Mechanical arm

Abstract

The invention relates to the field of manipulators, in particular to a manipulator. The clamping device comprises a mounting base, a clamping jaw mechanism and two sets of synchronous belt assemblies, the clamping jaw mechanism is arranged on the mounting base, the two sets of synchronous belt assemblies are arranged on movable parts of the clamping jaw mechanism correspondingly, and a clamping space is formed between the two sets of synchronous belt assemblies; the clamping jaw mechanism drives the two synchronous belt assemblies to get close to each other or get away from each other so as to adjust the width of the clamping space. The clamping jaw mechanism drives the two sets of synchronous belt assemblies to get close to each other or get away from each other to flexibly adjust the width of the clamping space, the synchronous belt assemblies make flexible contact with objects and adapt to the objects of different sizes and shapes, the grabbing adaptability of the mechanical arm to various objects is improved, and the grabbing accuracy and stability are effectively improved.

Description

Technical Field

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

[0002] Traditional grasping devices mostly adopt rigid jaws, air suction or magnetic suction structures. Their performance is restricted by the shape of the object, surface characteristics and material hardness. During the grasping process, it is very easy to scratch the surface of fragile objects, and even damage the overall structure of the object, which greatly limits the scope of application and use effect of traditional grasping devices. Summary of the Invention

[0003] The technical problem to be solved by the present invention is: to solve one or more technical problems existing in the prior art, and at least provide a beneficial alternative or create conditions.

[0004] The solution of the present invention to solve its technical problem is: a manipulator, which includes a mounting base, a jaw mechanism and two sets of synchronous belt assemblies. The jaw mechanism is arranged on the mounting base, and the two sets of synchronous belt assemblies are respectively arranged on the movable part of the jaw mechanism. There is a clamping space between the two sets of synchronous belt assemblies. The jaw mechanism drives the two sets of synchronous belt assemblies to approach or move away from each other to adjust the width of the clamping space. The two sets of synchronous belt assemblies rotate in the same direction and at the same speed to move the clamped object linearly. The two sets of synchronous belt assemblies rotate in opposite directions and at the same speed to rotate the clamped object in place. The jaw mechanism includes a driving device, a connecting shaft and two sets of link groups. The driving device is arranged on the mounting base. One end of the connecting shaft is fixedly connected to the driving part of the driving device. Each link group includes a first link and a second link. The first link and the second link in the same link group are arranged in parallel. One end of the first link is hinged to the mounting base, and the other end of the first link is correspondingly hinged to the synchronous belt assembly. The middle of the second link is hinged to the mounting base, and one end of the second link is correspondingly hinged to the synchronous belt assembly. A slot is provided at the other end of the second link. The connecting shaft is arranged inside the slot, and the connecting shaft is slidably connected to the slot.

[0005] The beneficial effects of the present invention are as follows: the base support is installed and other components are fixed; the clamping mechanism drives the two groups of synchronous belt assemblies to approach or move away from each other, so as to adjust the width of the clamping space, thereby meeting the requirements of the space size when grasping different objects and realizing effective clamping of the objects; the flexible characteristics of the synchronous belt assembly itself enable it to naturally deform and fit according to the outer contour of the object when contacting the object, so that it can not only gently wrap the object, but also drive the object to move through the rotation of the synchronous belt assembly itself; the clamping mechanism drives the two groups of synchronous belt assemblies to approach or move away from each other to flexibly adjust the width of the clamping space, the synchronous belt assembly flexibly contacts the object, adapts to objects of different sizes and shapes, improves the adaptability of the manipulator to grasp various objects, and effectively improves the accuracy and stability of grasping; by making the two groups of synchronous belt assemblies rotate in the same direction and at the same speed, it can ensure that the clamped objects move stably in a straight line direction, and realize accurate position adjustment of the objects in the horizontal direction; when the two groups of synchronous belt assemblies rotate in opposite directions and at the same speed, the clamped objects can be rotated in situ The first connecting rod and the second connecting rod are arranged in parallel, which can share the force generated during the movement, avoid deformation and damage caused by excessive force on a single connecting rod, and help to more smoothly transmit the power output by the driving mechanism to the synchronous belt assembly, ensuring that the synchronous belt assembly moves accurately and smoothly; the driving device drives the connecting shaft to move, the connecting shaft slides in the slot of the second connecting rod and drives the second connecting rod to move, the second connecting rod swings around the hinge point between it and the mounting base, the first connecting rod swings synchronously with the second connecting rod, and transmits the force to the synchronous belt assembly, so that the two sets of synchronous belt assemblies are close to or away from each other.

