CN216731878U - Sectional type robotic arm - Google Patents

Abstract

The utility model provides a sectional type mechanical arm which comprises a motor, a first mechanical arm, a second mechanical arm, a first connecting plate, a second connecting plate, a first synchronous belt and a second synchronous belt, wherein an output shaft of the motor penetrates out of the surface of the first connecting plate, a pair of bearings are arranged below the output shaft, the middle section of the first synchronous belt bypasses the output shaft, two ends of the first synchronous belt are respectively fixed on the left end and the right end of the first mechanical arm after bypassing the pair of bearings, the second synchronous belt is arranged on the first mechanical arm, the middle part of one side of the second synchronous belt is fixed on the first connecting plate through a clamping clip, and the second mechanical arm is fixedly connected to the other side of the second synchronous belt through the second connecting plate, so that the second synchronous belt can be driven to drive the second mechanical arm to move when the first mechanical arm moves. The movement distance of two arms equals, for example first arm moves X mm forward, and simultaneously, second arm also moves X mm forward for original movement distance increases the one time, and speed promotes the one time.

Description

Sectional type robotic arm

Technical Field

The utility model belongs to the technical field of automation equipment, and particularly relates to a sectional type mechanical arm.

Background

The automation of stamping of hardware products is realized by coating oil on the surface of a stainless steel sheet (round or square) as a raw material and sending the stainless steel sheet to a hydraulic stretcher die for stamping forming. The manipulator can be automatic carry out getting of raw and other materials and blowing, can guarantee the security of production effectively. However, the existing mechanical arms are single-arm type, material taking and material placing are completed by the same mechanical arm, the operation path of the mechanical arm is long, and the material taking and material placing speed is slow, so that the production efficiency is low and the production cost is high.

Therefore, it is an urgent need to provide a sectional type robot capable of increasing the traveling speed of the robot and reducing the material taking/placing time.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problems that the walking speed of the existing feeding device is slow and the production efficiency is low, the application provides a sectional type mechanical arm to solve the technical problems.

The utility model provides a sectional type mechanical arm which comprises a motor, a first mechanical arm, a second mechanical arm, a first connecting plate, a second connecting plate, a first synchronous belt and a second synchronous belt, wherein an output shaft of the motor penetrates out of the surface of the first connecting plate, a pair of bearings are arranged below the output shaft, the middle section of the first synchronous belt bypasses the output shaft, two ends of the first synchronous belt are respectively fixed on the left end and the right end of the first mechanical arm after bypassing the pair of bearings, the second synchronous belt is arranged on the first mechanical arm, the middle part of one side of the second synchronous belt is fixed on the first connecting plate through a clamping clip, and the second mechanical arm is fixedly connected to the other side of the second synchronous belt through the second connecting plate, so that the second synchronous belt can be driven to drive the second mechanical arm to move when the first mechanical arm moves.

Through the scheme, the first mechanical arm can drive the second mechanical arm to move while moving, and the moving distances of the two mechanical arms are equal, for example, when the first mechanical arm moves forwards by X mm, the second mechanical arm also moves forwards by X mm. The original movement distance is doubled by the sectional type mechanical arm, and the speed is doubled.

Preferably, the mechanical arm further comprises a transverse guide rail and a sliding block, the transverse guide rail is mounted on the first mechanical arm, and the second connecting plate fixed with the second mechanical arm moves on the transverse guide rail through the sliding block. Through the connection mode, the second mechanical arm can smoothly slide on the first mechanical arm.

Preferably, the mechanical arm further comprises a second synchronous pulley, the second synchronous pulley is respectively mounted at two ends of the bottom surface of the first mechanical arm, the second synchronous belt is connected to the second synchronous pulley, and the second connecting plate is fixed on the second synchronous belt through a belt clamp. Through the arrangement, the second mechanical arm connected to the second connecting plate can move along with the second synchronous belt.

