CN212044790U

CN212044790U - Mechanical arm of robot

Info

Publication number: CN212044790U
Application number: CN202020763554.8U
Authority: CN
Inventors: 张晓龙; 甘亚光; 廖连莹
Original assignee: Inexbot Technology Co ltd
Current assignee: Inexbot Technology Co ltd
Priority date: 2020-05-09
Filing date: 2020-05-09
Publication date: 2020-12-01
Anticipated expiration: 2030-05-09

Abstract

The utility model discloses an arm of a robot, belonging to a grabbing accessory used by an industrial robot, comprising a clamping plate which is arranged oppositely and a bidirectional hydraulic cylinder which is arranged between the clamping plates, wherein piston rods at two ends of the bidirectional hydraulic cylinder are assembled on the side wall of the clamping plate, and the clamping plate is driven to do relative motion action by the work of the bidirectional hydraulic cylinder; the mechanical arm also comprises a reinforcing mechanism for improving the stability of the clamping plate; reinforcing mechanism include the slant pole at the horizontal pole both ends that transverse rod and symmetry are installed, the clamp plate be close to one side of slant pole and install connecting sleeve, connecting sleeve and slant pole cooperate and with the clamp plate between form three horn shapes and consolidate the clamp plate, the utility model provides an arm is still including setting up the coupling mechanism at the clamp plate top, has further improved the stability of clamp plate, convenient operation, the practicality is strong.

Description

Mechanical arm of robot

Technical Field

The utility model belongs to an industrial robot uses snatchs the accessory, and specifically speaking relates to an arm of robot.

Background

The industrial robot is a device which is applied to the technical field of industrial production and processing and is convenient to grab and process workpieces, has high intelligent degree and convenient operation, is popular with people, is widely applied to the technical field of industry, greatly improves the processing efficiency of industrial production, and greatly saves the workload of workers in the technical field of industrial production and processing;

in the prior art, the main components of the robot include a mechanical arm, which is a tool installed on the robot and capable of clamping and grabbing a workpiece, however, the mechanical arm of the existing robot has the following defects in use:

the arm includes the pinch-off blades that snatchs the work piece, and the pinch-off blades moves in opposite directions through two-way pneumatic cylinder work and presss from both sides tightly snatchs the work piece, however, as shown in figure 1, the arm is pressing from both sides the in-process that presss from both sides tightly snatchs the work piece, and the work piece has the reaction thrust to the pinch-off blades, and the reaction thrust leads to the pinch-off blades easily to become flexible to the pinch-off blades is not hard to press from both sides tightly snatchs the work piece after long-time the use of arm.

SUMMERY OF THE UTILITY MODEL

The reaction force of clamp plate at the tight work piece in-process work piece of clamp in to current arm leads to the not hard up problem of clamp plate easily, the utility model provides a mechanical arm of robot, this mechanical arm include the clamp plate and order about the two-way pneumatic cylinder that the clamp plate removed, in addition, still be provided with the reinforcement mechanism who is used for improving clamp plate stability on this mechanical arm, this reinforcement mechanism can consolidate the clamp plate at the in-process that the clamp plate pressed from both sides tight work piece, has avoided the not hard up technical problem of clamp plate to take place, thereby the problem of proposing in the background art has been solved effectively.

In order to solve the above problems, the utility model adopts the following technical proposal.

A mechanical arm of a robot comprises clamping plates which are oppositely arranged and a bidirectional hydraulic cylinder which is arranged between the clamping plates, wherein piston rods at two ends of the bidirectional hydraulic cylinder are assembled on the side walls of the clamping plates, and the bidirectional hydraulic cylinder works to drive the clamping plates to do relative motion;

the mechanical arm also comprises a reinforcing mechanism for improving the stability of the clamping plate;

the reinforcing mechanism include transverse bar and symmetry and install the slant pole at transverse bar both ends, the clamp plate one side of being close to the slant pole install connecting sleeve, connecting sleeve and slant pole cooperate and with the clamp plate between form the triangle-shaped form and consolidate the clamp plate.

Preferably, the slant pole one side fixed mounting that is close to the pinch-off blades have the connecting rod, the connecting rod insert in the connecting sleeve, the connecting rod butt is in the connecting sleeve, the connecting rod on still the cover be equipped with expanding spring, expanding spring one end is connected with the slant pole, and the expanding spring other end is connected with the connecting sleeve.

Preferably, the telescopic spring is sleeved on the connecting rod and is in a compressed state.

