CN219768259U

CN219768259U - Chuck mechanism, mechanical arm and robot

Info

Publication number: CN219768259U
Application number: CN202321027627.7U
Authority: CN
Inventors: 张维良; 邝奕文; 余笃凯
Original assignee: Shenzhen Xinghu Technology Co ltd
Current assignee: Shenzhen Xinghu Technology Co ltd
Priority date: 2023-04-28
Filing date: 2023-04-28
Publication date: 2023-09-29
Anticipated expiration: 2033-04-28

Abstract

The present utility model provides a chuck mechanism comprising: mount pad, motor, chuck subassembly and crank member. The chuck assembly is connected with the mounting seat and comprises a gear hinged with the mounting seat. The rack is meshed with the gear, the rack can move forwards or backwards, and the rack comprises a first wall surface which is arranged forwards and a second wall surface which is arranged backwards and is spaced from the first wall surface. The crank member is connected with the motor, and an eccentric end of the crank member is arranged between the first wall surface and the second wall surface. The utility model can improve the activity precision of the chuck mechanism and the operability.

Description

Chuck mechanism, mechanical arm and robot

Technical Field

The utility model relates to the technical field of robots, in particular to a chuck mechanism, a mechanical arm and a robot.

Background

The robot is provided with a chuck mechanism, the object is clamped by the chuck mechanism, and the position of the object is changed by an arm mechanism on the robot. CN111331067a discloses a centering clamping jaw based on gear-rack transmission, which comprises an air cylinder 2, a longitudinal rack 4, a gear 5, a transverse rack 7, a guide rod 8, a clamping block 9 and a V-shaped positioning block 10, wherein the air cylinder 2 drives the longitudinal rack 4 to move upwards or downwards to drive the gear 5 to rotate, and the gear 5 drives the transverse rack 7 to move transversely, so that the clamping block 9 performs clamping or loosening actions. The device realizes the removal of vertical rack 4 through cylinder 2, and the activity precision of cylinder is lower relatively, and the cylinder needs flexible activity moreover, and control is also inconvenient relatively.

Disclosure of Invention

In view of this, it is necessary to provide a chuck mechanism, a robot arm, and a robot that can improve the accuracy of movement of the chuck mechanism and the operability.

A first aspect of the present utility model provides a chuck mechanism comprising:

a mounting base;

a motor;

the chuck assembly is connected with the mounting seat and comprises a gear hinged with the mounting seat;

a rack engaged with the gear, the rack being movable forward or backward, the rack including a first wall surface forward and a second wall surface spaced from the first wall surface and rearward; and

and the crank component is connected with the motor, and the eccentric end of the crank component is arranged between the first wall surface and the second wall surface.

Compared with the prior art, the utility model has the beneficial effects that: according to the utility model, the crank component can be controlled to rotate in one direction through the motor, in the rotating process, the crank component can act on the first wall surface of the rack so as to drive the rack to move forwards and rotate in the direction continuously, the crank component can act on the second wall surface of the rack so as to drive the rack to move backwards, and the forward and backward movement of the rack can realize the clamping or loosening of the chuck assembly, so that the moving precision of the chuck mechanism is improved and the operability is improved.

Further, the collet assembly includes:

a chuck;

the gear is positioned at one end of the first connecting rod, and the other end of the first connecting rod is hinged with the chuck; and

the second connecting rod, the one end of second connecting rod with the mount pad articulates, the other end of second connecting rod with the chuck articulates, the second connecting rod with first connecting rod is located the homonymy of chuck.

Further, the method further comprises the following steps:

the camera is arranged on the mounting seat; and/or

And the illuminating lamp is arranged on the mounting seat.

A second aspect of the present utility model provides a robot arm, comprising:

the chuck mechanism is used for clamping the workpiece; and

and the clamping head mechanism is arranged on the arm mechanism.

Further, the arm mechanism includes:

an arm assembly; and

the first steering engine is connected with the arm assembly through a plane thrust bearing and used for enabling the arm assembly to rotate.

Further, the arm mechanism includes:

a first arm;

a first connecting member connected to the first arm, the first connecting member including two first connecting plates; and

two second steering gears, one the second steering gear is connected one first connecting plate, two the second steering gears are used for jointly driving first connecting piece rotates to a direction.

Further, the arm mechanism includes:

a first arm;

the second connecting piece is connected with the first arm and comprises a second connecting plate, and the extending direction of the second connecting plate and the first arm form a preset included angle;

a second arm;

the third steering engine is connected with the second arm and is movably connected with the second connecting plate.

