CN220499168U

CN220499168U - Mechanical arm

Info

Publication number: CN220499168U
Application number: CN202321599036.7U
Authority: CN
Inventors: 周海龙
Original assignee: Shenzhen East Win Technology Co Ltd
Current assignee: Shenzhen East Win Technology Co Ltd
Priority date: 2023-06-21
Filing date: 2023-06-21
Publication date: 2024-02-20
Anticipated expiration: 2033-06-21

Abstract

The utility model relates to the technical field of manipulators, and particularly discloses a manipulator which comprises a manipulator body; the first end of the connecting arm is detachably connected to the mechanical arm body; the connecting arm is obliquely arranged relative to the horizontal direction; the rotating piece is rotationally connected to the connecting arm and is coaxially arranged with the connecting arm; the first end of the rotating piece penetrates out of the second end of the connecting arm; the picking and placing seat is fixedly arranged at the first end of the rotating piece; the picking and placing seat is provided with a first picking and placing part and a second picking and placing part; the first picking and placing part and the second picking and placing part are arranged in a central symmetry mode, and the first picking and placing part and the second picking and placing part are respectively provided with a picking and placing module for picking and placing the workpiece. The manipulator can simultaneously grasp the workpiece to be tested and the workpiece which is tested, so that the time for loading and unloading can be effectively shortened, the testing efficiency is improved, and the high-efficiency completion of testing work is facilitated.

Description

Mechanical arm

Technical Field

The utility model relates to the technical field of manipulators, in particular to a manipulator.

Background

During the automatic production operation process, a mechanical arm is often required to be used for grabbing a processed workpiece so as to meet the use requirement of picking and placing the workpiece; if in the workpiece testing process, the workpiece to be tested at the material box needs to be grabbed to the testing tool by the manipulator, and after the testing is completed, the workpiece on the testing tool is grabbed to the material box by the manipulator.

In the prior art, when a manipulator grabs a workpiece in a single pass (the single pass grabbing means that the manipulator grabs the workpiece from a material box to a testing tool or grabs the workpiece from the testing tool to the material box), only the workpiece to be tested can be grabbed or only the tested workpiece can be grabbed, so that the testing tool needs to wait for longer blanking and loading time, and the testing working efficiency is lower; meanwhile, when the opening of the test tool is obliquely arranged and the size of the opening is not large, the existing manipulator for vertically or horizontally feeding and discharging is inconvenient to take and put the workpiece at the test tool, so that the quick completion of the test work is not facilitated.

Disclosure of Invention

Aiming at the defects of the prior art, the utility model provides a manipulator which solves the problems that the feeding and discharging time of the manipulator is long and the improvement of the working efficiency is not facilitated in the prior art.

In order to achieve the above object, the present utility model provides the following technical solutions:

a manipulator comprises a manipulator body;

the first end of the connecting arm is detachably connected to the mechanical arm body; the connecting arm is obliquely arranged relative to the horizontal direction;

the rotating piece is rotationally connected to the connecting arm and is coaxially arranged with the connecting arm; the first end of the rotating piece penetrates out of the second end of the connecting arm;

the picking and placing seat is fixedly arranged at the first end of the rotating piece; the picking and placing seat is provided with a first picking and placing part and a second picking and placing part; the first picking and placing part and the second picking and placing part are arranged in a central symmetry mode, and the first picking and placing part and the second picking and placing part are respectively provided with a picking and placing module for picking and placing the workpiece.

Optionally, the picking and placing module comprises a clamping piece and/or a sucking piece; the clamping piece comprises a plurality of clamping jaws, and the suction piece is at least provided with one piece.

Optionally, the suction piece is a sucking disc piece or a magnetic suction piece.

Optionally, the manipulator further comprises a driving mechanism, and the connecting arm is provided with an installation cavity; the second end of the rotating piece and the driving mechanism are both arranged in the mounting cavity, and the driving mechanism is in driving connection with the second end of the rotating piece.

Optionally, a first driving part is arranged at the second end of the rotating member, and a second driving part which is in fit connection with the first driving part is arranged on the driving mechanism, so that the driving mechanism is in driving connection with the second end of the rotating member.

Optionally, the first driving part includes a first driving protrusion; the driving mechanism comprises a sliding sleeve and a first linear driving piece; the sliding sleeve is connected in the mounting cavity in a sliding manner and sleeved on the second end of the rotating piece, a first driving groove which is matched and connected with the first driving protrusion is formed in the sliding sleeve, and the first driving groove is in a spiral structure; the first linear driving piece is installed in the installation cavity, and the driving end of the first linear driving piece is connected with the sliding sleeve.

Optionally, the first driving part further includes a first collar piece, the first collar piece is rotationally connected to the first driving protrusion, the first collar piece stretches into the first driving groove, and the outer diameter of the first collar piece is adapted to the groove width of the first driving groove.

