CN222200567U - Multi-degree-of-freedom industrial mechanical arm - Google Patents

Abstract

The utility model provides a multi-degree-of-freedom industrial mechanical arm which comprises a base, wherein the base is rotationally connected with a supporting arm, the supporting arm is rotationally connected with a large arm, the large arm is connected with a small arm through a first ball joint, the small arm is detachably connected with a connecting arm, the connecting arm is connected with a rotating arm through a second ball joint, the rotating arm is rotationally connected with a clamp, the clamp is connected with a fixed clamping jaw and a movable clamping jaw which can clamp a workpiece, and the multi-degree-of-freedom industrial mechanical arm further comprises a controller for controlling the mechanical arm to work. The device is convenient to operate, has multiple degrees of freedom, is more flexible, can effectively increase the grabbing range of the mechanical arm, is high in safety performance, and can effectively reduce the damage degree of the mechanical arm under the condition of abrupt load change.

Description

Multi-degree-of-freedom industrial mechanical arm

Technical Field

The utility model relates to the technical field of mechanical arms, in particular to a multi-degree-of-freedom industrial mechanical arm.

Background

The mechanical arm can move any object or tool according to the time-varying requirement of space pose (position and pose), thereby completing the operation requirement of certain industrial production. The industrial mechanical arm has the advantages of high efficiency, good stability, high repeated positioning performance, capability of operating in a high-risk environment and the like.

The existing industrial mechanical arm is generally matched with the end effector to grasp, but the mechanical arm is insufficient in stretching height, limited in rotation angle and inconvenient to use, the mechanical arm is difficult to reach in the dead angle, the use range of the robot is reduced, the mechanical arm is damaged under the condition of abrupt load change, the service life is prolonged, and the safety problem is easy to occur.

Disclosure of utility model

In order to solve the problems in the prior art, the multi-degree-of-freedom industrial mechanical arm is provided. The device is convenient to operate, has multiple degrees of freedom, is more flexible, can effectively increase the grabbing range of the mechanical arm, is high in safety performance, and can effectively reduce the damage degree of the mechanical arm under the condition of abrupt load change.

The technical scheme adopted for solving the technical problems is as follows:

The utility model provides a multi-degree-of-freedom industrial mechanical arm which comprises a base, wherein the base is rotationally connected with a supporting arm, the supporting arm is rotationally connected with a large arm, the large arm is connected with a small arm through a first ball joint, the small arm is detachably connected with a connecting arm, the connecting arm is connected with a rotating arm through a second ball joint, the rotating arm is rotationally connected with a clamp, the clamp is connected with a fixed clamping jaw and a movable clamping jaw, and the clamp also comprises a controller for controlling the mechanical arm to work.

Preferably, the base is fixedly connected with a first motor capable of driving the support arm to rotate, the first motor is connected with the support arm, and the first motor is connected with the controller.

Preferably, the support arm is connected with a screw rod arranged in the vertical direction in a rotating manner, the screw rod is provided with a screw nut in a matched manner, an auxiliary arm is hinged to the screw nut, and the other end of the auxiliary arm is hinged to the large arm.

Preferably, the support arm is fixedly connected with a second motor capable of driving the screw rod to rotate, the screw rod is connected with the second motor, the second motor is connected with the controller, and the screw nut is in sliding connection with the support arm.

Preferably, the clamp is rotationally connected with a clamping screw rod, the clamping screw rod is matched with a clamping screw, the clamping screw is in sliding connection with the clamp, and the clamping screw is rotationally connected with the movable clamping jaw through a rotating shaft.

Preferably, the fixture is fixedly connected with a fourth motor capable of driving the clamping screw rod to rotate, the fixture is also fixedly connected with a third motor capable of driving the movable clamping jaw to rotate around the rotating shaft, and the third motor and the fourth motor are both connected with the controller.

Preferably, the rotating arm is connected with a third cylinder, the third cylinder is connected with a moving rod, the moving rod is fixedly connected with a sliding block, the clamp is coaxially and fixedly connected with a barrel-shaped cam, the barrel-shaped cam is provided with a sliding groove, the sliding block is arranged in the sliding groove in a sliding manner, and the third cylinder is connected with the controller.

