CN217751421U - Novel multi freedom arm - Google Patents
Novel multi freedom arm Download PDFInfo
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- CN217751421U CN217751421U CN202221765673.2U CN202221765673U CN217751421U CN 217751421 U CN217751421 U CN 217751421U CN 202221765673 U CN202221765673 U CN 202221765673U CN 217751421 U CN217751421 U CN 217751421U
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Abstract
The utility model discloses a novel multi-degree-of-freedom mechanical arm, which comprises a base, a multi-degree-of-freedom movable arm component and a clamping component, wherein one end of the multi-degree-of-freedom movable arm component is connected with the base, and the other end of the multi-degree-of-freedom movable arm component is connected with the clamping component; the clamping assembly comprises a base, a sliding rail is arranged on the base, a first claw part and a second claw part are arranged at two ends of the sliding rail, a clamping claw is formed between the first claw part and the second claw part, mounting seats are arranged at the bottom ends of the first claw part and the second claw part, and notches matched with the sliding rail are formed in the mounting seats; still be provided with actuating mechanism on the base, actuating mechanism includes the cylinder, arranges the shell body in the cylinder body of cylinder, and the cylinder pole and the first claw of cylinder are connected, and the cylinder body of cylinder passes through the connecting rod and is connected with the second claw. The utility model discloses can realize the material loading to a plurality of parts such as the piston ring of engine, spring holder, application scope is wide, and easy operation is convenient, and occupation space is little moreover, and is with low costs.
Description
Technical Field
The utility model belongs to the technical field of the robot and specifically relates to a novel multi freedom arm for assembling material loading is related to.
Background
With the rapid development of industrial robots, industrial robots are applied to more and more machining fields. The industrial robot can improve the automation degree of the production line and effectively improve the production efficiency. Taking engine assembly as an example, feeding of a piston ring, a spring seat and the like is required to be performed in sequence according to assembly requirements. At present, the feeding action is basically completed by adopting the modes of driving a feeding plate to slide back and forth along a feeding guide rail and the like by an air cylinder, the operation process is complex, and matched feeding devices are required to be adopted corresponding to different parts.
Chinese utility model patent that the bulletin number of granting is CN216609028U discloses a multi freedom welding arm for welding robot, and it sets up through driving motor and sliding seat looks linkage isotructure, can improve welding robot's application range, can carry out the accurate welding to the work piece of complex structure. Chinese utility model patent that the bulletin number is CN216611834U discloses a manipulator and a bale bag feeding system snatch of bale bag, and it adsorbs the wrapping bag through the sucking disc subassembly earlier, and the both sides of bale bag are cliied to two sets of centre gripping subassemblies of rethread to realize stabilizing the material loading. Although the above patent can realize multi-degree-of-freedom motion, the clamping assembly adopted at the end is not suitable for general feeding of piston rings, spring seats and the like during engine assembly.
SUMMERY OF THE UTILITY MODEL
Based on the technical problem, the utility model provides a novel multi freedom arm.
The utility model discloses the technical solution who adopts is:
a novel multi-degree-of-freedom mechanical arm comprises a base, a multi-degree-of-freedom movable arm assembly and a clamping assembly, wherein one end of the multi-degree-of-freedom movable arm assembly is connected with the base, and the other end of the multi-degree-of-freedom movable arm assembly is connected with the clamping assembly;
the clamping assembly comprises a base, the base is connected with the multi-degree-of-freedom movable arm assembly, a sliding rail is arranged on the base, a first claw part and a second claw part are arranged at two ends of the sliding rail and symmetrically distributed, a clamping claw is formed between the first claw part and the second claw part, mounting seats are arranged at the bottom ends of the first claw part and the second claw part, and notches matched with the sliding rail are formed in the mounting seats;
still be provided with actuating mechanism on the base, actuating mechanism includes the cylinder, arranges the shell body in the cylinder body of cylinder, shell body and base fixed connection, and the jar pole and the first claw of cylinder are connected, and the cylinder body of cylinder passes through the connecting rod to be connected with the second claw.
Preferably, a guide rail is arranged on the bottom surface of the outer shell along the length direction of the outer shell, and a sliding block matched with the guide rail is arranged at the bottom of the cylinder body of the air cylinder.
Preferably, first claw and second claw all are including supporting the support body, and the bottom that supports the support body is connected with the mount pad, and the medial surface that supports the support body is provided with the grip block, is provided with the antislip strip at the partial region interval of grip block.
