WO2021017528A1 - 一种工业机器人手臂伸曲机构 - Google Patents
一种工业机器人手臂伸曲机构 Download PDFInfo
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- WO2021017528A1 WO2021017528A1 PCT/CN2020/085193 CN2020085193W WO2021017528A1 WO 2021017528 A1 WO2021017528 A1 WO 2021017528A1 CN 2020085193 W CN2020085193 W CN 2020085193W WO 2021017528 A1 WO2021017528 A1 WO 2021017528A1
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- WIPO (PCT)
- Prior art keywords
- wall
- connecting rod
- gear
- rod
- industrial robot
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
Definitions
- the present invention relates to the technical field of robot arms, in particular to an industrial robot arm extension and bending mechanism.
- the robot gripper is a device that can imitate the movements of human hands and arms to grasp, carry objects or operate tools. It can effectively reduce the labor load of personnel and improve work efficiency. It has been widely used in machinery manufacturing, metallurgy, and electronics. With the rapid development of modern industrial production in various fields, the industry has developed a variety of specifications and types of robot grippers. The factory has gradually replaced manual production with robots. In the past, manual production was carried out by humans holding production tools. The production tool needs to be installed with a gripper and installed at the end of the robot.
- the purpose of the present invention is to solve the problems existing in the prior art, and proposes an industrial robot arm extension and bending mechanism.
- An industrial robot arm extension and bending mechanism comprising a base, the top of the base is connected with a worktable, the top of the worktable is connected with a fixed plate, the outer wall of the fixed plate is connected with a reciprocating mechanism, and the outer wall of the worktable is slidingly connected
- a transmission rack the outer wall of the transmission rack is meshedly connected with a first gear
- the outer wall of the first gear is connected with a first connecting rod
- the first connecting rod is fixedly connected to the outer wall of the fixed plate
- the first connecting rod The two ends of the rod are respectively rotatably connected with a second connecting rod and a seventh connecting rod
- the seventh connecting rod is fixedly connected with the first gear
- the end of the second connecting rod away from the first connecting rod is connected with a third connecting rod
- a second gear is connected to the junction of the third connecting rod and the seventh connecting rod
- a third gear is meshingly connected to the outer wall of the second gear
- a fourth connecting rod is connected to the outer wall of the third gear.
- Both ends of the four connecting rods are rotatably connected with a fifth connecting rod, the ends of the two fifth connecting rods away from the fourth connecting rod are both connected with a sixth connecting rod, and the outer wall of the sixth connecting rod is connected with a clamping mechanism .
- a connecting rod is fixedly connected between the third connecting rod and the fourth connecting rod.
- the reciprocating mechanism includes a first motor, the first motor is connected to the outer wall of the fixed plate, the output end of the first motor is connected with a rotating shaft, and the end of the rotating shaft away from the first motor passes through the fixed
- the plate is also connected with a disc, the outer wall of the disc is connected with a limit lever, the outer wall of the transmission rack is meshedly connected with a sector gear, the sector gear is rotatably connected to the outer wall of the fixed plate, and the outer wall of the sector gear is connected with a rotating rod ,
- the outer wall of the rotating rod is excavated with a limiting groove matching the limiting rod.
- a sliding groove is excavated on the outer wall of the workbench, and the transmission rack is slidably connected in the sliding groove.
- the clamping mechanism includes a fixed block, the outer wall of the fixed block is connected with a cylinder, the output end of the cylinder is connected with a telescopic rod, and the end of the telescopic rod away from the cylinder is connected with a moving frame, and the outer wall of the fixed block
- a fixed shaft is connected, the outer wall of the fixed shaft is respectively rotatably connected with two movable rods, the outer wall of the movable frame is connected with a sliding rod, the outer walls of the two movable rods are cut with concave holes, and the sliding rod is slidably connected to Inside the concave hole, and the outer walls of the two movable rods are respectively connected with a first clamping plate and a second clamping plate.
- an elastic element is sleeved on the outer wall of the telescopic rod, and the elastic element is connected between the air cylinder and the moving frame.