Further, the arm mechanism includes an arm that is a hollow tube in which the cable is disposed.

Further, the arm mechanism further comprises a pipe clamp, the pipe clamp is clamped at the end part of the arm in a detachable mode, and the pipe clamp is connected with the mounting seat or the steering engine of the arm mechanism or a connecting piece which is connected with the arm mechanism and is movably connected with the steering engine.

A third aspect of the utility model provides a robot comprising the robotic arm.

Drawings

Fig. 1 shows a specific structure of a robot according to the present utility model.

Fig. 2 is a specific structure of the mechanical arm of the present utility model.

Fig. 3 shows a specific structure of the chuck mechanism of the present utility model.

Fig. 4 is an exploded view of fig. 3.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to fall within the scope of the utility model. It is to be understood that the drawings are designed solely for the purposes of illustration and not as a definition of the limits of the utility model. The connection relationships shown in the drawings are for convenience of clarity of description only and are not limiting on the manner of connection.

It is noted that when one component is considered to be "connected" to another component, it may be directly connected to the other component, or intervening components may also be present. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. It should also be noted that the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, unless otherwise specifically defined and limited; either mechanically or electrically, or by communication between two components. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art. The terminology used herein in the description of the utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model.

It should be further noted that, in the description of the present utility model, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are based on directions or positional relationships shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific direction, be configured and operated in the specific direction, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

The embodiment of the utility model provides a robot, as shown in fig. 1, fig. 1 shows a specific structure of the robot, the robot comprises a machine body 200 and a mechanical arm 100, the machine body 200 is provided with a driving mechanism and a traveling device, traveling of the machine body 200 is realized, namely, the robot is a robot capable of traveling, and the machine body 200 serves as a platform for installing the mechanical arm 100.

As shown in fig. 2, fig. 2 shows a specific structure of the robot arm 100. The robotic arm 100 includes an arm mechanism 110 and a collet mechanism 120, the collet mechanism 120 being mounted to an end of the arm mechanism 110.

In this embodiment, the arm mechanism 110 is a three-degree-of-freedom arm structure. More specifically, the arm mechanism 110 includes a first steering engine 10, a second steering engine 20, a first arm 30, a third steering engine 40, and a second arm 50, and the collet mechanism 120 is mounted to an end of the second arm 50. In this embodiment, the first steering gear 10 is a steering gear capable of driving the second steering gear 20, the first arm 30, the third steering gear 40, the second arm 50, and the chuck mechanism 120 to rotate together in a horizontal plane, which is a first degree of freedom. The second steering gear 20 is a steering gear that can drive the first arm 30, the third steering gear 40, the second arm 50, and the chuck mechanism 120 to rotate together on a first vertical plane, which is a second degree of freedom. The third steering engine 40 is a steering engine capable of driving the second arm 50 and the chuck mechanism 120 to rotate on a second vertical plane, which is a third degree of freedom. Wherein the first vertical surface and the second vertical surface may be on the same plane.

Specifically, the first steering engine 10 is mounted on the body 200 through a first mounting frame 11, the first mounting frame 11 includes a fixing rod 111 and a horizontal plate 112, and the fixing rod 111 connects the horizontal plate 112 and the body 200. The second steering engine 20 is mounted by a second mounting frame 12. A planar thrust bearing 101 is arranged on the horizontal plate 112, and the other side of the planar thrust bearing 101 is connected with the second mounting frame 12. The planar thrust bearing 101 can obtain a high axial load and a high rigidity in a small space, and thus the movement of the robot arm 100 can be made more stable.

In this embodiment, two second steering engines 20 are included, and the two second steering engines 20 are symmetrically installed through the second installation frame 12. The first connecting piece 13 is installed at one end of the first arm 30, and the first connecting piece 13 is substantially U-shaped, and includes two first connecting plates 131, one of the second steering gears 20 is connected to one of the first connecting plates 131, and the two second steering gears 20 jointly drive the first connecting piece 13 to rotate on a first vertical plane. With both of the second steering gears 20, a stronger driving force is provided, so that the first arm 30, the third steering gear 40, the second arm 50, and the collet mechanism 120 have a more stable pitching motion when rotated. It will be appreciated that the same scheme may be applied to the third steering engine 40 described later, and two third steering engines 40 may be used as well.

