CN111606035B - Mechanical arm - Google Patents
Mechanical arm Download PDFInfo
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- CN111606035B CN111606035B CN202010441283.9A CN202010441283A CN111606035B CN 111606035 B CN111606035 B CN 111606035B CN 202010441283 A CN202010441283 A CN 202010441283A CN 111606035 B CN111606035 B CN 111606035B
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- Prior art keywords
- driving mechanism
- rotary
- cover
- opening
- linear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a manipulator, comprising: a base; the cross arm is rotationally connected with the base and is driven by the first driving mechanism to horizontally rotate relative to the base; the second driving mechanism is arranged on the cross arm; the vertical arm is rotationally connected with the second driving mechanism and is driven by the second driving mechanism to do linear motion, the vertical arm is driven by the third driving mechanism to rotate, and the vertical arm comprises a fourth driving mechanism; and the clamping device is arranged on the fourth driving mechanism and driven by the fourth driving mechanism to do lifting motion, and the clamping device is used for clamping the workpiece. The manipulator has four degrees of freedom, can finish complex carrying work, and has a simple structure and easy maintenance.
Description
Technical Field
The invention belongs to the field of carrying mechanisms, and particularly relates to a manipulator.
Background
The manipulator is an industrial robot which can imitate certain motion functions of a human hand and an arm, can replace heavy labor of a human to realize mechanization and automation of production, can operate under a harmful environment to protect personal safety, and is widely applied to the fields of mechanical manufacturing and the like.
The general special manipulator has 2-3 degrees of freedom. The control system performs a specific operation by controlling the driving device for each degree of freedom of the robot.
The structure of manipulator among the prior art is comparatively complicated, and the degree of freedom is less, can't accomplish complicated transport work.
Disclosure of Invention
In order to solve the above problems, the present invention provides a manipulator having four degrees of freedom, capable of performing complex carrying work, and having a simple structure and easy maintenance.
The technical scheme of the invention is as follows:
a manipulator, comprising:
a base;
the cross arm is rotationally connected with the base and is driven by a first driving mechanism to horizontally rotate relative to the base;
the second driving mechanism is arranged on the cross arm;
the vertical arm is rotationally connected to the second driving mechanism and driven by the second driving mechanism to do linear motion, the vertical arm is driven by the third driving mechanism to rotate, and the vertical arm comprises a fourth driving mechanism;
and the clamping device is arranged on the fourth driving mechanism and driven by the fourth driving mechanism to do lifting motion, and the clamping device is used for clamping a workpiece.
According to an embodiment of the present invention, the base includes an upright column and a cover box, the first driving mechanism includes a first rotary driver, a first gear and a second gear, the first rotary driver is disposed on an upper end surface of the upright column, the cover box is sleeved on the first rotary driver and is fixedly connected to the upper end surface of the upright column, the first rotary driver performs a rotary motion and is provided with a first rotating shaft, the first rotating shaft is provided with the first gear, one end of the cross arm is fixedly provided with a vertical rotating shaft, the vertical rotating shaft is rotatably connected to the cover box, the vertical rotating shaft is provided with the second gear, and the first gear and the second gear are engaged with each other through an opening disposed on the cover box.
According to an embodiment of the present invention, the second driving mechanism includes a second linear actuator and a mounting plate, the mounting plate is slidably connected to the cross arm, the second linear actuator drives the mounting plate to perform a linear motion, a mounting portion is disposed at one end of the mounting plate, and the vertical arm is rotatably connected to the mounting portion.
According to an embodiment of the present invention, the second driving mechanism includes a slide rail and a slide block, the slide block is disposed on the cross arm, the slide rail is disposed on an upper end surface of the slide block, and the mounting plate is disposed on the upper end surface of the slide rail.
According to an embodiment of the present invention, the vertical arm includes an upper rotating cover and a lower rotating cover, the mounting portion is a box body provided with a vertical through hole, the upper rotating cover and the lower rotating cover are respectively rotatably disposed at upper and lower ends of the box body, the upper rotating cover and the lower rotating cover are fixedly connected together by a rotating bolt, the rotating bolt penetrates through the vertical through hole, the fourth driving mechanism is a fourth linear driver, and the fourth linear driver is fixedly connected to the lower rotating cover.
