CN217434332U

CN217434332U - Manipulator mechanism

Info

Publication number: CN217434332U
Application number: CN202220772658.4U
Authority: CN
Inventors: 梅金乐; 郑天威; 陈杰; 赵守明; 赵子禹; 臧海军; 汪远文; 康凯; 崔琴琴
Original assignee: Shanghai Yicha Intelligent Technology Co ltd; Beijing Sankuai Online Technology Co Ltd
Current assignee: Shanghai Yicha Intelligent Technology Co ltd
Priority date: 2022-04-02
Filing date: 2022-04-02
Publication date: 2022-09-16
Anticipated expiration: 2032-04-02

Abstract

The utility model provides a manipulator mechanism belongs to the mechanical equipment field. The manipulator mechanism comprises an upright post, a first arm rod, a second arm rod, a clamping structure and a transmission structure; the first arm rod is positioned on the side of the upright column, is connected with the upright column and can move relative to the upright column along the length direction of the first arm rod; one end of the second arm rod is connected with the first arm rod and can move relative to the first arm rod along the length direction of the first arm rod; the clamping structure is connected with the other end of the second arm rod; the transmission structure is used for driving the first arm lever and the second arm lever to move. The transmission structure can drive the first arm rod and the second arm rod to move, the first arm rod moves relative to the stand column along the length direction of the first arm rod, and the second arm rod moves relative to the first arm rod along the length direction of the first arm rod, so that the clamping structure connected with the second arm rod can have a larger stroke relative to the stand column, and can work in a larger range.

Description

Manipulator mechanism

Technical Field

The disclosure relates to the field of mechanical equipment, in particular to a manipulator mechanism.

Background

With the development of technology, the application of automation equipment in various industries is more and more extensive.

The manipulator mechanism is an important device in automatic production and is used for grabbing and transferring articles. A more common manipulator mechanism in the correlation technique includes stand and flexible arm, and the one end of flexible arm links to each other with the stand, and the other end of flexible arm is connected with clamping structure. The telescopic arm can be extended and retracted according to requirements in the working process.

In the related art, the stroke of the telescopic arm is usually short, and the requirement of efficient production is difficult to meet.

SUMMERY OF THE UTILITY MODEL

The embodiment of the disclosure provides a manipulator mechanism with a large telescopic stroke. The technical scheme is as follows:

in a first aspect, an embodiment of the present disclosure provides a manipulator, which includes an upright, a first arm, a second arm, a clamping structure, and a transmission structure;

the first arm rod is located on the side of the upright column, is connected with the upright column, and can move relative to the upright column along the length direction of the first arm rod;

one end of the second arm rod is connected with the first arm rod and can move relative to the first arm rod along the length direction of the first arm rod;

the clamping structure is connected with the other end of the second arm rod;

the transmission structure is used for driving the first arm lever and the second arm lever to move.

Optionally, the transmission structure includes two runners, drive belt and driving piece, two the runner is followed the length direction interval arrangement of first armed lever, first armed lever with the position that the stand links to each other is located two between the runner, the drive belt is around two outside the runner, the drive belt with the stand with the second armed lever links to each other respectively, just the drive belt with the position that the stand links to each other, the drive belt with the position that the second armed lever links to each other is located two the both sides of runner centre of a circle line, the driving piece is used for driving at least one the runner rotates.

Optionally, the upright comprises an upright body and a connecting seat;

the connecting seat is located one side of the stand column main body and connected with the stand column main body, and at least part of the connecting seat is located below the first arm rod, is in sliding connection with the first arm rod and is fixedly connected with the transmission belt.

Optionally, the connecting seat includes a connecting portion, a first slider, a first supporting block, and a first pressing plate;

the connecting part is connected with the upright post main body;

the first sliding block is positioned below the first arm rod, is connected with the first arm rod in a sliding manner and is fixedly connected with the connecting part;

the first supporting block is positioned on one side of the first sliding block, is connected with the connecting part and is opposite to the transmission belt;

the first pressure plate is connected with the first support block to fix a portion of the belt between the first pressure plate and the first support block.