Preferably, the cylinder rod is connected with the mounting seat of the first claw part through a first connecting plate; the connecting rod is connected with the mounting seat of the second claw part through a second connecting plate.
Preferably, the multi-degree-of-freedom movable arm assembly comprises a first rotary arm, a second rotary arm, a transmission arm and a support arm, the first rotary arm is connected with the second rotary arm through the transmission arm, the first rotary arm and the second rotary arm are arranged in parallel, and the extension directions of the first rotary arm and the second rotary arm are perpendicular to the extension direction of the transmission arm; the supporting arm is connected with the second rotary arm, and the extension direction of the supporting arm is vertical to that of the second rotary arm; the clamping component is fixed at the tail end of the supporting arm.
Preferably, a horizontal rotary driving shaft for driving the first rotary arm to rotate along a horizontal plane is arranged on the base; and a first vertical rotary driving shaft for driving the transmission arm to rotate in the vertical plane is arranged on the first rotary arm.
Preferably, the base is connected with the rotating block, a notch is formed in the tail end of the supporting arm, the rotating block is placed in the notch, and a second vertical rotary driving shaft used for driving the rotating block to rotate in the vertical plane is further arranged at the notch.
The utility model has the beneficial technical effects that:
the utility model discloses a multi freedom digging arm can drive the centre gripping subassembly and move in three dimensional space, and after moving to the centre gripping station, the accessible cylinder drives first claw and second claw and moves simultaneously to realize the clamp of work piece and tightly, then drive to the installation station back through multi freedom arm again, release. Compare in modes such as current guide rail reciprocating feeding, the utility model discloses can realize the material loading to a plurality of parts such as the piston ring of engine, spring holder, application scope is wide, and easy operation is convenient, and occupation space is little moreover, and is with low costs.
The utility model discloses a claw in the centre gripping subassembly is including supporting support body and grip block to be provided with the antislip strip at the regional interval of part of grip block, can realize the centre gripping locking of work piece promptly, play anti-skidding effect again, have better centre gripping effect.
The utility model discloses be connected jar pole and connecting rod with the mount pad through even board respectively, strengthened the steadiness of structure, when making the clamping jaw carry out pressing from both sides tight and the release of work piece simultaneously, the action is more steady.
The utility model discloses a multi freedom movable arm subassembly combines the revolving axle drive through the cooperation of first revolving arm, second revolving arm, driving arm and support arm etc. can drive the centre gripping subassembly and move in three-dimensional space, and convenient operation is swift, and application scope is wide, can effectively improve the packaging efficiency of work piece.
Drawings
The present invention will be further explained with reference to the following detailed description and accompanying drawings:
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a side view of FIG. 1;
FIG. 3 is a schematic view of a partial structure of the connection between the cylinder and the outer casing of the present invention;
FIG. 4 is a schematic structural view of the clamping assembly of the present invention;
FIG. 5 is another angular view of FIG. 4;
fig. 6 is a schematic structural view of the middle support arm of the present invention with a part of the cover omitted.
Detailed Description
The novel multi-degree-of-freedom mechanical arm comprises a base 1, a multi-degree-of-freedom movable arm assembly 2 and a clamping assembly 3, wherein one end of the multi-degree-of-freedom movable arm assembly 2 is connected with the base 1, and the other end of the multi-degree-of-freedom movable arm assembly 2 is connected with the clamping assembly 3. The clamping assembly 3 comprises a base 4, the base 4 is connected with the multi-degree-of-freedom movable arm assembly 2, a sliding rail 5 is arranged on the base 4, a first claw part 6 and a second claw part 7 are arranged at two ends of the sliding rail 5, the first claw part 6 and the second claw part 7 are symmetrically distributed, and a clamping claw is formed between the first claw part 6 and the second claw part 7. All be provided with mount pad 8 in the bottom of first claw 6 and second claw 7, be provided with on mount pad 8 with slide rail matched with notch 9. The base 4 is further provided with a driving mechanism, the driving mechanism comprises an air cylinder, a cylinder body 10 of the air cylinder is arranged in an outer shell 11, the outer shell 11 is fixedly connected with the base 4, a cylinder rod 12 of the air cylinder is connected with the first claw part 6, and a cylinder body of the air cylinder is connected with the second claw part 7 through a connecting rod 13. A guide rail 14 is provided on the bottom surface of the outer case along the longitudinal direction thereof, and a slide block 15 engaged with the guide rail is provided on the bottom of the cylinder body of the cylinder.
