CN221186549U - Electrical control power-assisted mechanical arm - Google Patents

Abstract

The utility model belongs to the technical field of electrical engineering equipment, in particular to an electrical control power-assisted manipulator which comprises a mechanical arm main body and a clamping assembly arranged at one end of the mechanical arm main body, wherein the clamping assembly comprises a fixed plate fixedly connected to one end of the mechanical arm main body, and a first motor is arranged on the upper surface of the fixed plate; the material property of extrusion piece wherein can be utilized, increase frictional force makes the centre gripping more firm, can also prevent that article from being pressed from both sides bad, has simultaneously added the subassembly that prevents falling, can utilize the cooperation of guide way and bracing piece wherein, makes the bracing piece rotate and drives two baffles and draw close to the center, prevents that article from dropping the characteristics of breaking.

Description

Electrical control power-assisted mechanical arm

Technical Field

The utility model belongs to the technical field of electrical engineering equipment, and particularly relates to an electrical control power-assisted manipulator.

Background

The electric is a general term in the subjects or engineering fields of electric energy production, transmission, distribution, use, electrician equipment manufacture and the like, products are required to be transferred in electric engineering, and the products are manually transferred in the traditional way, so that the working efficiency is low, and manpower is wasted, and therefore, the electric control power-assisted manipulator is provided;

Through investigation publication (bulletin) number: CN213829038U discloses an electrically controlled power-assisted manipulator, which discloses in the technology that the manipulator comprises a base, a first connecting rod is fixedly connected to the top of the base, and a first motor is fixedly connected to the inside of the first connecting rod; the automatic transfer machine has the technical effects of automatically transferring products, improving the working efficiency, saving labor, being convenient for people to use, and the like;

Although the existing mechanical arm can automatically transfer products, improve the working efficiency and save labor, when the articles are clamped and transported, the clamping faces of the clamping plates are smooth, and the articles with irregular shapes can be possibly dropped off when being clamped, so that the articles to be transported drop, and are inconvenient to use;

in order to solve the above problems, the present application provides an electrically controlled power-assisted manipulator.

Disclosure of utility model

To solve the problems set forth in the background art. The utility model provides an electric control power-assisted manipulator which has the characteristics that friction force can be increased through the material of a squeezing block, so that clamping is firmer, articles can be prevented from being clamped, and the articles can be prevented from falling and being broken due to unstable clamping.

In order to achieve the above purpose, the present utility model provides the following technical solutions: an electric control power-assisted mechanical arm comprises a mechanical arm main body and a clamping assembly arranged at one end of the mechanical arm main body;

The clamping assembly comprises a fixed plate fixedly connected to one end of the mechanical arm main body, a first motor is mounted on the upper surface of the fixed plate, an output shaft of the first motor penetrates through the fixed plate, one end of the first motor, which is far away from the output shaft of the first motor, is fixedly connected with a fixed block, a first fixed shaft is fixedly connected to the inside of the fixed block, two linkage rods are symmetrically and rotatably connected to two ends of the first fixed shaft, one end of the linkage rod, which is far away from the fixed block, is internally and rotatably connected with a second fixed shaft, two ends of the second fixed shaft, which are adjacent, are fixedly connected with clamping rods, two sides of the clamping rods, which are adjacent, are fixedly connected with extrusion blocks, and the clamping faces of the extrusion blocks are wavy.

As the electric control booster manipulator is preferable, two limit shells are symmetrically and fixedly connected to two ends of the fixed plate, the two limit shells form a certain angle to the fixed plate, guide rods are inserted into the limit shells, the guide rods are in sliding connection with the limit shells, and the two guide rods are fixedly connected with the two clamping rods corresponding to the guide rods respectively.

The utility model is preferable as the electric control booster manipulator, and further comprises an anti-falling component arranged on the surface of the clamping rod;

The anti-falling assembly comprises connecting rods which are symmetrically and fixedly connected to two opposite sides of the clamping rods, a rotating groove is formed in one end, away from the clamping rods, of each connecting rod, a rotating shaft is fixedly connected to the inner portion of each rotating groove, a supporting rod is connected to the surface of each rotating shaft in a rotating mode, a sliding groove is formed in the inner portion of each supporting rod, a sliding block is inserted into the sliding groove, the sliding blocks are in sliding connection with the supporting rods, springs are mounted in the sliding grooves, two ends of each spring are fixedly connected with the corresponding sliding blocks and the corresponding supporting rods respectively, and one end, away from the corresponding supporting rods, of each sliding block is fixedly connected with a baffle.

