CN221066313U - Mechanical arm - Google Patents

Abstract

The utility model belongs to the field of grabbing and placing instruments, and provides a manipulator which comprises a rotating assembly and a clamping assembly; the rotating assembly comprises a base, a rotating plate, a rotating arm, a balance arm and a rotating power piece, wherein two ends of the rotating arm are respectively and rotatably connected with the base and the rotating plate, two ends of the balance arm are respectively and rotatably connected with the base and the rotating plate, the rotating power piece drives the rotating arm to swing, the rotating arm and the balance arm are arranged at intervals along the vertical direction, and the moving path of the rotating arm and the moving path of the balance arm are respectively positioned on two planes; the clamping assembly is mounted on the rotating plate and comprises clamping jaws for clamping a workpiece. According to the manipulator, the rotating arm is driven by the rotating power piece to drive the clamping jaw on the rotating plate to move, and the balance arm is used for limiting the rotating plate to swing in the moving process, so that the clamping jaw is kept vertical in the moving process, the manufacturing cost of the manipulator is reduced, and the reliability of the manipulator is improved; the moving track of the rotating arm and the balance arm are positioned on different planes, so that the rotating arm and the balance arm can interfere.

Description

Mechanical arm

Technical Field

The utility model relates to the field of grabbing and placing instruments, in particular 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. It can replace heavy labor to realize mechanization and automation of production, and can operate in harmful environment to protect personal safety, so it can be widely used in the departments of mechanical manufacture, metallurgy, electronics, light industry and atomic energy.

In practice, it is found that the posture and the position of the tip fingertip of most manipulators are coupled, and the orientation posture of the tip fingertip of each manipulator is changed simultaneously in the process of moving in space, so that the positions of the manipulators suitable for clamping are reduced, and the operation capability of the manipulators in the manipulators is greatly limited. Generally, in order to solve the above problem, at least one servo motor is usually disposed at each joint of the manipulator, so as to accurately control each shaft of the manipulator, which can improve the grasping and releasing precision of the manipulator, but requires increased cost, and has a more complex structure, resulting in high price of the final product, and is not suitable for popularization and application of Hui Xing.

Disclosure of utility model

In order to overcome the defects in the prior art, the utility model aims to provide the manipulator which has a simple structure and can ensure that the clamping jaw at the tail end of the manipulator is always vertical in the moving process so as to improve the clamping precision.

The technical scheme adopted by the utility model is as follows: the manipulator is characterized by comprising a rotating assembly and a clamping piece;

The rotating assembly comprises a base, a rotating plate, a rotating arm, a balance arm and a rotating power piece, wherein two ends of the rotating arm are respectively and rotatably connected with the base and the rotating plate;

The clamping piece is installed on the rotor plate and used for clamping the workpiece.

According to the manipulator disclosed by the utility model, the rotating arm is driven by the rotating power piece to drive the clamping jaw on the rotating plate to move, and the balance arm is arranged to limit the swinging of the rotating plate in the moving process, so that the clamping jaw is kept vertical in the moving process, the clamping accuracy is improved, the structure is simple, the manufacturing cost of the manipulator is effectively reduced, and the reliability of the manipulator is improved; and the moving track of the rotating arm and the balance arm are positioned on different planes, so that the interference of the rotating arm and the balance arm can be avoided when the manipulator swings greatly.

In some embodiments, the rotating assembly further comprises a first rotating shaft, a second rotating shaft, a third rotating shaft and a fourth rotating shaft, the first rotating shaft is connected with the base and the rotating arm, the second rotating shaft is connected with the rotating plate and the rotating arm, the third rotating shaft is connected with the base and the balance arm, and the fourth rotating shaft is connected with the rotating plate and the balance arm.

In some embodiments, the first rotating shaft and the third rotating shaft are sequentially disposed from top to bottom in the vertical direction, and the second rotating shaft and the fourth rotating shaft are sequentially disposed from top to bottom in the vertical direction.

In some embodiments, the balance arm is less spaced from the rotating plate than the swivel arm is spaced from the rotating plate.