The other end of the first arm 30 is connected to the second connector 14. The second connecting member 14 includes two second connecting plates 141, and the extending direction of the second connecting plates 141 and the first arm 30 have a predetermined angle, and the predetermined angle is preferably 90 °, so that the movement obstruction of the first arm 30 to the second arm 50 can be reduced, that is, the movement range of the second arm 50 can be greatly improved.

The two second connecting plates 141 are spaced apart, the third steering engine 40 is mounted between the two second connecting plates 141, the third steering engine 40 is movably connected with the second connecting plates 141, and the third steering engine 40 is connected with the second arm 50. When the third steering engine 40 works, the third steering engine 40 and the second arm 50 may jointly rotate at a certain angle on a second vertical plane relative to the second connecting plate 141.

In this embodiment, the first arm 30 and the second arm 50 may be hollow tubes, which may be carbon fiber tubes, and cables connected to the second steering engine 20 and the collet mechanism 120 may be disposed in the hollow tubes, so that the cables are well hidden, and the appearance cleanliness of the mechanical arm 100 is improved.

More specifically, the first connecting member 13 is connected to a first pipe clamp 132, and the first pipe clamp 132 may be integral with the first connecting member 13, i.e. the first pipe clamp 132 is a part of the first connecting member 13. The first pipe clamp 132 is clamped at the end of the first arm 30, and the first pipe clamp 132 is connected to the first pipe clamp 132 through bolts and is detachable relative to the first arm 30 by pressing the first pipe clamp 132.

The second coupling member 14 is connected to a second tube clamp 142, which second tube clamp 142 may be integral with the second coupling member 14, i.e. the second tube clamp 142 is part of the second coupling member 14. The second pipe clamp 142 is clamped at the other end of the first arm 30, and the second pipe clamp 142 is connected to the second pipe clamp 142 through bolts and is detachable relative to the first arm 30 by pressing the second pipe clamp 142.

The third steering engine 40 may be provided with a mounting plate 15, the mounting plate 15 is connected with a third pipe clamp 151, the third pipe clamp 151 is clamped at the end of the second arm 50, and the third pipe clamp 151 is connected with the third pipe clamp 151 through bolts and is detachable relative to the second arm 50 in a manner of pressing the third pipe clamp 151.

The collet mechanism 120 is coupled to a fourth tube clamp 121, the fourth tube clamp 121 being positioned on a rear side of the collet mechanism 120. The fourth pipe clamp 121 is clamped at the other end of the second arm 50, and the fourth pipe clamp 121 is connected with the fourth pipe clamp 121 through a bolt, and the fourth pipe clamp 121 is detachable relative to the second arm 50 through pressing the fourth pipe clamp 121.

Depending on the first clamp 132, the second clamp 142, the third clamp 151 and the fourth clamp 121, the first arm 30 and the second arm 50 may be replaceable, a shorter arm 30 or 50 may be replaced when a greater effective torque is required, and a longer arm 30 or 50 may be replaced when a greater gripping range is required.

As shown in fig. 3 and 4, fig. 3 shows a specific structure of the collet mechanism 120, and fig. 4 shows an exploded structural view of the collet mechanism 120. The chuck mechanism 120 includes a mount 21, a motor 22, a chuck assembly 23, a rack 24, a crank member 25, a camera 26, and an illumination lamp 27. The fourth pipe clamp 121 is connected to the mounting base 21, and may be integral with the mounting base 21, i.e. the fourth pipe clamp 121 is a part of the mounting base 21, and the fourth pipe clamp 121 is behind the mounting base 21.

The motor 22, the chuck assembly 23, the rack 24, the camera 26 and the illumination lamp 27 are mounted through the mounting base 21.

Specifically, the mounting base 21 includes a top plate 211 and a bottom plate 212, and the motor 22, the camera 26, and the illumination lamp 27 are mounted on the top plate 211. The camera 26 and the illumination lamp 27 are directed forward.

The output shaft of the motor 22 is connected with the crank member 25, the crank member 25 is driven to rotate in one direction by the motor 22, the other end of the crank member 25 is an eccentric convex handle 251, and the convex handle 251 eccentrically rotates in the rotating process of the crank member 25.

The rack 24 is slidably connected to the mounting base 21, i.e. the rack 24 can move forward or backward relative to the mounting base 21. Specifically, the bottom plate 212 is provided with a sliding groove 2121 extending in the front-rear direction, the rack 24 includes a sliding block, the sliding block is located in the sliding groove 2121, and the rack 24 can only move in the front-rear direction due to the limitation of the movement of the rack 24 by the cooperation of the sliding groove 2121 and the sliding block.