Optionally, the second arm lever comprises a lever body, a second slider, a second supporting block and a second pressing plate;

the second sliding block is positioned at one end of the rod body, is connected with the rod body and is in sliding connection with the first arm rod;

the second supporting block is positioned on one side of the second sliding block, is connected with the second sliding block and is opposite to the transmission belt;

the second pressure plate is connected with the second supporting block so as to fix a part of the driving belt between the second pressure plate and the second supporting block.

Optionally, the first arm lever includes a square lever, a first slide rail and a second slide rail, and the first slide rail and the second slide rail are located on two opposite sides of the square lever;

the first sliding block is connected with the first sliding rail, the second sliding block is connected with the second sliding rail, and the two rotating wheels are connected with the square rod.

Optionally, the upright further comprises a first lifting assembly, and the first lifting assembly is located in the upright main body and connected with the connecting seat to drive the connecting seat to lift.

Optionally, the driving member is located at an end of the first arm far away from the clamping structure, and is connected to the first arm.

Optionally, the clamping structure includes a second lifting assembly and a clamping jaw, and the second lifting assembly is connected with the second arm rod and the clamping jaw respectively to drive the clamping jaw to lift.

Optionally, the manipulator mechanism further includes a turntable, and the turntable is located at the bottom end of the upright and connected to the upright.

Optionally, the manipulator mechanism further includes a third slide rail, and the turntable is slidably connected to the third slide rail.

The beneficial effects brought by the technical scheme provided by the embodiment of the disclosure at least comprise:

through setting up first armed lever and second armed lever, first armed lever links to each other with the stand, the second armed lever links to each other with first armed lever, transmission structure can drive first armed lever and second armed lever and remove, make first armed lever remove along the relative stand of the length direction of first armed lever, the relative first armed lever of the length direction of second armed lever edge first armed lever removes, thereby make the clamping structure who links to each other with the second armed lever can have bigger stroke to the stand, can work in bigger within range.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a manipulator mechanism provided in an embodiment of the present disclosure;

FIG. 2 is a schematic view of a state of a robot mechanism provided by an embodiment of the present disclosure;

FIG. 3 is a schematic view of another state of a robot mechanism provided by an embodiment of the present disclosure;

FIG. 4 is a schematic structural diagram of a column according to an embodiment of the present disclosure;

fig. 5 is a partial schematic structural view of a robot mechanism provided in an embodiment of the present disclosure;

fig. 6 is a schematic structural diagram of a manipulator mechanism according to an embodiment of the present disclosure.

Detailed Description

To make the objects, technical solutions and advantages of the present disclosure more apparent, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.

Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure belongs. The use of "first," "second," "third," and similar terms in the description and claims of the present disclosure are not intended to indicate any order, quantity, or importance, but rather are used to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one. The word "comprise" or "comprises", and the like, means that the element or item listed before "comprises" or "comprising" covers the element or item listed after "comprising" or "comprises" and its equivalents, and does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, which may also change accordingly when the absolute position of the object being described changes.

The mechanical arm mechanism is very important equipment in automatic production. The telescopic arm of the manipulator in the related art generally includes two sections, one section is an upper arm, the other section is a forearm, one end of the upper arm is connected to the column, and the forearm is connected to the other end of the upper arm. The end part of the front arm is provided with a clamping structure for clamping an object. In order to enable the clamping structure to work in a larger range, the forearm can stretch and retract relative to the upper arm under the action of the driving piece, for example, the forearm is driven by an air cylinder, a cylinder body of the air cylinder is connected with the upper arm, a telescopic rod of the air cylinder is connected with the forearm, and the forearm stretches and retracts relative to the upper arm in the stretching process of the air cylinder. The telescoping travel of the forearm relative to the upright is typically less than the length of the forearm, resulting in a smaller range of motion of the gripping structure relative to the upright.

Fig. 1 is a schematic structural diagram of a manipulator mechanism according to an embodiment of the present disclosure. As shown in fig. 1, the robot mechanism includes a column 10, a first arm 20, a second arm 30, a gripping structure 40, and a transmission structure.

