A multifunctional mechanical arm and a mechanical hand

Abstract

The present invention discloses a multifunctional mechanical arm and manipulator, which relates to the technical field of manipulators, including a frame, a moving frame slidably mounted on the frame, a claw hand mounted on the moving frame, an inner claw vertically slidably mounted on the claw hand, a side plate fixedly mounted on the inner claw, a rotating block rotatably mounted on the bottom end of the side plate, a disc coaxially fixedly mounted on the rotating block, a connecting rod fixedly mounted on the side plate, an insert rod inserted on the connecting rod, an abutment rod horizontally slidably mounted on the side plate, a sliding frame horizontally slidably mounted on the inner claw, and a round rod fixedly mounted on the sliding frame. The reaction force of the foam block of the present invention will cause the inner claw to rise in the claw hand, and as the inner claw rises, it will drive the limit rod to release the limit of the bottom foam block, so that the independent placement of batches of foam blocks can be achieved only by moving the claw hand up and down, and the placement of the foam blocks is also more accurate.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to a multifunctional manipulator arm and a manipulator. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements of human hands and arms, and is used to grab, move objects or operate tools according to a fixed program. It can replace heavy labor to achieve mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy sectors;

[0003] In the production and processing of foam, batches of foam are usually moved to the bottom of a robot by a forklift or other conveying equipment, and then the robot grabs and moves them to a processing table. However, existing robots often only grab one at a time for conveying, or some can grab in batches, but can only place them in batches and cannot place them individually, thus affecting the overall production and processing efficiency. Summary of the invention

[0004] The purpose of the present invention is to provide a multifunctional robotic arm and a robotic hand to solve the above-mentioned deficiencies in the prior art.

[0005] In order to achieve the above-mentioned purpose, the present invention provides the following technical solutions: a multifunctional mechanical arm comprises a frame, a moving frame is slidably mounted on the frame, a claw hand is mounted on the moving frame, an inner claw is vertically slidably mounted on the claw hand, a side plate is fixedly mounted on the inner claw, a rotating block is rotatably mounted on the bottom end of the side plate, a disc is coaxially fixedly mounted on the rotating block, a connecting rod is fixedly mounted on the side plate, an insert rod is inserted into the connecting rod, an abutting rod is horizontally slidably mounted on the side plate, a sliding frame is horizontally slidably mounted on the inner claw, and a round rod is fixedly mounted on the sliding frame; a long rod is horizontally slidably mounted on the claw hand, and a side bar is fixedly mounted on the side wall of the long rod;

[0006] A limit rod is fixedly installed at the bottom end of the rotating block;

[0007] A first spring is fixedly installed between the inner claw and the claw hand;

[0008] Each upward movement of the inner claw will drive the limit rod to rotate a specified angle, so that the bottom foam block is accurately placed on the workbench each time the inner claw moves upward.

[0009] Preferably, the disc is provided with a plurality of through holes, and the size of the through holes matches the size of the insertion rod.

[0010] Preferably, a slide plate is fixedly mounted on the insertion rod, and the ends of the slide plate and the abutment rod contacting each other are both provided with an oblique angle, and a third spring is fixedly mounted between the slide plate and the connecting rod.

[0011] Preferably, a fixing frame is fixedly mounted on the side wall of the connecting rod, the abutting rod is slidably mounted in the fixing frame, a limiting frame is fixedly mounted on the abutting rod, and a second spring is fixedly mounted between the limiting frame and the fixing frame.

[0012] Preferably, a convex ball is fixedly mounted on the side wall of the long rod, and a notch is provided on the long rod above the convex ball.

[0013] Preferably, a bottom plate is fixedly mounted on the bottom end of the inner claw, a return spring is fixedly mounted between the bottom plate and the slide frame, a pressure strip is fixedly mounted on the claw hand, and an oblique groove is provided on the slide frame.

[0014] Preferably, a square plate is fixedly mounted on the claw, and a connecting spring is fixedly mounted between the square plate and the long rod.

[0015] Preferably, a rubber sleeve is fixedly mounted on the bottom end of the limiting rod.

[0016] Preferably, one end of the abutment rod close to the convex ball is provided with a rounded corner.

