CN113459073A

CN113459073A - Robot arm capable of realizing overload protection and having anti-falling function

Info

Publication number: CN113459073A
Application number: CN202110861614.9A
Authority: CN
Inventors: 孙学涛; 万旺根; 曹峰; 楼泽鹏
Original assignee: Suntech Suzhou Intelligent Manufacturing Research Institute Co ltd
Current assignee: Suntech Suzhou Intelligent Manufacturing Research Institute Co ltd
Priority date: 2021-07-29
Filing date: 2021-07-29
Publication date: 2021-10-01

Abstract

The invention relates to the field of manipulator equipment, in particular to a robot arm capable of realizing overload protection and having an anti-falling function, which comprises a supporting and positioning device, wherein the top end of the supporting and positioning device is fixedly connected with a transmission protection mechanism, the supporting and positioning device comprises a small rotating arm, a fixed cavity, a fixed limiting seat, a limiting transverse groove and a large rotating arm, the limiting transverse groove is formed in one end of the top of the fixed limiting seat, the large rotating arm is rotatably connected to the side end of the fixed limiting seat, the small rotating arm is rotatably connected to the top of the side end of the large rotating arm, the fixed cavity is fixedly arranged at one end, close to the limiting transverse groove, of the small rotating arm, the transmission protection mechanism comprises a clamping device, an auxiliary anti-falling device and a protection device, and the auxiliary anti-falling devices are symmetrically and fixedly connected to two sides of the clamping device. Through the arrangement of the transmission protection mechanism, the work of anti-falling protection and overload protection can be realized when an object is clamped.

Description

Robot arm capable of realizing overload protection and having anti-falling function

Technical Field

The invention relates to the field of manipulator equipment, in particular to a robot arm capable of realizing overload protection and having an anti-falling function.

Background

The mechanical arm is a device capable of simulating the actions of human hands, the actions of grabbing or lifting by simulating the human hands can be used for clamping and transporting goods from one place to another place, the mechanical arm can replace workers to carry out some dangerous or complex work, the phenomenon of industrial injury of the workers can be reduced, and the mechanical arm can carry out uninterrupted work, so that the mechanical arm can be installed inside a factory to replace the workers to work, and some problems still exist when the existing mechanical arm is used, for example:

when the mechanical arm clamps some longer objects, because the mechanical arm can only clamp one end of the object, the gravity center of the object becomes unstable, and the object possibly drops off in the transportation process.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides a robot arm which can realize overload protection and has an anti-drop function.

The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides a can realize overload protection and have robot arm of anticreep function, includes supporting positioner, supporting positioner's top fixedly connected with transmission protection mechanism, supporting positioner is including rotating forearm, fixed cavity, fixed spacing seat, spacing cross slot and rotating big arm, the top one end at fixed spacing seat is seted up to spacing cross slot, it rotates to connect on the side of fixed spacing seat to rotate big arm, it rotates the side top of connecting at rotating big arm to rotate the forearm, fixed cavity fixed mounting is served at one that the rotation forearm is close to spacing cross slot.

Specifically, transmission protection machanism includes clamping device, supplementary anticreep device and protector, supplementary anticreep device symmetry fixed connection is in clamping device's both sides, protector rotates the side of connecting at supplementary anticreep device.

Specifically, clamping device is including rotating supporting rod, reset spring, spacing sleeve, motor, rotation screw rod, support curb plate and cross card key, rotate screw rod fixed connection at the side center of motor, spacing sleeve runs through the support curb plate screw thread and cup joints on the outer lane of rotating the screw rod, cross card key fixed connection is served at the spacing sleeve deviates from one of rotating the screw rod, rotate the inside of supporting the curb plate of supporting rod symmetry rotation connection, just reset spring fixed connection is between rotating the supporting rod and supporting the curb plate.

