CN111872932A

CN111872932A - Mechanical arm

Info

Publication number: CN111872932A
Application number: CN202010775431.0A
Authority: CN
Inventors: 李彬; 程铭; 刘羽祚; 孙亮波; 胡志刚; 陈艳
Original assignee: Wuhan Polytechnic University
Current assignee: Wuhan Polytechnic University
Priority date: 2020-08-04
Filing date: 2020-08-04
Publication date: 2020-11-03

Abstract

The invention discloses a manipulator, which relates to the technical field of industrial automation, wherein the manipulator comprises a telescopic device and a gripping device, the telescopic device comprises a telescopic assembly, the telescopic assembly comprises a plurality of sleeves which are sequentially connected along the length direction of the telescopic assembly, the diameters of the plurality of sleeves are arranged in an increasing or decreasing manner along the length direction, and every two adjacent sleeves can be sleeved in a telescopic manner relatively; the gripping device is rotatably arranged at one end of the telescopic assembly and is used for gripping and placing objects. Through the arrangement of the telescopic device, the manipulator can also occupy small space and has simple structure while the manipulator can carry out remote grabbing work.

Description

Mechanical arm

Technical Field

The invention relates to the technical field of industrial automation, in particular to a manipulator.

Background

In the industrial production field, various tools or assemblies are used during the production process or in subsequent processes such as processing and packaging. For example, in the plastic part manufacturing process, each time a product is manufactured, an operator needs to repeat the operation of taking and placing the plastic part, and the repeated operation causes physical fatigue of the operator, so that the speed is gradually reduced, and the production efficiency of the product is affected. Meanwhile, some machining assembly parts or machining tools are placed at positions far away from the operator, and when the machining assembly parts or the machining tools are taken, the operator needs to operate remotely, so that time and labor are wasted.

The manipulator has some action functions simulating human hand and arm, and is one automatic manipulator for grasping and conveying article according to fixed program. The manipulator is the earliest industrial robot, can replace the heavy labor of people to realize the mechanization and automation of production, improve the working efficiency and save the production cost, thereby being widely applied to various fields. The current manipulator is in order to realize remote work of snatching, and the arm generally comprises the multisection, and nevertheless multisection arm can lead to the manipulator to occupy space great, leads to the manipulator structure complicacy simultaneously, and the cost is higher.

Disclosure of Invention

The invention mainly aims to provide a manipulator, and aims to provide a manipulator which is simple in structure and can carry out long-distance grabbing work.

In order to achieve the above object, the present invention provides a manipulator including:

the telescopic device comprises a telescopic assembly, the telescopic assembly comprises a plurality of sleeves which are sequentially connected along the length direction of the telescopic assembly, the radial widths of the plurality of sleeves are arranged in an increasing or decreasing manner along the length direction, and every two adjacent sleeves can be sleeved in a telescopic manner relatively; and the number of the first and second groups,

and the grabbing device is rotatably arranged at one end of the telescopic assembly and is used for grabbing and placing objects.

Optionally, one of every two adjacent sleeves is an outer sleeve, the other one of every two adjacent sleeves is an inner sleeve, racks extending along the length direction are arranged on the inner wall of the outer sleeve and the outer wall of the inner sleeve, and a gear is arranged between the two racks; alternatively, the first and second electrodes may be,

every adjacent three in the sleeve, from the extroversion inwards sets gradually first sleeve, second sleeve, third sleeve, first telescopic inner wall with the telescopic outer wall of third all is equipped with the rack that extends along length direction, run through on the telescopic section of thick bamboo wall of second and establish the via hole, the gear is installed to the via hole internal rotation, the gear respectively with two rack toothing.

Optionally, a plurality of the sleeve that is farthest from the gripping device in the sleeve is set as a fixed sleeve, the sleeve that is adjacent to the fixed sleeve is set as a movable sleeve, the fixed sleeve and the movable sleeve are arranged with an opening at one end, the telescopic assembly further comprises a lead screw that penetrates through the end of the fixed sleeve, and the lead screw is in threaded connection with the end of the movable sleeve.

Optionally, the telescopic device further comprises a first driving motor, and the first driving motor is arranged on the fixed sleeve, connected with the screw rod and used for driving the screw rod to rotate.

Optionally, the gripping device includes a base and a plurality of first jaws disposed on the base at intervals along a circumferential direction of the base, and the plurality of first jaws are rotatably disposed to have a retracted state in which they are relatively retracted to clamp the object and an open state in which they are relatively extended to release the object.

