CN109605361B

CN109605361B - Mechanical arm

Info

Publication number: CN109605361B
Application number: CN201811622010.3A
Authority: CN
Inventors: 赵云超; 吉金东; 靳祖军; 杨占峰; 高立宏; 王利新; 张际成
Original assignee: State Grid Corp of China SGCC; State Grid Hebei Electric Power Co Ltd; Xingtai Power Supply Co of State Grid Hebei Electric Power Co Ltd; Nangong Power Supply Co of State Grid Hebei Electric Power Co Ltd
Current assignee: State Grid Corp of China SGCC; State Grid Hebei Electric Power Co Ltd; Xingtai Power Supply Co of State Grid Hebei Electric Power Co Ltd; Nangong Power Supply Co of State Grid Hebei Electric Power Co Ltd
Priority date: 2018-12-28
Filing date: 2018-12-28
Publication date: 2020-11-10
Anticipated expiration: 2038-12-28
Also published as: CN109605361A

Abstract

The invention provides a manipulator, which belongs to the technical field of electric machinery and comprises a base, a mechanical arm rotationally connected with the base, a mechanical wrist rotationally connected with the free end of the mechanical arm and a mechanical claw rotationally connected with the mechanical wrist.

Description

Mechanical arm

Technical Field

The invention belongs to the technical field of electric machinery, and particularly relates to a manipulator.

Background

In the field of electrical machines, working environments with high temperatures, corrosion or toxic and harmful gases, etc. may be involved, which may be harmful to the health of the workers if they work in such environments. If the worker needs to clamp and transfer materials in the high-position environment, protective measures such as protective clothing, dust masks or high-temperature-resistant clothing need to be worn, the labor intensity is high, and the efficiency is low.

Disclosure of Invention

The invention aims to provide a manipulator, and aims to solve the problems of high labor intensity and low efficiency of manual material clamping and transferring in a high-risk environment.

In order to achieve the purpose, the invention adopts the technical scheme that: the manipulator comprises a base, a mechanical arm, a mechanical wrist and a mechanical claw, wherein the mechanical arm is rotationally connected with the base, the mechanical wrist is rotationally connected with the free end of the mechanical arm, and the mechanical claw is rotationally connected with the mechanical wrist.

Further, the mechanical arm comprises a rotary arm, a first connecting arm, a second connecting arm and a first driving assembly;

one end of the rotary arm is rotatably connected with the base, the other end of the rotary arm is rotatably connected with one end of the first connecting arm, the other end of the first connecting arm is rotatably connected with one end of the second connecting arm, and the other end of the second connecting arm is rotatably connected with the mechanical wrist.

Furthermore, the rotary arm and the rotary shaft axis of the base are along a first direction, the first connecting arm and the rotary shaft axis of the rotary arm and the second connecting arm and the rotary shaft axis of the first connecting arm are along a second direction, the first direction is perpendicular to the second direction, and the connecting shaft of the mechanical wrist and the second connecting arm is perpendicular to the second direction.

Further, the first direction is perpendicular to the horizontal plane, and the swivel arm is perpendicular to the horizontal plane.

Furthermore, the mechanical wrist comprises a connecting wrist and a second driving assembly, wherein the connecting wrist is connected with the second connecting arm in a rotating mode, the second driving assembly is used for driving the connecting wrist to rotate, and the connecting wrist and the second connecting arm connecting shaft are perpendicular to the connecting wrist and the connecting shaft of the mechanical claw.

Furthermore, the mechanical claw comprises a base station which is rotationally connected with the mechanical wrist, two clamping rods which are connected with the base station and are oppositely arranged, and a third driving assembly which is used for driving the two clamping rods, wherein the base station is rotationally connected with the connecting wrist;

the mechanical claw further comprises a fourth driving component for driving the base platform to rotate around the connecting wrist.

Further, the clamping rod comprises a connecting portion and a clamping portion, the connecting portion is connected with the base station, the clamping portion is used for clamping materials, and an accommodating groove used for accommodating the materials is formed in the clamping portion.

Furthermore, the third driving assembly comprises a third motor, a third worm coaxially connected with an output shaft of the third motor, and two third worm wheels meshed with the third worm, the two third worm wheels are respectively arranged on two sides of the third worm, and the two third worm wheels are respectively coaxially fixed with the connecting part of the clamping rod.