The first arm 20 is located on a side of the column 10, connected to the column 10, and movable relative to the column 10 in a longitudinal direction of the first arm 20.

One end of the second arm 30 is connected to the first arm 20 and is movable relative to the first arm 20 along the longitudinal direction of the first arm 20. A clamp structure 40 is connected to the other end of the second arm 30. The transmission structure is used for driving the first arm lever 20 and the second arm lever 30 to move.

In some examples, the transmission structure may include two sets of rack and pinion mechanisms, wherein one set of the rack and pinion mechanisms has a rack located on the first arm 20 and arranged along the length direction of the first arm 20, a gear is connected to the upright post 10, the gear is engaged with the rack, and the motor drives the gear to rotate, so as to drive the first arm 20 to move relative to the upright post 10. In another set of gear-rack mechanism, the rack is located on the second arm 30 and arranged along the length direction of the second arm 30, the gear is connected to the first arm 20, and the gear is driven by the motor to rotate to drive the second arm 30 to move relative to the first arm 20. The two sets of rack and pinion mechanisms are controlled by two motors, respectively, so that the first arm 20 and the second arm 30 can be controlled to move, respectively. The gear rack mechanism is adopted for control, so that the stroke can be accurately controlled conveniently, and the control precision is high.

Fig. 2 and 3 are schematic diagrams of two states of a manipulator mechanism provided by an embodiment of the disclosure. As shown in fig. 2 and 3, the transmission structure includes two pulleys 51, a transmission belt 52 and a driving member 53, the two pulleys 51 are arranged at intervals along the length direction of the first arm 20, the connecting portion of the first arm 20 and the upright post 10 is located between the two pulleys 51, the transmission belt 52 is wound around the two pulleys 51, the transmission belt 52 is connected to the upright post 10 and the second arm 30, respectively, the connecting portion of the transmission belt 52 and the upright post 10 and the connecting portion of the transmission belt 52 and the second arm 30 are located on two sides of a line connecting centers of circles of the two pulleys 51, and the driving member 53 is used for driving at least one pulley 51 to rotate.

The first arm 20 and the second arm 30 are driven by a belt 52, and the structure is simple, and the driving part 53 is not required to be arranged on each rotating wheel 51. By respectively connecting the transmission belt 52 with the upright post 10 and the second arm lever 30, the part of the transmission belt 52 connected with the upright post 10 and the part of the transmission belt 52 connected with the second arm lever 30 are positioned at two sides of a circle center connecting line of the two rotating wheels 51, the first arm lever 20 can move relative to the upright post 10, the second arm lever 30 can move relative to the first arm lever 20, so that the rotating wheels 51 are driven to rotate by the driving part 53, when the transmission belt 52 is driven, the movement of the transmission belt 52 can simultaneously drive the first arm lever 20 and the second arm lever 30 to move, so that the second arm lever 30 moves relative to the first arm lever 20, the first arm lever 20 moves relative to the upright post 10, and the clamping structure 40 connected with the second arm lever 30 has a larger stroke relative to the upright post 10. Since the speed of the first arm 20 moving relative to the column 10 and the speed of the second arm 30 moving relative to the first arm 20 are the same and equal to the speed of the belt 52, the speed of the second arm 30 moving relative to the column 10 is twice the speed of the belt 52, so that the speed of the clamping structure 40 moving relative to the column 10 is faster, and the production efficiency can be further improved.

As shown in fig. 2, the pillar 10 includes a pillar body 11 and a connecting seat 12. The connecting seat 12 is located at one side of the pillar body 11, and the connecting seat 12 is connected to the pillar body 11. The connecting section 12 is located at least partially below the first arm 20. The connecting base 12 is slidably connected to the first arm 20, and the connecting base 12 is fixedly connected to the transmission belt 52.

Through setting up connecting seat 12 and being connected with first arm pole 20 from the below of first arm pole 20, can hold first arm pole 20, make first arm pole 20 installation more steady. The connecting base 12 is slidably connected to the first arm 20 and fixedly connected to the transmission belt 52, when the transmission belt 52 moves under the driving of the rotating wheel 51, the position of the transmission belt 52 connected to the connecting base 12 is stationary relative to the upright post 10, and the rotating wheel 51 drives the first arm 20 to move relative to the connecting base 12 during the rotation process. The first arm 20 moves relative to the connecting base 12 at the same speed as the linear speed of the belt 52, i.e. the wheel 51.