As the electric control booster manipulator, the rotating groove is preferably a U-shaped groove, the sliding groove is a T-shaped groove, the sliding block is a T-shaped block, and the baffle is a semicircular arc.

As the electric control booster manipulator disclosed by the utility model, a positioning block is fixedly connected to the bottom surface of a limiting shell, the positioning block is a trapezoid block, the inclined surface of the positioning block faces upwards, the inclined surface of the positioning block is inlaid in the limiting shell, a guide groove is formed in the positioning block, the guide groove is provided with an obtuse angle groove formed by two rectangular grooves, a sliding rod is inserted in the guide groove, the sliding rod is in sliding connection with the positioning block, a limiting rod is fixedly connected to the surface of the sliding rod, one end of the limiting rod, which is far away from the sliding rod, is fixedly connected with a supporting rod, an accommodating groove is formed in the positioning block, the accommodating groove is communicated with the positioning block, and the supporting rod is inserted in the accommodating groove.

Preferably, the guide groove is wider than the accommodating groove, the sliding rod is cylindrical, and the sliding rod can slide in the guide groove and rotate by a certain amplitude.

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

Compared with the prior art, the utility model has the beneficial effects that: the clamping assembly is added on the utility model, the material property of the extrusion block can be utilized, the friction force is increased, the clamping is firmer, the article can be prevented from being clamped, meanwhile, the falling prevention assembly is added, and the supporting rod can rotate to drive the two baffles to approach the center by utilizing the matching of the guide groove and the supporting rod, so that the article is prevented from falling and being broken.

Drawings

The accompanying drawings are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate the utility model and together with the embodiments of the utility model, serve to explain the utility model. In the drawings:

FIG. 1 is a schematic diagram of the structure of the present utility model;

FIG. 2 is a schematic view of a vertical cross-section of the present utility model;

FIG. 3 is a schematic diagram of the structure of the present utility model after clamping;

FIG. 4 is a cross-sectional view of a locating block and a retaining shell of the present utility model;

FIG. 5 is an enlarged view of the utility model at A in FIG. 2;

In the figure:

1. A robot arm body;

2. A clamping assembly; 21. a first motor; 22. a limit shell; 23. a fixing plate; 24. a guide rod; 25. a clamping rod; 26. a linkage rod; 27. a first fixed shaft; 28. a fixed block; 29. extruding a block; 210. an auxiliary block; 211. a second fixed shaft;

3. An anti-falling assembly; 31. a baffle; 32. a spring; 33. a sliding groove; 34. a support rod; 35. a rotating groove; 36. a connecting rod; 37. a positioning block; 38. a receiving groove; 39. a guide groove; 310. a rotating shaft; 311. a slide block; 312. a slide bar; 313. and a limit rod.

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.

Example 1

As shown in fig. 1 to 5;

An electric control power-assisted mechanical arm comprises a mechanical arm main body 1;

In this embodiment: through investigation publication (bulletin) number: CN213829038U discloses an electric control helping hand manipulator, though current manipulator can automatic transfer product, improves work efficiency, still practices thrift the manpower, but when transporting article centre gripping, because the clamping face of the splint of this design is comparatively smooth, the circumstances that drops probably can appear when the article centre gripping to the shape irregularity, leads to the article that needs to be transported to drop, inconvenient use, for solving this technical problem, add clamping assembly 2 and anti-drop subassembly 3 on the basis of this.

It should be noted that: the robot arm body 1 is formed by a publication (bulletin) number: base, head rod, first motor, threaded rod, screwed pipe, place case, second motor, first gear, second gear, rotation axis, second connecting rod, connecting block, cylinder, third connecting rod, fourth connecting rod, connecting plate, movable rod, splint, fixed block, bolt, supporting shoe, electric telescopic handle, diaphragm, gyro wheel, first spout, first slider, second spout, second slider and fixed plate constitute in CN213829038U, and the theory of use of arm main part 1 references public (bulletin) number: CN213829038U is not described in detail herein.