According to an embodiment of the present invention, the third driving mechanism includes a third rotary driver, a first pulley, a second pulley, a belt, and a pulley seat, the third rotary driver is disposed on the mounting plate, the third rotary driver is provided with a second rotating shaft, the second rotating shaft is provided with the first pulley, the pulley seat is fixedly connected to the upper rotary cover, the second pulley is disposed on the pulley seat, and the first pulley and the second pulley are connected by the belt.
According to an embodiment of the present invention, through holes are provided between the upper rotating cover and the lower rotating cover, the pulley seat is provided with a through hole, the fourth linear actuator is inserted into the upper rotating cover, the lower rotating cover, the through hole of the pulley seat and the vertical through hole, and the lower end of the fourth linear actuator is fixedly connected to the lower rotating cover.
According to an embodiment of the present invention, the first rotary actuator and the third rotary actuator are both rotary cylinders.
According to an embodiment of the present invention, the clamping device includes:
the mounting shell is connected to the fourth linear driver and driven by the fourth linear driver to do lifting motion;
the fifth linear driver is a bidirectional linear driver, and the two driving directions are opposite;
the two clamping parts are arranged at two ends of the mounting shell and comprise two clamping claws which are rotatably connected to the mounting shell and are opposite in position, the upper parts of the two clamping claws are connected with the mounting shell through springs, the positions of the springs are higher than the rotating shafts of the clamping claws, and an opening gap is formed between the upper parts of the two clamping claws;
the first ends of the opening and closing blocks can be inserted into the opening and closing gaps, the second ends of the opening and closing blocks are larger than the opening and closing gaps, and the two opening and closing blocks are driven by the fifth linear driver to enable the insertion ends to move towards or away from the two opening and closing gaps respectively;
when the clamping part opens: the upper parts of the two clamping claws are close to each other under the action of the spring, and the lower parts of the two clamping claws are far away from each other through the rotating shaft to be opened;
when the clamping parts are clamped: the opening and closing block is inserted into the opening and closing gap, and the upper parts of the two clamping claws are far away from each other and the lower parts of the two clamping claws are close to each other to clamp.
According to an embodiment of the invention, the installation shell comprises a roller and a guide rail, wherein the roller is arranged on the upper end surface of the opening and closing block, the guide rail is arranged on the lower end surface of the installation shell, and the roller is connected to the guide rail in a rolling manner.
According to an embodiment of the present invention, the installation case comprises at least one guide telescopic rod, one end of the guide telescopic rod is connected to the lower rotary cover or the rotary bolt shaft, and the other end of the guide telescopic rod is connected to the installation case.
According to an embodiment of the present invention, the second linear actuator, the fourth linear actuator and the fifth linear actuator are all hydraulic cylinders.
According to an embodiment of the present invention, the linear actuator further comprises an extension bar, one end of the extension bar is connected to the extension bar of the fourth linear actuator, and the other end of the extension bar is connected to the mounting case.
According to an embodiment of the present invention, the upper rotary cap and the lower rotary cap are rotatably disposed at upper and lower ends of the case through thrust ball bearings.
Due to the adoption of the technical scheme, compared with the prior art, the invention has the following advantages and positive effects:
(1) in one embodiment of the invention, the first driving mechanism drives the cross arm to rotate horizontally, the second driving mechanism drives the vertical arm to move linearly, the third driving mechanism drives the vertical arm to rotate automatically, and the fourth driving mechanism drives the clamping device to lift, so that four degrees of freedom for clamping workpieces are realized, the carrying work of the workpieces with different complexity and positions can be completed, and the structure is simple and easy to maintain; the vertical arm is rotatably connected to the second driving mechanism and is driven by the third driving mechanism to rotate the whole vertical arm so as to drive the clamping device to rotate, the rotation torque of the whole vertical arm is larger, the clamping device can clamp heavier objects, and the whole structure is more compact.
(2) In one embodiment of the invention, the base comprises the upright post and the cover box, so that the manipulator has a certain height, and the cover box isolates the first driving mechanism from the outside, thereby preventing dust and prolonging the service life more safely; the cross arm that first gear and second gear meshing realized is rotatory, and gear drive is more accurate, location that can be better.