Preferably, the transverse rod passes through the symmetrically arranged clamping plates and is connected with the clamping plates in a sliding manner.

Preferably, one side fixed mounting that the slant pole is close to the grip block has a threaded rod, the grip block on be close to one side of connecting rod and rotate and install connecting sleeve, connecting sleeve is close to connecting rod one end opening, and distributes on the connecting sleeve inner wall and have the internal thread with threaded rod matched with, threaded rod screw in connecting sleeve in.

Preferably, the transverse rod passes through the clamping plate and is connected with the clamping plate in a sliding mode, and the transverse rod is of a telescopic structure.

Preferably, the top of the clamping plate is also provided with a connecting mechanism for improving the stability of the clamping plate; coupling mechanism include connecting plate and assembly plate, connecting plate and assembly plate intercrossing articulated, connecting plate and assembly plate and clamp plate top articulated through the round pin axle, connecting plate and assembly plate and round pin hub connection department be provided with the guide way, the round pin axle is located the guide way in.

Advantageous effects

Compared with the prior art, the beneficial effects of the utility model are that:

(1) the mechanical arm comprises a reinforcing mechanism arranged on the mechanical arm, and the reinforcing mechanism adopts the characteristic of triangle stability to reinforce the clamping plate, so that the clamping plate avoids the problem that the clamping plate is loosened by utilizing the stability characteristic of the triangle in the process of clamping and grabbing a workpiece, thereby greatly improving the stability of the clamping plate;

(2) the reinforcing mechanism in the utility model comprises a transverse rod, an oblique rod and a connecting rod, wherein the connecting rod is inserted into a connecting sleeve on a clamping plate, and a telescopic spring is sleeved on the connecting rod and is always in a compression state, so that the telescopic spring has thrust to the clamping plate in the direction of a workpiece, and the reverse thrust of the workpiece to the clamping plate is counteracted, thereby improving the stability of the clamping plate;

(3) the reinforcing mechanism in the utility model comprises a transverse rod, an oblique rod and a threaded rod assembled on the oblique rod, and the threaded rod is screwed into the connecting sleeve, so that the stability between the threaded rod and the connecting sleeve is stronger, the stability of the clamping plate is further improved, and the use of people is facilitated;

(4) the utility model discloses still including setting up the coupling mechanism at pinch-off blades top, connection structure includes connecting plate and assembly plate, intercrossing sets up between connecting plate and the assembly plate, and connecting rod and assembly plate end are provided with the open slot, the connecting plate is connected with the pinch-off blades through set up the round pin axle in the open slot with the assembly plate, the setting up of open slot makes things convenient for the pinch-off blades to supply the round pin axle to slide at the removal in-process, coupling mechanism's setting strengthens the stability of pinch-off blades on the one hand, on the other hand also makes things convenient for the pinch-off blades to remove and presss from both sides tightly snatchs.

Drawings

FIG. 1 is a schematic diagram of a mechanical arm clamping a workpiece under stress in the prior art;

FIG. 2 is a schematic view showing the structure of a robot arm according to embodiment 1;

FIG. 3 is a schematic structural view of a reinforcing mechanism in embodiment 1;

FIG. 4 is a schematic view showing the structure of a clamping plate in embodiment 1;

FIG. 5 is a schematic view showing an assembling structure of a reinforcing mechanism and a clamping plate in example 1;

FIG. 6 is a schematic structural view of a reinforcing mechanism in embodiment 2;

fig. 7 is a schematic structural view of a connecting mechanism in embodiment 3.

The corresponding relationship between the reference numbers of the figures and the names of the components in the figures is as follows:

10. a clamping plate; 11. a connecting sleeve;

20. a bidirectional hydraulic cylinder;

30. a reinforcement mechanism; 31. a transverse bar; 32. an oblique rod; 33. a connecting rod; 34. a tension spring; 35. a threaded rod;

40. a connecting mechanism; 41. a connecting plate; 42. assembling a plate; 43. a guide groove.

Detailed Description

The invention will be further described below in connection with specific embodiments.

As shown in fig. 1, the structural diagram of a robot arm of a robot in the prior art is shown, in the prior art, the robot arm includes clamping plates 10 arranged oppositely, a bidirectional hydraulic cylinder 20 is installed between the clamping plates 10, and the bidirectional hydraulic cylinder 20 operates to drive the clamping plates 10 to move oppositely to clamp and grab a workpiece.