The utility model discloses a multi freedom movable arm subassembly 2 can drive centre gripping subassembly 3 and move in three dimensional space, and after moving to the centre gripping station, the accessible cylinder drives first claw 6 and second claw 7 and moves simultaneously moreover to realize the clamp of work piece and press from both sides tightly, then drive to the installation station back through multi freedom movable arm subassembly 2 again, release. Compare in modes such as current guide rail reciprocating feeding, the utility model discloses can realize the material loading to a plurality of parts such as the piston ring of engine, spring holder, application scope is wide, and easy operation is convenient, and occupation space is little moreover, and is with low costs.
As right the utility model discloses a further design, first claw and second claw all are connected with the mount pad including supporting support body 16, the bottom of supporting the support body, and the medial surface that supports the support body is provided with grip block 17, is provided with antislip strip 18 at grip block 17's partial regional interval. The support frame 16 is partially hollow. The utility model discloses a claw among the centre gripping subassembly is including supporting support body 16 and grip block 17 to be provided with antislip strip 18 at the regional interval of part of grip block, can realize the centre gripping locking of work piece promptly, play anti-skidding effect again, have better centre gripping effect.
Further, the cylinder rod is connected with the mounting seat of the first claw part through a first connecting plate 19; the connecting rod is connected to the mounting seat of the second jaw by a second connecting plate 20. The utility model discloses be connected jar pole and connecting rod with the mount pad through even board respectively, strengthened the steadiness of structure, when making the centre gripping claw carry out pressing from both sides tightly and the release of work piece simultaneously, the action is more steady.
Furthermore, the multi-degree-of-freedom movable arm assembly comprises a first rotary arm 21, a second rotary arm 22, a transmission arm 23 and a support arm 24, wherein the first rotary arm 21 is connected with the second rotary arm 22 through the transmission arm 23, the first rotary arm 21 and the second rotary arm 22 are arranged in parallel, and the extension direction of the first rotary arm 21 and the extension direction of the second rotary arm 22 are perpendicular to the extension direction of the transmission arm 23. The supporting arm 24 is connected to the second rotary arm 22, and the extending direction of the supporting arm 24 is perpendicular to the extending direction of the second rotary arm 22. The clamping assembly 3 is fixed to the end of the support arm 24. A horizontal rotary driving shaft for driving the first rotary arm 21 to rotate along the horizontal plane is arranged on the base; a first vertical slewing drive shaft for driving the transmission arm 23 to rotate in the vertical plane is provided on the first slewing arm 21. The base is connected with a rotating block 25, a notch 26 is arranged at the tail end of the supporting arm, the rotating block 25 is placed in the notch 26, and a second vertical rotary driving shaft 27 used for driving the rotating block to rotate in a vertical plane is further arranged at the notch 26.
The horizontal rotary driving shaft, the first vertical rotary driving shaft and the second vertical rotary driving shaft can be driven to operate through a motor and the like respectively.
The working process of the utility model is roughly as follows:
the clamping component 3 is driven to move in a three-dimensional space through the multi-degree-of-freedom movable arm component 2, and particularly, the first rotary arm 21 and the upper connecting structure thereof can be driven to rotate to a proper position along a horizontal plane through a horizontal rotary driving shaft on the base 1; the supporting arm 24 and the upper connecting structure thereof can be driven to rotate to the approximate direction along the vertical plane through the first vertical rotary driving shaft on the first rotary arm 21; and then the second vertical rotary driving shaft 27 drives the rotating block 25 to rotate and finely adjust along the vertical surface until the clamping assembly 3 moves to the workpiece clamping position. At the moment, the cylinder rod 12 can be retracted through the action of the air cylinder, so that the first claw part 6 is driven to move towards the workpiece until the first claw part is attached to the workpiece; since the cylinder body is slidably connected with the guide rail 14, when the cylinder rod 12 continues to retract, the cylinder body can be driven to move reversely, and the second claw part 7 is driven to move towards the workpiece through the connecting rod 13 until the workpiece is completely clamped. The workpiece can be moved to the mounting station by the action control, and then the cylinder rod 12 is extended by controlling the air cylinder, so that the workpiece is released.
The parts which are not described in the above modes can be realized by adopting or referring to the prior art.