Further, the method comprises the following steps:

As shown in fig. 1 to 5;

in combination with the above:

In order to realize easy slipping and false article when clamping articles, the electric control power-assisted manipulator comprises a clamping component 2 arranged at one end of a manipulator main body 1; the clamping assembly 2 comprises a fixed plate 23 fixedly connected to one end of the mechanical arm main body 1, a first motor 21 is mounted on the upper surface of the fixed plate 23, an output shaft of the first motor 21 penetrates through the fixed plate 23, one end, away from the first motor 21, of the output shaft of the first motor 21 is fixedly connected with a fixed block 28, a first fixed shaft 27 is fixedly connected to the inside of the fixed block 28, two linkage rods 26 are symmetrically and rotatably connected to two ends of the first fixed shaft 27, one end, away from the fixed block 28, of each of the two linkage rods 26 is rotatably connected with a second fixed shaft 211, one end, adjacent to the two second fixed shafts 211, of each of the two clamping rods 25 is fixedly connected with an auxiliary block 210, one end, adjacent to the two auxiliary blocks 210, of each of the two auxiliary blocks is fixedly connected with a squeezing block 29, and the clamping faces of the two squeezing blocks 29 are wavy.

In this embodiment: the first motor 21 is connected with an external power supply and then started, the fixed block 28 connected with the output shaft of the first motor 21 moves downwards, the linkage rod 26 connected with the fixed block 28 through the first fixed shaft 27 rotates on the surfaces of the first fixed shaft 27 and the second fixed shaft 211, the clamping rod 25 is driven to move through the second fixed shaft 211 in a homeotropic manner, the extrusion block 29 connected with the clamping rod 25 clamps an article by using a wavy surface, and the extrusion block 29 can prevent the article from being extruded and damaged due to the material property of the extrusion block 29 and further increases friction force.

It should be noted that: the extrusion block 29 is made of rubber, and has certain toughness and roughness, so that the articles can be prevented from being damaged and from sliding down.

Still further, the method comprises:

In an alternative embodiment, two limiting shells 22 are symmetrically and fixedly connected to two ends of the fixing plate 23, a certain angle is formed between the two limiting shells 22 and the fixing plate 23, guide rods 24 are inserted into the limiting shells 22, the guide rods 24 are slidably connected with the limiting shells 22, and the two guide rods 24 are fixedly connected with two clamping rods 25 corresponding to the guide rods.

In this embodiment: when the clamping rod 25 moves, the guide rod 24 connected with the clamping rod 25 can slide downwards in the limiting shell 22 due to the stress of the clamping rod 25, so that the movement of the clamping rod 25 is assisted to be smoother.

Still further, the method comprises:

As shown in fig. 2 to 5;

in combination with the above:

In order to prevent the articles from falling and being damaged during clamping and transferring, the electric control power-assisted manipulator further comprises a falling prevention component 3 arranged on the surface of the clamping rod 25; the anti-falling assembly 3 comprises connecting rods 36 which are symmetrically and fixedly connected to opposite sides of the two clamping rods 25, a rotating groove 35 is formed in one end, away from the clamping rods 25, of each connecting rod 36, a rotating shaft 310 is fixedly connected to the inside of each rotating groove 35, a supporting rod 34 is rotatably connected to the surface of each rotating shaft 310, a sliding groove 33 is formed in the inside of each supporting rod 34, a sliding block 311 is inserted into each sliding groove 33, the sliding blocks 311 are slidably connected with the supporting rods 34, springs 32 are arranged in the sliding grooves 33, two ends of each spring 32 are fixedly connected with the corresponding sliding blocks 311 and the corresponding supporting rods 34 respectively, and one end, away from the corresponding supporting rods 34, of each sliding block 311 is fixedly connected with a baffle 31.

In this embodiment: when the manipulator descends to a position where the manipulator can grasp an article, the baffle 31 may touch a placement surface where the article is placed, the sliding block 311 connected with the baffle 31 is forced to slide upwards in the sliding groove 33, so that the spring 32 is forced to be compressed, and when the two clamping rods 25 gather, the connecting rod 36 connected with the clamping rods 25 drives the supporting rod 34 inserted in the rotating groove 35 through the rotating shaft 310 to move.

