Mechanical arm

Abstract

The utility model discloses a mechanical arm which comprises a mounting seat, a first arm, a second arm, a first drive and a second drive, a first rotating shaft and a second rotating shaft which are coaxial are arranged on the mounting seat, the end portion of the first rotating shaft is connected with the first arm, the first rotating shaft is connected with the first drive, the end portion of the second rotating shaft is connected with the second arm, and the second rotating shaft is connected with the second drive. The first driver and the second driver are both arranged between the end faces of the first rotating shaft or / and the second rotating shaft, the second arm is movably connected with the first arm, and a connecting base is arranged at the end of the second arm; according to the mechanical arm, the layout is reasonable, the occupied space is small, the movement of the mechanical arm cannot be interfered, and meanwhile, the first rotating shaft and the second rotating shaft are coaxially arranged, so that the first arm and the second arm cannot be staggered in the movement process; the first arm and the second arm complete material taking and transferring actions of the mechanical arm, and meanwhile the precision and the service life are guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical transportation, in particular to a mechanical arm. Background Art

[0002] The new product one-piece cartoning machine requires a top-loading robot that not only needs high precision, but also needs to meet the load and cycle requirements of the new product, and needs quick-change grippers.

[0003] Patent number CN202221329240.2 is a manipulator grasping device for a four-side sealed disinfectant wipes packaging machine. The structure used to drive the manipulator grasping device can be seen from the attached figure in the specification. The structure is relatively simple and the stability is not high. In order to improve work efficiency, when it is necessary to grasp or suck multiple products at the same time, the arm length of the clamp is relatively long. How to ensure the stability and accuracy of the clamp movement is an urgent problem to be solved in the present utility model. Utility Model Content

[0004] The purpose of the utility model is to provide a mechanical arm, which solves the problem of how to ensure the stability and accuracy of the movement of the clamp when the arm length of the clamp is long.

[0005] The utility model is implemented as follows: a mechanical arm comprises a mounting base, a first arm, a second arm, a first drive and a second drive; a coaxial first rotating shaft and a second rotating shaft are provided on the mounting base; an end of the first rotating shaft is connected to the first arm, the first rotating shaft is connected to the first drive, an end of the second rotating shaft is connected to the second arm, the second rotating shaft is connected to the second drive, the first drive and the second drive are both placed between the end faces of the first rotating shaft and / or the second rotating shaft, the second arm is movably connected to the first arm, and a connecting base is provided at the end of the second arm.

[0006] Since the arm of the clamp is relatively long, in order to ensure the stability of the clamp, the two sides of the clamp are used as connecting ends to connect to the mechanical arm, so the mechanical arm needs to connect to the clamp from both sides of the connecting end of the clamp; the utility model arranges the connecting seat connected to the clamp between the second arms, and the second arm is arranged at both ends of the second rotating shaft, so that the distance between the second arms is relatively large, and the stability of the clamp can be ensured when the second arm is connected to the clamp through the connecting seat; during the material transfer process, the clamp needs to have the material picking function and the transfer function, and the mechanical arm needs to have two degrees of freedom, so the end of the second arm away from the connecting seat is connected to the first arm, and the first arm and the second arm are respectively connected to different drives to complete the material picking and transfer during the material transfer process, but how to achieve the coordination of the first arm and the second arm to complete the material picking and transfer of the mechanical arm is not disclosed in the prior art;

[0007] In the utility model, the mounting seat is fixedly installed, the first rotating shaft is placed on the mounting seat and the first drive for driving the first rotating shaft is installed between the end faces of the first rotating shaft. The layout is reasonable and the space occupancy is small. The end of the first rotating shaft is connected to the first arm, so that the power of the first drive is transmitted to the first arm; the second rotating shaft is arranged on the mounting seat and the second drive for driving the second rotating shaft is provided between the end faces. The second rotating shaft is coaxial with the first rotating shaft, which not only occupies a small space but also does not interfere with the movement of the robotic arm. At the same time, the first rotating shaft and the second rotating shaft are coaxially arranged, so that the first arm and the second arm will not be misaligned during the movement. The first arm and the second arm complete the material picking and transportation actions of the robotic arm while ensuring accuracy and service life.