(3) In one embodiment of the invention, the vertical arm is connected to the mounting plate arranged on the slide block of the slide rail to realize extension and retraction, the slide rail and the mounting plate enable the vertical arm to be more accurate in extension and bear larger force, the slide rail and the slide block are reversely arranged, the slide block is arranged on the cross arm, the slide rail is arranged on the slide block, better orientation can be carried out, the moment under the minimum stroke is reduced, and the bending moment formed by the gravity of the vertical arm is also reduced due to the reverse arrangement of the vertical arm arranged at the second end of the mounting plate.
(4) According to the embodiment of the invention, the vertical arm is rotatably connected with the box body through the upper rotating cover and the lower rotating cover, so that the rotary connection of the vertical arm is realized, the vertical bearable force is greatly improved, and the vertical arm is simple and convenient to mount and high in connection strength.
(5) In one embodiment of the invention, the belt wheel seat is fixedly connected with the upper rotating cover and sleeved on the fourth linear driver, so that the structure is more compact.
(6) In one embodiment of the invention, the first rotary driver and the third rotary driver are both rotary oil cylinders, and the rotary oil cylinders have large torque and compact structure, so that the transmission is more accurate and smooth while occupying smaller space.
(7) In one embodiment of the invention, the clamping part is opened and closed by extruding the clamping claws by the opening and closing block, so that the clamping force is larger and the clamping part is not easy to loosen.
(8) In one embodiment of the invention, the rollers and the guide rails are arranged, so that the opening and closing block can be inserted into the opening and closing gap more accurately.
(9) In one embodiment of the invention, the guiding telescopic rod is arranged, so that the guiding and supporting force increasing functions are realized, the clamping device can stretch more smoothly, and the clamping device can clamp heavier workpieces.
Drawings
The following detailed description of embodiments of the invention is provided in conjunction with the appended drawings, in which:
figure 1 is a general schematic view of a robot of the present invention;
fig. 2 is a partially enlarged view of a first driving mechanism of a robot according to the present invention;
fig. 3 is a partial enlarged view of the second and third driving mechanisms of the manipulator of the present invention;
FIG. 4 is an enlarged view of a vertical arm portion of a robot of the present invention;
fig. 5 is a partially enlarged view of a clamping device of a robot according to the present invention;
fig. 6 is a partially enlarged view of a clamping portion of a robot according to the present invention.
Description of reference numerals:
1: a column; 2: covering the box; 3: a cross arm; 4: a first rotary driver; 5: a first gear; 6: a second gear; 7: a vertical rotating shaft; 8: a second linear actuator; 9: mounting a plate; 10: a slide rail; 11: a slider; 12: rotating the cover upwards; 13: a lower rotary cover; 14: rotating the bolt; 15: a fourth linear actuator; 16: a third rotary driver; 17: a first pulley; 18: a second pulley; 19: a belt; 20: a pulley seat; 21: mounting a shell; 22: a fifth linear actuator; 23: a clamping portion; 24: a gripper jaw; 25: a spring; 26: a rotating shaft; 27: opening and closing the gap; 28: opening and closing blocks; 29: a roller; 30: a guide rail; 31: guiding the telescopic rod; 32: lengthening a rod; 33: and (4) a box body.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples. Advantages and features of the present invention will become apparent from the following description and from the claims. It is to be noted that the drawings are in a very simplified form and are all used in a non-precise ratio for the purpose of facilitating and distinctly aiding in the description of the embodiments of the invention.
Referring to fig. 1, the invention provides a manipulator, which comprises a base, a cross arm 3, a first driving mechanism, a second driving mechanism, a third driving mechanism, a fourth driving mechanism, a vertical arm and a clamping device, wherein the cross arm 3 is driven by the first driving mechanism to horizontally rotate relative to the base, the vertical arm is driven by the second driving mechanism to linearly move, the vertical arm is driven by the third driving mechanism to rotate, and the clamping device is driven by the fourth driving mechanism to lift.