Specifically, supplementary anticreep device includes the slip card key, removes the extension board, rotates cardboard, first piston rod, first L type cylinder, second piston rod, supports the crossbearer, contact pad and movable groove, the inside one end at first L type cylinder is pegged graft in the slip of second piston rod, first piston rod slides and pegs graft at the inside other end of first L type cylinder, it rotates to connect on first piston rod to rotate the cardboard, it rotates the inside center of connecting at the rotation cardboard to support the crossbearer, the movable groove symmetry is seted up and is rotated the cardboard and keep away from the inside one end of first piston rod, the slip card key slides and pegs graft in the inside of movable groove, remove extension board fixed connection on the side of slip card key, contact pad fixed connection is between removal extension board and removal extension board.

Specifically, protector is including removing spacing groove, fastening spring, buffer spring, second L type cylinder, spacing frid, location otic placode and semicircle adapter rack, second L type cylinder rotates to be connected and is served at removing spacing groove, remove the top of spacing groove symmetry slip grafting at spacing frid, fastening spring fixed connection is in the inside of removing the spacing groove, location otic placode fixed connection is in fastening spring's one end, semicircle adapter rack fixed connection is at the side of location otic placode, the inside one end of buffer spring symmetry fixed connection at spacing frid.

Specifically, the bottom of removing the spacing groove and the top both ends of spacing frid have seted up the groove of carving of mutual adaptation respectively, the removal constant head tank with location otic placode looks adaptation is seted up to the side of removing the spacing groove, the inside fixedly connected with extrusion spring of activity groove, the slip card key deviates from the inside rotation of side of removing the extension board and is connected with the pulley, the material of contact pad is the elasticity plastic, the bottom side of second L type cylinder slides and pegs graft there is the connecting rod, just it rotates to remove the spacing groove and connects on the connecting rod, the one end that first piston rod deviates from first L type cylinder rotates and is connected with the extrusion inserted bar, and extrudes the inserted bar and slides and pegs graft inside the top of second L type cylinder.

The clamping device comprises a fixed cavity, a clamping rod, a clamping sleeve, a clamping rod, a semicircular adapter frame, a clamping sleeve, a clamping rod, a clamping sleeve, a limiting sleeve and a clamping key, wherein the clamping rod is connected with the clamping rod through the clamping rod, the clamping rod is connected with the clamping sleeve through the clamping rod, the clamping sleeve is connected with the clamping sleeve through the clamping rod, and the clamping sleeve is connected with the clamping sleeve through the clamping rod.

Specifically, motor fixed connection is in the inside of fixed cavity, spacing sleeve slides and pegs graft in the side center of fixed cavity, support curb plate fixed connection on fixed cavity, second piston rod fixed connection is on spacing sleeve is close to one end of motor, second L type cylinder rotates to be connected inside the one end that rotates the cardboard and be close to first piston rod, spacing frid fixed connection is on fixed spacing seat.

The invention has the beneficial effects that:

the robot arm capable of realizing overload protection and having the anti-drop function is fixedly arranged in the supporting and positioning device through the transmission protection mechanism, the lifting device is fixedly arranged in the transmission protection mechanism, the lifting device is connected with the positioning device in the transmission protection mechanism, when the positioning device is started, the lifting device can be driven to start, thereby the goods can be lifted and fixed, the buckle protective device is fixedly connected in the transmission protective mechanism, through the arrangement of the buckle protective device, the mechanical device can be prevented from being damaged when the overloaded goods are transported, through the arrangement of the matching device which is fixedly arranged in the transmission protection mechanism, protection work can be carried out in a flexible way, and the limiting system is fixedly connected inside the supporting and positioning device, so that the moving range of the transmission protection mechanism can be limited.

Drawings

The invention is further illustrated with reference to the following figures and examples.

FIG. 1 is a schematic view of the main structure of the present invention;

FIG. 2 is a schematic view of the transmission guard mechanism of the present invention;

FIG. 3 is a schematic view of a clamping device according to the present invention;

FIG. 4 is a schematic view of the auxiliary anti-separation device of the present invention;

FIG. 5 is a schematic disassembled view of the protection device of the present invention;

fig. 6 is a schematic structural diagram of the supporting and positioning device of the present invention.