Optionally, a spiral second driving groove is formed in the first driving part; the driving mechanism comprises a second linear driving piece, the second linear driving piece is installed in the installation cavity, a second driving protrusion is arranged at the driving end of the second linear driving piece, and the second driving protrusion is connected with the second driving groove in a matched mode.

Optionally, the manipulator further includes a second collar piece, the second collar piece is rotationally connected to the second driving protrusion, the second collar piece stretches into the second driving groove, and an outer diameter of the second collar piece is adapted to a groove width of the second driving groove.

Compared with the prior art, the utility model has the following beneficial effects:

the utility model provides a manipulator, which is used for testing a workpiece to be tested in a tool at the beginning, and selecting a connecting arm with the same inclination angle as that of an opening of the tool to be tested to be mounted on a manipulator body; after the workpiece on the test tool is tested, the first end of the connecting arm and the picking and placing seat are driven to extend into the test tool by the mechanical arm body, the picking and placing module of the second picking and placing part is enabled to grasp the tested workpiece under the action of the rotating part, then the picking and placing seat is adjusted to a preset position and then the rotating part is rotated to be adjusted so that the picking and placing seat is rotated by 180 degrees, the workpiece to be tested in the picking and placing module of the first picking and placing part is enabled to be placed at the test position of the test tool, then the mechanical arm body drives the first end of the connecting arm and the picking and placing seat to withdraw from the test tool, the test operation can be carried out, the workpiece which is tested on the picking and placing module of the second picking and placing part is enabled to be placed at the material box, then the new workpiece to be tested is grabbed, the operation is repeated, continuous test can be carried out on the workpiece, and the test tool does not need to wait for longer loading and unloading time, and the test efficiency is improved; simultaneously, because inclination of the connecting arm is the same as the opening inclination of the test fixture, the first end of the connecting arm and the picking and placing seat can more conveniently extend into the test fixture, so that the picking and placing time of the workpiece at the test fixture is shortened, and the picking and placing efficiency is improved. In general, the manipulator can simultaneously grasp a workpiece to be tested and a workpiece which is tested, so that the time for loading and unloading can be effectively shortened, the testing efficiency is improved, and the high-efficiency completion of testing work is facilitated.

Drawings

In order to more clearly illustrate the embodiments of the utility model or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the utility model, and that other drawings can be obtained from these drawings without inventive faculty for a person skilled in the art.

FIG. 1 is a schematic view of the overall structure of a manipulator according to the present utility model;

fig. 2 is a schematic structural view of a connecting arm and a pick-and-place seat provided by the utility model;

FIG. 3 is a schematic view of the internal structure of the connecting arm according to the present utility model;

fig. 4 is an enlarged view of the portion a in fig. 3 provided by the present utility model.

In the above figures: 2. a robot arm body; 3. a connecting arm; 31. a mounting cavity; 4. a rotating member; 41. a first driving protrusion; 42. a first collar piece; 5. taking and placing a seat; 51. a first picking and placing part; 52. a second picking and placing part; 53. a clamping member; 54. a suction member; 6. a driving mechanism; 61. a sliding sleeve; 611. a first driving groove; 62. a first linear drive.

Detailed Description

In order to make the objects, features and advantages of the present utility model more obvious and understandable, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the drawings in the embodiments of the present utility model, and it is apparent that the embodiments described below are only some embodiments of the present utility model, not all embodiments of the present utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

It should be understood that the detailed description and specific examples, while indicating the utility model, are intended for purposes of illustration only and are not intended to limit the scope of the utility model. Wherein the exemplary embodiments are described as processes or methods depicted as flowcharts; although a flowchart depicts various operations or step processes as a certain order, many of the operations or steps can be performed in parallel, concurrently or simultaneously, and the order of the various operations can be rearranged. When its operations or steps are completed, the corresponding process may be terminated, and there may be additional steps not included in the drawings. The processes described above may correspond to methods, functions, procedures, subroutines, and the like, and embodiments of the utility model and features of the embodiments may be combined with one another without conflict.

The term "comprising" and variants thereof as used herein is intended to be open ended, i.e., including, but not limited to. The term "based on" is based at least in part on. The technical scheme of the utility model is further described below by the specific embodiments with reference to the accompanying drawings; it is to be understood that for convenience of description, only some, but not all of the structures relevant to the present utility model are shown in the drawings.