- both the second clamping plate and the outer wall of the movable rod are drilled with threaded holes, and bolts are movably connected in the threaded holes.
- the outer walls of the first splint and the second splint are both connected with rubber pads, and the outer walls of the rubber pads are provided with anti-slip patterns.
- a groove is excavated on the outer wall of the base, a second motor is connected to the inner wall of the groove, and a support column is connected to the output end of the second motor, and the support column is connected to the workbench.
- the present invention provides an industrial robot arm stretching and bending mechanism, which has the following beneficial effects:
- the industrial robot arm extension and bending mechanism when the robot arm needs to be controlled to grasp objects, the reciprocating mechanism drives the transmission rack to move, so that the transmission rack meshes with the first gear, and the first gear drives the seventh gear.
- the rod rotates around the first connecting rod to raise the seventh connecting rod.
- the seventh connecting rod is raised, the third connecting rod is moved upwards, which will drive the second gear to mesh with the third gear, thereby driving the third gear
- the fourth link moves, so that the fourth link drives the two fifth links to rotate, and the sixth link drives the clamping mechanism to clamp the object.
- the invention uses the rotation between the links to make the robot gripper
- the degree of freedom of rotation of the forearm and the rear arm is improved, thereby improving the grasping efficiency of the robot gripper, which is beneficial to the reduction of industrial production costs.
- the reciprocating mechanism of the industrial robot arm stretches and flexes, it must first control the operation of the first motor so that the output end of the first motor drives the disc to rotate on the fixed plate, so that the disc drives the limit during rotation
- the rod slides in the limit slot, so that the sector gear meshes with the transmission rack, so that the transmission rack slides on the worktable, and then the transmission rack reciprocates, so that the device can reciprocate, so that the robot gripper can reciprocate.
- the items are picked up and down.
- the arm extension and flexure mechanism of the industrial robot cuts a chute on the outer wall of the worktable to make the transmission rack slide inside the chute, which is conducive to the more stable movement of the transmission rack and improves the movement stability of the device.
- the extension and bending mechanism of the industrial robot arm When the clamping mechanism is working, the output end of the cylinder drives the telescopic rod to extend by controlling the operation of the cylinder, so that the sliding rod on the outer wall of the movable frame is in the concave hole excavated on the outer wall of the movable rod. Sliding makes the two movable rods rotate around the fixed shaft, and the two movable rods approach each other, thereby driving the first clamping plate and the second clamping plate to clamp the article.
- the extension and flexure mechanism of the industrial robot arm through the sleeve of the elastic element on the outer wall of the telescopic rod, can play a buffering role when the cylinder controls the expansion and contraction of the telescopic rod, avoiding the expansion and contraction of the telescopic rod too quickly, resulting in the moving frame and the fixed block Collision helps to increase the service life of the device.
- the extension and bending mechanism of the industrial robot arm can adjust the angle of the second splint for objects of different shapes by mounting the second splint on the movable rod through bolts, which is convenient for grasping the object.
- the extension and bending mechanism of the industrial robot arm by setting a rubber pad on the outer wall of the splint, can prevent the clamping mechanism from damaging the object due to excessive clamping force during the process of clamping the object, and the rubber pad is provided with anti-skid patterns , Can prevent the splint from falling off during the process of picking up items.
- the extension and bending mechanism of the industrial robot arm can control the operation of the second motor by digging a groove on the top of the base and connecting it with a second motor, so that the second motor can drive the worktable to rotate, so that the device can control all directions. The items are clamped.
- Figure 1 is a schematic diagram of the overall structure of an industrial robot arm extension and bending mechanism proposed by the present invention
- FIG. 2 is a schematic diagram of the reciprocating mechanism structure of an industrial robot arm extension and bending mechanism proposed by the present invention
- FIG. 3 is a schematic diagram of the external structure of the third connecting rod of the extension and bending mechanism of the industrial robot arm proposed by the present invention.
- FIG. 4 is a schematic diagram of the external structure of the worktable of an industrial robot arm extension and bending mechanism proposed by the present invention
- FIG. 5 is a schematic diagram of the clamping mechanism of an industrial robot arm extension and bending mechanism proposed by the present invention.
