CN109605361B - Mechanical arm - Google Patents

Abstract

The invention provides a manipulator, belonging to the technical field of electric machinery, comprising a base, a manipulator rotatably connected to the base, a manipulator rotatably connected to the free end of the manipulator, and a manipulator rotatably connected to the manipulator The mechanical claw provided by the invention can replace the staff to grasp and transfer materials in a high-risk environment, ensure the health of the staff, reduce labor intensity and improve work efficiency.

Description

manipulator

technical field

The invention belongs to the technical field of electric machinery, and more particularly, relates to a manipulator.

Background technique

In the field of electrical machinery, it will involve high temperature, corrosion or working environment with toxic and harmful gases, etc. If the staff works in such an environment, it will endanger the human health of the staff. If the staff needs to grip and transfer materials in such a high-level environment, they need to wear protective measures such as protective clothing, dust masks or high-temperature clothing, which is labor-intensive and low-efficiency.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a manipulator, which aims to solve the problems of high labor intensity and low efficiency in manually gripping and transferring materials in a high-risk environment.

In order to achieve the above purpose, the technical solution adopted in the present invention is to provide a manipulator, comprising a base, a manipulator rotatably connected to the base, a manipulator rotatably connected to the free end of the manipulator, and a manipulator rotatably connected to the free end of the manipulator. The mechanical wrist rotates the connected mechanical claw.

Further, the mechanical arm includes a slewing arm, a first connecting arm, a second connecting arm and a first driving component;

One end of the swivel arm is rotatably connected to the base, the other end of the swivel arm is rotatably connected to one end of the first connecting arm, and the other end of the first connecting arm is rotatably connected to the second connecting arm. One end is rotatably connected, and the other end of the second connecting arm is rotatably connected with the mechanical wrist.

Further, the axis of rotation of the swivel arm and the base is along the first direction, the axis of the rotation axis of the first connecting arm and the swivel arm and the axis of rotation of the second connecting arm and the first connecting arm The axes are all along a second direction, the first direction is perpendicular to the second direction, and the connection axis of the mechanical wrist and the second connection arm is perpendicular to the second direction.

Further, the first direction is perpendicular to the horizontal plane, and the swivel arm is perpendicular to the horizontal plane.

Further, the mechanical wrist includes a connecting wrist rotatably connected with the second connecting arm and a second driving component for driving the connecting wrist to rotate, and the connecting wrist and the connecting axis of the second connecting arm are perpendicular to each other. The connecting shaft of the connecting wrist and the mechanical claw.

Further, the mechanical claw includes a base that is rotatably connected to the mechanical wrist, two clamping rods that are connected to the base and are oppositely arranged, and a third driving component for driving the two clamping rods. the abutment is rotatably connected with the connecting wrist;

The mechanical gripper further includes a fourth driving assembly for driving the base to rotate around the connecting wrist.

Further, the clamping rod includes a connecting part connected to the base and a clamping part for clamping the material, and a holding groove for accommodating the material is provided on the clamping part.

Further, the third drive assembly includes a third motor, a third worm coaxially connected to the output shaft of the third motor, and two third worm gears engaged with the third worm, two of the The third worm gears are respectively arranged on both sides of the third worm, and the two third worm gears are respectively coaxially fixed with the connecting portion of the clamping rod.

Further, the base comprises a base rotatably connected with the connecting wrist and a clamping jaw base for setting the two clamping bars;

The third drive assembly further includes a rotary drive assembly for driving the jaw table to rotate about the third worm axis.

Further, the rotary drive assembly includes a first drive motor, a first reduction gear connected with the output shaft of the first drive motor, and a second reduction gear meshed with the first reduction gear;

The second reduction gear is fixedly connected to the third motor, and the axis of the second reduction gear coincides with the axis of the output shaft of the third motor.

The beneficial effect of the manipulator provided by the present invention is that compared with the prior art, the present invention connects the manipulator claw to the base through the manipulator arm and the manipulator wrist, and realizes the gripping and transporting of materials through the manipulator claw. Exposure to high-risk environments, protect the health of staff, reduce labor intensity, and improve work efficiency.