Preferably, the big arm is connected with a first cylinder, the first cylinder is hinged with a connecting rod, the other end of the connecting rod is hinged with a first joint rod, the first joint rod is fixedly connected with the small arm, the first joint rod is in sliding connection with the first ball joint, and the first cylinder is connected with the controller.

Preferably, the connecting arm is connected with a second cylinder, the second cylinder is hinged with a connecting rod, the other end of the connecting rod is hinged with a second joint rod, the second joint rod is fixedly connected with the rotating arm, the second joint rod is in sliding connection with the second ball joint, and the second cylinder is connected with the controller.

Preferably, a bracket capable of supporting the small arm is arranged in the small arm, a clamping plate capable of clamping the bracket and an electromagnetic chuck capable of adsorbing the bracket are connected in the small arm, the small arm is connected with a torque sensor capable of detecting a load, and the electromagnetic chuck and the torque sensor are connected with the controller.

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

1. The height of the device is increased through the arranged supporting arm, and the screw is driven to move by the aid of the screw rod through the aid of the auxiliary arm mechanism, so that the auxiliary arm is driven to move up and down to realize angle conversion of the large arm, the large arm is lifted by forward rotation of the motor, the large arm is lowered by reverse rotation of the motor, position control can be stably and accurately realized by the aid of the screw rod in the moving process, good gesture stability and high moving precision of the mechanical arm are guaranteed, and the stretching height and grabbing range of the mechanical arm are improved.

2. The first ball joint and the second ball joint are arranged in the utility model, the arm can be driven to move around the big arm by utilizing different telescopic motions of the first cylinder and the second cylinder, the rotating arm can move around the connecting arm, the space angle transformation is realized, the arm and the rotating arm can be driven to be transformed in a non-horizontal plane, the rotating angle of the mechanical arm is flexible and changeable, the flexibility of the device is effectively improved, and the grabbing dead angle is reduced.

3. The utility model is provided with the bracket, can protect the galloping phenomenon caused by sudden load change, reduces the running speed of the mechanical arm when the moment sensor detects abnormal load, and the electromagnetic chuck is electrified to generate magnetic force to adsorb the bracket, meanwhile, the clamping plate is loosened, the bracket is straightened to the ground, the mechanical arm is kept in a horizontal straightening state, the problems of damage to the mechanical arm and reduction of service life caused by sudden load change are reduced, and the safety and stability of the device are improved.

4. The clamping screw rod is arranged, the clamping screw rod can rotate to drive the clamping screw to move, the clamping screw can drive the movable clamping jaw to move, meanwhile, the motor can drive the movable clamping jaw to rotate around the rotating shaft, flexible clamping of a workpiece can be realized, the arranged anti-slip pad can play a role in preventing slipping, stability in clamping the workpiece is improved, clamping transmission is enabled to be more stable through a transmission mode of the screw rod, and clamping precision is improved.

Drawings

The foregoing and/or additional aspects and advantages of the utility model will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:

FIG. 1 is an overall perspective view of the present utility model;

FIG. 2 is an overall perspective view of the present utility model (with the bracket extended);

FIG. 3 is a schematic view of a portion of the auxiliary arm of FIG. 1;

FIG. 4 is a schematic view of a portion of the first ball joint assembly of FIG. 1;

FIG. 5 is a schematic view of the small arm section of FIG. 1;

FIG. 6 is a schematic view of a portion of the swivel arm of FIG. 1:

Fig. 7 is a schematic view of a portion of the structure of the jig shown in fig. 1.