In some embodiments, the fourth rotating shaft is convexly provided with a balancing arm near one side of the rotating arm, and the rotating arm is provided with a clearance groove corresponding to the fourth rotating shaft.

In some embodiments, the rotary power member is mounted on the base, and an output end of the rotary power member is connected to the first shaft.

In some embodiments, the rotary power member is one of a rotary cylinder, or a rotary motor.

In some embodiments, the clamping member comprises a clamping power member and clamping jaws, the clamping power member is mounted on the rotating plate, and the clamping power member drives the clamping jaws to open and close.

In some embodiments, the swivel arm is disposed parallel to the balance arm.

In some embodiments, the swivel arm is of unitary or split construction with the balance arm.

Drawings

Fig. 1 is a schematic structural view of a manipulator according to a first embodiment of the present utility model;

FIG. 2 is a schematic view of the manipulator of FIG. 1 from another perspective;

FIG. 3 is a schematic top view of the manipulator of FIG. 2;

Fig. 4 is a schematic structural view of a manipulator according to a second embodiment of the present utility model;

Fig. 5 is a schematic structural view of the manipulator shown in fig. 4 from another perspective.

In the figure: 100. a manipulator; 10. a rotating assembly; 11. a base; 12. a rotating plate; 13. a rotating arm; 131. an empty-avoiding groove; 14. a balance arm; 15. a rotary power member; 16. a first rotating shaft; 17. a second rotating shaft; 18. a third rotating shaft; 19. a fourth rotating shaft; 20. a clamping member; 21. a clamping jaw; 22. clamping the power piece.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. 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 will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When the number of one element is referred to as being "plural," it may be any number of two or more. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. The terminology used herein in the description of the utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

First embodiment:

referring to fig. 1 to 3, a manipulator 100 according to a preferred embodiment of the utility model is characterized by comprising a rotating assembly 10 and a clamping member 20; the rotating assembly 10 comprises a base 11, a rotating plate 12, a rotating arm 13, a balance arm 14 and a rotating power piece 15, wherein two ends of the rotating arm 13 are respectively and rotatably connected with the base 11 and the rotating plate 12, two ends of the balance arm 14 are respectively and rotatably connected with the base 11 and the rotating plate 12, the rotating arm 13 and the balance arm 14 are arranged at intervals, the moving path of the rotating arm 13 and the moving path of the balance arm 14 are respectively positioned on two planes, and the rotating power piece 15 drives the rotating arm 13 to swing; a clamping member 20 is mounted on the rotating plate 12, the clamping member 20 being used to clamp a workpiece. According to the manipulator 100 disclosed by the utility model, the rotating arm 13 is driven by the rotating power piece 15 to drive the clamping jaw 21 on the rotating plate 12 to move, and the balance arm 14 is arranged to limit the swinging of the rotating plate 12 in the moving process, so that the clamping jaw 21 is kept vertical in the moving process, the clamping accuracy is improved, the structure is simple, the manufacturing cost of the manipulator 100 is effectively reduced, and the reliability of the manipulator 100 is improved; and the moving track of the rotating arm 13 and the balance arm 14 are positioned on different planes, so that the interference between the rotating arm 13 and the balance arm 14 can be avoided when the manipulator 100 swings greatly.

As shown in fig. 1 and 2, the rotating assembly 10 further includes a first rotating shaft 16, a second rotating shaft 17, a third rotating shaft 18, and a fourth rotating shaft 19, wherein the first rotating shaft 16 is connected to the base 11 and the rotating arm 13, the second rotating shaft 17 is connected to the rotating plate 12 and the rotating arm 13, the third rotating shaft 18 is connected to the base 11 and the balance arm 14, and the fourth rotating shaft 19 is connected to the rotating plate 12 and the balance arm 14. The first rotating shaft 16 and the third rotating shaft 18 are sequentially arranged from top to bottom in the vertical direction, and the second rotating shaft 17 and the fourth rotating shaft 19 are sequentially arranged from top to bottom in the vertical direction. Also, in order to prevent interference between the balance arm 14 and the swivel arm 13, the gap between the balance arm 14 and the swivel plate 12 is smaller than the gap between the swivel arm 13 and the swivel plate 12, and the distance between the swivel arm 13 and the swivel plate 12 is greater than the thickness of the balance arm 14. Further, in order to make the swing of the rotating plate 12 more stable, the distance between the first rotating shaft 16 and the second rotating shaft 17 is equal to the distance between the third rotating shaft and the fourth rotating shaft 19, so that the synchronization of the hinge joint between the rotating plate 12 and the rotating arm 13 and the balance arm 14 can be ensured, the swing of the rotating plate 12 back and forth in the operation process is prevented, and the stability of the manipulator 100 is improved.