In the figure: 1-transmission protection mechanism, 2-support positioning device, 11-clamping device, 12-auxiliary anti-falling device, 13-protection device, 111-rotation clamping rod, 112-reset spring, 113-limit sleeve, 114-motor, 115-rotation screw, 116-support side plate, 117-cross clamping key, 121-sliding clamping key, 122-moving support plate, 123-rotating clamping plate, 124-first piston rod, 125-first L-shaped cylinder, 126-second piston rod, 127-support cross frame, 128-contact spacer, 129-movable groove, 131-moving limit groove, 132-fastening spring, 133-buffer spring, 134-second L-shaped cylinder, 135-limit groove plate, 136-positioning lug plate, 137-semicircular adapter, 21-rotating small arm, 22-fixed cavity, 23-fixed limiting seat, 24-limiting transverse groove and 25-rotating large arm.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.

As shown in fig. 1-6, the robot arm capable of realizing overload protection and having an anti-drop function according to the present invention includes a supporting and positioning device 2, a transmission protection mechanism 1 is fixedly connected to a top end of the supporting and positioning device 2, the supporting and positioning device 2 includes a small rotating arm 21, a fixed cavity 22, a fixed limiting seat 23, a limiting transverse groove 24 and a large rotating arm 25, the limiting transverse groove 24 is disposed at one end of a top portion of the fixed limiting seat 23, the large rotating arm 25 is rotatably connected to a side end of the fixed limiting seat 23, the small rotating arm 21 is rotatably connected to a top portion of a side end of the large rotating arm 25, and the fixed cavity 22 is fixedly mounted on one end of the small rotating arm 21 close to the limiting transverse groove 24.

Specifically, transmission protection machanism 1 includes clamping device 11, supplementary anticreep device 12 and protector 13, and supplementary anticreep device 12 symmetry fixed connection is in clamping device 11's both sides, and protector 13 rotates the side of connecting at supplementary anticreep device 12, drives supplementary anticreep device 12 and protector 13 through clamping device 11 and carries out work simultaneously for can accomplish holistic guard work.

Specifically, clamping device 11 is including rotating clamping rod 111, reset spring 112, stop sleeve 113, motor 114, rotate screw rod 115, support curb plate 116 and cross card key 117, rotate screw rod 115 fixed connection at the side center of motor 114, stop sleeve 113 runs through and supports curb plate 116 screw and cup joint on the outer lane of rotating screw rod 115, cross card key 117 fixed connection is on stop sleeve 113 deviates from one end of rotating screw rod 115, it rotates the inside of connecting at support curb plate 116 to rotate clamping rod 111 symmetry, and reset spring 112 fixed connection rotates between clamping rod 111 and the support curb plate 116, drive stop sleeve 113 and cross card key 117 inward movement to extreme position through rotating screw rod 115, can drive and rotate clamping rod 111 upset 90, thereby can accomplish the work of centre gripping with the goods.

Specifically, the auxiliary anti-falling device 12 includes a sliding clamp key 121, a moving support plate 122, a rotating clamp plate 123, a first piston rod 124, a first L-shaped cylinder 125, a second piston rod 126, a supporting cross frame 127, a contact pad 128 and a movable groove 129, the second piston rod 126 is slidably inserted into one end of the first L-shaped cylinder 125, the first piston rod 124 is slidably inserted into the other end of the first L-shaped cylinder 125, the rotating clamp plate 123 is rotatably connected to the first piston rod 124, the supporting cross frame 127 is rotatably connected to the center of the inside of the rotating clamp plate 123, the movable grooves 129 are symmetrically arranged on one end of the rotating clamp plate 123 far away from the first piston rod 124, the sliding clamp key 121 is slidably inserted into the movable groove 129, the moving support plate 122 is fixedly connected to the side end of the sliding clamp key 121, the contact pad 128 is fixedly connected between the moving support plate 122 and the moving support plate 122, a return spring is fixedly connected to the inside of the movable groove 129, the sliding clamp key 121 and the movable support plate 122 can be driven to be always pressed inwards, so that the appearance of different goods can be fitted.