Referring to fig. 1 to 4, the embodiment of the utility model provides a manipulator, which comprises a manipulator body 2;

the first end of the connecting arm 3 is detachably connected to the mechanical arm body 2; the connecting arm 3 is arranged obliquely relative to the horizontal direction;

the rotating piece 4 is rotatably connected to the connecting arm 3, and the rotating piece 4 and the connecting arm 3 are coaxially arranged; the first end of the rotating piece 4 penetrates through the second end of the connecting arm 3;

the picking and placing seat 5 is fixedly arranged on the first end of the rotating piece 4; the picking and placing seat 5 is provided with a first picking and placing part 51 and a second picking and placing part 52; the first picking and placing part 51 and the second picking and placing part 52 are arranged in a central symmetry mode, and picking and placing modules used for picking and placing workpieces are arranged on the first picking and placing part 51 and the second picking and placing part 52. The central symmetry axes of the first pick-and-place portion 51 and the second pick-and-place portion 52 are arranged in line with the rotation axis of the rotator 4.

According to the scheme, initially, a workpiece to be tested is arranged in a test tool, and a connecting arm 3 with the same inclination angle as the inclination angle of an opening of the test tool is selected to be mounted on a mechanical arm body 2, so that in the test process of the test tool, the mechanical arm body 2 drives the connecting arm 3 to move, further drives a picking and placing seat 5 to a material box, then a picking and placing module on a first picking and placing part 51 is used for grabbing a new workpiece to be tested, and then the mechanical arm body 2 drives a first end of the connecting arm 3 and the picking and placing seat 5 to be close to the test tool; after the workpiece on the test tool is tested, the first end of the connecting arm 3 and the picking and placing seat 5 are driven to extend into the test tool by the mechanical arm body 2, the picking and placing module of the second picking and placing part 52 is enabled to grasp the tested workpiece under the action of the rotating part 4, then the picking and placing seat 5 is adjusted to a preset position and then the rotating part 4 is adjusted in a rotating mode, so that the picking and placing seat 5 is enabled to rotate 180 degrees, the workpiece to be tested in the picking and placing module of the first picking and placing part 51 can be placed at the test position of the test tool, then the mechanical arm body 2 drives the first end of the connecting arm 3 and the picking and placing seat 5 to withdraw from the test tool, the test operation can be carried out, and the tested workpiece on the picking and placing module of the second picking and placing part 52 is enabled to be placed at the position of the material box, the test tool is enabled to be continuously tested by repeatedly operated, and the test tool does not need to wait for longer loading and unloading time, so that the test efficiency is improved; simultaneously, because inclination of the connecting arm 3 is the same as the opening inclination of the test fixture, the first end of the connecting arm 3 and the picking and placing seat 5 can more conveniently extend into the test fixture, so that the picking and placing time of the workpiece at the test fixture is shortened, and the picking and placing efficiency is improved. In general, the manipulator can simultaneously grasp a workpiece to be tested and a workpiece which is tested, so that the time for loading and unloading can be effectively shortened, the testing efficiency is improved, and the high-efficiency completion of testing work is facilitated.

Further, in order to more effectively grasp or release the workpiece so as to meet the use requirement of loading and unloading, the picking and placing module comprises a clamping piece 53 and/or a suction piece 54; the holding member 53 includes a plurality of holding jaws, and the suction member 54 is provided with at least one piece.

In this embodiment, the suction member 54 is a suction cup member or a magnetic suction member.

Further, in order to facilitate the rotation adjustment of the rotating member 4, so that the pick-and-place seat 5 can meet the use requirement, the manipulator further comprises a driving mechanism 6, and the connecting arm 3 is provided with an installation cavity 31; the second end of the rotating member 4 and the driving mechanism 6 are both arranged in the mounting cavity 31, and the driving mechanism 6 is in driving connection with the second end of the rotating member 4.

Specifically, in order to better realize the driving connection between the rotating member 4 and the driving mechanism 6, so as to meet the use requirement, a first driving portion is arranged at the second end of the rotating member 4, and a second driving portion matched and connected with the first driving portion is arranged on the driving mechanism 6, so that the driving mechanism 6 is in driving connection with the second end of the rotating member 4.

In one embodiment of the present utility model, in order to facilitate to effectively reduce the radial dimension of the connecting arm 3, so that the first end of the connecting arm 3 and the pick-and-place seat 5 can more conveniently extend into the test fixture, the first driving portion includes a first driving protrusion 41; the drive mechanism 6 includes a slide bush 61 and a first linear drive 62 (shown in fig. 4); the sliding sleeve 61 is slidably connected in the mounting cavity 31 and sleeved on the second end of the rotating member 4, the sliding sleeve 61 is provided with a first driving groove 611 which is matched and connected with the first driving protrusion 41, and the first driving groove 611 is in a spiral structure; the first linear driving member 62 is installed in the installation cavity 31, and the driving end of the first linear driving member 62 is connected with the sliding sleeve 61.

In this embodiment, the first linear driving member 62 is preferably a linear cylinder, which has a smaller external dimension, and thus can be disposed in the smaller-sized mounting cavity 31.