Preferably, the mechanical arm further comprises a mounting plate, a second motor and a longitudinal guide rail, the second motor and the longitudinal guide rail are both arranged on the mounting plate, an output shaft of the second motor is connected with a longitudinal synchronous belt, the first connecting plate is fixed on the longitudinal synchronous belt through a belt clamp, and the first mechanical arm moves on the longitudinal guide rail through a sliding block. Through the arrangement, the sectional type mechanical arm can move up and down.

Further preferably, the robot arm further comprises a first synchronous pulley, the first synchronous pulley is mounted on the output shaft of the motor, the first synchronous belt is wound around the first synchronous pulley, and two ends of the first synchronous belt are fixed on the belt clamp on the top surface of the first robot arm after being wound around the bearing, wherein the bearing is arranged on the mounting plate through the first connecting plate. Through the connection mode, the first mechanical arm can move back and forth relative to the first connecting plate.

Further preferably, the mechanical arm further comprises a tracheal tank chain, one end of the tracheal tank chain is fixedly connected to the mounting plate, and the other end of the tracheal tank chain is fixedly connected to the second mechanical arm. The tank chain can play the effect of pulling and protecting to built-in trachea etc..

Further preferably, the mechanical arm further comprises a parallel transverse guide rail, the parallel transverse guide rail is mounted on the first mechanical arm, a plurality of sliding blocks are arranged on the first connecting plate in a staggered mode, and the sliding blocks are matched with the parallel transverse guide rail to enable the first mechanical arm to slide relative to the first connecting plate. Through the arrangement, the first mechanical arm can stably and firmly move forwards and backwards relative to the first connecting plate.

Preferably, the mechanical arm further comprises a planetary reducer, and the planetary reducer is mounted on an output shaft of the motor. The planetary reducer is arranged to reduce the rotating speed, increase the torque and reduce the rotational inertia ratio of the motor.

Preferably, the mechanical arm further comprises a plurality of vacuum chucks and a connecting block, the connecting block is locked on the second mechanical arm, and the vacuum chucks are installed at two ends of the connecting block. The vacuum chuck is arranged for adsorbing the stainless steel raw material. Set up the connecting block for atress is more even when adsorbing raw and other materials.

Preferably, the middle section of the first synchronous belt bypasses the output shaft, and both ends of the first synchronous belt bypass the pair of bearings respectively, are parallel to the surface of the first mechanical arm, and are fixed at the left and right ends of the first mechanical arm. The two ends of the first synchronous belt are parallel to the surface of the first mechanical arm, so that the pulling process is more labor-saving.

Compared with the prior art, the beneficial results of the utility model are as follows:

adopt the robotic arm of sectional type, be provided with two robotic arm, can improve 1 times walking speed, when first arm walked Xmm forward, because the middle part of second hold-in range is fixed on first connecting plate, and the second arm is fixed on the other side of second hold-in range for second arm also walked Xmm forward along with first arm synchronous motion. The feeding time can be effectively reduced, and the production efficiency is improved.

Drawings

The accompanying drawings are included to provide a further understanding of the embodiments and are incorporated in and constitute a part of this specification. The drawings illustrate embodiments and together with the description serve to explain the principles of the utility model. Other embodiments and many of the intended advantages of embodiments will be readily appreciated as they become better understood by reference to the following detailed description. The elements of the drawings are not necessarily to scale relative to each other. Like reference numerals designate corresponding similar parts.

FIG. 1 is a schematic view of the overall construction of a segmented robotic arm of the present invention;

FIG. 2 is a schematic view of a segmented robotic arm of the present invention in a disassembled configuration.

Reference numerals: 11-motor, 111-planetary reducer, 12-second motor, 21-first mechanical arm, 211-parallel transverse guide rail, 212-transverse guide rail, 22-second mechanical arm, 31-first connecting plate, 311-bearing, 32-second connecting plate, 411-first synchronous belt, 412-second synchronous belt, 421-first synchronous pulley, 422-second synchronous pulley, 51-mounting plate, 511-longitudinal guide rail, 512-longitudinal synchronous pulley, 513-longitudinal synchronous belt, 6-clamp, 61-first clamp, 7-slide block, 81-trachea tank chain, 82-longitudinal tank chain, 91-connecting block and 92-vacuum chuck.