Specifically, the protection device 13 includes a movable limiting groove 131, a fastening spring 132, a buffer spring 133, a second L-shaped cylinder 134, a limiting groove plate 135, a positioning lug plate 136 and a semicircular adapter rack 137, the second L-shaped cylinder 134 is rotatably connected to one end of the movable limiting groove 131, the movable limiting groove 131 is symmetrically slidably inserted into the top of the limiting groove plate 135, the fastening spring 132 is fixedly connected to the inside of the movable limiting groove 131, the positioning lug plate 136 is fixedly connected to one end of the fastening spring 132, the semicircular adapter rack 137 is fixedly connected to the side end of the positioning lug plate 136, the buffer spring 133 is symmetrically and fixedly connected to one end of the inside of the limiting groove plate 135, the semicircular adapter rack 137 is inwardly moved to limit positions to be mutually attached, and is matched with the buffer spring 133, so that overload protection can be performed on articles.

Specifically, the bottom end of the movable limiting groove 131 and the top end of the limiting groove plate 135 are respectively provided with wedge grooves which are mutually matched, the side end of the movable limiting groove 131 is provided with a movable positioning groove matched with the positioning lug plate 136, the inside of the movable groove 129 is fixedly connected with an extrusion spring, the inside of the side end of the sliding clamping key 121 departing from the movable support plate 122 is rotatably connected with a pulley, the contact gasket 128 is made of elastic plastic, the bottom side end of the second L-shaped cylinder 134 is inserted with a connecting rod in a sliding manner, and the movable limiting groove 131 is rotatably connected to the connecting rod, one end of the first piston rod 124, which is away from the first L-shaped cylinder 125, is rotatably connected to an extrusion inserted rod, and the extrusion inserted rod is slidably inserted into the top end of the second L-shaped cylinder 134, wedge grooves matched with each other are respectively formed at the bottom end of the movable limiting groove 131 and the two ends of the top of the limiting groove plate 135, so that the movable limiting groove 131 is flush with the limiting groove plate 135 when moving to the limiting position.

Specifically, cross card key 117 inwards moves to extreme position and drives and rotate supporting rod 111 and rotate 90 to inside, the front end of rotating supporting rod 111 has plated anti-skidding silica gel, semicircle adapter rack 137's material is resistance to compression plastics, semicircle adapter rack 137's bottom fixedly connected with activity key, the inside keyway of seting up with 113 looks adaptations of spacing sleeve of side of fixed cavity 22, bottom fixedly connected with activity key through semicircle adapter rack 137, and the activity key slides and pegs graft in the inside of spacing cross slot 24, consequently, semicircle adapter rack 137 along rectilinear movement can be guaranteed.

Concretely, motor 114 fixed connection is in the inside of fixed cavity 22, limit sleeve 113 slides and pegs graft at the side center of fixed cavity 22, support curb plate 116 fixed connection on fixed cavity 22, second piston rod 126 fixed connection is in limit sleeve 113 and is close to one of motor 114 and serve, second L type cylinder 134 rotates to be connected and rotates inside cardboard 123 is close to the one end of first piston rod 124, limit groove plate 135 fixed connection is on fixed spacing seat 23, slide and peg graft at the side center of fixed cavity 22 through limit sleeve 113, and set up the keyway with limit sleeve 113 looks adaptation on the side of fixed cavity 22, consequently, can avoid limit sleeve 113 to appear crooked phenomenon.