Description of drawings

1 is a schematic structural diagram 1 of a manipulator provided by an embodiment of the present invention;

2 is a second schematic structural diagram of a manipulator provided by an embodiment of the present invention;

Fig. 3 is the structural schematic diagram 1 of the mechanical claw in Fig. 1 and Fig. 2;

Fig. 4 is the structural schematic diagram 2 of the mechanical claw in Fig. 1 and Fig. 2;

Fig. 5 is the sectional structure schematic diagram 1 of the mechanical claw;

FIG. 6 is a second schematic view of the cross-sectional structure of the mechanical claw.

In the figure: 1. Base; 21. Swivel arm; 22. First connecting arm; 23. Second connecting arm; 3. Connecting wrist; 41. Base; 411, Pedestal; rod; 421, connecting part; 422, clamping part; 4221, accommodating groove; 423, reinforcing rib plate; 51, third motor; 52, third worm; 53, third worm gear; 54, motor fixing sleeve; 61, a first drive motor; 62, a first reduction gear; 63, a second reduction gear.

Detailed ways

In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

Referring to FIG. 1 and FIG. 2 , the manipulator provided by the present invention will now be described. The manipulator includes a base 1, a mechanical arm rotatably connected to the base 1, a mechanical wrist rotatably connected to the free end of the mechanical arm, and a mechanical claw rotatably connected to the mechanical wrist.

Compared with the prior art, in the present invention, the mechanical claw is connected to the base 1 through the mechanical arm and the mechanical wrist, and the material is clamped and transported through the mechanical claw. The health of personnel, reduce labor intensity and improve work efficiency.

It can be understood that the base 1 can be configured to be connected to a mobile operating console, a vehicle-mounted robot platform, etc., and the mobile operating console, vehicle-mounted robot platform, etc. are connected to a computer, and the computer can display the operating status data of the manipulator in real time, etc. The operation of the manipulator is remotely controlled to avoid exposure of workers to high-risk environments.

Please refer to FIG. 1 and FIG. 2 , as a specific embodiment of the manipulator provided by the present invention, the manipulator includes a rotating arm 21, a first connecting arm 22, a second connecting arm 23 and a first driving component;

One end of the swivel arm 21 is rotatably connected to the base 1 , the other end of the swivel arm 21 is rotatably connected to one end of the first connecting arm 22 , and the other end of the first connecting arm 22 is rotatably connected to the One end of the second connecting arm 23 is rotatably connected, and the other end of the second connecting arm 23 is rotatably connected with the mechanical wrist.

The swivel arm 21 is rotatably connected to the base 1 and can drive the mechanical claw and the mechanical arm to rotate around the rotation axis of the swivel arm 21. The first connecting arm 22 and the second connecting arm 23 are hinged two-links, which can realize the mechanical claw around the first connecting arm 23. The rotation axis of the connecting arm 22 rotates up and down, and the mechanical arm improves the flexibility of the mechanical claw;

The first drive assembly includes a fifth drive assembly, a sixth drive assembly and a seventh drive assembly, which are respectively used to drive the slewing arm 21, the first connecting arm 22 and the second connecting arm 23 to be connected. The fifth drive assembly, the sixth drive assembly and the seventh drive assembly have the same drive form, all adopt the drive form of the worm gear, take the fifth drive assembly as an example to illustrate, the drive system includes the fifth motor, and the fifth motor. A fifth worm connected to the output shaft and a fifth worm gear engaged with the fifth worm, and the fifth worm gear is fixedly connected to the rotating arm 21 .

Please refer to FIG. 1 and FIG. 2 , as a specific embodiment of the manipulator provided by the present invention, the axis of rotation of the rotating arm 21 and the base 1 is along a first direction, and the first connecting arm 22 is connected to the The axis of the rotating shaft of the swivel arm 21 and the axes of the second connecting arm 23 and the first connecting arm 22 are all along the second direction, the first direction is perpendicular to the second direction, and the mechanical wrist is connected to the second direction. The connecting axis of the second connecting arm 23 is perpendicular to the second direction; the first direction is perpendicular to the horizontal plane, and the rotating arm 21 is perpendicular to the horizontal plane. In order to increase the degree of freedom of the device and improve the flexibility of the mechanical claw, the mechanical claw should be able to move in all required directions. In this embodiment, the swivel arm 21 is arranged in the vertical direction, and the slewing arm 21 rotates around its own axis. The axes of the rotation shafts of the first connecting arm 22 and the second connecting arm 23 are in the horizontal direction, so that the mechanical claw can be moved up and down in the vertical direction while rotating around the vertical direction, and the distance from the swivel arm 21 can be adjusted to achieve a certain Grab and transfer materials in the area, easy to use.