[0008] A further technical solution of the utility model is: the mounting base includes a main board and side panels respectively arranged close to both sides of the main board, both ends of the first rotating shaft and / or the second rotating shaft pass through the side panels, and the first drive and the second drive are placed between the side panels and connected to the side panels.

[0009] The main board is used to fix the entire robotic arm to other structures, and the side panels are used to connect the first rotating shaft, the second rotating shaft, the first drive and the second drive. The position of the entire mounting base is fixed, and the first rotating shaft, the second rotating shaft, the first drive and the second drive with unchanged overall positions are installed on the mounting base. The space is reasonably utilized and will not interfere with the movement of the first arm and the second arm.

[0010] A further technical solution of the utility model is: the first drive is arranged in parallel with the first rotating shaft, and the second drive is arranged in parallel with the second rotating shaft.

[0011] The first drive is parallel to the first rotating shaft, and the second drive is parallel to the second rotating shaft. When the drive is connected to the rotating shaft, the transmission can be completed by a synchronous belt and a synchronous wheel, and no other reversing structure is required for transmission. The utility model has a simpler structure, a reasonable layout, and a high space utilization rate.

[0012] A further technical solution of the utility model is: both ends of the second rotating shaft pass through the inside of the first rotating shaft, and the second arm is placed outside the first arm.

[0013] A connecting seat needs to be installed between the second arms, so there are requirements for the distance between the second arms. The distance between the first arms is smaller than the distance between the second arms, which does not affect the movement of the robotic arm while reducing space occupancy.

[0014] A further technical solution of the utility model is: a third drive, a quick-change disc and a support are provided on the connecting seat, and the distance between the support and the quick-change disc is adjusted by the third drive.

[0015] One end of the connecting seat used to connect the clamp is provided with an inwardly extending support member, the support member is used to place the connecting end of the clamp, and then the quick-change disk is driven to move through the third drive to achieve connection and disassembly between the quick-change disk and the clamp.

[0016] A further technical solution of the utility model is: the third drive is a cylinder.

[0017] The cylinder has a simple structure and light weight.

[0018] A further technical solution of the utility model is: the third drive output end is connected to the quick-change disk, the support members are placed on both sides of the opening of the quick-change disk, and the quick-change disk can be raised and lowered to adjust the distance between the support members.

[0019] The support members are placed on both sides below the quick-change plate, and an installation space for connecting the fixture can be formed between the support members and the quick-change plate. The fixture and the quick-change plate can be installed and removed by lifting and lowering the quick-change plate.

[0020] A further technical solution of the utility model is that the support member and two sides of the opening of the connection seat are matched with each other in a concave-convex manner and are connected by bolts.

[0021] Bolt holes for bolt connection are provided on the support member and the connecting seat. In order to ensure the stability of the connection between the support member and the connecting seat, the support member and the connecting seat are connected in a concave-convex manner, which increases the load-bearing capacity of the support member.

[0022] A further technical solution of the utility model is that: a positioning hole is provided on the support member.

[0023] The connection end of the clamp is provided with a positioning pin, and the support is provided with a positioning hole, so that the positioning of the clamp and the support can be achieved and the accuracy of the connection can be ensured.

[0024] A further technical solution of the utility model is that a connecting rod mechanism for maintaining the direction of the connecting seat is provided between the mounting seat and the second arm.

[0025] The connecting seat is connected to the clamp. To ensure the direction of the clamp, a connecting rod mechanism needs to be provided between the mounting seat and the second arm so that the clamp always faces downward to pick up and feed materials.

[0026] The beneficial effects of the utility model are as follows: in the utility model, the mounting seat is fixedly installed, the first rotating shaft is placed on the mounting seat and the first drive for driving the first rotating shaft is installed between the end faces of the first rotating shaft. The layout is reasonable and the space occupancy is small. The end of the first rotating shaft is connected to the first arm, thereby transmitting the power of the first drive to the first arm; the second rotating shaft is arranged on the mounting seat and a second drive for driving the second rotating shaft is provided between the end faces. The second rotating shaft is coaxial with the first rotating shaft, which not only occupies a small space but also does not interfere with the movement of the robotic arm. At the same time, the first rotating shaft and the second rotating shaft are coaxially arranged, so that the first arm and the second arm will not be misaligned during the movement. The first arm and the second arm complete the material picking and transfer actions of the robotic arm while ensuring accuracy and service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural schematic diagram of a mechanical arm provided by the utility model;

[0028] Figure 2 It is an enlarged view of point A provided by the utility model;

[0029] Figure 3 It is a side view of a mechanical arm provided by the utility model;

[0030] Figure 4 It is the AA cross-sectional view provided by the utility model;

[0031] Figure 5 The utility model is a structural schematic diagram of a mechanical arm provided by the utility model.