Referring to fig. 1 and 2, the base includes a vertical column 1 and a cover box 2, a flange is welded at the bottom of the vertical column 1 for fixing with the ground, a specific first driving mechanism includes a first rotary driver 4, a first gear 5 and a second gear 6, the first rotary driver 4 is arranged at the top end of the vertical column 1, the first rotary driver 4 performs rotary motion and is provided with a first rotating shaft, which can be a rotary cylinder, a motor and the like, in this embodiment, the driving force required by the first rotary driver 4 to drive the cross arm 3 and the vertical arm is large, so the first rotary cylinder is preferred, the rotary cylinder has large torque and compact structure, the driving force is stronger while occupying smaller space, the first rotary cylinder has small volume, which can make the vertical column 1 small in volume, the bottom mounting end of the first rotary driver 4 is connected to the top end of the vertical column 1 through a bolt, and further the top end of the vertical column 1 is further connected with a fixing plate through a bolt, a mounting housing at the bottom of the first rotary driver 4 is mounted on the fixed plate by bolts, and a first gear 5 is connected to the first rotary shaft by a key; the first rotary oil cylinder is sleeved with the cover box 2, flanges are arranged at the bottom of the cover box 2 and the top end of the stand column 1, the first rotary oil cylinder and the cover box are fixedly connected through bolts and the flanges, an oil pipe of the first rotary oil cylinder penetrates out of a side hole of the cover box 2, the cover box 2 is arranged to enable the first driving mechanism to be isolated from the outside, and the dust prevention and the service life increase are also safer. The xarm 3 rotates and connects in the base, and the xarm 3 drives with the horizontal rotation through a actuating mechanism, specific xarm 3 is welding truss structure, truss quality light intensity is high, the one end of xarm 3 has linked firmly vertical rotating shaft 7, vertical rotating shaft 7 upper end rotates and connects on the floor that the cover box 2 extends out, the lower extreme rotates and connects in the flange of cover box 2 or also extends out a floor, and the accessible is located the bearing or the copper sheathing in the floor and is connected, be equipped with second gear 6 on the vertical rotating shaft 7, first gear 5 and second gear 6 intermeshing, and corresponding cover box 2 sets up porosely messenger's gear in gear engagement department and can pass.
Referring to fig. 1 and 3, the upper end surface of the cross arm 3 is horizontal, the second driving mechanism is arranged on the upper end surface of the cross arm 3, the vertical arm is rotatably connected to the second driving mechanism and is driven by the second driving mechanism to do linear motion, the specific second driving mechanism comprises a second linear driver 8, a mounting plate 9, a slide rail 10 and a slide block 11, the second linear driver 8 is a first hydraulic cylinder and is mounted on the cross arm 3 through a fixing plate, the fixing plate is supported by welding rib plates in a reinforcing way, the second linear driver 8 can be more stably mounted through the fixing plate because the cross arm 3 is a truss structure, in the embodiment, the slide rail 10 and the slide block 11 are reversely mounted, the slide block 11 is mounted on the cross arm 3, the slide rail 10 is mounted on the upper end surface of the slide block 11, the mounting plate 9 is mounted on the upper end surface of the slide rail 10, the mounting plate 9 linearly slides on the slide block 11 along with the slide rail 10 through the extension and retraction of the second linear driver 8, so that the reverse mounting plate can perform better orientation and reduce the moment under the minimum stroke, because the second end of the mounting plate 9 is provided with the vertical arm, the reverse installation also reduces the bending moment formed by the gravity of the vertical arm, in other embodiments, the vertical installation is also available, the telescopic rod of the second linear driver 8 is connected to the first end of the mounting plate 9, the further slide rail 10 is a double-row parallel slide rail, and each row of slide rails 10 is provided with three slide blocks 11, so that better stress can be realized, and the bearing capacity of the slide rail 10 is increased; the mounting plate 9 has a mounting portion at a second end thereof, and a vertical arm is rotatably connected to the mounting portion and suspended from the other end of the horizontal arm 3 away from the upright 1, and in other embodiments, the vertical arm may also pass through the hollow portion of the truss structure of the horizontal arm 3. The vertical arm is rotatably connected to the mounting part, so that the vertical arm can rotate, the vertical arm rotates to drive the clamping device to rotate so as to clamp workpieces in different directions, and compared with the mode that the rotating device is directly arranged on the clamping device to rotate, the scheme has the advantages that the rotating torque is larger, the bearing capacity of the clamping device is higher, and heavier articles can be clamped; the clamping device is directly provided with the rotating device, the rotating torque of the rotating device is small, excessive force cannot be borne, and the clamping device is easy to fall off.