Reference numerals illustrate:

1 base, 2 first motors, 3 supporting arms, 31 second motors, 32 lead screws, 33 nuts, 4 auxiliary arms, 5 connecting seats, 6 large arms, 61 first cylinders, 62 first ball joints, 63 first joint rods, 7 connecting arms, 71 second cylinders, 72 second ball joints, 73 second joint rods, 8 small arms, 81 bracket motors, 82 baffle motors, 83 clamp plate motors, 84 moment sensors, 85 baffles, 86 brackets, 87 supporting legs, 88 clamp plates, 89 electromagnetic chucks, 9 rotating arms, 91 third cylinders, 92 moving rods, 93 barrel cams, 94 sliding blocks, 10 clamps, 11 conveying belts, 12 third motors, 13 fourth motors, 14 fixed clamping jaws, 15 movable clamping jaws, 16 anti-skid pads, 17 rotating shafts, 18 clamping nuts, 19 clamping lead screws.

Detailed Description

Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the utility model.

Example 1

As shown in fig. 1-7, this embodiment provides a multi-degree-of-freedom industrial mechanical arm, including a base 1, a conveyor belt 11 for conveying workpieces is provided on one side of the base 1, the base 1 is rotatably connected with a support arm 3, the base 1 is fixedly connected with a first motor 2 capable of driving the support arm 3 to rotate, the first motor 2 is connected with the support arm 3, and further includes a controller for controlling the mechanical arm to work, the first motor 2 is connected with the controller, and the height of the device is increased by the support arm 3, so that the workpieces can be clamped conveniently.

The top end of the supporting arm 3 is fixedly connected with a connecting seat 5, the connecting seat 5 is rotationally connected with a large arm 6, the large arm 6 is connected with a small arm 8 through a first ball joint 62, the small arm 8 is detachably connected with a connecting arm 7, the connecting arm 7 is connected with a rotating arm 9 through a second ball joint 72, the rotating arm 9 is rotationally connected with a clamp 10, and the clamp 10 is connected with a fixed clamping jaw 14 and a movable clamping jaw 15 which can clamp a workpiece. The connecting arm 7 can be detachably connected with the small arm 8 through bolts, the small arm 8 can be detached according to actual needs, and when the small arm 8 is not arranged, the large arm 6 is directly connected with the connecting arm 7 through the first ball joint 62.

The support arm 3 rotates and is connected with the lead screw 32 that vertical direction set up, and lead screw 32 cooperation is provided with the screw 33, and the screw 33 articulates there is auxiliary arm 4, and auxiliary arm 4 other end and big arm 6 are articulated, and when the vertical direction reciprocating motion of screw 33, accessible auxiliary arm 4 drive big arm 6 and rotate around support arm 3.

The support arm 3 is fixedly connected with a second motor 31 which can drive the screw rod 32 to rotate, the screw rod 32 is connected with the second motor 31, the second motor 31 is connected with the controller, and the screw 33 is in sliding connection with the support arm 3, so that the screw 33 can only move in the vertical direction.

Through setting up auxiliary arm 4 mechanism, utilize lead screw 32 to drive screw 33 and remove to drive auxiliary arm 4 reciprocates in order to realize the angle transformation of big arm 6, second motor 31 corotation makes big arm 6 raise, and second motor 31 reversal makes big arm 6 reduce, and lead screw 32 can stably, accurately realize position control in the motion process, has guaranteed good gesture stability and the high motion precision of arm, improves the extension height and the range of snatching of arm.

The clamp 10 is rotationally connected with a clamping screw rod 19, the clamping screw rod 19 is matched with a clamping screw 18, the clamping screw 18 is in sliding connection with the clamp 10, the clamping screw 18 is rotationally connected with a movable clamping jaw 15 through a rotating shaft 17, the clamping screw 18 is rotationally connected with the rotating shaft 17, the rotating shaft 17 is fixedly connected with the movable clamping jaw 15, and the movable clamping jaw 15 can rotate around the rotating shaft 17.

The clamp 10 is fixedly connected with a fourth motor 13 which can drive the clamping screw rod 19 to rotate, the fourth motor 13 is connected with the clamping screw rod 19, the clamp 10 is also fixedly connected with a third motor 12 which can drive the movable clamping jaw 15 to rotate around the rotating shaft 17, the third motor 12 is connected with the rotating shaft 17, the third motor 12 can drive the rotating shaft 17 to rotate, and the third motor 12 and the fourth motor 13 are connected with a controller.

