CN219445096U

CN219445096U - Mechanical arm

Info

Publication number: CN219445096U
Application number: CN202320198790.3U
Authority: CN
Inventors: 林新艳
Original assignee: Dongguan Yikeda Automation Technology Co ltd
Current assignee: Dongguan Yikeda Automation Technology Co ltd
Priority date: 2023-02-13
Filing date: 2023-02-13
Publication date: 2023-08-01
Anticipated expiration: 2033-02-13

Abstract

The application relates to the technical field of manipulators, in particular to a manipulator, which comprises a machine case, a first electric cylinder module arranged on the machine case, a rotating assembly arranged at the output end of the first electric cylinder module and a second electric cylinder module arranged on the first electric cylinder module, wherein the output end of the second electric cylinder module is provided with a clamping jaw driven by a cylinder, the output end of the first electric cylinder module is connected with the second electric cylinder module and drives the second electric cylinder module to lift, the rotating assembly drives the first electric cylinder module to rotate, and the second electric cylinder module pulls the axial distance of the clamping jaw; the rotating assembly comprises a rotating shaft arranged at the tail end of the first electric cylinder module and a first driving piece meshed with the rotating shaft through a rack, and the first driving piece drives the rotating shaft to rotate and drives the first electric cylinder module to rotate. This application has the advantage of replacing manual operation, promotes manipulator suitability.

Description

Mechanical arm

Technical Field

The present application relates to the field of manipulator technology, and more particularly, to a manipulator.

Background

A manipulator is an automatic operating device that mimics certain motion functions of a human hand and arm for grasping, handling objects or operating tools in a fixed program. The method is characterized in that various expected operations can be completed through programming, and the method has the advantages of both human and manipulator machines in terms of construction and performance.

However, most of the existing manipulators adopt multi-joint manipulators, for example, patent No. 201510064611.7, and the patent name is an utility model patent of a multi-joint manipulator, which discloses a manipulator assembly comprising a fixed stand and a manipulator arm assembly movably connected to the fixed stand, wherein the manipulator arm assembly comprises a first manipulator arm, a second manipulator arm and a third manipulator arm which are all horizontally arranged, the first manipulator arm is vertically and slidably arranged on the fixed stand through a lifting driving mechanism, and the first manipulator arm can swing around a swinging axis, and the swinging axis coincides with a horizontal center line when the first manipulator arm is at a zero position; the second arm body is connected to the first arm body and can swing under the drive of the first arm body; the third arm body is connected to the second arm body and can be driven by the second arm body to do linear motion with a motion track perpendicular to the swing axis, and a flange plate for installing a sucking disc or a clamping jaw is also connected to the third arm body; the multi-joint manipulator is suitable for the arrangement condition of a linear production line, is simple to operate and easy to control, and is beneficial to production.

The multi-joint manipulator has the advantages that the movable space range is large and flexible during production, but the defects are also obvious, and the connection between the arm bodies can only adopt a movable connection mode due to the connection between the multi-joints, so that the connection between the joints is weakest in the bearing capacity, the multi-joint manipulator can only perform work in light-weight work piece picking operation, and the work piece picking operation for heavier work pieces still cannot be truly replaced.

Disclosure of Invention

Aiming at the defects of the prior art, the application aims to provide the manipulator which has the advantages of replacing manual operation and improving the applicability of the manipulator.

The technical aim of the application is achieved through the following technical scheme: the manipulator comprises a machine case, a first electric cylinder module, a rotating assembly and a second electric cylinder module, wherein the first electric cylinder module is arranged on the machine case, the rotating assembly is positioned at the output end of the first electric cylinder module, the second electric cylinder module is arranged on the first electric cylinder module, the output end of the second electric cylinder module is provided with a clamping jaw driven by a cylinder, the output end of the first electric cylinder module is connected with the second electric cylinder module and drives the second electric cylinder module to lift, the rotating assembly drives the first electric cylinder module to rotate, and the second electric cylinder module pulls the axial distance of the clamping jaw;

the rotating assembly comprises a rotating shaft arranged at the tail end of the first electric cylinder module and a first driving piece meshed with the rotating shaft through a rack, and the first driving piece drives the rotating shaft to rotate and drives the first electric cylinder module to rotate.

Preferably, a control box is arranged on the side of the case, and the first electric cylinder module, the second electric cylinder module, the air cylinder and the first driving piece are respectively electrically connected and controlled by the control box.

Preferably, a cooling fan is arranged at the bottom in the case.

Preferably, the clamping jaw is in a semicircular wrapping shape.

Preferably, a gasket is arranged on the inner wall of the clamping jaw.

Preferably, the output end of the first electric cylinder module is connected and fixed with the second electric cylinder module through screw locking of the anchor ear.

In summary, the application has the beneficial effects that: the first driving piece drives the rotation shaft to rotate through the rack, so that the axial rotation of the rotating assembly is realized, the axial rotation of the first electric cylinder module is driven, the height difference is compensated through the output end of the first electric cylinder module, the clamping jaw is driven to be close to a workpiece through the second electric cylinder module on the basis, multi-axis linkage is realized, the clamping of the workpiece is realized, and due to the combination of the electric cylinder modules, the clamping jaw is prevented from being connected with a shaft between multiple joints when the clamping jaw clamps the heavy object, manual operation is replaced, and the applicability of the manipulator is improved.