Referring to fig. 1, 3 and 4, the mounting portion is a box 33, a vertical through hole is formed in the middle of the box 33, and the box 33 is fixedly connected with the second end of the mounting plate 9 and is connected with the second end of the mounting plate through a rib plate in a reinforcing manner. The vertical arm is driven to rotate by a third driving mechanism, the specific vertical arm comprises a fourth driving mechanism, an upper rotating cover 12 and a lower rotating cover 13, the middle of the upper rotating cover 12 and the middle of the lower rotating cover 13 are provided with a through hole, the upper rotating cover 12 and the lower rotating cover 13 are respectively and rotatably arranged at the upper end and the lower end of the box body 33, in the embodiment, the upper rotating cover 12 and the lower rotating cover 13 are rotatably arranged at the upper end and the lower end of the box body 33 through thrust ball bearings, in other embodiments, balls can be directly used, and correspondingly, ball grooves are formed in the upper rotating cover 12, the lower rotating cover 13 and the box body 33; the rotary bolt 14 is arranged in a vertical through hole of the box body 33 and rotary bolt 14 holes of the upper rotary cover 12 and the lower rotary cover 13 in a penetrating way, so that the upper rotary cover 12 and the lower rotary cover 13 are fixedly connected together and can rotate together, and the rotary bolt 14 can also rotate in the vertical through hole of the box body 33 without obstruction; the third driving mechanism comprises a third rotary driver 16, a first belt pulley 17, a second belt pulley 18, a belt 19 and a belt pulley seat 20, the third rotary driver 16 is arranged on the mounting plate 9, the third rotary driver 16 rotates and is provided with a second rotating shaft, in the embodiment, the third rotary driver 16 is a second rotary oil cylinder, the rotary oil cylinder has large torque and compact structure, so that the driving force is stronger while occupying smaller space, the vertical arm can clamp heavier workpieces, the side end of the third rotary driver 16 is arranged on the mounting plate 9 through a right-angle steel member and a bolt and can linearly move along with the mounting plate 9, the first belt pulley 17 is arranged on the second rotating shaft through a key, the belt pulley seat 20 is fixedly connected with the upper end surface of the upper rotary cover 12 through a bolt, the second belt pulley 18 is arranged on the belt pulley seat 20, and the first belt pulley 17 is connected with the second belt pulley 18 through the belt 19, the upper rotating cover 12 and the lower rotating cover 13 are driven to rotate, and the belt 19 preferably passes through a toothed belt, so that the positioning is more accurate; the fourth driving mechanism is a fourth linear driver 15 and is arranged on the lower rotating cover 13, and the fourth linear driver 15 is a second hydraulic cylinder; further, all be equipped with the through-hole in the middle of last rotation lid 12 and lower rotation lid 13, pulley holder 20 is equipped with the through-hole, fourth linear actuator 15 wears to locate pulley holder 20's through-hole simultaneously, the through-hole in the middle of last rotation lid 12 and lower rotation lid 13 and the vertical through-hole of box 33, and the lower extreme of fourth linear actuator 15 links firmly in lower rotation lid 13 through the fixed plate, along with lower rotation lid 13 is rotatory together, fourth linear actuator 15's telescopic link is down, hydraulic pressure oil pipe passes in the follow-up rotation lid 12.