Still further, the method comprises:

In an alternative embodiment, the rotating groove 35 is a U-shaped groove, the sliding groove 33 is a T-shaped groove, the sliding block 311 is a T-shaped block, and the baffle 31 is a semi-circular arc.

In this embodiment: the rotating groove 35 is set to be a U-shaped groove, so that the supporting rod 34 and the connecting rod 36 are in the same horizontal line, the whole body is more attractive, the sliding groove 33 and the sliding block 311 are in a T shape, so that the sliding groove and the sliding block 311 are matched with each other for gas, and the baffle 31 is in a semicircular arc shape, so that falling objects can be more conveniently held, and the falling objects from two sides can be prevented.

Still further, the method comprises:

In an alternative embodiment, the bottom surface of the limiting shell 22 is fixedly connected with a positioning block 37, the positioning block 37 is a ladder-shaped block, the inclined surface of the positioning block 37 faces upwards, the inclined surface of the positioning block 37 is embedded in the limiting shell 22, a guide groove 39 is formed in the positioning block 37, the guide groove 39 is provided with an obtuse angle groove formed by two rectangular grooves, a sliding rod 312 is inserted in the guide groove 39, the sliding rod 312 is in sliding connection with the positioning block 37, a limiting rod 313 is fixedly connected with the surface of the sliding rod 312, one end of the limiting rod 313, which is far away from the sliding rod 312, is fixedly connected with the supporting rod 34, a containing groove 38 is formed in the positioning block 37, the containing groove 38 is communicated with the positioning block 37, the supporting rod 34 is inserted in the containing groove 38, the guide groove 39 is wider than the containing groove 38, the sliding rod 312 is cylindrical, and the sliding rod 312 can slide in the guide groove 39 and rotate by a certain amplitude.

In this embodiment: the support rod 34 moves, the support rod 34 moves to drive the slide rod 312 to slide in the guide groove 39 through the limit rod 313, and the slide direction of the guide groove 39 is not parallel to the slide direction of the limit shell 22, so that the support rod 34 can rotate around the rotating shaft 310, and the baffle 31 arranged at one end of the support rod 34 far from the slide rod 312 can be closed towards the middle until the lower part of the extrusion block 29 is sealed.

It should be noted that: the accommodating groove 38 can enable the supporting rod 34 to enter the accommodating groove 38 while the supporting rod 34 rotates, so that the positioning block 37 and the supporting rod 34 are prevented from collision.

The working principle and the using flow of the utility model are as follows: when the mechanical arm main body 1 is used for grabbing an article, the mechanical arm is rotated to a position right above the article, then the mechanical arm is lowered to a position capable of grabbing the article, at the moment, the baffle 31 possibly touches a placing surface for placing the article, the sliding block 311 connected with the baffle 31 is stressed to slide upwards in the sliding groove 33, so that the spring 32 is stressed to be compressed, then the first motor 21 is connected with an external power supply and then started, the fixed block 28 connected with the output shaft of the first motor 21 moves downwards, the linkage rod 26 connected with the fixed block 28 through the first fixed shaft 27 rotates on the surfaces of the first fixed shaft 27 and the second fixed shaft 211, the clamping rod 25 is driven to move through the second fixed shaft 211 in a proper manner, the guide rod 24 connected with the clamping rod 25 slides downwards in the limiting shell 22 due to the stress of the clamping rod 25, the extrusion piece 29 that connects through auxiliary block 210 and grip lever 25 will hold the article with the wave surface, extrusion piece 29 can prevent article by the extrusion damage because of self material characteristic, still increased frictional force, when two grip levers 25 gather together, the connecting rod 36 that is connected with grip lever 25 can drive and insert the bracing piece 34 that establishes at the inside of rotation groove 35 through pivot 310 and remove, bracing piece 34 removes and can drive slide bar 312 and slide in the inside of guide way 39 through gag lever post 313, because of the slip direction of guide way 39 is nonparallel with the slip direction of spacing shell 22, indirectly lead to bracing piece 34 can regard as the axle 310 to rotate, baffle 31 that the setting was kept away from slide bar 312 one end at bracing piece 34 can draw close to the centre, until seal extrusion piece 29's below, prevent article drop because of external factor leads to smashing.

