of first linear electric motor has the vision camera.

And a light supplement lamp is arranged on the vision camera.

And a second linear motor is further installed on the wrist mechanical arm, and a turnover clamping hand is matched on the second linear motor.

After the scheme is adopted, the utility model discloses a be equipped with first linear electric motor and vision camera, first linear electric motor has the characteristic that the high accuracy removed, removal vision camera that can be accurate for the vision camera is accurate linear movement in step at the in-process that the arm removed, the vision camera can real-time identification mounting tool and the difference in position between the service station, adjust the position that the arm removed to the mounting tool according to the difference in position in real time, make mounting tool and the accurate location of service station, and then improve manipulator device's positioning accuracy.

Drawings

Fig. 1 is a schematic structural view of a robot apparatus equipped with the present invention according to a preferred embodiment.

Detailed Description

In order to further explain the technical solution of the present invention, the present invention is explained in detail by the following embodiments.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

As shown in fig. 1, a preferred embodiment of a wrist robot applied to a robot according to the present invention is a wrist robot mounted on a robot apparatus, which includes a base 1; six mechanical arms: the mechanical arm assembly comprises a first mechanical arm 2, a second mechanical arm 3, a third mechanical arm 4, a wrist mechanical arm 5, a fifth mechanical arm 6 and a sixth mechanical arm 7, wherein a base 1, the first mechanical arm 2, the second mechanical arm 3, the third mechanical arm 4, the wrist mechanical arm 5, the fifth mechanical arm 6 and the sixth mechanical arm 7 are sequentially connected through a rotating motor in a rotating mode; the mounting hanging plate 8 is matched with the sixth mechanical arm 7; wherein, the utility model discloses an install first linear electric motor 51 on the wrist arm 5, the cooperation has vision camera 52 on the first linear electric motor 51.

During the use, install mounting tool such as electric screwdriver, sucking disc or tong on installation link plate 8, rotate through six arms of rotating electrical machines control to make installation link plate 8 obtain the space of six degrees of freedom and remove, and can with accurate removal to setting for the position of mounting tool such as electric screwdriver, sucking disc or tong, with cooperation production and equipment.

The utility model discloses a focus on, the utility model discloses a be equipped with first linear electric motor 51 and vision camera 52, first linear electric motor 51 has the characteristic that the high accuracy removed, removal vision camera 52 that can be accurate for vision camera 52 is accurate linear movement in step at the in-process that the arm removed, vision camera 52 can real-time identification mounting tool and the difference in position between the service station, adjust the position that the arm removed to the mounting tool in real time according to the difference in position, make mounting tool and the accurate location of service station, and then improve manipulator device's positioning accuracy.

The vision camera 52 is provided with a fill-in light 53. By providing the light supplement lamp 53, the influence of insufficient light on the imaging blur of the vision camera 52 is avoided.

The wrist robot 5 is further provided with a second linear motor 54, and the second linear motor 54 is provided with a turning gripper 55.

When the turnover clamping device is used, the four mechanical arms are controlled to rotate through the rotating motors, so that the second linear motor 54 can obtain space movement with four degrees of freedom, and the turnover clamping hand 55 can be moved to a set position to be matched with clamping and turnover of a product to be processed.

Through being equipped with upset tong 55, can the centre gripping, upset treat the processing product to increased the function of manipulator device, can carry out multiaspect processing at a station, thereby saved station, man-hour and improved production efficiency.

And, install upset tong 55 on second linear electric motor 54, second linear electric motor 54 has the characteristic that the high accuracy removed, can be under the cooperation of vision camera 52, accurate removal upset tong 55 for upset tong 55 and waiting to process the accurate location of product, and then improve the positioning accuracy of upset tong 55 among the manipulator device.

The foregoing description of the specific exemplary embodiments of the invention has been presented for the purposes of illustration and description and is not intended to limit the invention to the precise forms disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain certain principles of the invention and its practical application, to thereby enable others skilled in the art to make and use various exemplary embodiments of the invention and various alternatives and modifications as may be suited to the particular use contemplated and contemplated by those skilled in the art without departing from the scope of the invention.

Claims

1. The utility model provides a be applied to wrist arm of manipulator which characterized in that: a first linear motor is mounted on the wrist mechanical arm, and a vision camera is matched with the first linear motor; and a second linear motor is further installed on the wrist mechanical arm, and a turnover clamping hand is matched on the second linear motor.

2. A wrist robot arm for a robot hand according to claim 1, wherein: and a light supplement lamp is arranged on the vision camera.