- Fig. 6 is a schematic diagram of the cross-sectional structure of the base of the extension and bending mechanism of an industrial robot arm provided by the present invention.
- an industrial robot arm extension and bending mechanism includes a base 1, a worktable 2 is connected to the top of the base 1, a fixed plate 3 is connected to the top of the worktable 2, and a reciprocating mechanism is connected to the outer wall of the fixed plate 3 to work.
- the outer wall of the table 2 is slidably connected with a transmission rack 4, the outer wall of the transmission rack 4 is meshed with a first gear 5, the outer wall of the first gear 5 is connected with a first connecting rod 6, and the first connecting rod 6 is fixedly connected to the outer wall of the fixed plate 3.
- the two ends of the first link 6 are respectively rotatably connected with a second link 7 and a seventh link, the seventh link is fixedly connected to the first gear 5, and the end of the second link 7 away from the first link 6 is connected
- There is a third connecting rod 8 a second gear 9 is connected at the junction of the third connecting rod 8 and the seventh connecting rod 7, the outer wall of the second gear 9 is meshed and connected with a third gear 10, and the outer wall of the third gear 10 is connected with a fourth
- the connecting rod 11 and the fourth connecting rod 11 are rotatably connected with a fifth connecting rod 12 at both ends, and the ends of the two fifth connecting rods 12 far away from the fourth connecting rod 11 are both connected with a sixth connecting rod 13, the sixth connecting rod 13
- the outer wall is connected with a clamping mechanism; when the robot arm needs to be controlled to grasp objects, the transmission rack 4 is driven to move by the reciprocating mechanism, so that the transmission rack 4 meshes with the first gear 5, and the first gear 5 drives the first gear 5
- the invention improves the degree of freedom of rotation of the forearm and the rear arm of the robot gripper, thereby improving the gripping efficiency of the robot gripper, which is beneficial to the reduction of industrial production costs.
- a connecting rod 14 is fixedly connected between the third connecting rod 8 and the fourth connecting rod 11; the distance between the third connecting rod 8 and the fourth connecting rod 11 is fixed to facilitate the second gear 9 Meshing rotation with the third gear 10.
- the reciprocating mechanism includes a first motor 15 connected to the outer wall of the fixed plate 3, the output end of the first motor 15 is connected with a rotating shaft, and the end of the rotating shaft away from the first motor 15 passes through the fixed plate 3
- the outer wall of the disc 16 is connected with a limit lever.
- the outer wall of the transmission rack 4 is meshed and connected with a sector gear.
- the sector gear is rotatably connected to the outer wall of the fixed plate 3.
- the outer wall of the sector gear is connected with a rotating rod 19 and a rotating rod 19
- a limit groove 191 matching the limit rod is excavated on the outer wall; when the reciprocating mechanism is working, the first motor 15 must be controlled to run, so that the output end of the first motor 15 drives the disc 16 to rotate on the fixed plate 3, thereby making the circle
- the disc 16 drives the limit rod to slide in the limit slot 191 during the rotation, so that the sector gear meshes with the transmission rack 4, so that the transmission rack 4 slides on the worktable 2, thereby causing the transmission rack 4 to reciprocate Movement, so that the device can reciprocate, so that the robot gripper can reciprocate grasping objects.
- a sliding groove 201 is excavated on the outer wall of the workbench 2, and the transmission rack 4 is slidably connected in the sliding groove 201; this is beneficial to the movement of the transmission rack 4 to be more stable, and the movement stability of the device is improved.
- the clamping mechanism includes a fixed block 20, the outer wall of the fixed block 20 is connected with a cylinder 21, the output end of the cylinder 21 is connected with a telescopic rod 22, the end of the telescopic rod 22 away from the cylinder 21 is connected with a movable frame 23, and the outer wall of the fixed block 20
- a fixed shaft 24 is connected.
- the outer wall of the fixed shaft 24 is rotatably connected with two movable rods 25.
- the outer wall of the movable frame 23 is connected with a sliding rod 231.