[0006] As a further improvement of the above technical solution, the synchronous belt assembly includes a connecting frame, a flexible synchronous belt, a driving wheel, a passive wheel, a second motor and a first synchronous belt, the connecting frame is arranged on the movable part of the clamping mechanism, the driving wheel is arranged on the connecting frame, the driving wheel and the connecting frame can rotate relative to each other, the passive wheel is arranged on the connecting frame, the passive wheel and the connecting frame can rotate relative to each other, the second motor is arranged on the connecting frame, the second motor is connected to the driving wheel through the first synchronous belt, and the driving wheel is connected to the passive wheel through the flexible synchronous belt.

[0007] As a further improvement of the above technical solution, the material of the flexible synchronous belt is one or more of rubber, thermoplastic polyurethane elastomer, silicone material, plastic material, and composite material.

[0008] As a further improvement of the above technical solution, the synchronous belt assembly further includes a first motor, a lead screw, and a connecting block. The connecting block is hinged to the movable part of the jaw mechanism. The first motor is arranged on the connecting block. The rotating part of the first motor is in threaded connection with the lead screw, and the lead screw is fixedly arranged on the connecting frame.

[0009] As a further improvement of the above technical solution, the synchronous belt assembly further includes a slider and a guide rail. The guide rail is fixedly arranged on the connecting frame. The guide rail is arranged parallel to the lead screw. The slider is slidably connected to the guide rail, and the slider is fixedly connected to the first motor.

[0010] As a further improvement of the above technical solution, the mounting base includes a base body and two mounting parts arranged on the base body. The mounting parts are provided with first connection holes, and the jaw mechanism is hinged to the mounting parts through the first connection holes.

[0011] As a further improvement of the above technical solution, the manipulator further includes a robotic arm. The base body is provided with a first mounting surface and a second mounting surface perpendicular to the first mounting surface. Both the first mounting surface and the second mounting surface are provided with mounting holes, and the robotic arm is fixedly connected to the mounting base through the mounting holes.

[0012] As a further improvement of the above technical solution, the manipulator further includes a transmission channel. The synchronous belt assembly is provided with a second connection hole, and the input end of the transmission channel is connected to the output end of the synchronous belt assembly through the second connection hole. Description of the Drawings

[0013] Figure 1 is a schematic structural diagram of a manipulator according to an embodiment of the present invention; Figure 2 is an exploded schematic diagram of a manipulator according to an embodiment of the present invention; Figure 3 is a schematic structural diagram of a base body according to an embodiment of the present invention; Figure 4 is a schematic structural diagram of a synchronous belt assembly according to an embodiment of the present invention; Figure 5 is a schematic structural diagram of another embodiment of the present invention.

[0014] In the attached drawings: 100 - mounting base, 110 - base body, 111 - first mounting surface, 112 - second mounting surface, 113 - mounting hole, 120 - mounting portion, 121 - first connection hole, 300 - jaw mechanism, 310 - connecting shaft, 320 - connecting rod group, 321 - first connecting rod, 322 - second connecting rod, 323 - slot hole, 330 - driving device, 400 - synchronous belt assembly, 411 - connecting frame, 412 - flexible synchronous belt, 413 - driving pulley, 414 - driven pulley, 415 - second motor, 416 - first synchronous belt, 417 - second connection hole, 421 - first motor, 422 - lead screw, 423 - connecting block, 431 - slider, 432 - guide rail, 500 - robotic arm, 600 - transmission channel. Detailed implementation manners

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention, the attached drawings required for the description of the embodiments above are briefly described. Obviously, the described attached drawings are only a part of the embodiments of the present invention, rather than all the embodiments. Without creative work, those skilled in the art can also obtain other design solutions and attached drawings based on these attached drawings.