The working principle is as follows: when in use, the device is fixedly arranged on an external electric control rotating table, the rotating small arm 21 and the rotating large arm 25 are connected with an external numerical control system until the fixed cavity 22 is moved to the position near the goods, and simultaneously, the numerical control system issues a starting command to drive the motor 114 to start so as to drive the rotating screw 115 to rotate, when the rotating screw 115 rotates, the limiting sleeve 113 and the cross clamp key 117 can be driven to move inwards, when the cross clamp key 117 moves inwards to a limit position, the rotating clamping rod 111 can be driven to rotate to be contacted with the goods, so that the goods can be clamped, meanwhile, when the limiting sleeve 113 moves backwards, the second piston rod 126 can be driven to move towards the inside of the first L-shaped cylinder 125, so that the gas in the first L-shaped cylinder 125 can be compressed, the first piston rod 124 is driven to move outwards, and when the first piston rod 124 moves outwards, one end of the rotating clamping plate 123 can be driven to expand outwards, meanwhile, the other end of the rotating clamping plate 123 can be extruded inwards until the contact gasket 128 is driven to contact with the goods, the work of assisting in lifting the goods is completed, meanwhile, the sliding clamping key 121 is inserted into the movable groove 129 in a sliding mode, so that the contact gasket 128 can move towards two sides, the shapes of different goods can be adapted, meanwhile, a reset spring is fixedly connected into the movable groove 129, the sliding clamping key 121 and the movable support plate 122 can be extruded inwards all the time, the contact gasket 128 can be kept attached to the goods all the time, when the first piston rod 124 moves outwards, the first piston rod can be inserted into the second L-shaped cylinder 134, so that the gas in the second L-shaped cylinder 134 can be compressed, the movable limiting groove 131 is driven to move towards the inside of the limiting groove plate 135, and the first piston rod is fixedly connected to the bottom end of the second L-shaped cylinder 134 through the movable limiting groove 131, and the positioning lug plate 136 is inserted in the movable limiting groove 131 in a sliding manner, the positioning lug plate 136 and the semicircular adapter rack 137 can be driven to move forwards through the elasticity of the fastening spring 132, so that the semicircular adapter rack 137 and the semicircular adapter rack 137 can be aligned conveniently, meanwhile, when the overloaded goods are clamped by the fixed cavity 22 and toppled over, the goods can drive the fixed cavity 22 and the rotating small arm 21 to turn outwards until the overloaded goods are contacted with the semicircular adapter rack 137, meanwhile, the semicircular adapter rack 137 can move backwards and be contacted with the buffer spring 133, the force of the goods impacting the semicircular adapter rack 137 can be buffered through the elasticity of the buffer spring 133, the semicircular adapter rack 137 is jointed with the semicircular adapter rack 137, and when the goods impact the semicircular adapter rack 137, the semicircular adapter rack 137 can move backwards along the material pushing groove in the center of the limiting transverse groove 24, and the work of overload protection is completed.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the embodiments and descriptions given above are only illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a can realize overload protection and have robot arm of anticreep function, includes support positioner (2), its characterized in that: support top fixedly connected with transmission protection machanism (1) of positioner (2), support positioner (2) including rotating forearm (21), fixed cavity (22), fixed spacing seat (23), spacing transverse groove (24) and rotating big arm (25), the top one end at fixed spacing seat (23) is seted up in spacing transverse groove (24), rotate big arm (25) and rotate the connection on the side of fixed spacing seat (23), rotate forearm (21) and rotate the side top of connecting in rotating big arm (25), fixed cavity (22) fixed mounting is served at the one end that rotates forearm (21) and is close to spacing transverse groove (24).

2. The robot arm capable of realizing overload protection and having an anti-drop function according to claim 1, wherein: transmission protection machanism (1) includes clamping device (11), supplementary anticreep device (12) and protector (13), supplementary anticreep device (12) symmetry fixed connection is in the both sides of clamping device (11), protector (13) rotate the side of connecting at supplementary anticreep device (12).

3. The robot arm capable of realizing overload protection and having an anti-drop function according to claim 2, wherein: clamping device (11) is including rotating supporting rod (111), reset spring (112), stop sleeve (113), motor (114), rotating screw rod (115), support curb plate (116) and cross card key (117), rotate screw rod (115) fixed connection at the side center of motor (114), stop sleeve (113) run through support curb plate (116) screw thread and cup joint on the outer lane of rotating screw rod (115), cross card key (117) fixed connection is served in the one that deviates from rotation screw rod (115) in stop sleeve (113), rotate the inside of connecting at support curb plate (116) is rotated to supporting rod (111) symmetry, just reset spring (112) fixed connection is between rotating supporting rod (111) and support curb plate (116).