Further, the base station comprises a pedestal rotatably connected with the connecting wrist and a clamping jaw station for arranging the two clamping rods;

the third driving assembly further comprises a rotary driving assembly for driving the clamping jaw table to rotate around the third worm axis.

Further, the rotary driving assembly comprises a first driving motor, a first reduction gear connected with an output shaft of the first driving motor and a second reduction gear meshed with the first reduction gear;

the second reduction gear is fixedly connected with the third motor, and the axis of the second reduction gear is superposed with the axis of the output shaft of the third motor.

The manipulator provided by the invention has the beneficial effects that: compared with the prior art, the mechanical claw is connected to the base through the mechanical arm and the mechanical wrist, the clamping and transferring of materials are achieved through the mechanical claw, workers can be prevented from being exposed in a high-risk environment, the health of the workers is guaranteed, the labor intensity is reduced, and the working efficiency is improved.

Drawings

Fig. 1 is a first schematic structural diagram of a robot provided in an embodiment of the present invention;

fig. 2 is a schematic structural diagram ii of a robot provided in the embodiment of the present invention;

FIG. 3 is a first schematic structural view of the gripper of FIGS. 1 and 2;

FIG. 4 is a second schematic structural view of the gripper of FIGS. 1 and 2;

FIG. 5 is a first schematic sectional view of the gripper;

fig. 6 is a schematic sectional structure diagram of the gripper.

In the figure: 1. a base; 21. a swivel arm; 22. a first connecting arm; 23. a second connecting arm; 3. connecting the wrist; 41. a base station; 411. a pedestal; 412. a jaw table; 42. a clamping bar; 421. a connecting portion; 422. a clamping portion; 4221. accommodating grooves; 423. reinforcing rib plates; 51. a third motor; 52. a third worm; 53. a third worm gear; 54. a motor fixing sleeve; 61. a first drive motor; 62. a first reduction gear; 63. a second reduction gear.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to fig. 1 and 2, a robot according to the present invention will now be described. The manipulator comprises a base 1, a mechanical arm rotationally connected with the base 1, a mechanical wrist rotationally connected with the free end of the mechanical arm, and a mechanical claw rotationally connected with the mechanical wrist.

Compared with the prior art, the mechanical claw is connected to the base 1 through the mechanical arm and the mechanical wrist, the clamping and transferring of materials are achieved through the mechanical claw, workers can be prevented from being exposed in a high-risk environment, the health of the workers is guaranteed, the labor intensity is reduced, and the working efficiency is improved.

It can be understood that base 1 can set up and link to each other with mobile operation platform, vehicle-mounted robot platform etc. and mobile operation platform, vehicle-mounted robot platform etc. link to each other with the computer, can show the running condition data etc. of manipulator in real time on the computer, just so can realize the operation of staff remote control manipulator to reach the mesh of avoiding the staff to expose in the high-risk environment.

Referring to fig. 1 and 2, as an embodiment of the robot provided by the present invention, the robot includes a revolving arm 21, a first connecting arm 22, a second connecting arm 23, and a first driving assembly;

one end of the rotary arm 21 is rotatably connected with the base 1, the other end of the rotary arm 21 is rotatably connected with one end of the first connecting arm 22, the other end of the first connecting arm 22 is rotatably connected with one end of the second connecting arm 23, and the other end of the second connecting arm 23 is rotatably connected with the wrist.

The rotary arm 21 is rotatably connected with the base 1 and can drive the mechanical claw and the mechanical arm to rotate around the rotary axis of the rotary arm 21, the first connecting arm 22 and the second connecting arm 23 are two hinged connecting rods, so that the mechanical claw can rotate and lift around the rotary axis of the first connecting arm 22, and the mechanical arm improves the flexibility of the mechanical claw;

the first driving assembly comprises a fifth driving assembly, a sixth driving assembly and a seventh driving assembly which are respectively used for driving the rotary arm 21, the first connecting arm 22 and the second connecting arm 23 to be connected. The fifth driving assembly, the sixth driving assembly and the seventh driving assembly are the same in driving form, and all adopt a driving form of worm gear, and the fifth driving assembly is taken as an example for explanation.