Optionally, a through hole penetrates through the center of the base;

the grasping apparatus further includes:

the movable block is arranged in the through hole in a reciprocating manner along the central shaft direction of the base, and the first clamping jaws are movably connected with the movable block through connecting rods; and the number of the first and second groups,

and the driving mechanism is arranged on the base and connected with the movable block and used for driving the movable block to move in a reciprocating manner.

Optionally, the grabbing device further comprises a plurality of second claws, the plurality of second claws and the plurality of first claws are correspondingly arranged, and the second claws are rotatably mounted at one ends, far away from the base, of the first claws.

Optionally, the gripping device further includes a plurality of cylinders, the plurality of cylinders are correspondingly disposed on the plurality of first jaws, and a piston rod of each cylinder is movably connected to the second jaw.

Optionally, the manipulator further comprises a rotating device, and the rotating device is arranged between the gripping device and the telescopic assembly and is used for driving the gripping device to rotate relative to the telescopic assembly.

Optionally, the rotating device comprises:

one end of the rotating block is fixedly connected with the grabbing device, and the other end of the rotating block is rotatably connected with the telescopic assembly;

the second driving motor is arranged on the rotating block, and an output shaft of the second driving motor is provided with a driving gear; and the number of the first and second groups,

the fixed gear is arranged on one side of the telescopic assembly and is used for being meshed with the driving gear.

The manipulator provided by the invention comprises a telescopic device and a grabbing device, wherein the telescopic device comprises a telescopic assembly, the telescopic assembly comprises a plurality of sleeves which are sequentially connected along the length direction of the telescopic assembly, the diameters of the plurality of sleeves are gradually increased or decreased along the length direction, and every two adjacent sleeves can be relatively telescopically sleeved. Through the arrangement of the telescopic device, the manipulator can also occupy small space and has simple structure while the manipulator can carry out remote grabbing work.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a robot according to an embodiment of the present invention;

FIG. 2 is a schematic view of the telescoping device of FIG. 1;

FIG. 3 is a cross-sectional schematic view of the telescoping device of FIG. 2;

FIG. 4 is a schematic view of the grasping apparatus of FIG. 1;

fig. 5 is a schematic structural view of the rotating apparatus in fig. 1.

The reference numbers illustrate:

the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.

In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout includes three juxtapositions, exemplified by "A and/or B" including either A or B or both A and B. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

The current manipulator is in order to realize remote work of snatching, and the arm generally comprises the multisection, and nevertheless multisection arm can lead to the manipulator to occupy space great, leads to the manipulator structure complicacy simultaneously, and the cost is higher.

In view of this, the present invention provides a manipulator which has a simple structure and can perform a long-distance grabbing operation, and fig. 1 to 5 illustrate an embodiment of the manipulator according to the present invention.

Referring to fig. 1 and 2, the manipulator 100 includes a telescopic device 1 and a gripping device 2, wherein the telescopic device 1 includes a telescopic assembly 11, the telescopic assembly 11 includes a plurality of sleeves 111 sequentially connected along a length direction thereof, a diameter width of the plurality of sleeves 111 is gradually increased or decreased along the length direction, and every two adjacent sleeves 111 can be relatively telescopically sleeved; the gripping device 2 is rotatably arranged at one end of the telescopic assembly 11 and is used for gripping and placing objects. According to the technical scheme provided by the invention, the manipulator 100 comprises the telescopic device 1 and the grabbing device 2, and the manipulator 100 can grab a workpiece in a long distance by the arrangement of the telescopic device 1, and meanwhile, the manipulator occupies a small space and has a simple structure.

It should be noted that, the specific shape of the sleeve 111 is not limited in the present invention, and the sleeve 111 may be a cylinder, a cuboid, or a cube. Wherein, the length direction is perpendicular to the width, when the sleeve 111 is a cylinder, the diameter of the sleeve 111 is wide; when the sleeve 111 has other shapes, the cross section of the sleeve is not necessarily circular or square, and thus, the diameter width of the sleeve 111 is the average width. In addition, the robot 100 is used to grasp a light object.