[0032] Figure numerals: 1. first arm, 2. second arm, 3. first drive, 4. second drive, 5. first rotating shaft, 6. second rotating shaft, 7. connecting seat, 71. third drive, 72. quick change plate, 73. support member, 74. positioning hole, 8. mounting seat, 81. main board, 82. side plate, 9. connecting rod mechanism, 10. synchronous belt. DETAILED DESCRIPTION

[0033] The following is an explanation of the implementation of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific implementations, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0034] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of the present specification are only used to match the contents disclosed in the specification for people familiar with the technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present utility model, so they have no substantial technical significance. Any modification of the structure, change of the proportion relationship or adjustment of the size, without affecting the effects and purposes that can be achieved by the present utility model, should still fall within the scope of the technical contents disclosed by the present utility model. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in the present specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present utility model. The change or adjustment of the relative relationship, without substantial change of the technical contents, should also be regarded as the scope of the implementation of the present utility model.

[0035] Embodiment 1:

[0036] Figure 1-5 A robotic arm is shown, comprising a mounting base 8, a first arm 1, a second arm 2, a first drive 3, and a second drive 4. A coaxial first rotating shaft 5 and a second rotating shaft 6 are provided on the mounting base 8. The end of the first rotating shaft 5 is connected to the first arm 1, the first rotating shaft 5 is connected to the first drive 3, the end of the second rotating shaft 6 is connected to the second arm 2, the second rotating shaft 6 is connected to the second drive 4, the first drive 3 and the second drive 4 are both placed between the end faces of the first rotating shaft 5 and / or the second rotating shaft 6, the second arm 2 is movably connected to the first arm 1, and a connecting base 7 is provided at the end of the second arm 2.

[0037] In this embodiment, the first rotating shaft is sleeved outside the second rotating shaft and is coaxial with the second rotating shaft.

[0038] In this embodiment, one end of the first arm away from the second arm is connected to the first rotating shaft, and the second arm is connected to the second rotating shaft via a connecting rod assembly.

[0039] In this embodiment, the second drive is parallel to the second rotating shaft, and the second drive output end is connected to the second rotating shaft through a synchronous belt 10. The first drive is parallel to the first rotating shaft, and the first drive output end is connected to the first rotating shaft through another synchronous belt 10.

[0040] In this embodiment, the first driver is mounted on the mounting seat, and the second driver is mounted on the mounting seat.

[0041] In this embodiment, the mounting base 8 includes a main board 81 and side panels 82 respectively arranged on both sides of the main board 81, and both ends of the first rotating shaft 5 and / or the second rotating shaft 6 pass through the side panels 82, and the first drive 3 and the second drive 4 are placed between the side panels 82 and connected to the side panels 82.

[0042] The main board is used to fix the entire robotic arm to other structures, and the side panels are used to connect the first rotating shaft, the second rotating shaft, the first drive and the second drive. The position of the entire mounting base is fixed, and the first rotating shaft, the second rotating shaft, the first drive and the second drive with unchanged overall positions are installed on the mounting base. The space is reasonably utilized and will not interfere with the movement of the first arm and the second arm.

[0043] In this embodiment, the side plates are placed on both sides below the main board and are vertically arranged with respect to the main board. Both ends of the first rotating shaft and the second rotating shaft pass through the side plates and are rotatably connected with the side plates.

[0044] In this embodiment, the output end of the first drive passes through the side plate on one side and is connected to the first rotating shaft through the synchronous belt 10, and the output end of the second drive passes through the side plate on the other side and is connected to the second rotating shaft through the synchronous belt 10. The spatial layout is reasonable, the force of the mounting seat is uniform, and the service life is long.