Fig. 3 shows a part of the structure of the connector holder 12. As shown in fig. 3, the connection socket 12 includes a connection part 121, a first slider 122, a first support block 123, and a first pressing plate 124.

The connecting portion 121 is connected to the column body 11. The first slider 122 is located below the first arm 20, the first slider 122 is slidably connected to the first arm 20, and the first slider 122 is fixedly connected to the connecting portion 121. The first supporting block 123 is located at one side of the first slider 122, and the first supporting block 123 is connected to the connecting portion 121 and is opposite to the driving belt 52. The first presser plate 124 is coupled to the first support block 123 to fix a portion of the belt 52 between the first presser plate 124 and the first support block 123.

In the embodiment of the disclosure, the connecting portion 121 includes a vertical plate 1211 and a horizontal plate 1212 connected to each other, and the vertical plate 1211 and the horizontal plate 1212 are connected to form an L-shape. The vertical plate 1211 is connected to the column body 11, and the first sliding block 122 and the first supporting block 123 are both located above the horizontal plate 1212 and connected to the horizontal plate 1212. The first supporting block 123 is located on one side of the first slider 122 close to the riser 1211.

The first arm 20 is located right above the first slider 122 and is connected to the first slider 122 in a sliding manner. The belt 52 is located on the side of the first arm 20 near the vertical plate 1211 and directly above the first support block 123. The belt 52 is clamped by the first presser plate 124 and the first support block 123 by fixing the first presser plate 124 to the first support block 123 at the time of mounting. Illustratively, the first pressure plate 124 is bolted to the first support block 123.

Alternatively, the drive member 53 is located at an end of the first arm 20 remote from the clamp structure 40, and the drive member 53 is connected to the first arm 20.

When the manipulator mechanism works, the clamping structure 40 can extend out a longer distance from the opposite column 10, the driving part 53 is placed at one end of the first arm rod 20 far away from the clamping structure 40, and when the first arm rod 20 is supported on the connecting seat 12, the driving part 53 can play a role in balancing a counterweight, so that the manipulator mechanism is more stable.

Illustratively, the drive 53 may be an electric motor.

As shown in fig. 3, the second arm lever 30 includes a lever body 31, a second slider 32, a second supporting block 33, and a second pressing plate 34.

The second slider 32 is located at one end of the rod 31, and the second slider 32 is connected to the rod 31 and slidably connected to the first arm 20. The second supporting block 33 is located at one side of the second slider 32, and the second supporting block 33 is connected to the second slider 32 and is opposite to the driving belt 52. The second presser plate 34 is connected to the second support block 33 to fix a portion of the belt 52 between the second presser plate 34 and the second support block 33.

In the disclosed embodiment, the second slider 32 is located directly above the first arm 20 and is slidably connected to the first arm 20, so that the second arm 30 can move relative to the first arm 20. The second supporting block 33 is located on one side of the second slider 32 close to the column 10 and directly above the belt 52. The belt 52 is clamped by the second presser plate 34 and the second support block 33 by fixing the second presser plate 34 to the second support block 33 at the time of mounting. Illustratively, the second pressure plate 34 is bolted to the second support block 33. The second slider 32 may have the same structure as the first slider 122, the second support block 33 may have the same structure as the first support block 123, and the second pressing plate 34 may have the same structure as the first pressing plate 124.

As shown in fig. 3, the first arm 20 includes a square rod 21, a first slide rail 22 and a second slide rail 23, and the first slide rail 22 and the second slide rail 23 are located on two opposite sides of the square rod 21. The first slider 122 is connected to the first slide rail 22, and the second slider 32 is connected to the second slide rail 23. Two wheels 51 are connected to the square bar 21.

In the disclosed embodiment, the cross section of the square rod 21 is rectangular. The side of the square rod 21 is a plane, which can facilitate the installation of the first slide rail 22 and the second slide rail 23, and also facilitate the installation of the two runners 51.