Please refer to FIG. 1 and FIG. 2 , as a specific embodiment of the manipulator provided by the present invention, the manipulator includes a connecting wrist 3 rotatably connected to the second connecting arm 23 and a connecting wrist 3 for driving the connecting wrist 3 to rotate The second drive assembly, the connecting axis of the connecting wrist 3 and the second connecting arm 23 is perpendicular to the connecting axis of the connecting wrist 3 and the mechanical claw. Compared with the prior art in which the manipulator is directly connected to the manipulator, in this embodiment, a manipulator is arranged between the manipulator and the manipulator, and the length of the connecting wrist 3 is smaller than that of the rotating arm 21 , the first connecting arm 22 , and the second connecting arm 23, when the swivel arm 21, the first connecting arm 22 and the second connecting arm 23 move in place, the position of the manipulator can be finely adjusted by adjusting the mechanical wrist; the second drive assembly includes a second motor, and a second motor The output shaft of the second worm is connected to the second worm gear and the second worm gear meshed with the second worm gear. Rotation of the wrist 3 relative to the second connecting arm 23 .

Please refer to FIG. 3 and FIG. 4 , as a specific embodiment of the manipulator provided by the present invention, the manipulator includes a base 41 rotatably connected to the manipulator, and two opposing bases 41 connected to the base 41 . a clamping rod 42 and a third driving component for driving the two clamping rods 42, the base 41 is rotatably connected to the connecting arm 3;

The mechanical claw further includes a fourth driving component for driving the base 41 to rotate around the connecting wrist 3 . The third drive assembly drives the two clamping rods 42, and the fourth drive assembly controls the overall rotation of the mechanical claw relative to the connecting wrist to improve the flexibility of the device; the fourth drive assembly includes a fourth motor, which is connected to the output shaft of the fourth motor. The fourth worm and the fourth worm gear meshed with the fourth worm, the rotating shaft of the fourth worm gear and the base 41 are coaxially fixed with the connecting shaft of the connecting wrist 3 .

Please refer to FIG. 3 and FIG. 4 , as a specific embodiment of the manipulator provided by the present invention, the clamping rod 42 includes a connecting part 421 connected with the base 41 and a clamping part 422 for clamping materials, The holding portion 422 is provided with a holding groove 4221 for holding materials. The accommodating groove 4221 is arranged on the clamping portion 422 of the clamping rod 42. The two accommodating grooves 4221 together form a cavity for clamping materials. It is shown in the middle of the clamping portion 422, so that the free ends of the two clamping rods 42 can still be closed, so that small-sized materials can be clamped, and the structure is simple and easy to use.

Optionally, an anti-slip glue layer is provided on the inner wall of the accommodating groove 4221 to prevent the material from slipping off when the two clamping bars 42 clamp the material.

Optionally, a cover plate hinged with the clamp rod 21 and a power mechanism such as a motor for controlling the rotation of the cover plate can be set on both sides of the clamp rod 21. After the two clamp rods 21 clamp the material, the power mechanism such as the motor can be used The two clamping bars 21 are locked to prevent the material from falling.

Optionally, the number of accommodating grooves 4221 is multiple, and the accommodating spaces of each accommodating groove 4221 are different, and a variety of accommodating grooves 4221 with different accommodating spaces are provided, so that the two clamping rods 42 can clamp different volumes, The length of the material can improve the use range of the mechanical claw. At the same time, the accommodating space of each accommodating groove 4221 can be set to gradually decrease from front to back, and the larger accommodating space at the front end and the openings of the two clamping rods 42 are the largest. It can be matched with each other so that the gripping range of the mechanical claw can be larger.