- the outer walls of the two movable rods 25 are cut with concave holes 251.
- the sliding rod 231 is slidably connected to Inside the recessed hole 251, and the outer walls of the two movable rods 25 are respectively connected with the first clamping plate 252 and the second clamping plate 253; when the clamping mechanism is working, the operation of the cylinder 21 is controlled so that the output end of the cylinder 21 drives the telescopic rod 22 to extend , So that the sliding rod 231 on the outer wall of the movable frame 23 slides in the concave hole 251 excavated on the outer wall of the movable rod 25, so that the two movable rods 25 rotate around the fixed shaft 24, and the two movable rods 25 approach each other, thereby driving the first splint 252 The article is clamped with the second clamping plate 253.
- the outer wall of the telescopic rod 22 is sleeved with an elastic element 26, and the elastic element 26 is connected between the cylinder 21 and the moving frame 23; it can play a buffering role when the cylinder 21 controls the expansion and contraction of the telescopic rod 22, avoiding the expansion rod 22
- the expansion and contraction is too rapid, causing the movable frame 23 to collide with the fixed block 20, which is beneficial to improve the service life of the device.
- the second splint 253 and the outer wall of the movable rod 25 are both drilled with threaded holes, and bolts 27 are movably connected in the threaded holes; the angle of the second splint 253 can be adjusted for objects of different shapes to facilitate the adjustment of objects Crawl.
- the outer walls of the first splint 252 and the second splint 253 are both connected with a rubber pad 28, and the outer wall of the rubber pad 28 is provided with anti-skid patterns; this can prevent the clamping mechanism from having too much clamping force in the process of clamping objects. Damage to the item is caused, and the rubber pad 28 is provided with anti-skid patterns, which can prevent the splint from falling off during the process of clamping the item.