Referring to fig. 1, 5 and 6, the clamping device is driven by a fourth driving mechanism to perform lifting movement, the clamping device is used for clamping a workpiece, the specific clamping device is connected to the telescopic rod of the fourth linear driver 15, the clamping device comprises a mounting shell 21, a fifth linear driver 22, two clamping portions 23 and two opening and closing blocks 28, the upper end surface of the mounting shell 21 is connected to the telescopic rod of the fourth linear driver 15, the fifth linear driver 22 is a horizontally arranged bidirectional hydraulic cylinder and is connected to the lower end surface of the mounting shell 21, the left end and the right end of the mounting shell 21 extend downwards to be used for mounting the two clamping portions 23, and the clamping portions 23 are located on the telescopic stroke of the telescopic rod of the fifth linear driver 22; the clamping part 23 comprises two clamping claws 24, the two clamping claws 24 are rotatably connected with the mounting shell 21 and are oppositely arranged, the upper parts of the two clamping claws 24 are connected with the mounting shell 21 through springs 25, the springs 25 are in a compressed state, the upper parts of the clamping claws 24 are close to the opposite clamping claws 24, the horizontal positions of the springs 25 are higher than the rotating shafts 26 of the clamping claws 24, and opening and closing gaps 27 are formed between the upper parts of the two clamping claws 24; the two telescopic rods of the fifth linear driver 22 are both provided with an opening and closing block 28, the first end of the opening and closing block 28 is connected with the telescopic rods of the fifth linear driver 22, the first end of the opening and closing block 28 can be inserted into the opening and closing gap 27, the horizontal sectional area of the second end of the opening and closing block 28 is larger than the opening and closing gap 27, namely, the horizontal section of the opening and closing block 28 is gradually increased from the first end to the second end, the first end of the opening and closing block 28 is a tip and can be inserted into the opening and closing gap 27, the opening and closing block 28 extrudes the two clamping claws 24 to open the upper parts of the clamping claws 24 in the insertion process, and the lower ends of the clamping claws 24 are naturally clamped through the rotating shaft 26; specifically, when the holding portion 23 is opened: the upper portions of the two gripping claws 24 are close to each other by the action of the spring 25, and the lower portions of the two gripping claws 24 are distant from each other by the rotation shaft 26 to be opened; when the clamping part 23 is clamped: the opening and closing block 28 is inserted into the opening and closing gap 27 from the first end thereof through the fifth linear actuator 22, and the upper portions of the two clamping claws 24 are moved away from each other and the lower portions thereof are moved close to each other to be clamped.
Referring to fig. 5, the upper end surface of the opening and closing block 28 is provided with a roller 29, a guide rail 30 is provided at a corresponding position of the lower end surface of the mounting shell 21, the roller 29 is a V-groove guide roller, a V-groove is provided at the middle part of the roller 29, and a corresponding protrusion is provided on the corresponding guide rail 30, so that the roller 29 can directionally roll on the guide rail 30, and the opening and closing block 28 can be more accurately inserted into the opening and closing gap 27.
Refer to 1, 4, 5, including two direction telescopic links 31, direction telescopic link 31 inner prop one end is connected in the 14 axles of rotation bolt on lower rotation cover 13, the bolt through horizontal setting makes two axles link together, it is concrete, direction telescopic link 31 one end is opened porosely, make direction telescopic link 31 cover locate rotation bolt 14 axle, and at direction telescopic link 31 and the 14 epaxial horizontal through-holes of opening of rotation bolt, it links together to make it together through the bolt, the outer prop of the direction telescopic link 31 other end is connected in installation shell 21, it has the effect of direction and increase the holding power to set up direction telescopic link 31, make clamping device flexible more smooth and easy, and make clamping device can the heavier work piece of centre gripping. Comprises an extension bar 32, one end of the extension bar 32 is connected to the extension bar of the fourth linear actuator 15, and the other end is connected to the mounting shell 21.
Furthermore, the first rotary driver 4, the third rotary driver 16, the second linear driver 8, the fourth linear driver 15 and the fifth linear driver 22 are regulated by a throttle valve, the direction is changed by a reversing valve, and the valve is fixed on the machine body by a binding belt.
The driving mechanisms of the invention are all driven by hydraulic pressure, have larger load capacity, and the grabbing positions at the two sides of the clamping part 23 are symmetrically distributed, so that the bending moment generated by the deviation of the grabbing positions can be reduced. Each degree of freedom can be dismantled, and the machine can be in setting for the nimble removal in the space, and the noise is little, and degree of automation is high, has not only saved the manual work, has improved the overall efficiency of production line moreover.