Optionally, the outer sides of the two clamping rods 42 are provided with reinforcing rib plates 423 for strengthening the strength of the clamping rods 42, and the reinforcing rib plates 423 are provided to improve the strength of the clamping rods 42, so that the two clamping rods 42 can be firmly clamped The material, the clamping rod 42 will not be disconnected or cracked, and the working stability of the entire mechanical claw will be improved.

Please refer to FIG. 4 , FIG. 5 and FIG. 6 , as a specific embodiment of the manipulator provided by the present invention, the third driving component includes a third motor 51 , which is coaxially connected to the output shaft of the third motor 51 . The third worm 52 and the two third worm gears 53 meshing with the third worm 52, the two third worm gears 53 are respectively arranged on both sides of the third worm 52, and the two third worm gears 53 are respectively coaxially fixed with the connecting portion of the clamping rod 42 . The two third worm gears 53 are respectively coaxially fixed with the fixed ends of the two clamping rods 42, that is, the connecting portion 421. The third worm gear 53 drives the fixed end of the clamping rod 42 to rotate, so that the free end of the clamping rod 42 is the clamping portion. 422 rotates around the central axis of the third worm gear 53 to realize the opening and closing of the two clamping rods 42 to clamp the transferred material.

Please refer to FIG. 3 , FIG. 5 and FIG. 6 , as a specific embodiment of the manipulator provided by the present invention, the base 41 includes a base 411 rotatably connected to the connecting wrist 3 , and a base 411 for arranging two of the clips jaw table 412 for rod 42;

The third drive assembly further includes a rotary drive assembly for driving the jaw table 412 to rotate around the axis of the third worm 52 .

Optionally, a U-shaped installation groove is provided on the clamping jaw table 412, the third worm 52 vertically penetrates the bottom wall of the U-shaped groove, and the two third worm gears 53 are respectively hinged to the two side walls of the U-shaped installation groove. , the rotation axis of each third worm gear 53 is perpendicular to the side wall of the U-shaped installation groove, so that the two clamping rods 42 are hinged on the side wall of the U-shaped installation groove respectively, and are driven by the third motor 51 to realize the opening and closing clamping materials.

In addition to realizing the opening and closing of the two clamping rods 42 to clamp the material, the third driving component can also realize the integral rotation of the two clamping rods 42, so that the entire mechanical claw can rotate around the hinge shaft of the connecting wrist 3 and rotate around the third worm. The rotation of the 52 axis and the opening and closing of the two jaws have three degrees of freedom.

Please refer to FIG. 5 and FIG. 6 , as a specific embodiment of the manipulator provided by the present invention, the rotary drive assembly includes a first drive motor 61 and a first reduction gear connected to the output shaft of the first drive motor 61 62 and a second reduction gear 63 meshing with the first reduction gear;

The second reduction gear 63 is fixedly connected to the third motor 51 , and the axis of the second reduction gear 63 coincides with the axis of the output shaft of the third motor 51 . In this embodiment, the first drive motor 61 is fixed on the base 411 and is connected to the third motor 51 through the first reduction gear 62 and the second reduction gear 63 , and the third motor 51 and the clamping jaw table 412 as a whole receive the third motor 51 . The driving of a driving motor 61 realizes the rotation of the two clamping rods 42 around their own axes.

The second reduction gear 63 is provided with a central hole along the axial direction for accommodating the third motor 51, and a spline slot is arranged in the central hole. It is fixedly connected with the second reduction gear 63, so that the rotation of the first drive motor 61 can drive the rotation of the third motor 51, the clamping jaw table 412, the two clamping rods 42 and the third drive assembly as a whole around the axis of the third worm 52; Meanwhile, in order to stabilize the third motor 51 , the third motor 51 is supported in the base 411 through a ball bearing.

Please refer to FIG. 1 and FIG. 2 , in order to avoid the driving components in the device from being exposed to high temperature, high humidity or corrosive gas and liquid environment, the rotating arm 21 , the first connecting arm 22 , the second connecting arm 23 , the mechanical wrist And the mechanical claws are all box-shaped structures, and the fifth driving component, the sixth driving component, the seventh driving component, the first The second drive assembly, the third drive assembly, and the fourth drive assembly are all enclosed in a box-shaped structure. As shown in FIG. 1 , the fifth drive assembly is arranged in the base 1 , the sixth drive assembly is arranged in the swivel arm 21 , and the seventh The driving component is arranged in the first connecting arm 21 , the second driving component is arranged in the second connecting arm 23 , the third driving component is arranged in the base 41 , and the fourth driving component is arranged in the connecting wrist 3 .