[0045] In this embodiment, the first drive 3 is arranged in parallel with the first rotating shaft 5 , and the second drive 4 is arranged in parallel with the second rotating shaft 6 .

[0046] The first drive is parallel to the first rotating shaft, and the second drive is parallel to the second rotating shaft. When the drive is connected to the rotating shaft, the transmission can be completed by the synchronous belt 10 in cooperation with the synchronous wheel, and no other reversing structure is required for transmission. The utility model has a simpler structure, a reasonable layout, and a high space utilization rate.

[0047] In this embodiment, both ends of the second rotating shaft 6 pass through the inside of the first rotating shaft 5 , and the second arm 2 is placed outside the first arm 1 .

[0048] A connecting seat needs to be installed between the second arms, so there are requirements for the distance between the second arms. The distance between the first arms is smaller than the distance between the second arms, which does not affect the movement of the robotic arm while reducing space occupancy.

[0049] In this embodiment, both the first rotating shaft and the second rotating shaft are connected to the mounting seat.

[0050] In this embodiment, the connecting seat 7 is provided with a third drive 71 , a quick-change disk 72 and a support member 73 , and the distance between the support member 73 and the quick-change disk 72 is adjusted by the third drive 71 .

[0051] One end of the connecting seat used to connect the clamp is provided with an inwardly extending support member, the support member is used to place the connecting end of the clamp, and then the quick-change disk is driven to move through the third drive to achieve connection and disassembly between the quick-change disk and the clamp.

[0052] In this embodiment, the connecting seat is in an inverted U shape, and the supporting member is placed at the opening of the U shape and extends inward.

[0053] In this embodiment, the quick-change disk is a quick-exchange system with its own circuit and electricity as the quick-change disk mother disk. The vacuum generator, solenoid valve, etc. with electronic control are fixed on the connecting seat. There is no need to insert air pipes and connect wires to replace the fixture. The fixture can be quickly replaced by using a fixture with a male disk, reducing labor costs and wiring errors.

[0054] In this embodiment, the third drive 71 is a cylinder.

[0055] The cylinder has a simple structure and light weight.

[0056] In this embodiment, the output end of the third drive 71 is connected to the quick-change disk 72 , and the support members 73 are placed on both sides of the opening of the quick-change disk 72 . The quick-change disk 72 can be raised and lowered to adjust the distance between it and the support members 73 .

[0057] The support members are placed on both sides below the quick-change plate, and an installation space for connecting the fixture can be formed between the support members and the quick-change plate. The fixture and the quick-change plate can be installed and removed by lifting and lowering the quick-change plate.

[0058] In this embodiment, the support member 73 is matched with both sides of the opening of the connection seat 7 in a concave-convex manner and is connected by bolts.

[0059] Bolt holes for bolt connection are provided on the support member and the connecting seat. In order to ensure the stability of the connection between the support member and the connecting seat, the support member and the connecting seat are connected in a concave-convex manner, which increases the load-bearing capacity of the support member.

[0060] In this embodiment, a positioning hole 74 is provided on the support member 73 .

[0061] The connection end of the clamp is provided with a positioning pin, and the support is provided with a positioning hole, so that the positioning of the clamp and the support can be achieved and the accuracy of the connection can be ensured.

[0062] As another embodiment, a positioning pin is provided on the support member, and a positioning hole matching with the positioning pin is provided on the fixture.

[0063] There are positioning holes or positioning pins at the connection end of the fixture, and positioning pins or positioning holes on the support. Through the cylinder and positioning pins, the quick-change plate and the fixture connection end form a quick-change structure. The control panel controls the cylinder to extend and retract to drive the quick-change plate to rise and fall. The fixture has its own circuit and electrical quick exchange. Heavy-weight clamps can be replaced manually, and then the cylinder is controlled to extend to quickly replace the fixture.

[0064] In this embodiment, a connecting rod mechanism 9 for maintaining the direction of the connecting seat 7 is provided between the mounting seat 8 and the second arm 2 .

[0065] The connecting seat is connected to the clamp. To ensure the direction of the clamp, a connecting rod mechanism needs to be provided between the mounting seat and the second arm so that the clamp always faces downward to pick up and feed materials.