The fixed clamping jaw 14 and the clamp 10 are fixedly connected, the anti-slip pads 16 are arranged on the inner sides of the fixed clamping jaw 14 and the movable clamping jaw 15, the clamping screw rod 19 rotates to drive the clamping screw 18 to move, the clamping screw 18 can drive the movable clamping jaw 15 to move, meanwhile, the third motor 12 can drive the movable clamping jaw 15 to rotate around the rotating shaft 17, flexible clamping of workpieces can be achieved, the anti-slip pads 16 can play an anti-slip role, stability of clamping the workpieces is improved, the transmission mode of the screw rod can enable clamping transmission to be stable, and clamping precision is improved.

The swinging boom 9 is connected with the third cylinder 91, the third cylinder 91 is connected with the movable rod 92, the movable rod 92 can only carry out the reciprocal slip of horizontal direction, the movable rod 92 fixedly connected with slider 94, the coaxial fixedly connected with barrel cam 93 of anchor clamps 10, barrel cam 93 and swinging boom 9 rotate to be connected, the spout has been seted up to barrel cam 93, slider 94 slides and sets up in the spout, the third cylinder 91 links to each other with the controller, when slider 94 horizontal direction motion, can drive barrel cam 93 and rotate, thereby drive anchor clamps 10 and rotate.

The big arm 6 is connected with first cylinder 61, and first cylinder 61 articulates there is the connecting rod, and the connecting rod other end articulates there is first joint pole 63, and first joint pole 63 and forearm 8 fixed connection, first joint pole 63 and first ball joint 62 sliding connection, first cylinder 61 links to each other with the controller, can prevent to block through the connecting rod that sets up.

The first ball joint 62 comprises a first ball sleeve and a first ball body, the first ball sleeve is fixedly connected with the big arm 6, the first ball body is movably connected with the first ball sleeve, the first ball body can move in the first ball sleeve at will, when the first cylinder 61 drives the connecting rod to move, the small arm 8 can be driven to move through the first joint rod 63, and at the moment, the small arm 8 moves around the big arm 6.

The connecting arm 7 is connected with a second cylinder 71, the second cylinder 71 is hinged with a connecting rod, the other end of the connecting rod is hinged with a second joint rod 73, the second joint rod 73 is fixedly connected with the rotating arm 9, the second joint rod 73 is slidably connected with a second ball joint 72, the second cylinder 71 is connected with a controller, and the locking can be prevented through the connecting rod.

The second ball joint 72 comprises a second ball sleeve and a second ball body, the second ball sleeve is fixedly connected with the connecting arm 7, the second ball body is movably connected with the second ball sleeve, the second ball body can move in the second ball sleeve at will, when the second cylinder 71 drives the connecting rod to move, the second joint rod 73 can drive the rotating arm 9 to move, and at the moment, the rotating arm 9 moves around the connecting arm 7.

Example two

Referring to fig. 1 to 7, other structures are the same as those of the first embodiment except that protection problems in the event of abrupt load change are considered in the present embodiment.

The small arm 8 is internally provided with a bracket 86 which can support the small arm 8, the small arm 8 is internally connected with a clamping plate 88 which can clamp the bracket 86 and an electromagnetic chuck 89 which adsorbs the bracket 86, the small arm 8 is connected with a moment sensor 84 which can detect the load, and the electromagnetic chuck 89 and the moment sensor 84 are connected with a controller.

The forearm 8 rotates to be connected with can hold the baffle 85 that support 86, and forearm 8 fixedly connected with can drive baffle 85 pivoted baffle motor 82, and baffle motor 82 can drive baffle 85 rotation to make baffle 85 open, when splint 88 no longer carries out the centre gripping to support 86 this moment, support 86 can free fall falls subaerial, realizes the protection, and baffle motor 82 links to each other with the controller.