In an embodiment, the fourth rotating shaft 19 is convexly provided with a side of the balance arm 14 near the rotating arm 13, the rotating arm 13 is provided with a clearance groove 131 corresponding to the fourth rotating shaft 19, and interference between the balance arm 14 and the rotating arm 13 can be avoided when the rotating arm 13 is overlapped with the balance arm 14 during operation of the manipulator 100 by providing the clearance groove 131 on the rotating arm 13.

In this embodiment, the rotary power member 15 is mounted on the base 11, and an output end of the rotary power member 15 is connected to the first rotation shaft 16. In this embodiment, the rotary power member 15 is a rotary cylinder, and in other embodiments, the rotary power member 15 may be an oil cylinder or a motor for achieving the same function.

In an embodiment, the clamping member 20 includes a clamping jaw 21 and a clamping power member 22, the clamping power member 22 is mounted on the rotating plate 12, and the clamping power member 22 drives the clamping jaw 21 to open and close. In this embodiment, the clamping power member 22 is a clamping cylinder, and in other embodiments, the clamping power member 22 may be an oil cylinder or a motor for achieving the same function. Preferably, in order to prevent damage to the surface quality of the workpiece when the clamping jaw 21 clamps the workpiece, a protective pad having a lower hardness than the workpiece may be provided inside the clamping jaw 21 to protect the surface quality of the workpiece.

In this embodiment, the rotating arm 13 and the balance arm 14 are all of an integrated structure, so the rotating arm 13 and the balance arm 14 are integrated and have relatively good rigidity.

According to the manipulator 100 disclosed by the utility model, the rotating arm 13 is driven by the rotating power piece 15 to drive the clamping jaw 21 on the rotating plate 12 to move, and the balance arm 14 is arranged to limit the swinging of the rotating plate 12 in the moving process, so that the clamping jaw 21 is kept vertical in the moving process, the clamping accuracy is improved, the structure is simple, the manufacturing cost of the manipulator 100 is effectively reduced, and the reliability of the manipulator 100 is improved; and the moving track of the rotating arm 13 and the balance arm 14 are positioned on different planes, so that the interference between the rotating arm 13 and the balance arm 14 when the manipulator 100 swings greatly can be avoided, the stability of the manipulator 100 in the high-speed moving process is ensured, and the success rate of taking and placing objects of the manipulator 100 is improved.

Second embodiment:

As shown in fig. 4 and fig. 5, the manipulator 100 of the present embodiment has a similar structure to the manipulator 100 of the first embodiment, and is different in that, in the present embodiment, the rotary power member 15 is a servo motor, and the swing amplitude of the manipulator 100 is controlled more accurately by using the servo motor to act on the rotary power source, and on the other hand, a higher torque can be provided, so that a heavier workpiece can be clamped; in addition, in the present embodiment, the rotating arm 13 and the balance arm 14 are both of a split type structure.

As shown in fig. 5, the swivel arm 13 includes a first arm (not shown) and a second arm (not shown), and the first arm and the second arm are connected by a first connection plate (not shown); further, a plurality of screw through holes are formed in the first connecting plate at intervals along the length extending direction of the rotating arm 13, threaded holes corresponding to the screw through holes are formed in the first small arm and the second small arm, and therefore the length of the rotating arm 13 can be conveniently adjusted, and the application range of the manipulator 100 is enlarged on the premise that the rotating arm 13 is not required to be replaced integrally.