[0016] The following will clearly and completely describe the concept, specific structure and technical effects generated by the present invention in combination with the embodiments and attached drawings to fully understand the purpose, features and effects of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Other embodiments obtained by those skilled in the art without creative work based on the embodiments of the present invention all fall within the scope of protection of the present invention. In addition, all the connection / connection relationships mentioned in the text do not simply refer to the direct connection of components, but refer to the more optimal connection structure that can be formed by adding or reducing connection accessories according to the specific implementation situation. Each technical feature in the present invention can be combined interactively without conflicting with each other.

[0017] Most traditional grasping devices adopt rigid jaws, air suction or magnetic suction structures, and their performance is restricted by the shape, surface characteristics and material hardness of the object. During the grasping process, it is very easy to scratch the surface of fragile objects, and even damage the overall structure of the object, which greatly limits the applicable range and use effect of traditional grasping devices.

[0018] Therefore, the present invention proposes a robotic arm, referring to Figures 1 to 5, which includes an installation base 100, a jaw mechanism 300 and two sets of synchronous belt assemblies 400. The jaw mechanism 300 is arranged on the installation base 100, and the two sets of synchronous belt assemblies 400 are respectively arranged on the movable part of the jaw mechanism 300. A clamping space is provided between the two sets of synchronous belt assemblies 400. The jaw mechanism 300 drives the two sets of synchronous belt assemblies 400 to approach or move away from each other so as to adjust the width of the clamping space. The two sets of synchronous belt assemblies 400 rotate in the same direction and at the same speed to make the clamped article move linearly; the two sets of synchronous belt assemblies 400 rotate in the opposite direction and at the same speed to make the clamped article rotate in place. The jaw mechanism 300 includes a driving device 330, a connecting shaft 310 and two sets of link groups 320. The driving device 330 is arranged on the installation base 100. One end of the connecting shaft 310 is fixedly connected to the driving part of the driving device 330. Each link group 320 includes a first link 321 and a second link 322. The first link 321 and the second link 322 in the same link group 320 are arranged in parallel. One end of the first link 321 is hinged to the installation base 100, and the other end of the first link 321 is correspondingly hinged to the synchronous belt assembly 400. The middle of the second link 322 is hinged to the installation base 100, and one end of the second link 322 is correspondingly hinged to the synchronous belt assembly 400. A slot hole 323 is provided at the other end of the second link 322. The connecting shaft 310 is arranged inside the slot hole 323, and the connecting shaft 310 is slidably connected to the slot hole 323.

[0019] The mounting base 100 supports and fixes other components; the jaw mechanism 300 drives two sets of synchronous belt assemblies 400 to approach or move away from each other, so as to adjust the width of the clamping space, thereby meeting the requirements for the space size when grasping different objects and realizing effective clamping of the objects; the flexible characteristics of the synchronous belt assembly 400 itself enable it to naturally deform and fit according to the outer contour of the object when contacting the object, which can not only gently wrap the object, but also drive the object to move through the rotation of the synchronous belt assembly 400 itself; by driving two sets of synchronous belt assemblies 400 to approach or move away from each other through the jaw mechanism 300, the width of the clamping space can be flexibly adjusted, and the synchronous belt assembly 400 makes flexible contact with the object, adapting to objects of different sizes and shapes, improving the grasping adaptability of the manipulator to various objects, and effectively enhancing the accuracy and stability of grasping; by making the two sets of synchronous belt assemblies 400 rotate in the same direction and at the same speed, it can ensure that the clamped object moves stably along a straight line direction, realizing precise position adjustment of the object in the horizontal direction; when the two sets of synchronous belt assemblies 400 rotate in opposite directions and at the same speed, the clamped object can be rotated in place, which is convenient for flexibly changing the attitude angle of the object according to actual needs, meeting the requirements for the orientation of the object in different processing, assembly and other links, improving the flexibility and adaptability of the entire operation process, and reducing the difficulties in subsequent operations caused by the inconsistent object attitude; integrating the functions of grasping, linear movement and in-situ rotation of the object, there is no need to additionally configure a large number of complex independent conveying structures and rotating mechanisms, effectively simplifying the structure of the entire system, and thus reducing the production cost and maintenance cost; the parallelly arranged first connecting rod 321 and second connecting rod 322 can share the acting force generated during the movement, avoiding deformation, damage and other situations due to excessive force on a single connecting rod, helping to more smoothly transfer the power output by the driving mechanism to the synchronous belt assembly 400, and ensuring the accurate and smooth movement of the synchronous belt assembly 400; the driving device 330 drives the connecting shaft 310 to move, the connecting shaft 310 slides in the slot hole 323 of the second connecting rod 322 and drives the second connecting rod 322 to move, the second connecting rod 322 swings around its hinge point with the mounting base 100, and the first connecting rod 321 will swing synchronously with the second connecting rod 322, transmitting the force to the synchronous belt assembly 400, so that the two sets of synchronous belt assemblies 400 approach or move away from each other. Specifically, the driving mechanism is one of a linear motor, a cylinder, and a rack and pinion mechanism.