Example 1

As shown in fig. 2 to 5, which are schematic structural diagrams of a robot arm according to a preferred embodiment of the present invention, the robot arm of this embodiment includes a clamping plate 10 disposed oppositely and a bidirectional hydraulic cylinder 20 installed between the clamping plate 10, piston rods at two ends of the bidirectional hydraulic cylinder 20 are connected to a side wall of the clamping plate 10, the bidirectional hydraulic cylinder 20 is electrically connected to a control system in the robot, the bidirectional hydraulic cylinder 20 can be controlled to work by the control system, the bidirectional hydraulic cylinder 20 can drive the clamping plate 10 to move oppositely to clamp and grab a workpiece, and the operation is convenient;

in this embodiment, the robot arm further includes a reinforcing mechanism 30 for reinforcing the stability of the clamping plate 10;

as shown in fig. 3 and 4, in this embodiment, the reinforcing mechanism 30 includes a transverse rod 31 and diagonal rods 32 installed at two ends of the transverse rod 31, a connecting sleeve 11 is fixedly installed on one side of the clamping plate 10 close to the diagonal rods 32, and the connecting sleeve 11 is connected to the ends of the diagonal rods 32 so that the diagonal rods 32, the connecting sleeve 11 and the clamping plate 10 cooperate to form a triangular shape, so that the stability of the clamping plate 10 is greatly improved by the triangular shape;

in this embodiment, the transverse rod 31 passes through the clamping plate 10 and is slidably connected with the clamping plate 10;

the side of the slant rod 32 close to the clamping plate 10 is fixedly provided with a connecting rod 33, the connecting rod 33 is inserted into the connecting sleeve 11, and the connecting rod 33 abuts against the connecting sleeve 11 to reinforce the clamping plate 10.

In the embodiment, when the clamping plate 10 clamps and captures a workpiece, the workpiece has a reaction force on the clamping plate 10, the connecting rod 33 is connected with the connecting sleeve 11 to reinforce the clamping plate 10, so that the problem of looseness of the clamping plate 10 is avoided, the clamping degree of the clamping plate 10 on the workpiece is greatly improved, the stability of the workpiece is high, the problem of falling of the workpiece is avoided, and convenience is brought to people;

as shown in fig. 5, in this embodiment, the connecting rod 33 is further sleeved with an extension spring 34, one end of the extension spring 34 is connected to the slant rod 32, and the other end of the extension spring 34 is connected to the connecting sleeve 11, in this embodiment, the extension spring 34 is in a compressed state, and the extension spring 34 has a thrust force on the clamping plate 10 due to its elastic force to counteract a reverse thrust force of the workpiece on the clamping plate 10, so as to further improve the stability of the clamping plate 10.

Example 2

As shown in fig. 3 and fig. 6, which are schematic structural views of a robot arm of a robot according to another preferred embodiment of the present invention, the robot arm of the present embodiment includes clamping plates 10 disposed opposite to each other, a bidirectional hydraulic cylinder 20 installed between the clamping plates 10, and a reinforcing mechanism 30 for reinforcing stability of the clamping plates 10; the reinforcing mechanism 30 comprises a transverse rod 31 and oblique rods 32 arranged at two ends of the transverse rod 31, a threaded rod 35 is fixedly arranged at one side of the oblique rod 32 close to the clamping plate 10, a connecting sleeve 11 is rotatably arranged at one side of the clamping plate 10 close to the connecting rod 33, one end of the connecting sleeve 11 close to the connecting rod 33 is open, internal threads matched with the threaded rod 35 are distributed on the inner wall of the connecting sleeve 11, and the threaded rod 35 is screwed into the connecting sleeve 11;

in this embodiment, the transverse rod 31 is of a telescopic structure, so that when the clamping plates 10 clamp a workpiece, the relative distance between the clamping plates 10 is reduced, and the transverse rod 31 can be stretched to drive the diagonal rod 32, the threaded rod 35 and the connecting sleeve 11 to move together.

In this embodiment, the threaded rod 35 screw in connect bush 11 in with connect bush 11 relatively fixed to make the cooperation of threaded rod 35 and connect bush 11 use when pressing from both sides tight work piece and produce the thrust that leans on the work piece direction to the pinch-off blades 10, be used for offsetting the reverse thrust of work piece to pinch-off blades 10, thereby improved the stability of pinch-off blades 10 greatly, in addition, the length of screw in connect bush 11 can be adjusted to threaded rod 35, convenient operation, the practicality is strong.