Referring to fig. 1 and fig. 2, as a specific embodiment of the manipulator provided by the present invention, the axes of the rotating shafts of the rotating arm 21 and the base 1 are along a first direction, the axes of the rotating shafts of the first connecting arm 22 and the rotating arm 21 and the axes of the rotating shafts of the second connecting arm 23 and the first connecting arm 22 are along a second direction, the first direction is perpendicular to the second direction, and the connecting shaft of the wrist and the second connecting arm 23 is perpendicular to the second direction; the first direction is perpendicular to the horizontal plane and the swivel arm 21 is perpendicular to the horizontal plane. In order to increase the degree of freedom of the device and improve the flexibility of the gripper, the gripper can move in all required directions, in the embodiment, the rotary arm 21 is arranged along the vertical direction, the rotary arm 21 rotates around the axis of the gripper, the rotating shaft axes of the first connecting arm 22 and the second connecting arm 23 are arranged along the horizontal direction, the gripper can rotate around the vertical direction, and meanwhile, the gripper can ascend and descend in the vertical direction and can adjust the distance from the rotary arm 21, so that the gripper can grab and transfer materials in a certain area, and the gripper is convenient to use.

Referring to fig. 1 and fig. 2, as a specific embodiment of the robot provided by the present invention, the robot wrist includes a connecting wrist 3 rotatably connected to the second connecting arm 23 and a second driving assembly for driving the connecting wrist 3 to rotate, and a connecting shaft of the connecting wrist 3 and the second connecting arm 23 is perpendicular to a connecting shaft of the connecting wrist 3 and the robot gripper. Compared with the prior art that the mechanical claw is directly connected with the mechanical arm, the mechanical wrist is arranged between the mechanical claw and the mechanical arm, the length of the connecting wrist 3 is smaller than the lengths of the rotary arm 21, the first connecting arm 22 and the second connecting arm 23, and when the rotary arm 21, the first connecting arm 22 and the second connecting arm 23 move in place, the position of the mechanical claw can be precisely adjusted by adjusting the mechanical wrist; the second driving assembly comprises a second motor, a second worm connected with an output shaft of the second motor and a second worm wheel meshed with the second worm, a rotating shaft of the second worm wheel and a connecting shaft of the connecting wrist 3 and the second connecting arm 23 are coaxially fixed, and the second motor drives the connecting wrist 3 to rotate relative to the second connecting arm 23.

Referring to fig. 3 and 4, as a specific embodiment of the robot provided by the present invention, the gripper includes a base 41 rotatably connected to the wrist, two clamping rods 42 connected to the base 41 and disposed opposite to each other, and a third driving component for driving the two clamping rods 42, where the base 41 is rotatably connected to the wrist 3;

the gripper further comprises a fourth driving component for driving the base 41 to rotate around the connecting wrist 3. The third driving component drives the two clamping rods 42, and the fourth driving component controls the mechanical claw to integrally rotate relative to the connecting wrist, so that the flexibility of the device is improved; the fourth driving component comprises a fourth motor, a fourth worm connected with an output shaft of the fourth motor and a fourth worm wheel meshed with the fourth worm, and a rotating shaft of the fourth worm wheel and the base 41 are coaxially fixed with the connecting shaft of the connecting wrist 3.

Referring to fig. 3 and 4, as a specific embodiment of the manipulator provided by the present invention, the clamping bar 42 includes a connecting portion 421 connected to the base 41 and a clamping portion 422 for clamping a material, and the clamping portion 422 is provided with an accommodating groove 4221 for accommodating the material. The holding grooves 4221 are arranged on the clamping part 422 of the clamping rod 42, the two holding grooves 4221 jointly form a cavity for clamping materials, the cavity can be arranged at the free end of the clamping rod 42, and also can be arranged in the middle of the clamping part 422 as shown in the embodiment, so that the free ends of the two clamping rods 42 can still be closed, small-sized materials can be clamped, the structure is simple, and the use is convenient.

Optionally, an anti-slip rubber layer is arranged on the inner wall of the accommodating groove 4221, so that the materials are prevented from slipping when the two clamping rods 42 clamp the materials.

Optionally, power mechanisms such as a cover plate hinged to the clamping rods 21 and a motor for controlling the cover plate to rotate may be respectively disposed on two sides of the clamping rods 21, and the two clamping rods 21 may be locked by the power mechanisms such as the motor after the two clamping rods 21 clamp the material, so as to prevent the material from falling.