As shown in fig. 4, the balance arm 14 includes a first connecting arm (not shown) and a second connecting arm (not shown), and the first connecting arm and the second connecting arm are connected by a second connecting plate (not shown); further, a plurality of screw through holes are formed in the second connecting plate at intervals along the length extending direction of the balance arm 14, and threaded holes corresponding to the screw through holes are formed in the first connecting arm and the second connecting arm, so that the length of the balance arm 14 can be conveniently adjusted, and the length of the balance arm 14 is matched with the length of the rotating arm 13.

Preferably, in order to maintain coaxiality of the first small arm and the second small arm so as to ensure clamping accuracy of the manipulator 100, the rotating arm 13 further comprises a connecting key (not shown), and correspondingly, a key groove (not shown) is arranged at the connecting end of the first small arm and the second small arm, and the connecting key is simultaneously arranged in the key groove of the first small arm and the key groove of the second small arm. In order to maintain coaxiality between the first connecting arm and the second connecting arm, the balance arm 14 adopts the same structure as the swivel arm 13, and the specific structure is not described again.

Finally, it should be noted that the foregoing description is only a preferred embodiment of the present utility model, and the present utility model is not limited to the foregoing embodiments, but may be modified or substituted for some of the features described in the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.

Claims (10)

1. A manipulator (100) characterized by comprising a rotating assembly (10) and a clamping member (20);

The rotary assembly (10) comprises a base (11), a rotary plate (12), a rotary arm (13), a balance arm (14) and a rotary power piece (15), wherein two ends of the rotary arm (13) are respectively and rotatably connected with the base (11) and the rotary plate (12), two ends of the balance arm (14) are respectively and rotatably connected with the base (11) and the rotary plate (12), the rotary arm (13) and the balance arm (14) are arranged at intervals, the moving path of the rotary arm (13) and the moving path of the balance arm (14) are respectively located in two planes, and the rotary power piece (15) drives the rotary arm (13) to swing;

The clamping piece (20) is arranged on the rotating plate (12), and the clamping piece (20) is used for clamping a workpiece.

2. The manipulator (100) according to claim 1, wherein the rotating assembly (10) further comprises a first rotating shaft (16), a second rotating shaft (17), a third rotating shaft (18) and a fourth rotating shaft (19), the first rotating shaft (16) connects the base (11) and the rotating arm (13), the second rotating shaft (17) connects the rotating plate (12) and the rotating arm (13), the third rotating shaft (18) connects the base (11) and the balance arm (14), and the fourth rotating shaft (19) connects the rotating plate (12) and the balance arm (14).

3. The manipulator (100) according to claim 2, wherein the first rotation shaft (16) and the third rotation shaft (18) are sequentially disposed from top to bottom in a vertical direction, and the second rotation shaft (17) and the fourth rotation shaft (19) are sequentially disposed from top to bottom in the vertical direction.

4. The manipulator (100) according to claim 2, characterized in that the gap between the balance arm (14) and the rotating plate (12) is smaller than the gap between the swivel arm (13) and the rotating plate (12).

5. The manipulator (100) according to claim 2, wherein the fourth rotating shaft (19) is convexly provided with a balancing arm (14) close to one side of the rotating arm (13), and the rotating arm (13) is provided with a clearance groove (131) corresponding to the fourth rotating shaft (19).

6. The manipulator (100) according to claim 2, wherein the rotary power member (15) is mounted on the base (11), and wherein an output end of the rotary power member (15) is connected to the first rotation shaft (16).

7. The manipulator (100) according to claim 1, wherein the rotary power member (15) is one of a rotary cylinder, or a rotary motor.

8. The manipulator (100) according to claim 1, wherein the clamping member (20) comprises a clamping power member (22) and a clamping jaw (21), the clamping power member (22) is mounted on the rotating plate (12), and the clamping power member (22) drives the clamping jaw (21) to open and close.

9. The manipulator (100) according to claim 1, wherein the swivel arm (13) is arranged parallel to a balancing arm (14).

10. The manipulator (100) according to claim 1, wherein the swivel arm (13) is of unitary or split construction with the balance arm (14).