[0066] Working principle of the utility model: since the arm length of the clamp is relatively long, in order to ensure the stability of the clamp, the two sides of the clamp are used as connecting ends to connect with the mechanical arm, so the mechanical arm needs to connect with the clamp from both sides of the connecting end of the clamp; the utility model arranges the connecting seat connected to the clamp between the second arms, and the second arm is arranged at both ends of the second rotating shaft, so that the distance between the second arms is relatively large, and the stability of the connection of the clamp can be ensured when the second arm is connected to the clamp through the connecting seat; during the material transfer process, the clamp needs to have material picking and transfer functions, and the mechanical arm needs to have two degrees of freedom, so the end of the second arm away from the connecting seat is connected to the first arm, and the first arm and the second arm are respectively connected to different drives to complete the material picking and transfer during the material transfer process, but how to realize the coordination of the first arm and the second arm to complete the material picking and transfer of the mechanical arm is not disclosed in the prior art;

[0067] In the utility model, the mounting seat is fixedly installed, the first rotating shaft is placed on the mounting seat and the first drive for driving the first rotating shaft is installed between the end faces of the first rotating shaft. The layout is reasonable and the space occupancy is small. The end of the first rotating shaft is connected to the first arm, so that the power of the first drive is transmitted to the first arm; the second rotating shaft is arranged on the mounting seat and the second drive for driving the second rotating shaft is provided between the end faces. The second rotating shaft is coaxial with the first rotating shaft, which not only occupies a small space but also does not interfere with the movement of the robotic arm. At the same time, the first rotating shaft and the second rotating shaft are coaxially arranged, so that the first arm and the second arm will not be misaligned during the movement. The first arm and the second arm complete the material picking and transportation actions of the robotic arm while ensuring accuracy and service life.

[0068] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A robotic arm, characterized in that: The invention comprises a mounting seat (8), a first arm (1), a second arm (2), a first drive (3) and a second drive (4); the mounting seat (8) is provided with a coaxial first rotating shaft (5) and a second rotating shaft (6); the end of the first rotating shaft (5) is connected to the first arm (1); the first rotating shaft (5) is connected to the first drive (3); the end of the second rotating shaft (6) is connected to the second arm (2); the second rotating shaft (6) is connected to the second drive (4); the first drive (3) and the second drive (4) are both arranged between the end faces of the first rotating shaft (5) and / or the second rotating shaft (6); the second arm (2) is movably connected to the first arm (1); and a connecting seat (7) is provided at the end of the second arm (2).

2. A robotic arm according to claim 1, characterized in that: The mounting seat (8) comprises a main board (81) and side boards (82) respectively arranged near two sides of the main board (81); both ends of the first rotating shaft (5) and / or the second rotating shaft (6) pass through the side boards (82); the first drive (3) and the second drive (4) are arranged between the side boards (82) and connected to the side boards (82).

3. A robotic arm according to claim 2, characterized in that: The first drive (3) is arranged in parallel with the first rotating shaft (5), and the second drive (4) is arranged in parallel with the second rotating shaft (6).

4. A robotic arm according to claim 1, characterized in that: Both ends of the second rotating shaft (6) pass through the interior of the first rotating shaft (5), and the second arm (2) is placed outside the first arm (1).

5. The mechanical arm according to claim 1, characterized in that: The connecting seat (7) is provided with a third drive (71), a quick-change disk (72) and a support member (73); the distance between the support member (73) and the quick-change disk (72) is adjusted by the third drive (71).

6. A robotic arm according to claim 5, characterized in that: The third drive (71) is a cylinder.

7. A robotic arm according to claim 5, characterized in that: The output end of the third drive (71) is connected to the quick-change disk (72), and the support members (73) are arranged on both sides of the opening of the quick-change disk (72). The quick-change disk (72) can be raised and lowered to adjust the distance between the quick-change disk (72) and the support members (73).

8. The mechanical arm according to claim 5, characterized in that: The support member (73) is concave-convexly matched with the two sides of the opening of the connection seat (7) and is connected by bolts.

9. The mechanical arm according to claim 5, characterized in that: The support member (73) is provided with a positioning hole (74).

10. The mechanical arm according to claim 1, characterized in that: A connecting rod mechanism (9) for maintaining the direction of the connecting seat (7) is provided between the mounting seat (8) and the second arm (2).

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