Referring to fig. 2 and 3, in an embodiment, a first sleeve 111a, a second sleeve 111b, and a third sleeve 111c are sequentially disposed from outside to inside in every three adjacent sleeves 111, racks extending in a length direction are disposed on an inner wall of the first sleeve 111a and an outer wall of the third sleeve 111c, a through hole 1112 is disposed through a cylinder wall of the second sleeve 111b, a gear 1113 is rotatably mounted in the through hole 1112, the gear 1113 is rotatably disposed on the second sleeve 111b by a fixing shaft 1114, and the gear 1113 is respectively engaged with the two racks, so that when the second sleeve 111b moves in a length direction, the gear 1113 mounted on the second sleeve 111b rotates, and then the third sleeve 111c and the first sleeve 111a are driven to move in the length direction. In order to achieve a good effect of relative movement of the sleeves 111 by means of rack-and-pinion engagement and to fix the first sleeve 111a for easy installation of other components, the first sleeve 111a is fixed in fig. 2 and 3. The installation mode of the plurality of sleeves 111 is convenient for the installation of the gear 1113, and the installation space of the gear 1113 is saved, so that the size of the telescopic assembly 11 is smaller, the occupied space is reduced, and the telescopic assembly is more practical.

Obviously, the design is not limited to this, in other embodiments, one of every two adjacent sleeves 111 is an outer sleeve, the other is an inner sleeve, racks extending along the length direction are respectively arranged on the inner wall of the outer sleeve and the outer wall of the inner sleeve, a gear is arranged between the two racks, specifically, the gear is rotatably arranged between the inner sleeve and the outer sleeve through a fixing structure, so that as long as any one of the inner sleeve and the outer sleeve moves in the length direction, the gear can be driven to rotate, and thus the other sleeve moves; or, as long as the gear rotates, the inner sleeve and the outer sleeve can be driven to move.

Further, in this embodiment, in order to drive one of the sleeves 111 to move in the length direction, so as to rotate the gear 1113 and further move the other sleeves 111, specifically, the sleeve farthest from the gripping device 2 among the plurality of sleeves 111 is set as a fixed sleeve (i.e., the first sleeve 111a mentioned above), the sleeve 111 adjacent to the fixed sleeve is set as a movable sleeve (i.e., the second sleeve 111b mentioned above), the fixed sleeve and the movable sleeve are arranged with an opening at one end, the telescopic assembly 11 further includes a screw rod 12 arranged through an end of the fixed sleeve, and the screw rod 12 is in threaded connection with an end of the movable sleeve. Since the screw rod 12 is screwed to the end of the movable sleeve, rotating the screw rod 12 causes the movable sleeve to reciprocate in the longitudinal direction, thereby rotating the gear provided on the movable sleeve, and since the gear is also engaged with the sleeve (i.e., the third sleeve 111c described above) adjacent to the movable sleeve, the sleeve is also moved in the same direction as the movable sleeve, and so on, and all the sleeves except the fixed sleeve can be extended or retracted into the fixed sleeve.

In order to realize mechanical automation and save labor and time, in this embodiment, the telescoping device 1 further includes a first driving motor 12, and the first driving motor 12 is disposed on the fixed sleeve, and is connected to the screw rod 12 for driving the screw rod 12 to rotate.

It should be noted that the outer sleeve, the first sleeve, the fixing sleeve and the like in the above description are names for facilitating understanding of the setting, and do not represent fixed objects, for example, the sleeve far away from the grasping mechanism in fig. 2 may be the outer sleeve, the first sleeve or the fixing sleeve.

Referring to fig. 4, in the present embodiment, the grabbing device 2 includes a base 21 and a plurality of first claws 22 arranged on the base 21 at intervals along the circumferential direction of the base 21, and the plurality of first claws 22 are rotatably arranged to have a retracted state of being relatively retracted to clamp the object and an open state of being relatively extended to release the object. The first clamping jaws 22 are provided with a plurality of clamping positions, so that the object is not easy to loosen.

Further, a through hole 211 is formed through the center of the base 21; the gripping device 2 further comprises a movable block 23 and a driving mechanism 25, the movable block 23 is arranged in the through hole 211 in a reciprocating manner along the central axis direction of the base 21, and the plurality of first claws 22 are movably connected with the movable block 23 through connecting rods 24; the driving mechanism 25 is disposed on the base 21 and connected to the movable block 23, and is configured to drive the movable block 23 to move back and forth. In this embodiment, a screw rod 231 penetrates through the movable block 23, a thread engaged with the screw rod 231 is provided on the movable block 23, the driving mechanism 25 is fixedly connected to the screw rod 231, the driving mechanism 25 drives the screw rod 231 to rotate, and due to the engagement of the thread, the movable block 23 can reciprocate along the central axis direction of the base 21, so that the first clamping jaw 22 connected to the movable block 23 has a retracted state of relatively closing to clamp the object and an open state of relatively expanding to release the object. Therefore, the first clamping jaw 22 can grab and place objects, and the structure is simple and the operation is convenient.