Optionally, the number of the accommodating grooves 4221 is plural, and the accommodating spaces of the accommodating grooves 4221 are different, and the accommodating grooves 4221 with different accommodating spaces are arranged, so that the two clamping bars 42 can clamp materials with different volumes and lengths, thereby improving the use range of the gripper, and meanwhile, the accommodating space of each accommodating groove 4221 can be gradually reduced from front to back, and the larger accommodating space at the foremost end is matched with the maximum opening of the two clamping bars 42, so that the clamping range of the gripper can be larger.

Optionally, the outer sides of the two clamping bars 42 are provided with reinforcing rib plates 423 for reinforcing the strength of the clamping bars 42, and the reinforcing rib plates 423 are arranged to improve the strength of the clamping bars 42, so that the two clamping bars 42 can firmly clamp materials, the clamping bars 42 cannot break or crack, and the working stability of the whole mechanical claw is improved.

Referring to fig. 4, 5 and 6, as a specific embodiment of the manipulator provided by the present invention, the third driving assembly includes a third motor 51, a third worm 52 coaxially connected to an output shaft of the third motor 51, and two third worm wheels 53 engaged with the third worm 52, the two third worm wheels 53 are respectively disposed at two sides of the third worm 52, and the two third worm wheels 53 are respectively coaxially fixed to the connecting portion of the clamping bar 42. The two third worm gears 53 are respectively coaxially fixed with the fixed ends of the two clamping rods 42, namely the connecting portion 421, the third worm gears 53 drive the fixed ends of the clamping rods 42 to rotate, so that the free ends of the clamping rods 42, namely the clamping portions 422 rotate around the central axis of the third worm gears 53, and the two clamping rods 42 can be opened and closed to clamp and transfer materials.

Referring to fig. 3, 5 and 6, as an embodiment of the robot provided by the present invention, the base 41 includes a pedestal 411 rotatably connected to the connecting wrist 3 and a clamping jaw table 412 for arranging two clamping rods 42;

the third driving assembly further comprises a rotary driving assembly for driving the gripper table 412 to rotate around the axis of the third worm 52.

Optionally, a U-shaped mounting groove is formed in the clamping jaw table 412, the third worm 52 vertically penetrates through the bottom wall of the U-shaped groove, the two third worm gears 53 are respectively hinged to two side walls of the U-shaped mounting groove, a rotating shaft of each third worm gear 53 is perpendicular to the side wall of the U-shaped mounting groove, and thus the two clamping rods 42 are respectively hinged to the side walls of the U-shaped mounting groove and driven by the third motor 51 to open and close to clamp the material.

The third driving component can realize the opening and closing of the two clamping rods 42 to clamp the materials, and can also realize the integral rotation of the two clamping rods 42, so that the whole mechanical claw can realize three degrees of freedom of rotation around the hinge shaft of the connecting wrist 3, rotation around the axis of the third worm 52 and opening and closing of the two clamping jaws.

Referring to fig. 5 and 6, as an embodiment of the robot provided by the present invention, the rotation driving assembly includes a first driving motor 61, a first reduction gear 62 connected to an output shaft of the first driving motor 61, and a second reduction gear 63 engaged with the first reduction gear;

the second reduction gear 63 is fixedly connected with the third motor 51, and the axis of the second reduction gear 63 coincides with the axis of the output shaft of the third motor 51. In this embodiment, the first driving motor 61 is fixed on the pedestal 411, and is connected to the third motor 51 through the first reduction gear 62 and the second reduction gear 63, and the third motor 51 and the gripper table 412 are driven by the first driving motor 61 as a whole, so as to realize the rotation of the two clamping bars 42 around their axes.

The second reduction gear 63 is provided with a central hole for accommodating the third motor 51 along the axial direction, a spline groove is arranged in the central hole, and the third motor 51 is fixed in the spline groove of the central hole through an external spline of the motor fixing sleeve 54 to be fixedly connected with the second reduction gear 63, so that the first driving motor 61 can drive the third motor 51, the clamping jaw table 412, the two clamping rods 42 and the third driving component to integrally rotate around the axis of the third worm 52 by rotating; meanwhile, in order to stabilize the third motor 51, the third motor 51 is supported in the pedestal 411 by a ball bearing.