The rear end of the rack 24 is provided with a groove 241, the groove 241 is perpendicular to the moving direction of the rack 24, and the groove 241 includes a first wall 242 in front and a second wall 243 in back spaced relation to the first wall 242. The lug 251 is disposed in the slot 241 between the first wall 242 and the second wall 243. The motor 22 may always rotate in a predetermined direction, the lug 251 may collide with the first wall 242 and push the rack 24 to move forward, when the lug 251 moves to the forefront side, the rack 24 moves forward to the limit, the motor 22 continues to rotate in the predetermined direction, the lug 251 may collide with the second wall 243 and push the rack 24 to move backward, and when the lug 251 moves to the rearmost side, the rack 24 moves backward to the limit, so that the rack 24 may reciprocally move in the forward and backward directions while the motor 22 continues to rotate in the predetermined direction.

In this embodiment, the chuck assembly 23 includes two chuck units 230, and the two chuck units 230 are symmetrically disposed. Wherein the cartridge unit 230 includes a cartridge 231, a first link 232, and a second link 233. The front end of the collet 231 is a clamping end, and the rear end of the collet 231 is a passive end. One end of the first link 232 is hinged to the rear end of the chuck 231, a gear 2321 is disposed at the other end of the first link 232, the gear 2321 is hinged to the mounting seat 21, and the gear 2321 and the first link 232 may be in an integral structure. One end of the second link 233 is hinged to the mounting seat 21, the other end of the second link 233 is hinged to the collet 231, the hinge is located between the front end and the rear end of the collet 231, and the second link 233 and the first link 232 are located on the same side of the collet 231. In this way, the gripping head 231, the first link 232, the second link 233 and the mounting base 21 may be regarded as a four-bar mechanism, by which the gripping end of the gripping head 231 may have a smaller range of motion on the left and right sides relative to the rear end thereof during the process of performing the gripping or releasing operation, and more preferably, by designing the lengths and the hinge positions of the first link 232 and the second link 233, the four-bar mechanism may be made to be a parallel link structure, so that the gripping heads 231 may always be kept parallel during the process of performing the gripping or releasing operation, that is, the two gripping heads 231 may keep parallel motion.

The gear 2321 is meshed with the rack 24, in the process of moving the rack 24 forward, the gear 2321 is rotated, and then the four-bar mechanism is driven to move, the chuck 231 performs a loosening action, and in the process of moving the rack 24 backward, the chuck 231 performs a clamping action.

In the description and claims of the present utility model, the words "comprise/comprising" and the words "have/include" and variations thereof are used to specify the presence of stated features, values, steps, or components, but do not preclude the presence or addition of one or more other features, values, steps, components, or groups thereof.

Some features of the utility model, which are, for clarity of illustration, described in the context of separate embodiments, may also be provided in combination in a single embodiment. Conversely, some features of the utility model, which are, for brevity, described in the context of a single embodiment, may also be provided separately or in any suitable combination in different embodiments.

The foregoing description of the preferred embodiment of the utility model is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the utility model.

Claims

1. A chuck mechanism, comprising:

a mounting base;

a motor;

2. The collet mechanism of claim 1, wherein the collet assembly comprises:

a chuck;

3. The chuck mechanism as in claim 1, further comprising:

the camera is arranged on the mounting seat; and/or

And the illuminating lamp is arranged on the mounting seat.

4. A robotic arm, comprising:

a chuck mechanism according to any one of claims 1-3; and

and the clamping head mechanism is arranged on the arm mechanism.

5. The mechanical arm of claim 4, wherein the arm mechanism comprises:

an arm assembly; and

6. The mechanical arm of claim 4, wherein the arm mechanism comprises:

a first arm;

7. The mechanical arm of claim 4, wherein the arm mechanism comprises:

a first arm;

a second arm;

8. The mechanical arm of claim 4, wherein the arm mechanism comprises an arm that is a hollow tube in which the cable is disposed.

9. The mechanical arm of claim 8, wherein the arm mechanism further comprises a tube clip removably clamped to an end of the arm, the tube clip being connected to the mount or to a steering engine of the arm mechanism or to a connector of the arm mechanism that is movably connected to the steering engine.

10. A robot comprising a robotic arm as claimed in any one of claims 4-9.