[0020] During operation, the drive components inside the jaw mechanism 300 transfer power to the synchronous belt assembly 400 through connection with the synchronous belt assembly 400, enabling the two sets of synchronous belt assemblies 400 to approach or move away from each other synchronously, thereby changing the width of the clamping space between them; after the width of the clamping space is adjusted appropriately, relying on the flexible characteristics of the synchronous belt, the synchronous belt can contact the surface of the object in a flexible fitting manner, and through actions such as frictional force and wrapping force, reliable grasping of the object is achieved, and then the item is transferred relying on the transmission function of the synchronous belt assembly 400.

[0021] When in contact transmission with the object, it is easy to cause damage such as scratches and extrusion deformation to the surface of the object due to rigid contact. Thus, in one embodiment, the synchronous belt assembly 400 includes a connecting frame 411, a flexible synchronous belt 412, a driving pulley 413, a driven pulley 414, a second motor 415, and a first synchronous belt 416. The connecting frame 411 is disposed on the movable part of the jaw mechanism 300. The driving pulley 413 is disposed on the connecting frame 411, and the driving pulley 413 is rotatable relative to the connecting frame 411. The driven pulley 414 is disposed on the connecting frame 411, and the driven pulley 414 is rotatable relative to the connecting frame 411. The second motor 415 is disposed on the connecting frame 411, and the second motor 415 is drivingly connected to the driving pulley 413 through the first synchronous belt 416. The driving pulley 413 is drivingly connected to the driven pulley 414 through the flexible synchronous belt 412. The flexible synchronous belt 412 has good flexibility and can adaptively fit according to the shape of the object when contacting the object to be transmitted, improving the protection degree for the object to be transmitted; the second motor 415, the first synchronous belt 416, and the driving pulley 413 and the driven pulley 414 form a transmission link, and by controlling the rotation speed and forward and reverse rotation of the synchronous belt assembly 400 by adjusting the second motor 415, different transmission requirements in different links can be met.

[0022] The flexibility of the flexible synchronous belt 412 is insufficient, which is likely to cause damage to the object to be transmitted; the strength is not enough, and it is prone to deformation, damage, etc. after bearing a certain load. Thus, in one embodiment, the material of the flexible synchronous belt 412 is one or more of rubber, thermoplastic polyurethane elastomer, silicone material, plastic material, and composite material. By providing multiple material options or using multiple materials in combination, the flexible synchronous belt 412 can adapt to the transmission and grasping tasks of objects with different shapes, textures, weights, and working environments, improving the versatility and adaptability of the manipulator; selecting a suitable material or composite material according to the specific working conditions can enable the flexible synchronous belt 412 to minimize premature wear, damage, etc. caused by material mismatch while meeting the performance requirements.

[0023] In scenarios such as assembly lines where the grasping position needs to be frequently adjusted, the response speed of manual intervention or complex mechanical transmission adjustment methods is relatively slow, affecting the smoothness of the entire production process. Thus, in one embodiment, the synchronous belt assembly 400 further includes a first motor 421, a lead screw 422, and a connecting block 423. The connecting block 423 is hinged to the movable part of the jaw mechanism 300. The first motor 421 is disposed on the connecting block 423. The rotating part of the first motor 421 is threadedly connected to the lead screw 422, and the lead screw 422 is fixedly arranged on the connecting frame 411. By converting the rotational motion of the motor into the linear motion of the lead screw 422 through screw drive, precise control of the position of the connecting frame 411 is achieved; the compact structural design reduces the occupied space and also decreases the weight and complexity of the entire manipulator. Compared with traditional hydraulic or pneumatic adjustment systems, no additional equipment such as pipelines and pump stations is required, simplifying the system design and maintenance work.