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 thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present utility model has been described in detail with reference to 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 (6)

1. The utility model provides an electric control helping hand manipulator, includes arm main part (1), its characterized in that: the clamping assembly (2) is arranged at one end of the mechanical arm main body (1);

Clamping assembly (2) are in including fixed connection fixed plate (23) of arm main part (1) one end, the last surface mounting of fixed plate (23) has first motor (21), the output shaft of first motor (21) runs through fixed plate (23), the output shaft of first motor (21) is kept away from one end fixedly connected with fixed block (28) of first motor (21), the inside fixedly connected with first fixed axle (27) of fixed block (28), the both ends symmetry rotation of first fixed axle (27) is connected with two gangbars (26), two the gangbar (26) are kept away from one end inside rotation of fixed block (28) is connected with second fixed axle (211), two one end fixedly connected with clamping lever (25) that the second fixed axle (211) is adjacent, two one side fixedly connected with auxiliary block (210) that clamping lever (25) is adjacent, two one end fixedly connected with extrusion block (29) that auxiliary block (210) is adjacent, two the clamping face that extrusion block (29) is the wave.

2. The electrically controlled boost manipulator of claim 1, wherein: two limit shells (22) are symmetrically and fixedly connected to two ends of the fixing plate (23), a certain angle is formed between the two limit shells (22) and the fixing plate (23), guide rods (24) are inserted into the limit shells (22), the guide rods (24) are in sliding connection with the limit shells (22), and the two guide rods (24) are respectively and fixedly connected with two clamping rods (25) corresponding to the guide rods.

3. The electrically controlled boost manipulator of claim 2, wherein: the anti-falling assembly (3) is arranged on the surface of the clamping rod (25);

The anti-falling assembly (3) comprises connecting rods (36) which are symmetrically and fixedly connected to opposite sides of the clamping rods (25), one ends of the connecting rods (36) are far away from the clamping rods (25), rotating grooves (35) are formed in the ends of the connecting rods, rotating shafts (310) are fixedly connected to the surfaces of the rotating shafts (310), supporting rods (34) are rotatably connected to the surfaces of the rotating shafts (310), sliding grooves (33) are formed in the supporting rods (34), sliding blocks (311) are inserted into the sliding grooves (33), the sliding blocks (311) are in sliding connection with the supporting rods (34), springs (32) are mounted in the inner portions of the sliding grooves (33), and two ends of each spring (32) are fixedly connected with the sliding blocks (311) and the supporting rods (34) respectively, and one ends of the sliding blocks (311) far away from the supporting rods (34) are fixedly connected with baffle plates (31).

4. The electrically controlled boost manipulator of claim 3, wherein: the rotating groove (35) is a U-shaped groove, the sliding groove (33) is a T-shaped groove, the sliding block (311) is a T-shaped block, and the baffle (31) is a semicircular arc.

5. The electrically controlled boost manipulator of claim 4, wherein: the utility model discloses a locating piece, including locating piece (37) and locating piece (37), locating piece (37) are fixed connection, locating piece (37) are trapezoidal piece, locating piece (37) are inclined plane up, locating piece (37) are inlayed the inside of locating piece (22), guide slot (39) have been seted up to the inside of locating piece (37), guide slot (39) have an obtuse angle's of two rectangular channel constitution groove, slide bar (312) have been inserted to the inside of guide slot (39), slide bar (312) with locating piece (37) sliding connection, slide bar (312) are fixed connection's surface limit lever (313), one end that slide bar (312) were kept away from to limit lever (313) with bracing piece (34) fixed connection, holding tank (38) have been seted up to the inside of locating piece (37), holding tank (38) with locating piece (37) communicate with each other, bracing piece (34) are inserted and are established the inside of holding tank (38).

6. The electrically controlled boost manipulator of claim 5, wherein: the guide groove (39) is wider than the accommodating groove (38), the sliding rod (312) is cylindrical, and the sliding rod (312) can slide in the guide groove (39) and rotate by a certain amplitude.