The working process of the present invention is further explained as follows:
firstly, the first rotary driver 4 drives the cross arm 3 to rotate, the oil circuit is disconnected after the cross arm reaches a proper position, the second linear driver 8 drives the vertical arm to linearly move, the oil circuit is disconnected after the vertical arm reaches the position right above a workpiece, the horizontal expansion is fixed, the third rotary driver 16 drives the vertical arm to rotate, the oil circuit is disconnected when the clamping device is parallel to the workpiece, then the fourth linear driver 15 of the vertical arm is controlled to extend, the clamping device stably moves downwards, the oil circuit is disconnected after the cross arm reaches the proper position, the vertical expansion is fixed, the clamping part 23 is in an open state at the moment, the workpiece is positioned between the clamping claws 24, the fifth linear driver 22 is controlled to extend, the clamping block is inserted into the opening and closing gap 27, the clamping claws 24 are clamped, and the workpiece is clamped, and controlling each driving mechanism to convey the workpiece to reach the designated position according to the same principle, and then loosening the clamping claws 24 to finish conveying.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, it is still within the scope of the present invention if they fall within the scope of the claims of the present invention and their equivalents.
Claims (12)
1. A manipulator, characterized by comprising:
a base;
the cross arm is rotationally connected with the base and is driven by a first driving mechanism to horizontally rotate relative to the base;
the second driving mechanism is arranged on the cross arm;
the vertical arm is rotationally connected to the second driving mechanism and driven by the second driving mechanism to do linear motion, the vertical arm is driven by the third driving mechanism to rotate, and the vertical arm comprises a fourth driving mechanism;
the clamping device is arranged on the fourth driving mechanism and driven by the fourth driving mechanism to do lifting motion, and the clamping device is used for clamping a workpiece;
the base comprises an upright post and a cover box, the first driving mechanism comprises a first rotary driver, a first gear and a second gear, the first rotary driver is arranged on the upper end face of the upright post, the cover box is sleeved on the first rotary driver and fixedly connected to the upper end face of the upright post, the first rotary driver is provided with a first rotating shaft, the first rotating shaft is provided with the first gear, one end of the cross arm is fixedly provided with a vertical rotating shaft, the vertical rotating shaft is rotationally connected to the cover box, the vertical rotating shaft is provided with the second gear, and the first gear and the second gear are meshed through an opening formed in the cover box;
the second driving mechanism comprises a second linear driver and a mounting plate, the mounting plate is connected with the cross arm in a sliding mode, the second linear driver drives the mounting plate to do linear motion, a mounting portion is arranged at one end of the mounting plate, and the vertical arm is connected with the mounting portion in a rotating mode.
2. The robot hand according to claim 1, wherein the second driving mechanism includes a slide rail and a slider, the slider is provided on the cross arm, the slide rail is provided on an upper end surface of the slider, and the mounting plate is provided on an upper end surface of the slide rail.
3. The manipulator of claim 1, wherein the vertical arm includes an upper rotating cover and a lower rotating cover, the mounting portion is a box body provided with a vertical through hole, the upper rotating cover and the lower rotating cover are respectively and rotatably disposed at upper and lower ends of the box body, the upper rotating cover and the lower rotating cover are fixedly connected together through a rotating bolt, the rotating bolt penetrates through the vertical through hole, the fourth driving mechanism is a fourth linear driver, and the fourth linear driver is fixedly connected to the lower rotating cover.
4. The manipulator according to claim 3, wherein the third driving mechanism includes a third rotary actuator, a first pulley, a second pulley, a belt, and a pulley seat, the third rotary actuator is disposed on the mounting plate, the third rotary actuator is provided with a second rotary shaft, the second rotary shaft is provided with the first pulley, the pulley seat is fixedly connected to the upper rotary cover, the second pulley is disposed on the pulley seat, and the first pulley and the second pulley are connected by the belt.
5. The manipulator according to claim 4, wherein a through hole is formed in each of the upper rotating cover and the lower rotating cover, a through hole is formed in the pulley seat, the fourth linear actuator penetrates through the upper rotating cover, the lower rotating cover, the through hole of the pulley seat and the vertical through hole, and a lower end of the fourth linear actuator is fixedly connected to the lower rotating cover.