The small arm 8 is connected with a support motor 81, the support motor 81 can drive a support 86 to stretch, the support 86 can be connected with a mechanism for converting rotary motion into linear motion, the rotary acting force of the support motor 81 is converted into linear motion for stretching the support 86 through the mechanism, the stretching length of the support 86 depends on the height of the small arm 8 at the moment, and the controller controls the support motor 81 to work for a longer time the greater the height of the small arm 8 is, so that the support 86 stretches out for a sufficient length, and the small arm 8 is supported conveniently.

In addition, the bracket motor 81 can be replaced by a spring, at this time, when the bracket 86 is positioned in the small arm 8, the spring is in a compressed state, so that the bracket 86 is stored, when the bracket 8 rotates outwards, the bracket 86 can be driven to stretch under the action of the spring, and after the bracket 86 is contacted with the ground, the small arm 8 is supported.

In order to facilitate the movement of the support 86, the upper end of the support 86 may rotate with the forearm 8, when the support 86 rotates to a vertical state, the electromagnetic chuck 89 may adsorb the upper end of the support 86, and when the support 86 rotates to a vertical state, the electromagnetic chuck 89 may cooperate with the upper end of the support 86, thereby facilitating the overall stabilization of the support 86.

The support 86 lower extreme still rotates and is connected with a plurality of landing leg 87, and support 86 sliding connection has the slider, and the slider articulates there is the connecting rod, and the connecting rod other end articulates with landing leg 87, and when support 86 descends, a plurality of landing leg 87 struts this moment, realizes the support to support 86, through the mode of multiple spot support, improves the support effect of support 86 to forearm 8.

The small arm 8 is also connected with a clamping plate motor 83 capable of driving the clamping plate 88 to move, the clamping plate motor 83 is connected with a controller, and the clamping plate motor 83 can control the clamping plate 88 to move, so that the clamping of the bracket 86 is realized.

The support 86 can protect the galloping phenomenon generated by sudden load change, when the moment sensor 84 detects that the load is abnormal, the operation speed of the mechanical arm is reduced, the electromagnetic chuck 89 is electrified to generate magnetic force to adsorb the support 86, meanwhile, the clamping plate 88 is loosened, the support 86 is straightened to the ground, the mechanical arm is kept in a horizontal straightening state, the damage of the mechanical arm caused by sudden load change and the reduction of the service life are reduced, and the safety and the stability of the device are improved.

Example III

Referring to fig. 1-7, other structures are the same as the first embodiment except that the problem of rotation of the ball joint is considered in this embodiment.

The first cylinders 61 may be provided with three, and the three first cylinders 61 are all fixedly connected with the big arm 6, and the first cylinders 61 include three first piston rods, and the three first piston rods are respectively hinged with the first joint ball 62, the first joint ball 62 is fixedly connected with the first joint rod 63, and the first joint rod 63 is fixedly connected with the small arm 8.

The second cylinders 71 may be provided with three, and all three second cylinders 71 are fixedly connected with the connecting arm 7, and the second cylinders 71 include three second piston rods, and the three second piston rods are respectively hinged with the second joint balls 72, and the second joint balls 72 are fixedly connected with the second joint rods 73, and the second joint rods 73 are fixedly connected with the rotating arm 9.

The first air cylinder 61 and the second air cylinder 71 are connected with a controller, the controller can control the three first piston rods and the three second piston rods to move different lengths respectively, and when the lengths of the first piston rods and the second piston rods are different, the first joint ball 62 and the second joint ball 72 can be driven to move, so that the rotation of the forearm 8 and the rotating arm 9 is realized. By adopting the mode, the rotation of the small arm 8 and the rotating arm 9 can be more flexible and more accurate.

Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the spirit and scope of the utility model as defined by the appended claims and their equivalents.