- a groove 101 is excavated on the outer wall of the base 1, and a second motor 29 is connected to the inner wall of the groove 101.
- the output end of the second motor 29 is connected to a support column 30, which is connected to the workbench 2;
- the operation of the second motor 29 is controlled, so that the second motor 29 drives the worktable 2 to rotate, so that the device can grip all objects.
Abstract
一种工业机器人手臂伸曲机构，包括底座（1），底座（1）的顶部连接有工作台（2），工作台（2）的顶部连接有固定板（3），工作台（2）外壁滑动连接有传送齿条（4），传送齿条（4）外壁啮合连接有第一齿轮（5），第一齿轮（5）外壁连接有第一连杆（6），第一连杆（6）的两端分别转动连接有第二连杆（7）和第七连杆，第七连杆远离第一连杆（6）的一端连接有第三连杆（8），第三连杆（8）与第七连杆的交接处连接有第二齿轮（9），第二齿轮（9）外壁啮合连接有第三齿轮（10），第三齿轮（10）外壁连接有第四连杆（11），第四连杆（11）的两端均连接有第五连杆（12），两个第五连杆（12）远离第四连杆（11）的一端均连接有第六连杆（13），第六连杆（13）外壁连接有夹持机构。
Description
本发明涉及机器人手臂技术领域，尤其涉及一种工业机器人手臂伸曲机构。
机器人抓手是一种能模仿人体手、臂动作，以实现抓取、搬运物件或操作工具的装置，其能够有效降低人员劳动负荷，提高工作效率，现已广泛应用于机械制造、冶金、电子等各领域，随着现代化工业生产的迅速发展，业内已开发出多种规格类型的机器人抓手，工厂逐渐用机器人代替人工生产，以往人工进行生产时通过人手持有生产工具进行作业，机器人的使用需要采用抓手安装生产工具，并安装在机器人末端。
但是现有的机器人手臂的前臂与后臂连接较复杂，前臂与后臂之间的旋转自由度不高，导致机器人抓手在抓取物品的过程中不够灵活，使机器人抓手的抓取效率较低，从而使浪费大量的时间和精力，不利于工业生产成本的提高。
本发明的目的是为了解决现有技术中存在的问题，而提出的一种工业机器人手臂伸曲机构。
一种工业机器人手臂伸曲机构，包括底座，所述底座的顶部连接有工作台，所述工作台的顶部连接有固定板，所述固定板外壁连接有往复机构，所述工作台外壁滑动连接有传送齿条，所述传送齿条外壁啮合连接有第一齿轮，所述第一齿轮外壁连接有第一连杆，所述第一连杆固定连接在固定板的外壁，所述第一连杆的两端分别转动连接有第二连杆和第七连杆，所述第七连杆与第一齿轮固定相连，所述第二连杆远离第一连杆的一端连接有第三连杆，所述第三连杆与第七连杆的交接处连接有第二齿轮，所述第二齿轮外壁啮合连接有第三齿轮，所述第三齿轮外壁连接有第四连杆，所述第四连杆的两端均转动连接有第五连杆，两个所述第五连杆远离第四连杆的一端均连接有第六连杆，所述第六连杆外壁连接有夹持机构。
优选的，所述第三连杆与第四连杆之间固定连接有连接杆。
优选的，所述往复机构包括第一电机，所述第一电机连接在固定板的外壁，所述第一电机的输出端连接有转动轴，所述转动轴远离第一电机的一端穿过固定板并连接有圆盘，所述圆盘外壁连接有限位杆，所述传送齿条外壁啮合连接有扇形齿轮，所述扇形齿轮转动连接在固定板的外壁，所述扇形齿轮外壁连接有转动杆，所述转动杆外壁开凿有与限位杆相匹配的限位槽。
优选的，所述工作台外壁开凿有滑槽，所述传送齿条滑动连接在滑槽内。