Of course, the above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above embodiment, and it should be noted that any equivalent substitution and obvious modification made by those skilled in the art under the teaching of the present specification fall within the essential scope of the present invention, and the protection of the present invention should be construed.
Claims (7)
1. A novel multi-degree-of-freedom mechanical arm is characterized in that: the multi-degree-of-freedom movable arm assembly comprises a base, a multi-degree-of-freedom movable arm assembly and a clamping assembly, wherein one end of the multi-degree-of-freedom movable arm assembly is connected with the base, and the other end of the multi-degree-of-freedom movable arm assembly is connected with the clamping assembly;
the clamping assembly comprises a base, the base is connected with the multi-degree-of-freedom movable arm assembly, a sliding rail is arranged on the base, a first claw part and a second claw part are arranged at two ends of the sliding rail and symmetrically distributed, a clamping claw is formed between the first claw part and the second claw part, mounting seats are arranged at the bottom ends of the first claw part and the second claw part, and notches matched with the sliding rail are formed in the mounting seats;
still be provided with actuating mechanism on the base, actuating mechanism includes the cylinder, arranges the shell body in the cylinder body of cylinder, shell body and base fixed connection, and the jar pole and the first claw of cylinder are connected, and the cylinder body of cylinder passes through the connecting rod and is connected with the second claw.
2. The novel multi-degree-of-freedom mechanical arm as claimed in claim 1, wherein: the bottom surface of the outer shell is provided with a guide rail along the length direction, and the bottom of the cylinder body of the cylinder is provided with a sliding block matched with the guide rail.
3. The novel multi-degree-of-freedom mechanical arm as claimed in claim 1, wherein: first claw and second claw all are connected with the mount pad including supporting the support body, the bottom that supports the support body, and the medial surface that supports the support body is provided with the grip block, is provided with the antislip strip at the regional interval of part of grip block.
4. The novel multi-degree-of-freedom mechanical arm as claimed in claim 1, wherein: the cylinder rod is connected with the mounting seat of the first claw part through a first connecting plate; the connecting rod is connected with the mounting seat of the second claw part through a second connecting plate.
5. The novel multi-degree-of-freedom mechanical arm as claimed in claim 1, wherein: the multi-degree-of-freedom movable arm assembly comprises a first rotary arm, a second rotary arm, a transmission arm and a support arm, wherein the first rotary arm is connected with the second rotary arm through the transmission arm, the first rotary arm and the second rotary arm are arranged in parallel, and the extension directions of the first rotary arm and the second rotary arm are vertical to the extension direction of the transmission arm; the supporting arm is connected with the second rotary arm, and the extension direction of the supporting arm is vertical to that of the second rotary arm; the clamping component is fixed at the tail end of the supporting arm.
6. The novel multi-degree-of-freedom mechanical arm as claimed in claim 5, wherein: a horizontal rotary driving shaft for driving the first rotary arm to rotate along the horizontal plane is arranged on the base; and a first vertical rotary driving shaft for driving the transmission arm to rotate in the vertical plane is arranged on the first rotary arm.
7. The novel multi-degree-of-freedom mechanical arm as claimed in claim 5, wherein: the base is connected with the rotating block, a notch is formed in the tail end of the supporting arm, the rotating block is placed in the notch, and a second vertical rotary driving shaft used for driving the rotating block to rotate in the vertical plane is further arranged at the notch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221765673.2U CN217751421U (en) | 2022-07-07 | 2022-07-07 | Novel multi freedom arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221765673.2U CN217751421U (en) | 2022-07-07 | 2022-07-07 | Novel multi freedom arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217751421U true CN217751421U (en) | 2022-11-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221765673.2U Active CN217751421U (en) | 2022-07-07 | 2022-07-07 | Novel multi freedom arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217751421U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116160431A (en) * | 2022-12-26 | 2023-05-26 | 广东中南人防防护设备工程有限公司 | One-step forming digital irrigation manipulator for civil air defense protective airtight door |
-
2022
- 2022-07-07 CN CN202221765673.2U patent/CN217751421U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116160431A (en) * | 2022-12-26 | 2023-05-26 | 广东中南人防防护设备工程有限公司 | One-step forming digital irrigation manipulator for civil air defense protective airtight door |
| CN116160431B (en) * | 2022-12-26 | 2024-04-05 | 广东中南人防防护设备工程有限公司 | One-step forming digital irrigation manipulator for civil air defense protective airtight door |
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