Example 3

As shown in fig. 7, which is a schematic structural diagram of a robot arm of a robot according to another preferred embodiment of the present invention, in the robot arm of this embodiment, on the basis of embodiment 1 or 2, a connecting mechanism 40 for improving stability of the clamping plate 10 is further installed on the top of the clamping plate 10;

in this embodiment, coupling mechanism 40 include connecting plate 41 and assembly plate 42, connecting plate 41 and assembly plate 42 intercrossing articulated, connecting plate 41 and assembly plate 42 and pinch-off blades 10 top articulated through the round pin axle, connecting plate 41 and assembly plate 42 and round pin hub connection department be provided with guide way 43, the round pin axle is located guide way 43 in, the setting of guide way 43 makes pinch-off blades 10 at the removal in-process, the round pin axle can slide in guide way 43, the stability of pinch-off blades 10 removal in-process has been improved greatly in setting up of connecting plate 41 and assembly plate 42 to the convenience is pressed from both sides tightly the work piece and is snatched convenient operation.

The above description is for further details of the present invention, and it is not assumed that the embodiments of the present invention are limited to these descriptions, and it is obvious to those skilled in the art that the present invention can be implemented by a plurality of simple deductions or replacements without departing from the concept of the present invention, and all should be considered as belonging to the protection scope defined by the claims submitted by the present invention.

Claims

1. A mechanical arm of a robot comprises clamping plates (10) which are arranged oppositely and a bidirectional hydraulic cylinder (20) which is arranged between the clamping plates (10), wherein piston rods at two ends of the bidirectional hydraulic cylinder (20) are assembled on the side wall of the clamping plates (10), and the bidirectional hydraulic cylinder (20) works to drive the clamping plates (10) to move relatively;

the method is characterized in that:

the mechanical arm further comprises a reinforcing mechanism (30) for improving the stability of the clamping plate (10);

reinforcing mechanism (30) include transverse bar (31) and symmetry and install diagonal bar (32) at transverse bar (31) both ends, grip block (10) be close to one side of diagonal bar (32) and install connecting sleeve (11), connecting sleeve (11) cooperate with diagonal bar (32) and with grip block (10) between form the triangle-shaped form and consolidate grip block (10).

2. A robot arm of the robot as claimed in claim 1, characterized in that: slant pole (32) be close to one side fixed mounting of clamp plate (10) have connecting rod (33), connecting rod (33) insert connecting sleeve (11) in, connecting rod (33) butt is in connecting sleeve (11), connecting rod (33) on still the cover be equipped with expanding spring (34), expanding spring (34) one end is connected with slant pole (32), and the expanding spring (34) other end is connected with connecting sleeve (11).

3. A robot arm of the robot as claimed in claim 2, characterized in that: the telescopic spring (34) is sleeved on the connecting rod (33) and the telescopic spring (34) is in a compressed state.

4. A robot arm of the robot as claimed in claim 1, characterized in that: the transverse rods (31) penetrate through the symmetrically arranged clamping plates (10) and are connected with the clamping plates (10) in a sliding mode through the transverse rods (31).

5. A robot arm of the robot as claimed in claim 1, characterized in that: slant pole (32) one side fixed mounting that is close to pinch-off blades (10) have threaded rod (35), pinch-off blades (10) on be close to one side of connecting rod (33) and rotate and install connecting sleeve (11), connecting sleeve (11) are close to connecting rod (33) one end opening, and the distribution has the internal thread with threaded rod (35) matched with on connecting sleeve (11) inner wall, threaded rod (35) screw in arrive connecting sleeve (11) in.

6. A robot arm of the robot as claimed in claim 5, characterized in that: the transverse rod (31) penetrates through the clamping plate (10) and is connected with the clamping plate (10) in a sliding mode, and the transverse rod (31) is of a telescopic structure.

7. A robot arm of a robot as claimed in any of claims 1 to 6, characterized in that: the top of the clamping plate (10) is also provided with a connecting mechanism (40) for improving the stability of the clamping plate (10); coupling mechanism (40) including connecting plate (41) and assembly plate (42), connecting plate (41) and assembly plate (42) intercrossing articulated, connecting plate (41) and assembly plate (42) articulated through the round pin axle with pinch-off plate (10) top, connecting plate (41) and assembly plate (42) and round pin hub connection department be provided with guide way (43), the round pin axle is located guide way (43) in.