Drawings

FIG. 1 is a schematic overall structure of an embodiment of the present application;

fig. 2 is a schematic diagram of the internal structure of an embodiment of the present application.

Reference numerals: 1. a chassis; 11. a first electric cylinder module; 12. a second electric cylinder module; 13. a rotating assembly; 14. a cylinder; 15. a clamping jaw; 16. a rotating shaft; 17. a first driving member; 2. a control box; 3. a heat radiation fan; 4. a gasket; 5. and (5) hooping.

Detailed Description

In order to make the technical problems, technical schemes and beneficial effects to be solved by the present application more clear, the present application 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 for purposes of illustration only and are not intended to limit the present application.

It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element.

It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present application and simplify description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and therefore should not be construed as limiting the present application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

The manipulator, see fig. 1 and 2, comprises a machine case 1, a first electric cylinder module 11 arranged on the machine case 1, a rotating assembly 13 positioned at the output end of the first electric cylinder module 11, and a second electric cylinder module 12 arranged on the first electric cylinder module 11, wherein the output end of the second electric cylinder module 12 is provided with a clamping jaw 15 driven by an air cylinder 14, the output end of the first electric cylinder module 11 is connected with the second electric cylinder module 12 and drives the second electric cylinder module 12 to lift, the rotating assembly 13 drives the first electric cylinder module 11 to rotate, and the second electric cylinder module 12 pulls the axial distance of the clamping jaw 15;

the rotating assembly 13 comprises a rotating shaft 16 arranged at the tail end of the first electric cylinder module 11 and a first driving piece 17 meshed with the rotating shaft 16 through a rack, and the first driving piece 17 drives the rotating shaft 16 to rotate. And drives the first cylinder module 11 to rotate.

The first driving piece 17 of this embodiment drives the rotation axis through the rack and rotates, realize rotating assembly 13's axial rotation to this drives the axial rotation of first electric jar module 11, and the difference in height compensates through first electric jar module 11 output, and is close to the work piece through second electric jar module 12 drive clamping jaw 15 on this basis, with this realization multiaxis linkage, the clamp of work piece is got, because this structure passes through the combination of electric jar module, the clamping jaw 15 has avoided the axle coupling between the polyarticular when pressing from both sides the heavy object, replace manual work, the suitability of manipulator has been promoted.

Specifically, the side of the chassis 1 is provided with a control box 2, and the first electric cylinder module 11, the second electric cylinder module 12, the air cylinder 14 and the first driving member 17 are respectively electrically connected and controlled by the control box 2. In the embodiment, the control box 2 synchronously controls the driving of the first electric cylinder module 11, the second electric cylinder module 12, the air cylinder 14 and the first driving piece 17, so that the manipulator picks up the workpiece. Wherein the first driving member 17 is a servo motor.

Specifically, a cooling fan 3 is disposed at the bottom of the chassis 1. The cooling fan 3 can accelerate the airflow in the case 1 and cool down each module and the servo motor in the case 1.

Specifically, the clamping jaw 15 is in a semicircular wrapping shape. The workpiece can be better clamped by the semicircular wrapping clamping jaw 15.

Specifically, the inner wall of the clamping jaw 15 is provided with a gasket 4. The arrangement of the gasket 4 can play a certain buffering role on the workpiece when clamping the workpiece, so that the workpiece is prevented from being damaged.

Specifically, the output end of the first electric cylinder module 11 is fixedly connected with the second electric cylinder module 12 through the screw locking of the anchor ear 5. In this embodiment, the connection between the first cylinder module 11 and the second cylinder module 12 is reinforced and facilitated, and the installation connection is performed by the screw locking of the anchor ear 5.

The above-described embodiments are merely illustrative of the present application and are not intended to be limiting, and those skilled in the art, after having read the present specification, may make modifications to the present embodiment as necessary without creative contribution, but are protected by patent laws within the scope of the claims of the present application.

Claims

1. A manipulator is characterized in that: the device comprises a chassis, a first electric cylinder module arranged on the chassis, a rotating assembly positioned at the output end of the first electric cylinder module and a second electric cylinder module arranged on the first electric cylinder module, wherein the output end of the second electric cylinder module is provided with a clamping jaw driven by an air cylinder, the output end of the first electric cylinder module is connected with the second electric cylinder module and drives the second electric cylinder module to lift, the rotating assembly drives the first electric cylinder module to rotate, and the second electric cylinder module pulls the axial distance of the clamping jaw;

2. A manipulator according to claim 1, characterized in that: the side of the case is provided with a control box, and the first electric cylinder module, the second electric cylinder module, the air cylinder and the first driving piece are respectively electrically connected and controlled by the control box.

3. A manipulator according to claim 2, characterized in that: and a cooling fan is arranged at the bottom in the case.

4. A manipulator according to claim 3, characterized in that: the clamping jaw is in a semicircular wrapping shape.

5. The manipulator of claim 4, wherein: the inner wall of the clamping jaw is provided with a gasket.

6. A manipulator according to claim 5, wherein: the output end of the first electric cylinder module is fixedly connected with the second electric cylinder module through screw locking of the anchor ear.