The above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included in the protection of the present invention. within the range.

Claims (6)

1. A manipulator, characterized in that it comprises a base (1), a mechanical arm rotatably connected with the base (1), a mechanical wrist rotatably connected with the free end of the mechanical arm, and a mechanical wrist rotatably connected with the mechanical wrist the mechanical claw, The base (1) is set to be connected with the mobile operation console and the vehicle-mounted robot platform, and the mobile operation console and the vehicle-mounted robot platform are connected with the computer, and the operating status data of the manipulator is displayed on the computer in real time. The mechanical arm comprises a slewing arm (21), a first connecting arm (22), a second connecting arm (23) and a first driving component, One end of the swivel arm (21) is rotatably connected to the base (1); The mechanical wrist comprises a connecting wrist (3) rotatably connected with the second connecting arm (23) and a second driving component for driving the connecting wrist (3) to rotate, and the connecting wrist (3) is connected to the The connecting axis of the second connecting arm (23) is perpendicular to the connecting axis of the connecting wrist (3) and the mechanical claw; The mechanical claw comprises a base (41) that is rotatably connected to the mechanical wrist, two clamping bars (42) that are connected to the base (41) and are oppositely arranged, and are used to drive the two clamping bars (41). 42) the third drive assembly; The mechanical claw further comprises a fourth driving component for driving the base (41) to rotate around the connecting wrist (3); The base (41) includes a jaw table (412), The third drive assembly includes a third motor (51) and a third worm (52), The third drive assembly further includes a rotary drive assembly, and the rotary drive assembly is used to drive the clamping jaw table (412) to rotate around the axis of the third worm (52); The rotary drive assembly includes a first drive motor (61), a first reduction gear (62) connected with the output shaft of the first drive motor (61), and a second reduction gear meshed with the first reduction gear gear (63), The second reduction gear (63) is fixedly connected with the third motor (51), the axis of the second reduction gear (63) coincides with the axis of the output shaft of the third motor (51), The second reduction gear (63) is provided with a central hole along the axis direction for accommodating the third motor (51); the central hole is provided with a spline groove, and the third motor is fixed to the spline groove of the central hole through the external splines of the motor fixing sleeve Internally realizes the fixed connection with the second reduction gear; The output shaft of the third motor (51) is coaxially connected to the third worm (52), and the third drive assembly further includes two third worm gears (53) engaged with the third worm (52). , the two third worm gears (53) are respectively arranged on both sides of the third worm (52), and the two third worm gears (53) are respectively coaxial with the connecting portion of the clamping rod (42) fixed. 2. manipulator as claimed in claim 1, is characterized in that: The other end of the swivel arm (21) is rotatably connected with one end of the first connecting arm (22), and the other end of the first connecting arm (22) is rotatable with one end of the second connecting arm (23). connected, and the other end of the second connecting arm (23) is rotatably connected with the mechanical wrist. 3. The manipulator according to claim 2, characterized in that: the axis of rotation of the rotating arm (21) and the base (1) is along a first direction, and the first connecting arm (22) is connected to the The axis of the rotating shaft of the swivel arm (21) and the axes of the rotating shafts of the second connecting arm (23) and the first connecting arm (22) are all along a second direction, and the first direction is perpendicular to the second direction, The connecting axis of the mechanical wrist and the second connecting arm (23) is perpendicular to the second direction. 4. The manipulator according to claim 3, wherein the first direction is perpendicular to the horizontal plane, and the rotating arm (21) is perpendicular to the horizontal plane. 5. The manipulator according to claim 1, characterized in that: the clamping rod (42) comprises a connecting part (421) connected with the base (41) and a clamping part (422) for clamping materials ), the clamping part (422) is provided with a holding groove (4221) for holding the material. 6. The manipulator according to claim 1, wherein the base (41) comprises a base (411) rotatably connected with the connecting wrist (3), The clamping jaw table (412) is used for setting the two clamping rods (42).

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