Referring to fig. 1 and 2, in order to prevent the driving components in the apparatus from being exposed to high temperature and high humidity or corrosive gas and liquid, the swing arm 21, the first connecting arm 22, the second connecting arm 23, the wrist and the gripper are all box-type structures, and the fifth driving component, the sixth driving component, the seventh driving component, the second driving component and the third driving component corresponding to the swing arm 21, the first connecting arm 22, the second connecting arm 23, the wrist and the gripper are all enclosed in the box-type structures, as shown in fig. 1, the fifth driving component is disposed in the base 1, the sixth driving component is disposed in the swing arm 21, the seventh driving component is disposed in the first connecting arm 21, the second driving component is disposed in the second connecting arm 23, the third driving component is disposed in the base 41, and the fourth driving component is disposed in the connecting wrist 3.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. The manipulator is characterized by comprising a base (1), a mechanical arm rotationally connected with the base (1), a mechanical wrist rotationally connected with the free end of the mechanical arm and a mechanical claw rotationally connected with the mechanical wrist,

the base (1) is connected with the mobile operation platform and the vehicle-mounted robot platform, the mobile operation platform and the vehicle-mounted robot platform are connected with the computer, the computer displays the operation state data of the manipulator in real time,

the mechanical arm comprises a rotary arm (21), a first connecting arm (22), a second connecting arm (23) and a first driving component,

one end of the rotary arm (21) is rotatably connected with the base (1);

the mechanical wrist comprises a connecting wrist (3) rotationally connected with the second connecting arm (23) and a second driving assembly used for driving the connecting wrist (3) to rotate, and a connecting shaft of the connecting wrist (3) and the second connecting arm (23) is perpendicular to a connecting shaft of the connecting wrist (3) and the mechanical claw;

the mechanical claw comprises a base station (41) which is rotationally connected with the mechanical wrist, two clamping rods (42) which are connected with the base station (41) and are oppositely arranged, and a third driving component which is used for driving the two clamping rods (42);

the mechanical claw further comprises a fourth driving component for driving the base platform (41) to rotate around the connecting wrist (3);

the base (41) comprises a clamping jaw table (412),

the third driving assembly comprises a third motor (51) and a third worm (52),

the third driving assembly further comprises a rotary driving assembly, and the rotary driving assembly is used for driving the clamping jaw table (412) to rotate around the axis of the third worm (52);

the rotary driving assembly comprises a first driving motor (61), a first reduction gear (62) connected with an output shaft of the first driving motor (61), and a second reduction gear (63) meshed with the first reduction gear,

the second reduction gear (63) is fixedly connected with the third motor (51), the axis of the second reduction gear (63) is superposed with the axis of the output shaft of the third motor (51),

the second reduction gear (63) is provided with a central hole for accommodating the third motor (51) along the axial direction; a spline groove is formed in the central hole, and the third motor is fixed in the spline groove of the central hole through an external spline of the motor fixing sleeve to be fixedly connected with the second reduction gear;

the output shaft of the third motor (51) is coaxially connected with a third worm (52), the third driving assembly further comprises two third worm wheels (53) meshed with the third worm (52), the two third worm wheels (53) are respectively arranged on two sides of the third worm (52), and the two third worm wheels (53) are respectively coaxially fixed with the connecting part of the clamping rod (42).

2. The robot of claim 1, wherein:

the other end of the rotary arm (21) is rotationally connected with one end of the first connecting arm (22), the other end of the first connecting arm (22) is rotationally connected with one end of the second connecting arm (23), and the other end of the second connecting arm (23) is rotationally connected with the mechanical wrist.

3. The robot of claim 2, wherein: the rotary arm (21) and the rotary shaft axis of the base (1) are along a first direction, the first connecting arm (22) and the rotary shaft axis of the rotary arm (21) and the second connecting arm (23) and the rotary shaft axis of the first connecting arm (22) are along a second direction, the first direction is perpendicular to the second direction, and the mechanical wrist and the connecting shaft of the second connecting arm (23) are perpendicular to the second direction.

4. The robot of claim 3, wherein: the first direction is perpendicular to the horizontal plane, and the swivel arm (21) is perpendicular to the horizontal plane.

5. The robot of claim 1, wherein: the clamping rod (42) comprises a connecting portion (421) connected with the base platform (41) and a clamping portion (422) used for clamping materials, and an accommodating groove (4221) used for accommodating the materials is formed in the clamping portion (422).

6. The robot of claim 1, wherein: the base (41) includes a pedestal (411) rotatably connected to the wrist (3),

the clamping jaw table (412) is used for arranging two clamping rods (42).