Alternatively, the middle portion of the square bar 21 may have a plurality of lightening holes to reduce the weight of the first arm bar 20 as a whole.

Fig. 4 is a schematic structural diagram of a pillar provided in an embodiment of the present disclosure. As shown in fig. 4, the mast 10 further comprises a first lifting assembly 13. The first lifting assembly 13 is located in the column body 11, and the first lifting assembly 13 is connected to the connecting base 12 to drive the connecting base 12 to lift.

Through setting up first lifting unit 13, make first armed lever 20 can go up and down in vertical direction for the range of motion of centre gripping structure 40 is bigger, and the motion is more nimble.

Illustratively, the first lift assembly 13 may be a lead screw and nut mechanism. The first lifting assembly 13 includes a screw 131, a lifting nut 132 and a driving motor 133 (see fig. 1), the screw 131 is disposed in the column body 11 along the height direction of the column body 11, and the lifting nut 132 is sleeved outside the screw 131 and connected to the connecting base 12. The driving motor 133 is used for driving the screw 131 to rotate so as to drive the lifting nut 132, and the lifting nut 132 drives the connecting seat 12 to lift.

As shown in fig. 3, the clamping structure 40 includes a second lifting assembly 41 and a clamping jaw 42. The second lifting assembly 41 is connected to the second arm 30 and the clamping jaw 42 respectively, so as to drive the clamping jaw 42 to lift.

The clamping jaw 42 is used for clamping an object, and the second lifting component 41 can drive the clamping jaw 42 to lift, so that the moving range of the clamping jaw 42 is further enlarged, and the movement of the clamping jaw 42 is more flexible.

Fig. 5 is a partial structural schematic diagram of a manipulator mechanism according to an embodiment of the present disclosure. In some examples, the robot mechanism further includes a turntable 60. The turntable 60 is located at the bottom end of the column 10 and is connected to the column 10.

By providing the turntable 60, the upright post 10 can be driven by the turntable 60 to rotate, so as to improve the moving range of the clamping structure 40.

Fig. 6 is a schematic structural diagram of a manipulator mechanism according to an embodiment of the present disclosure. As shown in fig. 6, the robot mechanism further includes a third slide rail 70. The turntable 60 is slidably connected to a third slide rail 70.

By providing the third slide rail 70, the turntable 60 can drive the column 10 to move on the third slide rail 70, thereby further expanding the range of motion of the manipulator mechanism. The third slide rail 70 may be shaped according to specific requirements, for example, the third slide rail 70 may be configured in a linear shape to enable the turntable 60 to move in a linear direction, and the third slide rail 70 may also be configured in a curved shape to enable the turntable 60 to move in a curved direction.

In some examples, multiple robot mechanisms may share the same third slide rail 70. For example, in the disclosed embodiment, two robot mechanisms share the same third slide rail 70.

In the embodiment of the present disclosure, the driving belt 52 can drive the first arm 20 and the second arm 30 to move simultaneously, so that the clamping structure 40 at the end of the second arm 30 has a larger moving range, a larger stroke, and a faster moving speed. The automatic production line can greatly improve the production efficiency when being applied to automatic production. For example, for making the drink, clamping structure 40 is used for the centre gripping cup, carries out operations such as reinforced, the delivery of drink through this manipulator mechanism, has saved the manpower, has improved efficiency. The automatic degree of the beverage in the preparation stage can be improved, the merchant can supply digital upgrade, unified control and management are facilitated, the merchant can improve the digital level of the kitchen, the standardization of the quality is promoted, and the product difference caused by manual operation is avoided.

The above description is intended to be exemplary only and not to limit the present disclosure, and any modification, equivalent replacement, or improvement made without departing from the spirit and scope of the present disclosure is to be considered as the same as the present disclosure.