Detailed Description

In the following detailed description, reference is made to the accompanying drawings, which form a part hereof, and in which is shown by way of illustration specific embodiments in which the utility model may be practiced. In this regard, directional terminology, such as "top," "bottom," "left," "right," "up," "down," etc., is used with reference to the orientation of the figures being described. Because components of embodiments can be positioned in a number of different orientations, the directional terminology is used for purposes of illustration and is in no way limiting. It is to be understood that other embodiments may be utilized and logical changes may be made without departing from the scope of the present invention. The following detailed description is, therefore, not to be taken in a limiting sense, and the scope of the present invention is defined by the appended claims.

The present invention proposed in this embodiment provides a segmented robot arm, and fig. 1 shows a schematic overall structure diagram of the segmented robot arm of the present invention, and as shown in fig. 1, the segmented robot arm includes a motor 11, a second motor 12, a first robot arm 21, a second robot arm 22, a first connecting plate 31, a second connecting plate 32, a first synchronous belt 411, a second synchronous belt 412, and a mounting plate 51.

The motor 11 and the second motor 12 are both mounted on the mounting plate 51, and the output shafts of the two motors pass through the first connecting plate 31. The planetary gear 111 is installed on the output shaft of the motor 11, the first timing belt 411 passes around a first timing pulley 421 installed on the planetary gear 111, both ends of the first timing belt extend down to pass through two bearings 311 installed on the first connection plate 31, and are fixed on the top surface of the first robot arm 21 by the clips 6, and both ends of the first timing belt 411 and the surface of the first robot arm 21 are parallel to each other. Two second timing pulleys 422 are provided on the bottom surface of the first robot arm 21, and a second timing belt 412 is wound around the second timing pulleys 422. An intermediate portion of one side of the second timing belt 412 is fixed to the first connection plate 31 by a first clip 61, the second robot arm 22 is locked to the second connection plate 32 by a fastener, and the second connection plate 32 is slidably connected to the other side of the second timing belt 412 by a clip 6.

The first robot arm 21 is provided with parallel cross rails 211 on the side adjacent to the first link plate 31 and cross rails 212 on the side adjacent to the second link plate 32. The first link plate 31 is provided with a plurality of sliders 7 in a staggered manner, and the staggered sliders 7 are engaged with the parallel cross rails 211 to allow the first robot arm 21 to slide back and forth on the first link plate 31. Two sliding blocks 7 are mounted on the second connecting plate 32 fixed with the second mechanical arm 22, and the second mechanical arm 22 can smoothly slide on the first mechanical arm 21 through the cooperation of the sliding blocks 7 and the transverse guide rail 212.

In the working process, the servo controller is used for controlling the motion of the motor 11, the first mechanical arm 21 can drive the second mechanical arm 22 to move back and forth while moving back and forth, and the moving distances of the two mechanical arms are equal, for example, the first mechanical arm 21 moves forward by X mm, and at the same time, the second mechanical arm 22 also moves forward by X mm. Through the sectional type mechanical arm provided by the application, the original movement distance can be doubled, and the speed is doubled. The walking speed of the mechanical arm can be effectively improved, the material taking/placing time is reduced, and the production cost is reduced.

Fig. 2 shows a schematic view of a segmented mechanical arm of the present invention in a disassembled structure, and the combined reference is made to fig. 1 and fig. 2. In a specific embodiment, the longitudinal guide rail 511 is disposed on the mounting plate 51, a planetary reducer is mounted on the output shaft of the second motor 12, one longitudinal synchronous pulley 512 is sleeved on the planetary reducer, the other longitudinal synchronous pulley 512 is mounted right below the planetary reducer, and the longitudinal synchronous belt 513 is wound between the two longitudinal synchronous pulleys 512. The first link plate 31 is fixed to one side of the longitudinal timing belt 513 by a belt clip 6, and similarly, the first robot arm 21 is moved up and down on the longitudinal guide 511 by a slider 7. Through the scheme, the sectional type mechanical arm can move up and down.