优选的，所述夹持机构包括固定块，所述固定块外壁连接有气缸，所述气缸的输出端连接有伸缩杆，所述伸缩杆远离气缸的一端连接有移动架，所述固定块外壁连接有固定轴，所述固定轴外壁分别转动连接有两个活动杆，所述移动架的外壁连接有滑动杆，两个所述活动杆外壁均开凿有凹孔，所述滑动杆滑动连接在凹孔内，且两个所述活动杆外壁分别连接有第一夹板和第二夹板。
优选的，所述伸缩杆外壁套接有弹性元件，所述弹性元件连接在气缸与移动架之间。
优选的，所述第二夹板与活动杆外壁均开凿有螺纹孔，且所述螺纹孔内活动连接有螺栓。
优选的，所述第一夹板与第二夹板外壁均连接有橡胶垫，且所述橡胶垫外壁设置有防滑纹。
优选的，所述底座外壁开凿有凹槽，所述凹槽内壁连接有第二电机，所述第二电机的输出端连接有支撑柱，所述支撑柱与工作台相连。
与现有技术相比，本发明提供了一种工业机器人手臂伸曲机构，具备以下有益效果：
1、该工业机器人手臂伸曲机构，当需要控制机器人手臂进行抓取物体时，通过往复机构带动传送齿条移动，使传送齿条与第一齿轮相啮合，进而使第一齿轮带动第七连杆围绕第一连杆转动，使第七连杆抬升，第七连杆在抬升的同时，使第三连杆向上移动，会带动第二齿轮与第三齿轮相啮合，从而使第三齿轮带动第四连杆移动，使第四连杆带动两个第五连杆转动，进而使第六连杆带动夹持机构对物体进行夹持，本发明通过连杆之间的转动，使机器人抓手前臂与后臂的旋转自由度提高，进而使机器人抓手的抓取效率提高，有利于工业生产成本的降低。
2、该工业机器人手臂伸曲机构，通过在第三连杆与第四连杆之间固定连接连接杆，使第三连杆与第四连杆之间的距离固定，方便第二齿轮与第三齿轮之间进行啮合转动。
3、该工业机器人手臂伸曲机构，往复机构工作时，首先要控制第一电机运行，使第一电机的输出端带动圆盘在固定板转动，进而使圆盘在旋转的过程中带动限位杆在限位槽内滑动，使扇形齿轮与传送齿条相啮合，从而使传送齿条在工作台上滑动，进而使传送齿条往复运动，进而使装置可以往复运动，使机器人抓手可以对物品进行往复抓取。
4、该工业机器人手臂伸曲机构，通过在工作台的外壁开凿滑槽，使传送齿条滑动在滑槽内部，有利于传送齿条的移动更加平稳，提高装置的移动稳定性。
5、该工业机器人手臂伸曲机构，当夹持机构工作时，通过控制气缸运行，使气缸的输出端带动伸缩杆伸出，从而使移动架外壁的滑动杆在活动杆外壁开凿的凹孔中滑动，使两个活动杆围绕固定轴转动，两个活动杆互相靠近，从而带动第一夹板与第二夹板对物品进行夹持。
6、该工业机器人手臂伸曲机构，通过在伸缩杆的外壁套接弹性元件，可以在气缸控制伸缩杆的伸缩时起到缓冲的作用，避免伸缩杆的伸缩过于迅速，导致移动架与固定块相撞，有利于提高装置的使用寿命。
7、该工业机器人手臂伸曲机构，通过将第二夹板通过螺栓安装在活动杆上，可以针对不同形状的物体，对第二夹板的角度进行调整，方便对物体的抓取。
8、该工业机器人手臂伸曲机构，通过在夹板的外壁设置橡胶垫，可以避免夹持机构在夹取物品的过程中因为夹持力过大，造成物品损坏，且橡胶垫外部设置有防滑纹，可以避免夹板在夹取物品的过程中，物品脱落。
9、该工业机器人手臂伸曲机构，通过在底座的顶部开凿凹槽，并连接有第二电机，可以控制第二电机运行，使第二电机带动工作台转动，进而使装置可以对全方位的物品进行夹取。
图1为本发明提出的一种工业机器人手臂伸曲机构的整体结构示意图；
图2为本发明提出的一种工业机器人手臂伸曲机构的往复机构结构示意图；
图3为本发明提出的一种工业机器人手臂伸曲机构第三连杆外部结构示意图；
图4为本发明提出的一种工业机器人手臂伸曲机构工作台外部结构示意图；
图5为本发明提出的一种工业机器人手臂伸曲机构夹持机构结构示意图；
图6为本发明提出的一种工业机器人手臂伸曲机构底座剖面结构示意图。
图中：1、底座；101、凹槽；2、工作台；201、滑槽；3、固定板；4、传送齿条；5、第一齿轮；6、第一连杆；7、第二连杆；8、第三连杆；9、第二齿轮；10、第三齿轮；11、第四连杆；12、第五连杆；13、第六连杆；14、连接杆；15、第一电机；16、圆盘；限位杆；扇形齿轮；19、转动杆；191、限位槽；20、固定块；21、气缸；22、伸缩杆；23、移动架；231、滑动杆；24、固定轴；25、活动杆；251、凹孔；252、第一夹板；253、第二夹板；26、弹性元件；27、螺栓；28、橡胶垫；29、第二电机；30、支撑柱。