6. The robot of claim 4, wherein the first rotary drive and the third rotary drive are both rotary cylinders.
7. A robot hand according to claim 3, wherein the gripping means comprises:
the mounting shell is connected to the fourth linear driver and driven by the fourth linear driver to do lifting motion;
the fifth linear driver is a bidirectional linear driver, and the two driving directions are opposite;
the two clamping parts are arranged at two ends of the mounting shell and comprise two clamping claws which are rotatably connected to the mounting shell and are opposite in position, the upper parts of the two clamping claws are connected with the mounting shell through springs, the positions of the springs are higher than the rotating shafts of the clamping claws, and an opening gap is formed between the upper parts of the two clamping claws;
the first ends of the opening and closing blocks can be inserted into the opening and closing gaps, the second ends of the opening and closing blocks are larger than the opening and closing gaps, and the two opening and closing blocks are driven by the fifth linear driver to enable the insertion ends to move towards or away from the two opening and closing gaps respectively;
when the clamping part opens: the upper parts of the two clamping claws are close to each other under the action of the spring, and the lower parts of the two clamping claws are far away from each other through the rotating shaft to be opened;
when the clamping parts are clamped: the opening and closing block is inserted into the opening and closing gap, and the upper parts of the two clamping claws are far away from each other and the lower parts of the two clamping claws are close to each other to clamp.
8. The manipulator according to claim 7, comprising a roller and a guide rail, wherein the roller is disposed on an upper end surface of the opening and closing block, the guide rail is disposed on a lower end surface of the mounting shell, and the roller is connected to the guide rail in a rolling manner.
9. The robot of claim 7, comprising at least one guide telescopic rod, one end of which is connected to the lower rotary cover or the rotary bolt shaft, and the other end of which is connected to the mounting housing.
10. The robot of claim 7, wherein the second linear drive, the fourth linear drive, and the fifth linear drive are all hydraulic cylinders.
11. The manipulator according to claim 7, comprising an extension bar having one end connected to the extension bar of the fourth linear actuator and the other end connected to the mounting case.
12. The robot hand according to claim 3, wherein the upper and lower rotary covers are rotatably provided at upper and lower ends of the case through thrust ball bearings.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010441283.9A CN111606035B (en) | 2020-05-22 | 2020-05-22 | Mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010441283.9A CN111606035B (en) | 2020-05-22 | 2020-05-22 | Mechanical arm |
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| CN111606035A CN111606035A (en) | 2020-09-01 |
| CN111606035B true CN111606035B (en) | 2021-11-05 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115465657A (en) * | 2022-09-27 | 2022-12-13 | 衡阳桑谷医疗机器人有限责任公司 | A manipulator for medicine letter sorting |
| CN116722503A (en) * | 2023-08-11 | 2023-09-08 | 国网山东省电力公司聊城供电公司 | Buckle type insulating sheath mounting device for overhead transmission line |
| CN117383246A (en) * | 2023-12-13 | 2024-01-12 | 烟台大学 | Bagged material carrying manipulator |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2606313B1 (en) * | 1986-11-12 | 1994-06-17 | Gm Thierion Sa | ROBOT HANDLING DEVICE WITH FOUR OR FIVE AXES |
| DE4130097A1 (en) * | 1991-09-11 | 1993-03-18 | Johann Rettinger Praezisions A | Automatic pallet and workpiece changing device for machine tools - has slewing jib carrying indexable rotating arms at the end fitted with workholders or clamps |
| CN201669703U (en) * | 2010-05-14 | 2010-12-15 | 郑州新大方重工科技有限公司 | Turnover mechanical arm |
| CN202640354U (en) * | 2012-07-02 | 2013-01-02 | 江苏天宏机械工业有限公司 | Multi-station mechanical arm carrying mechanism |
| CN103640009A (en) * | 2013-11-11 | 2014-03-19 | 吴中区木渎蒯斌模具加工厂 | Hydraulic large-sized mechanical hand |
| CN205328246U (en) * | 2016-02-01 | 2016-06-22 | 重庆达瑞森通实业有限公司 | Stacking manipulator |
| CN205969041U (en) * | 2016-08-15 | 2017-02-22 | 江苏新光数控技术有限公司 | Accurate nimble robotic arm |
| CN106239501A (en) * | 2016-09-28 | 2016-12-21 | 洛阳理工学院 | Multiple degrees of freedom hydraulic driving mechanical is used in the carrying of a kind of workshop |
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