[0017] A robot arm comprises the robot arm described in any one of the above.

[0018] In the above technical scheme, the present invention provides a multifunctional robotic arm and a robotic hand, which have the following beneficial effects: wherein, through the cooperation of the inner claw on the claw hand and the limit rod, batches of foam blocks can be conveniently grasped, and after grasping, as the robotic hand moves to the specified position, the moving frame can be lowered, and as the foam block contacts the workbench, the reaction force of the foam block will cause the inner claw to rise in the claw hand, and as the inner claw rises, it will drive the limit rod to release the limit on the bottom foam block, so that the batches of foam blocks can be independently placed only by moving the claw hand up and down, and the placement of the foam blocks is also more precise. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0020] Figure 1 A schematic diagram of a three-dimensional structure provided by an embodiment of the present invention;

[0021] Figure 2The embodiment of the present invention provides Figure 1 Schematic diagram of some structures;

[0022] Figure 3 A schematic diagram of a portion of the structure of an inner claw provided by an embodiment of the present invention;

[0023] Figure 4 The embodiment of the present invention provides Figure 3 Schematic diagram of some structures;

[0024] Figure 5 A schematic diagram of a portion of the structure of a long rod provided in an embodiment of the present invention;

[0025] Figure 6 A schematic diagram of a portion of the structure of a gripper provided by an embodiment of the present invention;

[0026] Figure 7 The embodiment of the present invention provides Figure 6 A schematic diagram of the structure at A;

[0027] Figure 8 A schematic diagram of a partial structure of a disk provided in an embodiment of the present invention.

[0028] Description of reference numerals:

[0029] 1. Frame; 2. Moving frame; 3. Claw hand; 41. Inner claw; 42. First spring; 43. Side plate; 44. Rotating block; 45. Disc; 46. Connecting rod; 47. Inserting rod; 48. Slide plate; 49. Abutting rod; 410. Fixed frame; 411. Limiting frame; 412. Limiting rod; 413. Rubber sleeve; 51. Long rod; 52. Convex ball; 53. Side strip; 54. Pressure strip; 55. Sliding frame; 56. Bottom plate; 57. Round rod; 58. Square plate. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0031] See also Figure 1-8A multifunctional mechanical arm and a mechanical hand, comprising a frame 1, a moving frame 2 is slidably mounted on the frame 1, a claw hand 3 is mounted on the moving frame 2, an inner claw 41 is vertically slidably mounted on the claw hand 3, a side plate 43 is fixedly mounted on the inner claw 41, a rotating block 44 is rotatably mounted on the bottom end of the side plate 43, a disc 45 is coaxially fixedly mounted on the rotating block 44, a connecting rod 46 is fixedly mounted on the side plate 43, an inserting rod 47 is inserted into the connecting rod 46, an abutting rod 49 is horizontally slidably mounted on the side plate 43, a sliding frame 55 is horizontally slidably mounted on the inner claw 41, and a fixed rotating block 44 is mounted on the rotating block 44. A round rod 57 is installed; a long rod 51 is installed horizontally and slidably on the claw hand 3, and a side strip 53 is fixedly installed on the side wall of the long rod 51; a limit rod 412 is fixedly installed at the bottom end of the rotating block 44; a first spring 42 is fixedly installed between the inner claw 41 and the claw hand 3; each upward movement of the inner claw 41 will drive the limit rod 412 to rotate a specified angle, so that the bottom foam block is accurately placed on the workbench each time the inner claw 41 moves upward; wherein the motion frame 2 can move vertically and horizontally on the frame 1, and its driving mode can be screw drive, electric push rod drive, etc. It is a common-sense technology, in which a plurality of electric push rods are installed on the motion frame 2, and the claw hand 3 is fixedly installed at the output end of the electric push rod. By starting the electric push rod, the claw hand 3 can be retracted inward to clamp. When a batch of foam needs to be clamped, the claw hand 3 is retracted to drive the inner claw 41 and the limit rod 412 to retract. At this time, the limit rod 412 in the vertical state will clamp the batch of foam, and then the motion frame 2 is moved to drive the foam to move to the designated processing, and then the motion frame 2 is lowered. As the motion frame 2 is lowered, the limit rod 412 is retracted. The foam on the rod 412 will contact the workbench. At this time, the entire foam, the limit rod 412 and the inner claw 41 will move upward due to the reaction. As the inner claw 41 moves upward, the inner claw 41 will drive the slide frame 55 to move upward. At this time, the round rod 57 on the slide frame 55 will abut against the side bar 53, so that the side bar 53 pushes the long rod 51 to move toward the disk 45 until the long rod 51 directly contacts the disk 45. At this time, the long rod 51 remains stationary, and as the inner claw 41 continues to rise, the friction between the disk 45 and the long rod 51 will cause the disk 45 to rotate. Figure 7At this time, the disc 45 will rotate counterclockwise, and when the disc 45 rotates, it will drive the rotating block 44 to rotate. At this time, the rotating block 44 will drive the limiting rod 412 to rotate. Since the length of the limiting rod 412 is fixed, the height of the bottom end of the limiting rod 412 will rise when the limiting rod 412 rotates. Until it rises a certain distance, the bottom end of the limiting rod 412 will be separated from the foam block at the bottom. At this time, the entire motion frame 2 is rising, and the limiting rod 412 will no longer limit the foam at the bottom layer, and it will remain on the workbench. As the motion frame 2 rises, the inner claw 41 will be pushed and reset by the first spring 42, and the long rod 51 will also be reset and separated from the disc 45, preventing the inner claw 41 from contacting the long rod 51 and the disc 45 during the resetting process, driving the disc 45 to rotate in the opposite direction and reset again. At the same time, when the disc 45 rotates a certain angle, the insertion rod 47 will be inserted into the disc 45 to limit the disc 45, preventing the disc 45 from rotating too much.

[0032] In another embodiment of the present invention: a plurality of through holes are formed on the disk 45, and the size of the through holes matches the size of the insertion rod 47;

[0033] Among them reference Figure 7 , the spacing between each adjacent through hole becomes smaller in sequence, wherein when the disc 45 rotates and drives the rotating block 44 and the limiting rod 412 to rotate, since the initial limiting rod 412 is in a vertical state, as the limiting rod 412 rotates toward the horizontal direction, the height increase caused by the rotation angle of the limiting rod 412 in the initial stage changes less, and when approaching the horizontal position, the height increase caused by the same rotation angle of the limiting rod 412 is greater, therefore, the setting between adjacent through holes becomes smaller in sequence, so that when the limiting rod 412 rotates in the initial stage, it can rotate a larger angle, but maintain the same height increase during each rotation, so as to facilitate the release of each foam board.

[0034] In another embodiment of the present invention: a slide plate 48 is fixedly mounted on the insertion rod 47, and the ends of the slide plate 48 and the abutment rod 49 that contact each other are both provided with an oblique angle, and a third spring is fixedly mounted between the slide plate 48 and the connecting rod 46;

[0035] When the contact rod 49 moves toward the slide plate 48 , the slide plate 48 moves outwards due to the bevels therebetween, so that the slide plate 48 moves the insertion rod 47 out of the through hole, thereby allowing the disc 45 to rotate.

[0036] In another embodiment of the present invention: a fixing frame 410 is fixedly installed on the side wall of the connecting rod 46, the abutting rod 49 is slidably installed in the fixing frame 410, a limiting frame 411 is fixedly installed on the abutting rod 49, and a second spring is fixedly installed between the limiting frame 411 and the fixing frame 410;

[0037] When the long rod 51 presses the abutting rod 49, the abutting rod 49 will move toward the slide plate 48, and the second spring will be compressed. As the long rod 51 moves away, the second spring will push the abutting rod 49 to return to its original position.

[0038] In another embodiment of the present invention: a convex ball 52 is fixedly mounted on the side wall of the long rod 51, and a notch is provided on the long rod 51 above the convex ball 52;

[0039] When the disc 45 and the long rod 51 are in close contact, the inner claw 41 moves the disc 45 up, and the abutting rod 49 comes into contact with the convex ball 52, which makes the convex ball 52 make the abutting rod 49 slide again, and the abutting rod 49 at this time pushes the slide plate 48 again, so that the insertion rod 47 can be pulled out of the through hole directly. The disc 45 is moved out of the hole. At this time, the disc 45 can be rotated by the long rod 51. After the insertion hole is moved out, as the disc 45 moves a small distance, the abutment rod 49 will move to the notch position. As the abutment rod 49 moves to the notch, the second spring will push the abutment rod 49 away from the slide plate 48. At this time, the slide plate 48 will be pulled by the third spring to drive the insertion rod 47 to contact the disc 45 until the disc 45 rotates, so that the next through hole is close to the insertion rod 47. As the insertion rod 47 and the through hole overlap, the third spring will pull the insertion rod 47 to be inserted into the through hole. At this time, the insertion rod 47 will limit the rotation of the disc 45, so that the disc 45 will no longer rotate during the subsequent contact and sliding process with the long rod 51.

[0040] In another embodiment of the present invention: a bottom plate 56 is fixedly installed at the bottom end of the inner claw 41, a return spring is fixedly installed between the bottom plate 56 and the slide frame 55, a pressure strip 54 is fixedly installed on the claw hand 3, and an inclined groove is opened on the slide frame 55;

[0041] When the inner claw 41 rises to the specified position in the claw hand 3, the slide frame 55 will contact the pressure strip 54, and the pressure strip 54 will squeeze the inclined groove on the slide frame 55, and the inclined groove will drive the round rod 57 to move toward the inside of the inner claw 41. Figure 5At this time, the round rod 57 contracts inwardly and does not contact the side wall of the side strip 53. At this time, the side wall of the side strip 53 is no longer compressed, and the long rod 51 is pushed away from the disc 45 by the connecting spring. At this time, the round rod 57 will be located on the inner side of the side strip 53 and overlap with the side strip 53. At this time, as the inner claw 41 moves downward, the disc 45 will not be affected by the long rod 51. When the inner claw 41 moves downward to a certain position, the return spring will push the slide frame 55 to return, thereby extending the round rod 57. When the inner claw 41 rises, the round rod 57 will continue to be located at the lower hypotenuse of the side strip 53, so that the round rod 57 can push the long rod 51 to move toward the disc 45 through the hypotenuse below the side strip 53.

[0042] In another embodiment of the present invention: a square plate 58 is fixedly installed on the claw hand 3, and a connecting spring is fixedly installed between the square plate 58 and the long rod 51;

[0043] When the long rod 51 contacts the disc 45 , the connecting spring is compressed, and as the round rod 57 is separated, the connecting spring pushes the long rod 51 to reset.

[0044] In another embodiment of the present invention: a rubber sleeve 413 is fixedly installed at the bottom end of the limiting rod 412;

[0045] The rubber sleeve 413 makes the bottom surface of the limit rod 412 have a certain protrusion, and the material of the rubber sleeve 413 also increases the friction between the limit rod 412 and the foam block;

[0046] The vertical surface of the limiting rod 412 is aligned with the side wall of the inner claw 41. When the inner claw 41 is moved to drive the limiting rod 412 to squeeze and limit the multi-layer foam block, as the limiting rod 412 clamps the foam block, the rubber sleeve 413 at the lowest end will better clamp and limit the foam block at the bottom.

[0047] In another embodiment of the present invention: a rounded corner is provided at one end of the abutment rod 49 close to the convex ball 52;

[0048] The rounded corners make it easier for the abutting rod 49 to be squeezed by the convex ball 52 and move toward the slide plate 48 after the abutting rod 49 contacts the convex ball 52 .

[0049] A robot arm comprises the robot arm described in any one of the above.