Claims

1. A mechanical arm mechanism is characterized by comprising an upright post (10), a first arm rod (20), a second arm rod (30), a clamping structure (40) and a transmission structure;

the first arm rod (20) is positioned on the side of the upright (10), is connected with the upright (10), and can move relative to the upright (10) along the length direction of the first arm rod (20);

one end of the second arm lever (30) is connected with the first arm lever (20) and can move relative to the first arm lever (20) along the length direction of the first arm lever (20);

the clamping structure (40) is connected with the other end of the second arm rod (30);

the transmission structure is used for driving the first arm lever (20) and the second arm lever (30) to move.

2. The robot mechanism according to claim 1, characterized in that the transmission structure comprises two wheels (51), a belt (52) and a drive member (53), the two wheels (51) being arranged at a distance along the length of the first arm (20), the part of the first arm lever (20) connected with the upright post (10) is positioned between the two rotating wheels (51), the transmission belt (52) is wound outside the two rotating wheels (51), the transmission belt (52) is respectively connected with the upright post (10) and the second arm lever (30), and the part of the transmission belt (52) connected with the upright post (10) and the part of the transmission belt (52) connected with the second arm lever (30) are positioned at the two sides of the connecting line of the circle centers of the two rotating wheels (51), the driving part (53) is used for driving at least one rotating wheel (51) to rotate.

3. The manipulator mechanism according to claim 2, wherein the column (10) comprises a column body (11) and a connecting seat (12);

the connecting seat (12) is located on one side of the upright post main body (11) and connected with the upright post main body (11), and at least part of the connecting seat (12) is located below the first arm rod (20), is in sliding connection with the first arm rod (20), and is fixedly connected with the transmission belt (52).

4. The robot mechanism according to claim 3, characterized in that the connecting socket (12) comprises a connecting portion (121), a first slider (122), a first supporting block (123) and a first pressing plate (124);

the connecting part (121) is connected with the upright post main body (11);

the first sliding block (122) is positioned below the first arm rod (20), is connected with the first arm rod (20) in a sliding manner, and is fixedly connected with the connecting part (121);

the first supporting block (123) is positioned on one side of the first sliding block (122), is connected with the connecting part (121) and is opposite to the transmission belt (52);

the first pressure plate (124) is coupled to the first support block (123) to secure a portion of the belt (52) between the first pressure plate (124) and the first support block (123).

5. The robot mechanism according to claim 4, characterized in that the second arm lever (30) comprises a lever body (31), a second slider (32), a second support block (33) and a second presser plate (34);

the second sliding block (32) is positioned at one end of the rod body (31), is connected with the rod body (31) and is in sliding connection with the first arm rod (20);

the second supporting block (33) is positioned on one side of the second sliding block (32), is connected with the second sliding block (32) and is opposite to the transmission belt (52);

the second platen (34) is connected to the second support block (33) to secure a portion of the belt (52) between the second platen (34) and the second support block (33).

6. The manipulator mechanism according to claim 5, characterized in that the first arm (20) comprises a square bar (21), a first slide rail (22) and a second slide rail (23), the first slide rail (22) and the second slide rail (23) being located on opposite sides of the square bar (21);

the first sliding block (122) is connected with the first sliding rail (22), the second sliding block (32) is connected with the second sliding rail (23), and the two rotating wheels (51) are connected with the square rod (21).

7. The manipulator mechanism according to claim 3, wherein the column (10) further comprises a first lifting assembly (13), and the first lifting assembly (13) is located in the column body (11) and connected with the connecting seat (12) to drive the connecting seat (12) to lift.

8. The robot mechanism according to any of claims 2 to 7, characterized in that the drive member (53) is located at an end of the first arm (20) remote from the gripping structure (40) and is connected to the first arm (20).

9. The robot mechanism according to any of claims 1 to 7, characterized in that the clamping structure (40) comprises a second lifting assembly (41) and a clamping jaw (42), the second lifting assembly (41) being connected to the second arm (30) and the clamping jaw (42), respectively, for driving the clamping jaw (42) to lift.

10. The robot mechanism according to any of claims 1 to 7, further comprising a turntable (60), wherein the turntable (60) is located at a bottom end of the column (10) and is connected to the column (10).

11. The robot mechanism according to claim 10, further comprising a third slide rail (70), wherein the turntable (60) is slidably connected to the third slide rail (70).