In a specific embodiment, at least four connection blocks 91 are locked to the bottom surface of the second robot arm 22, and vacuum suction cups 92 are installed at both ends of the connection blocks 91. By this arrangement, the stainless steel raw material is stably and firmly adsorbed. Preferably, the robot arm comprises a tracheal tank chain 81, and one end of the tracheal tank chain 81 is fixedly connected to the mounting plate 51, and the other end is fixedly connected to the second robot arm 22. It should be understood that the robot arm also includes a longitudinal tank chain 82, the longitudinal tank chain 82 being disposed on the mounting plate 51.

While the principles of the utility model have been described in detail in connection with the preferred embodiments thereof, it will be understood by those skilled in the art that the foregoing embodiments are merely illustrative of exemplary implementations of the utility model and are not limiting of the scope of the utility model. The details of the embodiments are not to be interpreted as limiting the scope of the utility model, and any obvious changes, such as equivalent alterations, simple substitutions and the like, based on the technical solution of the utility model, can be interpreted without departing from the spirit and scope of the utility model.

Claims (10)

1. A sectional type mechanical arm is characterized by comprising a motor, a first mechanical arm, a second mechanical arm, a first connecting plate, a second connecting plate, a first synchronous belt and a second synchronous belt, an output shaft of the motor penetrates out of the surface of the first connecting plate, a pair of bearings is arranged below the output shaft, the middle section of the first synchronous belt bypasses the output shaft, two ends of the first synchronous belt bypass the pair of bearings and are fixed on the left end and the right end of the first mechanical arm respectively, the second synchronous belt is arranged on the first mechanical arm, and the middle part of one side of the second synchronous belt is fixed on the first connecting plate through a clamp, the second mechanical arm is fixedly connected to the other side of the second synchronous belt through the second connecting plate, when the first mechanical arm moves, the second synchronous belt can be driven to drive the second mechanical arm to move.

2. The segmented robot arm of claim 1, further comprising a cross rail and a slider, wherein the cross rail is mounted on the first robot arm, and wherein the second link plate to which the second robot arm is fixed is moved on the cross rail by the slider.

3. The segmented robot arm according to claim 2, further comprising second timing pulleys respectively mounted at both ends of the bottom surface of the first robot arm, wherein the second timing belt is connected to the second timing pulleys, and wherein the second connecting plate is fixed to the second timing belt by a belt clamp.

4. The segmented robot arm of claim 1, further comprising a mounting plate, a second motor, and a longitudinal rail, the second motor and the longitudinal rail being disposed on the mounting plate, an output shaft of the second motor having a longitudinal timing belt coupled thereto, the first link plate being secured to the longitudinal timing belt by a belt clamp, and the first robot arm being moved on the longitudinal rail by a slide block.

5. The segmented robot arm as set forth in claim 4, further comprising a first timing pulley mounted on the output shaft of the motor, wherein the first timing pulley is wound around the first timing pulley, and wherein both ends of the first timing pulley are fixed to a belt clip on the top surface of the first robot arm after being wound around the bearing provided on the mounting plate through the first connecting plate.

6. The segmented robotic arm of claim 4 further comprising a tracheal tank chain having one end secured to the mounting plate and another end secured to the second robotic arm.

7. The segmented robot arm of claim 4, further comprising parallel cross rails mounted to the first robot arm, wherein the first link plate has a plurality of staggered sliders that cooperate with the parallel cross rails to slide the first robot arm relative to the first link plate.

8. The segmented robot arm of claim 1 further comprising a planetary reduction gear mounted on the output shaft of the motor.

9. The segmented robot arm of claim 1, further comprising a plurality of vacuum cups and a connecting block, wherein the connecting block is lockingly attached to the second robot arm, and wherein the vacuum cups are mounted at both ends of the connecting block.

10. The segmented robot arm of claim 1, wherein a middle portion of the first timing belt passes around the output shaft, and both ends of the first timing belt pass around the pair of bearings, are parallel to a surface of the first robot arm, and are fixed to left and right ends of the first robot arm.

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