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。
在本发明的描述中，需要理解的是，术语“上”、“下”、“前”、“后”、“左”、“右”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
参照图1-3，一种工业机器人手臂伸曲机构，包括底座1，底座1的顶部连接有工作台2，工作台2的顶部连接有固定板3，固定板3外壁连接有往复机构，工作台2外壁滑动连接有传送齿条4，传送齿条4外壁啮合连接有第一齿轮5，第一齿轮5外壁连接有第一连杆6，第一连杆6固定连接在固定板3的外壁，第一连杆6的两端分别转动连接有第二连杆7和第七连杆，第七连杆与第一齿轮5固定相连，第二连杆7远离第一连杆6的一端连接有第三连杆8，第三连杆8与第七连杆7的交接处连接有第二齿轮9，第二齿轮9外壁啮合连接有第三齿轮10，第三齿轮10外壁连接有第四连杆11，第四连杆11的两端均转动连接有第五连杆12，两个第五连杆12远离第四连杆11的一端均连接有第六连杆13，第六连杆13外壁连接有夹持机构；当需要控制机器人手臂进行抓取物体时，通过往复机构带动传送齿条4移动，使传送齿条4与第一齿轮5相啮合，进而使第一齿轮5带动第七连杆7围绕第一连杆6转动，使第七连杆7抬升，第七连杆7在抬升的同时，使第三连杆8向上移动，会带动第二齿轮9与第三齿轮10相啮合，从而使第三齿轮10带动第四连杆11移动，使第四连杆11带动两个第五连杆12转动，进而使第六连杆13带动夹持机构对物体进行夹持，本发明通过连杆之间的转动，使机器人抓手前臂与后臂的旋转自由度提高，进而使机器人抓手的抓取效率提高，有利于工业生产成本的降低。
参照图1和图3，第三连杆8与第四连杆11之间固定连接有连接杆14；使第三连杆8与第四连杆11之间的距离固定，方便第二齿轮9与第三齿轮10之间进行啮合转动。
参照图2，往复机构包括第一电机15，第一电机15连接在固定板3的外壁，第一电机15的输出端连接有转动轴，转动轴远离第一电机15的一端穿过固定板3并连接有圆盘16，圆盘16外壁连接有限位杆，传送齿条4外壁啮合连接有扇形齿轮，扇形齿轮转动连接在固定板3的外壁，扇形齿轮外壁连接有转动杆19，转动杆19外壁开凿有与限位杆相匹配的限位槽191；往复机构工作时，首先要控制第一电机15运行，使第一电机15的输出端带动圆盘16在固定板3转动，进而使圆盘16在旋转的过程中带动限位杆在限位槽191内滑动，使扇形齿轮与传送齿条4相啮合，从而使传送齿条4在工作台2上滑动，进而使传送齿条4往复运动，进而使装置可以往复运动，使机器人抓手可以对物品进行往复抓取。
参照图1-4，工作台2外壁开凿有滑槽201，传送齿条4滑动连接在滑槽201内；有利于传送齿条4的移动更加平稳，提高装置的移动稳定性。
参照图5，夹持机构包括固定块20，固定块20外壁连接有气缸21，气缸21的输出端连接有伸缩杆22，伸缩杆22远离气缸21的一端连接有移动架23，固定块20外壁连接有固定轴24，固定轴24外壁分别转动连接有两个活动杆25，移动架23的外壁连接有滑动杆231，两个活动杆25外壁均开凿有凹孔251，滑动杆231滑动连接在凹孔251内，且两个活动杆25外壁分别连接有第一夹板252和第二夹板253；当夹持机构工作时，通过控制气缸21运行，使气缸21的输出端带动伸缩杆22伸出，从而使移动架23外壁的滑动杆231在活动杆25外壁开凿的凹孔251中滑动，使两个活动杆25围绕固定轴24转动，两个活动杆25互相靠近，从而带动第一夹板252与第二夹板253对物品进行夹持。
参照图5，伸缩杆22外壁套接有弹性元件26，弹性元件26连接在气缸21与移动架23之间；可以在气缸21控制伸缩杆22的伸缩时起到缓冲的作用，避免伸缩杆22的伸缩过于迅速，导致移动架23与固定块20相撞，有利于提高装置的使用寿命。
参照图5，第二夹板253与活动杆25外壁均开凿有螺纹孔，且螺纹孔内活动连接有螺栓27；可以针对不同形状的物体，对第二夹板253的角度进行调整，方便对物体的抓取。
参照图5，第一夹板252与第二夹板253外壁均连接有橡胶垫28，且橡胶垫28外壁设置有防滑纹；可以避免夹持机构在夹取物品的过程中因为夹持力过大，造成物品损坏，且橡胶垫28外部设置有防滑纹，可以避免夹板在夹取物品的过程中，物品脱落。