4. The robot arm capable of realizing overload protection and having an anti-drop function according to claim 3, wherein: the auxiliary anti-falling device (12) comprises a sliding clamp key (121), a moving support plate (122), a rotating clamp plate (123), a first piston rod (124), a first L-shaped cylinder (125), a second piston rod (126), a supporting cross frame (127), a contact gasket (128) and a movable groove (129), wherein the second piston rod (126) is inserted into one end of the inside of the first L-shaped cylinder (125) in a sliding manner, the first piston rod (124) is inserted into the other end of the inside of the first L-shaped cylinder (125) in a sliding manner, the rotating clamp plate (123) is rotatably connected onto the first piston rod (124), the supporting cross frame (127) is rotatably connected to the center of the inside of the rotating clamp plate (123), the movable grooves (129) are symmetrically formed in one end of the inside of the rotating clamp plate (123) far away from the first piston rod (124), and the sliding insertion clamp key (121) is inserted into the movable groove (129), the movable support plate (122) is fixedly connected to the side end of the sliding clamping key (121), and the contact pad (128) is fixedly connected between the movable support plate (122) and the movable support plate (122).

5. The robot arm capable of realizing overload protection and having an anti-drop function according to claim 4, wherein: the protection device (13) comprises a movable limiting groove (131), a fastening spring (132), a buffer spring (133), a second L-shaped cylinder (134), a limiting groove plate (135), a positioning lug plate (136) and a semicircular adapter rack (137), the second L-shaped cylinder (134) is rotatably connected to one end of the movable limiting groove (131), the movable limiting groove (131) is symmetrically slidably inserted into the top of the limiting groove plate (135), the fastening spring (132) is fixedly connected to the inside of the movable limiting groove (131), the positioning lug plate (136) is fixedly connected to one end of the fastening spring (132), the semicircular adapter rack (137) is fixedly connected to the side end of the positioning lug plate (136), and the buffer spring (133) is symmetrically and fixedly connected to one end of the inside of the limiting groove plate (135).

6. The robot arm capable of realizing overload protection and having an anti-drop function according to claim 5, wherein: the bottom of removing spacing groove (131) and the top both ends of spacing frid (135) are seted up the groove of carving of mutual adaptation respectively, the side of removing spacing groove (131) is seted up the removal constant head tank with location otic placode (136) looks adaptation, the inside fixedly connected with extrusion spring of activity groove (129), the side internal rotation that slides card key (121) deviates from removal extension board (122) is connected with the pulley, the material of contact pad (128) is elastic plastic, the bottom side of second L type cylinder (134) slides and pegs graft there is the connecting rod, just remove spacing groove (131) and rotate and connect on the connecting rod, the one end that first piston rod (124) deviates from first L type cylinder (125) rotates and is connected with the extrusion inserted bar, and the extrusion inserted bar slides and pegs graft inside the top of second L type cylinder (134).

7. The robot arm capable of realizing overload protection and having an anti-drop function according to claim 6, wherein: cross card key (117) inward movement drives to extreme position rotate supporting rod (111) and rotate 90 to inside, anti-skidding silica gel has been plated to the front end of rotating supporting rod (111), the material of semicircle adapter rack (137) is resistance to compression plastics, the bottom fixedly connected with activity key of semicircle adapter rack (137), the inside keyway of offering with spacing sleeve (113) looks adaptation of side of fixed cavity (22).

8. The robot arm capable of realizing overload protection and having an anti-drop function according to claim 7, wherein: the motor (114) is fixedly connected inside the fixed cavity (22), the limiting sleeve (113) is inserted in the center of the side end of the fixed cavity (22) in a sliding mode, the supporting side plate (116) is fixedly connected to the fixed cavity (22), the second piston rod (126) is fixedly connected to one end, close to the motor (114), of the limiting sleeve (113), the second L-shaped cylinder (134) is rotatably connected to the inside of one end, close to the first piston rod (124), of the rotating clamping plate (123), and the limiting groove plate (135) is fixedly connected to the fixed limiting seat (23).