Claims (10)

1. The multi-degree-of-freedom industrial mechanical arm comprises a base (1) and is characterized in that the base (1) is rotationally connected with a supporting arm (3), the supporting arm (3) is rotationally connected with a big arm (6), the big arm (6) is connected with a small arm (8) through a first ball joint (62), the small arm (8) is detachably connected with a connecting arm (7), the connecting arm (7) is connected with a rotating arm (9) through a second ball joint (72), the rotating arm (9) is rotationally connected with a clamp (10), the clamp (10) is connected with a fixed clamping jaw (14) and a movable clamping jaw (15) which can clamp a workpiece, and the multi-degree-of-freedom industrial mechanical arm further comprises a controller for controlling the mechanical arm to work.

2. The multi-degree-of-freedom industrial mechanical arm according to claim 1, wherein the base (1) is fixedly connected with a first motor (2) capable of driving the supporting arm (3) to rotate, the first motor (2) is connected with the supporting arm (3), and the first motor (2) is connected with the controller.

3. The multi-degree-of-freedom industrial mechanical arm according to claim 1, wherein the supporting arm (3) is rotatably connected with a screw rod (32) arranged in the vertical direction, the screw rod (32) is provided with a nut (33) in a matched mode, the nut (33) is hinged with an auxiliary arm (4), and the other end of the auxiliary arm (4) is hinged with the big arm (6).

4. A multi-degree-of-freedom industrial robot according to claim 3, wherein the support arm (3) is fixedly connected with a second motor (31) capable of driving a screw (32) to rotate, the screw (32) is connected with the second motor (31), the second motor (31) is connected with the controller, and the screw nut (33) is slidingly connected with the support arm (3).

5. The multi-degree-of-freedom industrial mechanical arm according to claim 1, wherein the clamp (10) is rotatably connected with a clamping screw rod (19), the clamping screw rod (19) is provided with a clamping screw (18) in a matched mode, the clamping screw (18) is slidably connected with the clamp (10), and the clamping screw (18) is rotatably connected with the movable clamping jaw (15) through a rotating shaft (17).

6. The multi-degree-of-freedom industrial mechanical arm according to claim 5, wherein the clamp (10) is fixedly connected with a fourth motor (13) capable of driving the clamping screw (19) to rotate, the clamp (10) is also fixedly connected with a third motor (12) capable of driving the movable clamping jaw (15) to rotate around the rotating shaft (17), and the third motor (12) and the fourth motor (13) are both connected with the controller.

7. The multi-degree-of-freedom industrial mechanical arm according to claim 1, wherein the rotating arm (9) is connected with a third cylinder (91), the third cylinder (91) is connected with a moving rod (92), the moving rod (92) is fixedly connected with a sliding block (94), the clamp (10) is coaxially and fixedly connected with a barrel-shaped cam (93), the barrel-shaped cam (93) is provided with a sliding groove, the sliding block (94) is slidably arranged in the sliding groove, and the third cylinder (91) is connected with the controller.

8. The multi-degree-of-freedom industrial mechanical arm according to claim 1, wherein the large arm (6) is connected with a first cylinder (61), the first cylinder (61) is hinged with a connecting rod, the other end of the connecting rod is hinged with a first joint rod (63), the first joint rod (63) is fixedly connected with the small arm (8), the first joint rod (63) is slidably connected with the first ball joint (62), and the first cylinder (61) is connected with the controller.

9. The multi-degree-of-freedom industrial mechanical arm according to claim 1, wherein the connecting arm (7) is connected with a second cylinder (71), the second cylinder (71) is hinged with a connecting rod, the other end of the connecting rod is hinged with a second joint rod (73), the second joint rod (73) is fixedly connected with the rotating arm (9), the second joint rod (73) is slidably connected with the second ball joint (72), and the second cylinder (71) is connected with the controller.

10. The multi-degree-of-freedom industrial mechanical arm according to claim 1, wherein a bracket (86) capable of supporting the small arm (8) is arranged in the small arm (8), a clamping plate (88) capable of clamping the bracket (86) and an electromagnetic chuck (89) capable of adsorbing the bracket (86) are connected in the small arm (8), a moment sensor (84) capable of detecting a load is connected to the small arm (8), and the electromagnetic chuck (89) and the moment sensor (84) are connected with the controller.