参照图1和图6，底座1外壁开凿有凹槽101，凹槽101内壁连接有第二电机29，第二电机29的输出端连接有支撑柱30，支撑柱30与工作台2相连；可以控制第二电机29运行，使第二电机29带动工作台2转动，进而使装置可以对全方位的物品进行夹取。
以上所述，仅为本发明较佳的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，根据本发明的技术方案及其发明构思加以等同替换或改变，都应涵盖在本发明的保护范围之内。
Claims (9)
- 一种工业机器人手臂伸曲机构，包括底座（1），其特征在于，所述底座（1）的顶部连接有工作台（2），所述工作台（2）的顶部连接有固定板（3），所述固定板（3）外壁连接有往复机构，所述工作台（2）外壁滑动连接有传送齿条（4），所述传送齿条（4）外壁啮合连接有第一齿轮（5），所述第一齿轮（5）外壁连接有第一连杆（6），所述第一连杆（6）固定连接在固定板（3）的外壁，所述第一连杆（6）的两端分别转动连接有第二连杆（7）和第七连杆，所述第七连杆与第一齿轮（5）固定相连，所述第二连杆（7）远离第一连杆（6）的一端连接有第三连杆（8），所述第三连杆（8）与第七连杆的交接处连接有第二齿轮（9），所述第二齿轮（9）外壁啮合连接有第三齿轮（10），所述第三齿轮（10）外壁连接有第四连杆（11），所述第四连杆（11）的两端均转动连接有第五连杆（12），两个所述第五连杆（12）远离第四连杆（11）的一端均连接有第六连杆（13），所述第六连杆（13）外壁连接有夹持机构。
- 根据权利要求1所述的一种工业机器人手臂伸曲机构，其特征在于，所述第三连杆（8）与第四连杆（11）之间固定连接有连接杆（14）。
- 根据权利要求1所述的一种工业机器人手臂伸曲机构，其特征在于，所述往复机构包括第一电机（15），所述第一电机（15）连接在固定板（3）的外壁，所述第一电机（15）的输出端连接有转动轴，所述转动轴远离第一电机（15）的一端穿过固定板（3）并连接有圆盘（16），所述圆盘（16）外壁连接有限位杆，所述传送齿条（4）外壁啮合连接有扇形齿轮，所述扇形齿轮转动连接在固定板（3）的外壁，所述扇形齿轮外壁连接有转动杆（19），所述转动杆（19）外壁开凿有与限位杆相匹配的限位槽（191）。
- 根据权利要求3所述的一种工业机器人手臂伸曲机构，其特征在于，所述工作台（2）外壁开凿有滑槽（201），所述传送齿条（4）滑动连接在滑槽（201）内。
- 根据权利要求1所述的一种工业机器人手臂伸曲机构，其特征在于，所述夹持机构包括固定块（20），所述固定块（20）外壁连接有气缸（21），所述气缸（21）的输出端连接有伸缩杆（22），所述伸缩杆（22）远离气缸（21）的一端连接有移动架（23），所述固定块（20）外壁连接有固定轴（24），所述固定轴（24）外壁分别转动连接有两个活动杆（25），所述移动架（23）的外壁连接有滑动杆（231），两个所述活动杆（25）外壁均开凿有凹孔（251），所述滑动杆（231）滑动连接在凹孔（251）内，且两个所述活动杆（25）外壁分别连接有第一夹板（252）和第二夹板（253）。
- 根据权利要求5所述的一种工业机器人手臂伸曲机构，其特征在于，所述伸缩杆（22）外壁套接有弹性元件（26），所述弹性元件（26）连接在气缸（21）与移动架（23）之间。
- 根据权利要求5所述的一种工业机器人手臂伸曲机构，其特征在于，所述第二夹板（253）与活动杆（25）外壁均开凿有螺纹孔，且所述螺纹孔内活动连接有螺栓（27）。
- 根据权利要求5所述的一种工业机器人手臂伸曲机构，其特征在于，所述第一夹板（252）与第二夹板（253）外壁均连接有橡胶垫（28），且所述橡胶垫（28）外壁设置有防滑纹。
- 根据权利要求1所述的一种工业机器人手臂伸曲机构，其特征在于，所述底座（1）外壁开凿有凹槽（101），所述凹槽（101）内壁连接有第二电机（29），所述第二电机（29）的输出端连接有支撑柱（30），所述支撑柱（30）与工作台（2）相连。
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| CN111779813A (zh) * | 2020-07-21 | 2020-10-16 | 张聿剑 | 一种机械传动用水平往复机构及其使用方法 |
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