In order to improve the grasping effect of the grasping device 2, in this embodiment, the grasping device 2 further includes a plurality of second claws 26, the plurality of second claws 26 are disposed corresponding to the plurality of first claws 22, and the second claws 26 are rotatably mounted on an end of the first claws 22 away from the base 21. Thus, the gripping device 2 of the manipulator 100 is more flexible and more practical.

Further, the grabbing device 2 further comprises a plurality of air cylinders, the plurality of air cylinders are correspondingly arranged on the plurality of first claws 22, a piston rod 27 of each air cylinder is movably connected with the second claws 26, specifically, the plurality of air cylinders are arranged on the base 21, the piston rod 27 is rotatably connected with the second claws 26 through a connecting piece 28, the piston rod 27 is driven by air pressure in the air cylinders to move in a direction away from the base 21, so that the second claws 26 connected with the piston rod are mutually closed, otherwise, the piston rod 27 moves in a direction close to the base 21, so that the second claws 26 connected with the piston rod are relatively unfolded. The mode of driving the second jaw 26 is simple in structure and saves energy.

In addition, in order to enable the manipulator 100 to perform not only long-distance gripping work on a straight line but also angle change, referring to fig. 1 and 5, in this embodiment, the manipulator 100 further includes a rotating device 3, and the rotating device 3 is disposed between the gripping device 2 and the telescopic assembly 11 and is used for driving the gripping device 2 to rotate relative to the telescopic assembly 11. The rotating mechanism enables the manipulator 100 to change angles to grab an object, and has stronger universality and wider application range.

Further, the rotating device 3 includes a rotating block 31, a second driving motor (not shown in the figure) and a fixed gear 33, wherein one end of the rotating block 31 is fixedly connected to the gripping device 2, the other end of the rotating block is rotatably connected to the telescopic assembly 11, the second driving motor is disposed on the rotating block 31, an output shaft of the second driving motor is provided with a driving gear 32, the fixed gear 33 is disposed on one side of the telescopic assembly 11, and the fixed gear 33 is configured to engage with the driving gear 32. The second driving motor rotates to rotate the driving gear 32, and the driving gear 32 rotates around the fixed gear 33 due to the engagement of the fixed gear 33 and the driving gear 32, so that the gripping device 2 rotates around the telescopic device 1 at a rotation angle of 0-90 °. In addition, the number of teeth of the fixed gear 33 is set to be large, so that the transmission stability is improved, and the impact vibration is reduced.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A manipulator, characterized by comprising:

2. The robot hand of claim 1, wherein one of every two adjacent sleeves is an outer sleeve, the other sleeve is an inner sleeve, racks extending along the length direction are arranged on the inner wall of the outer sleeve and the outer wall of the inner sleeve, and a gear is arranged between the two racks; alternatively, the first and second electrodes may be,

3. The manipulator according to claim 2, wherein the sleeve farthest from the grasping device among the plurality of sleeves is provided as a fixed sleeve, the sleeve adjacent to the fixed sleeve is provided as a movable sleeve, the fixed sleeve and the movable sleeve are provided with an opening at one end, and the telescopic assembly further includes a screw rod provided through an end of the fixed sleeve, the screw rod being screwed to an end of the movable sleeve.

4. The manipulator according to claim 3, wherein the telescoping device further comprises a first driving motor, and the first driving motor is disposed on the fixed sleeve and connected to the lead screw for driving the lead screw to rotate.

5. The robot as claimed in claim 1, wherein the grasping means includes a base and a plurality of first jaws provided on the base at intervals along a circumferential direction of the base, the plurality of first jaws being rotatably disposed to have a contracted state relatively retracted to grip the object and an opened state relatively expanded to release the object.

6. The robot hand of claim 5, wherein a through hole is formed through the center of the base;

the grasping apparatus further includes:

7. The robot of claim 6, wherein the grasping device further includes a plurality of second fingers disposed in correspondence with the plurality of first fingers, the second fingers being rotatably mounted to an end of the first fingers remote from the base.

8. The manipulator according to claim 7, wherein the gripping device further comprises a plurality of air cylinders, the plurality of air cylinders are correspondingly disposed on the plurality of first jaws, and a piston rod of each air cylinder is movably connected with the second jaw.

9. The robot of claim 1, further comprising a rotation device disposed between the gripping device and the telescoping assembly for driving the gripping device to rotate relative to the telescoping assembly.

10. The robot of claim 9, wherein said rotating means comprises: