Improved manipulator

Abstract

The invention provides an improved mechanical arm which comprises a base, a fixing frame, a mounting hole, a conical fixing seat, a rotating column, a first gear motor, a connecting block, a first mechanical arm, a second gear motor, a telescopic adjusting mechanical arm structure, a rotatable adsorption mechanical arm seat structure, a rotatable adsorption clamping block structure and an adsorbable cleaning and purifying box structure. A fixing frame is fixed to the bottom of the outer wall of the base through bolts, and mounting holes are sequentially formed in the fixing frame. A vacuum suction fan, a mechanical arm base, a connecting adsorption pipe, a first rotating block, a rotating plate and a fourth gear motor are arranged in a matched mode, so that the vacuum suction fan is connected with the connecting adsorption pipe through a pipeline in the using process, and then the fourth gear motor is controlled to drive the rotating plate to rotate to the horizontal state; and then the bottom end of the connecting adsorption pipe is adsorbed to the upper end of the workpiece, so that the purpose of vacuum or negative-pressure adsorption transfer in the transfer process is facilitated.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical arms, and in particular relates to an improved mechanical arm. Background Art

[0002] The robotic arm is the most widely used automated mechanical device in the field of robotic technology. It can be seen in industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, space exploration and other fields. The existing improved robotic arm includes a robotic arm base, a first rotating axis of the robotic arm, a second rotating axis of the robotic arm, a servo motor, a rotating seat, a connecting sleeve, a power column, a power contact groove, a first robotic arm, a support arm one, a support arm two, an outer cylinder, a servo motor one, a connecting cylinder, a power contact ball, a third rotating axis of the robotic arm, a second robotic arm, a fourth rotating axis of the robotic arm, a servo motor two, a rotating cylinder, a servo motor three, and a robotic arm clamp. This improved robotic arm can only perform workpiece clamping during use, and cannot perform workpiece adsorption and transportation, cannot be adjusted according to the needs of the working environment during use, and cannot perform workpiece reinforcement and adsorption during use. Summary of the invention

[0003] In order to solve the above-mentioned technical problems, the present invention provides an improved manipulator, which improves the clamping mechanism during use to facilitate adsorption and reinforcement work during clamping and transportation and to set up an adsorption and transportation mechanism during use, so as to facilitate the purpose of adsorption and transportation during use and to improve the connected manipulator during use, so as to facilitate adjustment according to use and needs during use.

[0004] An improved manipulator comprises a base, a rotatable adsorption manipulator base structure, a rotatable adsorption clamping block structure and an adsorption cleaning purification box structure, wherein the bottom outer wall of the base is bolted with a fixing frame and mounting holes are sequentially opened inside the fixing frame; a conical fixing seat is bolted to the middle position on the left upper end of the base; a rotating column is provided at the middle position on the upper end of the conical fixing seat; a first reduction motor is bolted to the upper rear surface of the rotating column; a connecting block is bolted to the outer wall of the output shaft of the first reduction motor; the bottom end of the first mechanical arm is bolted to the middle position on the upper end of the connecting block; a second reduction motor is bolted to the upper front surface of the first mechanical arm; a telescopic adjustable mechanical arm structure is provided on the upper rear surface of the first mechanical arm; the bottom of the telescopic adjustable mechanical arm structure A rotatable adsorption manipulator seat structure is arranged on the left side of the end; a rotatable adsorption clamping block structure is connected to the bottom end of the rotatable adsorption manipulator seat structure; an adsorbable cleaning purification box structure is arranged on the right side of the upper end of the base; the telescopic adjustable mechanical arm structure comprises a connecting column, and a fixed block is fixed by bolts on the left front side of the connecting column; a first connecting pipe is arranged on the left end of the fixed block; a supporting block is arranged on the left end of the first connecting pipe; a third reduction motor is fixed on the left side of the front surface of the support block; a rotating seat is fixed by bolts on the outer surface of the third reduction motor; the rotatable adsorption clamping block structure comprises a clamping block, and a second rotating block is integratedly arranged at the middle position of the upper end of the clamping block; a connecting box is fixed by bolts on the right side of the clamping block; a connecting negative pressure pipe is threadedly connected to the middle position of the outer wall of the connecting box.

[0005] Preferably, the rotatable adsorption manipulator seat structure includes a manipulator seat, a connecting adsorption tube is penetrated through the middle position of the interior of the manipulator seat and is fixed with bolts; a first rotating block is respectively arranged inside the left and right ends of the manipulator seat; the bottom end of the first rotating block is respectively bolted to the middle position of the upper end of the rotating plate; a fourth reduction motor is respectively bolted to the left and right sides of the manipulator seat and the lower part of the front surface of the rotating plate.

[0006] Preferably, the adsorbable cleaning and purification box structure includes a fixed box, and exhaust holes are opened in sequence from front to back on the lower right side of the fixed box; a connecting seat is bolted to the middle position of the upper left side of the fixed box; a vacuum suction fan is bolted to the middle position of the upper end of the connecting seat; and a second connecting pipe is threadedly connected to the air outlet of the vacuum suction fan.

[0007] Preferably, electric telescopic rods are bolted inside the left and right ends of the first connecting tube, and the right end of the electric telescopic rod arranged on the right side is bolted to the middle position inside the left end of the fixing block; the left end of the electric telescopic rod arranged inside the left end of the first connecting tube is bolted to the middle position inside the right end of the supporting block; the output shaft of the third reduction motor is bolted to the middle position inside the left end of the supporting block.

[0008] Compared with the prior art, the present invention has the following beneficial effects:

[0009] 1. In the present invention, the rotating plate, the fourth reduction motor, the clamping block, the second rotating block, the connecting box and the connecting negative pressure pipe are arranged in coordination with each other, which is conducive to connecting the vacuum suction fan through the connecting negative pressure pipe during use, and then the fourth reduction motor drives the rotating plate and the clamping block to rotate and clamp the workpiece to achieve vacuum negative pressure reinforcement work, so as to prevent the workpiece from falling during transportation.

[0010] 2. In the present invention, the vacuum suction fan, the manipulator seat, the connecting adsorption tube, the first rotating block, the rotating plate and the fourth reduction motor are arranged in coordination with each other, which is beneficial to connect the vacuum suction fan and the connecting adsorption tube pipeline during use, and then control the fourth reduction motor to drive the rotating plate to rotate to a horizontal state, and then adsorb on the upper end of the workpiece through the bottom end of the connecting adsorption tube, so as to facilitate the purpose of vacuum or negative pressure adsorption and transportation during the transportation process.

[0011] 3. In the present invention, the connection column of the adsorption tube, the fixed block, the first connection tube, the support block, the third reduction motor and the rotating seat are arranged in coordination with each other, which is conducive to controlling the electric telescopic rods arranged inside the left and right ends of the first connection tube to work according to the working environment and usage needs during use, thereby facilitating position adjustment during use. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a structural schematic diagram of the present invention.

[0013] Figure 2 It is a structural schematic diagram of the telescopic adjustable mechanical arm structure of the present invention.

[0014] Figure 3 It is a structural schematic diagram of the rotatable adsorption manipulator seat structure of the present invention.

[0015] Figure 4 It is a structural schematic diagram of the rotatable adsorption clamping block structure of the present invention.

[0016] Figure 5 It is a structural schematic diagram of the adsorbable cleaning and purification box structure of the present invention.

[0017] In the figure:

[0018] 1. Base; 2. Fixed frame; 3. Mounting hole; 4. Conical fixed seat; 5. Rotating column; 6. First reduction motor; 7. Connecting block; 8. First mechanical arm; 9. Second reduction motor; 10. Telescopic adjustment mechanical arm structure; 101. Connecting column; 102. Fixed block; 103. First connecting pipe; 104. Support block; 105. Third reduction motor; 106. Rotating seat; 11. Rotatable adsorption manipulator seat structure; 111. Manipulator seat; 112. Connecting adsorption tube; 113. First rotating block; 114. Rotating plate; 115. Fourth reduction motor; 12. Rotatable adsorption clamping block structure; 121. Clamping block; 122. Second rotating block; 123. Connecting box; 124. Connecting negative pressure pipe; 13. Adsorption cleaning purification box structure; 131. Fixed box; 132. Exhaust hole; 133. Connecting seat; 134. Vacuum suction fan; 135. Second connecting pipe. DETAILED DESCRIPTION

[0019] The present invention will be described in detail below in conjunction with the accompanying drawings. Figure 1 and attached Figure 2As shown, an improved manipulator comprises a base 1, a fixed frame 2, a mounting hole 3, a conical fixed seat 4, a rotating column 5, a first reduction motor 6, a connecting block 7, a first mechanical arm 8, a second reduction motor 9, a telescopic adjustable mechanical arm structure 10, a rotatable adsorption manipulator seat structure 11 and a rotatable adsorption clamping block structure 12 and an adsorption cleaning purification box structure 13, wherein the outer wall bottom of the base 1 is bolted with a fixed frame 2 and the interior of the fixed frame 2 is sequentially provided with mounting holes 3; the conical fixed seat 4 is bolted with a middle position on the left side of the upper end of the base 1; the conical fixed A rotating column 5 is provided at the middle position of the upper end of the fixed seat 4; a first reduction motor 6 is fixed by bolts on the upper rear surface of the rotating column 5; a connecting block 7 is fixed by bolts on the outer wall of the output shaft of the first reduction motor 6; the bottom end of the first mechanical arm 8 is fixed by bolts at the middle position of the upper end of the connecting block 7; a second reduction motor 9 is fixed by bolts on the upper front surface of the first mechanical arm 8; a telescopic adjustable mechanical arm structure 10 is provided on the upper rear surface of the first mechanical arm 8; a rotatable adsorption mechanical arm seat structure 11 is provided on the left side of the bottom end of the telescopic adjustable mechanical arm structure 10; The bottom end of the rotatable adsorption manipulator seat structure 11 is connected to a rotatable adsorption clamping block structure 12; the upper right side of the base 1 is provided with an adsorbable cleaning purification box structure 13; the telescopic adjustable manipulator arm structure 10 includes a connecting column 101, a fixed block 102, a first connecting pipe 103, a supporting block 104, a third reduction motor 105 and a rotating seat 106, the left front side of the connecting column 101 is bolted with a fixed block 102; the left end of the fixed block 102 is provided with a first connecting pipe 103; the left end of the first connecting pipe 103 is provided with a supporting Support block 104; a third reduction motor 105 is fixed to the left side of the front surface of the support block 104; a rotating seat 106 is fixed to the outer surface of the third reduction motor 105 by bolts; when in use, the base 1 and the fixed frame 2 are installed at a suitable position through the mounting hole 3, and then the external power supply and the external control device are connected using an external wire, and during use, according to the use environment and the needs during use, the electric telescopic work set inside the first connecting tube 103 is controlled to move the rotating seat 106 to a suitable position, so as to facilitate the purpose of position adjustment during use.

[0020] In this embodiment, combined with the Figure 3As shown, the rotatable adsorption manipulator seat structure 11 includes a manipulator seat 111, a connecting adsorption tube 112, a first rotating block 113, a rotating plate 114 and a fourth reduction motor 115. The connecting adsorption tube 112 is penetrated through the middle position of the inner part of the manipulator seat 111 and is bolted; the first rotating blocks 113 are respectively arranged inside the left and right ends of the manipulator seat 111; the bottom ends of the first rotating blocks 113 are respectively bolted to the middle position of the upper end of the rotating plate 114; the left and right sides of the manipulator seat 111 and the rotating plate 114 A fourth reduction motor 115 is bolted to the lower part of the front surface; then, during work, according to work needs, the fourth reduction motor 115 is controlled to work, driving the rotating plate 114 to rotate, performing workpiece clamping work, and realizing the operation of the manipulator. When necessary, the vacuum mechanism is connected through the adsorption tube 112 pipeline, and then the fourth reduction motor 115 is controlled to drive the rotating plate 114 to rotate to a horizontal position or make the outer end of the rotating plate 114 tilt upward, and the bottom end of the connected adsorption tube 112 performs vacuum adsorption work on the upper end of the workpiece, thereby achieving the purpose of adsorption and transportation.

[0021] In this embodiment, combined with the Figure 4 As shown, the rotatable adsorption clamping block structure 12 includes a clamping block 121, a second rotating block 122, a connecting box 123 and a connecting negative pressure pipe 124, and the second rotating block 122 is integrally arranged at the middle position of the upper end of the clamping block 121; the right side bolt of the clamping block 121 is fixed with a connecting box 123; the middle position of the outer wall of the connecting box 123 is threadedly connected with a connecting negative pressure pipe 124; during the process of clamping and transporting by the manipulator, the negative pressure vacuum equipment is connected through the connecting negative pressure pipe 124, and then the clamping block 121 is driven to rotate by the fourth reduction motor 115, and the workpiece is clamped and transported during the rotation, and then in the process of clamping and transporting the workpiece, the purpose of vacuum negative pressure reinforcement is achieved through the cooperation of the connecting box 123 and the connecting negative pressure pipe 124, so as to prevent the workpiece from falling during the transport process, thereby completing the work of the manipulator.

[0022] In this embodiment, combined with the Figure 5As shown, the adsorbable cleaning and purification box structure 13 includes a fixed box 131, an exhaust hole 132, a connecting seat 133, a vacuum suction fan 134 and a second connecting pipe 135. The lower right part of the fixed box 131 is provided with exhaust holes 132 in sequence from front to back; a connecting seat 133 is bolted to the middle position on the left side of the upper end of the fixed box 131; a vacuum suction fan 134 is bolted to the middle position on the upper end of the connecting seat 133; a second connecting pipe 135 is threadedly connected to the air outlet of the vacuum suction fan 134; in the process of the robot working, the vacuum suction fan 134 is controlled to work, and then cooperates with the robot in the work to realize negative pressure vacuum assistance or vacuum negative pressure transfer work, and in the process of vacuum negative pressure, the gas is transported to the interior of the fixed box 131, filtered through the mesh set at the top of the fixed box 131, and the gas is discharged through the exhaust hole 132, thereby completing the work.

[0023] In the present embodiment, specifically, the conical fixing seat 4 adopts a conical stainless steel seat and a reduction motor is bolted to the middle position of the top inner part of the conical fixing seat 4 and the reduction motor output shaft is bolted to the middle position of the bottom inner part of the rotating column 5.

[0024] In the present embodiment, specifically, electric telescopic rods are bolted inside the left and right ends of the first connecting tube 103 respectively, and the right end of the electric telescopic rod arranged on the right side is bolted to the middle position inside the left end of the fixing block 102; the left end of the electric telescopic rod arranged inside the left end of the first connecting tube 103 is bolted to the middle position inside the right end of the supporting block 104; the output shaft of the third reduction motor 105 is bolted to the middle position inside the left end of the supporting block 104.

[0025] In this embodiment, specifically, the output shaft of the second reduction motor 9 passes through the middle position of the upper end of the first robotic arm 8 and is bolted to the middle position of the front end of the connecting column 101; the connecting column 101 is arranged on the upper rear surface of the first robotic arm 8.

[0026] In the present embodiment, specifically, the manipulator seat 111 adopts a stainless steel seat with a groove in the middle of the left and right ends; the connecting adsorption tube 112 adopts an inverted T-shaped stainless steel tube; the first rotating block 113 is bolted to the outer wall of the output shaft of the fourth reduction motor 115 arranged on the left and right sides of the front surface of the manipulator seat 111; the rotating plate 114 adopts a stainless steel plate with an anti-slip groove inside and a groove in the middle of the bottom end.

[0027] In this embodiment, specifically, the upper end bolt connecting the adsorption tube 112 is fixed at the middle position of the bottom end of the rotating seat 106 .

[0028] In the present embodiment, specifically, through holes are respectively opened inside the clamping block 121 and the through holes are connected to the connection box 123 ; a sealing ring is provided at the connection between the clamping block 121 and the connection box 123 .

[0029] In this embodiment, specifically, the second rotating block 122 is inserted into a groove opened in the middle position of the bottom end of the rotating plate 114, and the second rotating block 122 is bolted to the outer wall of the output shaft of the fourth reduction motor 115 arranged at the lower part of the front surface of the rotating plate 114.

[0030] In this embodiment, specifically, the second connecting pipe 135 is an inverted L-shaped stainless steel pipe and the bottom end of the second connecting pipe 135 is threadedly connected to the middle position of the upper right side of the fixed box 131; the filter mesh is bolted to the upper inner wall of the fixed box 131.

[0031] In the present embodiment, specifically, the fixing box 131 is bolted to the upper right side of the base 1; the connecting adsorption tube 112 and the connecting negative pressure tube 124 are respectively connected to the air inlet of the vacuum suction fan 134 by pipes and a solenoid valve is arranged at an appropriate position of the connecting pipe.

[0032] Embodiment 2: The present invention is described in detail below in conjunction with the accompanying drawings. Figure 1 To Attachment Figure 5As shown, when in use, the base 1 and the fixed frame 2 are installed in the appropriate position through the installation hole 3, and then the external wire is used to connect the external power supply and the external control device, and during use, according to the use environment and the needs during use, the electric telescopic work set inside the first connecting tube 103 is controlled to move the rotating seat 106 to a suitable position, so as to facilitate the purpose of position adjustment during use, and then during work, according to work needs, the fourth reduction motor 115 is controlled to work, drive the rotating plate 114 to rotate, perform workpiece clamping work, and realize the work of the manipulator, and when necessary, the vacuum mechanism is connected through the connecting adsorption tube 112 pipeline, and then the fourth reduction motor 115 is controlled to drive the rotating plate 114 to rotate to a horizontal position or make the outer end of the rotating plate 114 tilt upward, and the bottom end of the connecting adsorption tube 112 performs vacuum adsorption work on the upper end of the workpiece, thereby To achieve the purpose of adsorption and transportation, during the process of manipulator clamping and transportation, the negative pressure vacuum equipment is connected by connecting the negative pressure tube 124, and then the clamping block 121 is driven to rotate by the fourth reduction motor 115, and the workpiece is clamped and transported during the rotation, and then in the process of clamping and transporting the workpiece, the purpose of vacuum negative pressure reinforcement is achieved by cooperating with the connecting box 123 and the connecting negative pressure tube 124 to prevent the workpiece from falling during the transportation process, thereby completing the work of the manipulator. During the work of the manipulator, the vacuum suction fan 134 is controlled to work, and then the manipulator is cooperated during the work to achieve negative pressure vacuum assistance or vacuum negative pressure transportation, and the gas is transported to the interior of the fixed box 131 during the vacuum negative pressure process, filtered through the mesh set at the top of the fixed box 131, and the gas is discharged through the exhaust hole 132 to complete the work.

[0033] Utilizing the technical solution described in the present invention, or those skilled in the art designing a similar technical solution inspired by the technical solution of the present invention to achieve the above-mentioned technical effects, all fall within the protection scope of the present invention.

Claims

1. An improved manipulator, comprising a base (1), wherein a fixing frame (2) is bolted to the bottom of the outer wall of the base (1), and mounting holes (3) are sequentially opened inside the fixing frame (2); a conical fixing seat (4) is bolted to the middle position of the upper left side of the base (1); a rotating column (5) is arranged at the middle position of the upper end of the conical fixing seat (4); a first reduction motor (6) is bolted to the upper rear surface of the rotating column (5); a connecting block (7) is bolted to the outer wall of the output shaft of the first reduction motor (6); the bottom end of a first mechanical arm (8) is bolted to the middle position of the upper end of the connecting block (7); a second reduction motor (9) is bolted to the upper front surface of the first mechanical arm (8); characterized in that, The first mechanical arm (8) in the improved manipulator is provided with a telescopically adjustable mechanical arm structure (10) on the upper rear surface; a rotatable adsorption mechanical arm seat structure (11) is provided on the left side of the bottom end of the telescopically adjustable mechanical arm structure (10); the bottom end of the rotatable adsorption mechanical arm seat structure (11) is connected to a rotatable adsorption clamping block structure (12); an adsorbable cleaning and purification box structure (13) is provided on the right side of the upper end of the base (1); the telescopically adjustable mechanical arm structure (10) includes a connecting column (101), and a fixing block (102) is fixed to the left front of the connecting column (101) by bolts; the left end of the fixing block (102) is provided There is a first connecting tube (103); a support block (104) is arranged at the left end of the first connecting tube (103); a third reduction motor (105) is fixed on the left side of the front surface of the support block (104); a rotating seat (106) is fixed on the outer surface of the third reduction motor (105); the rotatable adsorption clamping block structure (12) includes a clamping block (121), and a second rotating block (122) is integrally arranged at the middle position of the upper end of the clamping block (121); a connecting box (123) is fixed by bolts on the right side of the clamping block (121); a negative pressure pipe (124) is threadedly connected to the middle position of the outer wall of the connecting box (123).

2. The improved manipulator according to claim 1, characterized in that: The rotatable adsorption manipulator seat structure (11) comprises a manipulator seat (111), wherein a connecting adsorption tube (112) is passed through the middle position inside the manipulator seat (111) and is fixed with bolts; first rotating blocks (113) are respectively arranged inside the left and right ends of the manipulator seat (111); the bottom ends of the first rotating blocks (113) are respectively bolted to the middle position of the upper end of the rotating plate (114); and fourth reduction motors (115) are respectively bolted to the left and right sides of the manipulator seat (111) and the lower part of the front surface of the rotating plate (114).

3. The improved manipulator according to claim 1, characterized in that: The adsorbable cleaning and purification box structure (13) comprises a fixed box (131), the lower right side of the fixed box (131) is provided with exhaust holes (132) in sequence from front to back; a connecting seat (133) is bolted to the middle position of the upper left side of the fixed box (131); a vacuum suction fan (134) is bolted to the middle position of the upper end of the connecting seat (133); and a second connecting pipe (135) is threadedly connected to the air outlet of the vacuum suction fan (134).

4. The improved manipulator according to claim 1, characterized in that: Electric telescopic rods are bolted to the left and right ends of the first connecting tube (103), and the right end of the electric telescopic rod arranged on the right side is bolted to the middle position of the left end of the fixing block (102); the left end of the electric telescopic rod arranged on the left end of the first connecting tube (103) is bolted to the middle position of the right end of the supporting block (104); and the output shaft of the third reduction motor (105) is bolted to the middle position of the left end of the supporting block (104).

5. The improved manipulator according to claim 1, characterized in that: The output shaft of the second reduction motor (9) passes through the middle position of the upper end of the first mechanical arm (8) and is then bolted to the middle position of the front end of the connecting column (101); the connecting column (101) is arranged on the upper rear surface of the first mechanical arm (8).

6. The improved manipulator according to claim 2, characterized in that: The upper end bolt of the connecting adsorption tube (112) is fixed at the middle position of the bottom end of the rotating seat (106).

7. The improved manipulator according to claim 2, characterized in that: The second rotating block (122) is inserted into a groove opened in the middle position of the bottom end of the rotating plate (114), and the second rotating block (122) is bolted to the outer wall of the output shaft of the fourth reduction motor (115) arranged at the lower part of the front surface of the rotating plate (114).

8. The improved manipulator according to claim 3, characterized in that: The fixing box (131) is bolted to the upper right side of the base (1); the connecting adsorption pipe (112) and the connecting negative pressure pipe (124) are respectively connected to the air inlet of the vacuum suction fan (134) and a solenoid valve is arranged at an appropriate position of the connecting pipe.

Images