[0050] Working principle: The motion frame 2 can be moved vertically and horizontally on the frame 1, and its driving mode can be screw drive, electric push rod drive, etc., which are all existing common sense technologies. A number of electric push rods are installed on the motion frame 2, and the claw hand 3 is fixedly installed at the output end of the electric push rod. By starting the electric push rod, the claw hand 3 can be retracted inward to clamp. When it is necessary to clamp a batch of foam, the claw hand 3 is retracted to drive the inner claw 41 and the limit rod 412 to retract. At this time, the limit rod 412 in the vertical state will clamp the batch of foam, and then the foam is moved to the specified position by moving the motion frame 2. The processing is stopped, and then the motion frame 2 is lowered. As the motion frame 2 is lowered, the foam on the limit rod 412 will contact the workbench. At this time, the entire foam, the limit rod 412 and the inner claw 41 will move upward under the reaction. As the inner claw 41 moves upward, the inner claw 41 will drive the slide frame 55 to move upward. At this time, the round rod 57 on the slide frame 55 will abut against the side bar 53, so that the side bar 53 pushes the long rod 51 to move in the direction of the disc 45 until the long rod 51 directly contacts the disc 45. At this time, the long rod 51 remains stationary, and because the inner claw 41 continues to rise, the friction between the disc 45 and the long rod 51 will cause the disc 45 to rotate. Figure 7 At this time, the disc 45 will rotate counterclockwise, and when the disc 45 rotates, it will drive the rotating block 44 to rotate. At this time, the rotating block 44 will drive the limiting rod 412 to rotate. Since the length of the limiting rod 412 is fixed, the height of the bottom end of the limiting rod 412 will rise when the limiting rod 412 rotates. Until it rises a certain distance, the bottom end of the limiting rod 412 will be separated from the foam block at the bottom. At this time, the entire motion frame 2 is rising, and the limiting rod 412 will no longer limit the foam at the bottom layer, and it will remain on the workbench. As the motion frame 2 rises, the inner claw 41 will be pushed and reset by the first spring 42, and the long rod 51 will also be reset and separated from the disc 45, preventing the inner claw 41 from contacting the long rod 51 and the disc 45 during the resetting process, driving the disc 45 to rotate in the opposite direction and reset again. At the same time, when the disc 45 rotates a certain angle, the insertion rod 47 will be inserted into the disc 45 to limit the disc 45, preventing the disc 45 from rotating too much.

[0051] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A multifunctional robotic arm, comprising a frame, a moving frame slidably mounted on the frame, a claw hand mounted on the moving frame, characterized in that: An inner claw is vertically slidably mounted on the claw hand, a side plate is fixedly mounted on the inner claw, a rotating block is rotatably mounted on the bottom end of the side plate, a disc is coaxially fixedly mounted on the rotating block, a connecting rod is fixedly mounted on the side plate, an insert rod is inserted on the connecting rod, an abutment rod is horizontally slidably mounted on the side plate, a sliding frame is horizontally slidably mounted on the inner claw, and a round rod is fixedly mounted on the sliding frame; A long rod is horizontally slidably mounted on the claw hand, and a side bar is fixedly mounted on the side wall of the long rod; A limit rod is fixedly installed at the bottom end of the rotating block; A first spring is fixedly installed between the inner claw and the claw hand; Each time the inner claw moves upward as the moving frame descends until it is subjected to the reaction force of the workbench, it will drive the limit rod to rotate by a specified angle, so that the bottom end of the limit rod is separated from the foam block at the bottom; A bottom plate is fixedly installed on the bottom end of the inner claw, a return spring is fixedly installed between the bottom plate and the slide frame, a pressure strip is fixedly installed on the claw hand, and an inclined groove is opened on the slide frame; The disc is provided with a plurality of through holes, and the size of the through holes matches the size of the insertion rod; A slide plate is fixedly mounted on the insertion rod, and the ends of the slide plate and the abutment rod that contact each other are both provided with an oblique angle, and a third spring is fixedly mounted between the slide plate and the connecting rod; A fixing frame is fixedly installed on the side wall of the connecting rod, the abutting rod is slidably installed in the fixing frame, a limit frame is fixedly installed on the abutting rod, and a second spring is fixedly installed between the limit frame and the fixing frame; A convex ball is fixedly mounted on the side wall of the long rod, and a notch is arranged above the convex ball on the long rod; A square plate is fixedly installed on the claw hand, and a connecting spring is fixedly installed between the square plate and the long rod.

2. A multifunctional robotic arm according to claim 1, characterized in that: A rubber sleeve is fixedly mounted on the bottom end of the limiting rod.

3. A multifunctional robotic arm according to claim 1, characterized in that: One end of the abutment rod close to the convex ball is provided with a rounded corner.

4. A robot, characterized in that: It comprises the robotic arm described in any one of claims 1 to 3.

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