Further, in order to reduce the friction between the first driving groove 611 and the first driving protrusion 41, so that the driving adjustment of the rotating member 4 is smoother, the first driving portion further includes a first collar member 42, the first collar member 42 is rotatably connected to the first driving protrusion 41, the first collar member 42 extends into the first driving groove 611, and the outer diameter of the first collar member 42 is adapted to the groove width of the first driving groove 611.

In another embodiment of the present utility model, in order to facilitate effective reduction of the radial dimension of the connecting arm 3, so that the first end of the connecting arm 3 and the pick-and-place seat 5 can more conveniently extend into the test fixture, the first driving portion is provided with a spiral second driving groove; the driving mechanism 6 comprises a second linear driving member, the second linear driving member is installed in the installation cavity 31, a second driving protrusion (not shown in the figure) is arranged at the driving end of the second linear driving member, and the second driving protrusion is in fit connection with the second driving groove.

In this embodiment, the second linear driving member is preferably a linear cylinder, which has a smaller external dimension, and thus can be disposed in the smaller-sized mounting cavity 31.

Further, in order to reduce the friction between the second driving groove and the second driving protrusion, so that the driving adjustment of the rotating member 4 is smoother, the manipulator further comprises a second collar member (not shown in the figure), the second collar member is rotatably connected to the second driving protrusion, the second collar member extends into the second driving groove, and the outer diameter of the second collar member is adapted to the groove width of the second driving groove.

The above embodiments are only for illustrating the technical solution of the present utility model, and not for limiting the same; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present utility model.

Claims

1. The manipulator comprises a manipulator body (2), and is characterized in that the manipulator further comprises:

the first end of the connecting arm (3) is detachably connected to the mechanical arm body (2); the connecting arm (3) is obliquely arranged relative to the horizontal direction;

the rotating piece (4), the rotating piece (4) is rotatably connected to the connecting arm (3), and the rotating piece (4) and the connecting arm (3) are coaxially arranged; the first end of the rotating piece (4) penetrates out of the second end of the connecting arm (3);

the picking and placing seat (5) is fixedly arranged at the first end of the rotating piece (4); the picking and placing seat (5) is provided with a first picking and placing part (51) and a second picking and placing part (52); the first picking and placing part (51) and the second picking and placing part (52) are arranged in a central symmetry mode, and picking and placing modules used for picking and placing workpieces are arranged on the first picking and placing part (51) and the second picking and placing part (52).

2. Manipulator according to claim 1, characterized in that the pick-and-place module comprises a gripper (53) and/or a suction (54); the clamping part (53) comprises a plurality of clamping jaws, and the suction part (54) is provided with at least one piece.

3. The manipulator according to claim 2, wherein the suction member (54) is a suction cup member or a magnetic suction member.

4. The manipulator according to claim 1, further comprising a drive mechanism (6), the connecting arm (3) being provided with a mounting cavity (31); the second end of the rotating piece (4) and the driving mechanism (6) are both arranged in the mounting cavity (31), and the driving mechanism (6) is in driving connection with the second end of the rotating piece (4).

5. The manipulator according to claim 4, wherein a first driving part is provided at the second end of the rotating member (4), and a second driving part is provided on the driving mechanism (6) and is cooperatively connected with the first driving part, so that the driving mechanism (6) is in driving connection with the second end of the rotating member (4).

6. The manipulator according to claim 5, wherein the first drive part comprises a first drive protrusion (41); the driving mechanism (6) comprises a sliding sleeve (61) and a first linear driving piece (62); the sliding sleeve (61) is connected in the mounting cavity (31) in a sliding manner and sleeved on the second end of the rotating piece (4), a first driving groove (611) which is matched and connected with the first driving protrusion (41) is formed in the sliding sleeve (61), and the first driving groove (611) is in a spiral structure; the first linear driving piece (62) is installed in the installation cavity (31), and the driving end of the first linear driving piece (62) is connected with the sliding sleeve (61).

7. The manipulator according to claim 6, wherein the first drive part further comprises a first collar piece (42), the first collar piece (42) being rotatably connected to the first drive projection (41), the first collar piece (42) extending into the first drive slot (611), the outer diameter of the first collar piece (42) being adapted to the slot width of the first drive slot (611).

8. The manipulator according to claim 5, wherein the first driving portion is provided with a spiral second driving groove; the driving mechanism (6) comprises a second linear driving piece, the second linear driving piece is installed in the installation cavity (31), a second driving protrusion is arranged at the driving end of the second linear driving piece, and the second driving protrusion is connected with the second driving groove in a matched mode.

9. The manipulator of claim 8, further comprising a second collar member rotatably coupled to the second drive projection, the second collar member extending into the second drive slot, an outer diameter of the second collar member being adapted to a slot width of the second drive slot.