[0024] During the transmission process, the lead screw 422 is only constrained by threaded connection and may be affected by interference factors such as lateral forces, resulting in unsteady motion, such as wobbling and deviation, which in turn affects the accuracy of the position adjustment of the synchronous belt assembly 400. Thus, in one embodiment, the synchronous belt assembly 400 further includes a slider 431 and a guide rail 432. The guide rail 432 is fixedly arranged on the connecting frame 411. The guide rail 432 is arranged in parallel with the lead screw 422. The slider 431 is slidably connected to the guide rail 432, and the slider 431 is fixedly connected to the first motor 421. The sliding connection structure between the slider 431 and the guide rail 432 provides lateral support for the first motor 421 and the lead screw 422 connected thereto, restricting the lateral displacement of the motor and the lead screw 422, reducing wobbling and jitter phenomena, and thus ensuring the stability of the position adjustment of the synchronous belt assembly 400; through the cooperation of the slider 431 and the guide rail 432, part of the lateral force borne by the lead screw 422 during movement is shared, reducing the wear of the lead screw 422 caused by uneven force, helping to extend the service life of key components such as the lead screw 422 and the motor, and reducing the maintenance cost and replacement frequency of the equipment.

[0025] The movement range of the manipulator in the working environment may be limited and may not be able to well meet the requirements for the movement flexibility and angle adjustability of the linkage mechanism under different working conditions. Thus, in one embodiment, the mounting base 100 includes a base body 110 and two mounting portions 120 provided on the base body 110. A first connection hole 121 is provided on the mounting portion 120, and the jaw mechanism 300 is hinged to the mounting portion 120 through the first connection hole 121. The hinge enables the linkage mechanism to rotate at a certain angle around the first connection hole 121, increasing the movement flexibility of the linkage mechanism, so as to better adapt to the grasping requirements of objects of different sizes and shapes; the two mounting portions 120 provide symmetric and stable connection points, which can better disperse the acting forces generated during the movement of the linkage mechanism, avoiding problems such as the shaking of the mounting base 100 or the loosening of the connection of the linkage mechanism due to uneven stress, and ensuring the structural stability of the entire manipulator during the operation process.

[0026] In some production lines with narrow spaces and complex layouts, it may be difficult for a manipulator with a fixed posture and angle to achieve the best grasping and operating effects. Thus, in one embodiment, the manipulator further includes a robotic arm 500. A first mounting surface 111 and a second mounting surface 112 perpendicular to the first mounting surface 111 are provided on the base body 110. Mounting holes 113 are provided on both the first mounting surface 111 and the second mounting surface 112, and the robotic arm 500 is fixedly connected to the mounting base 100 through the mounting holes 113. By providing the mutually perpendicular first mounting surface 111 and second mounting surface 112 on the base body 110, and each surface is equipped with mounting holes 113, the robotic arm 500 can choose different mounting surfaces and corresponding mounting holes 113 for fixed connection, thus realizing the installation possibilities of the manipulator at multiple angles, enabling flexible adjustment of the posture, effectively avoiding surrounding obstacles, making full use of the limited space, improving the space utilization rate, and ensuring that tasks such as grasping and operating can be successfully completed under complex site conditions.

[0027] When performing subsequent transmission after an object is grasped, additional transfer operations or other independent transmission devices are required, which may cause interruptions during the connection process and situations such as the object needing to be repositioned, increasing the transmission time and the probability of errors. Thus, in one embodiment, the manipulator further includes a transmission channel 600. The synchronous belt assembly 400 is provided with a second connection hole 417. The input end of the transmission channel 600 is connected to the output end of the synchronous belt assembly 400 through the second connection hole 417. After the synchronous belt assembly 400 completes operations such as grasping and possible rotation of the object, it can immediately send the object into the transmission channel 600, avoiding intermediate links such as pauses and repositioning of the object during the transfer process, achieving seamless connection between grasping and subsequent transmission, and improving the efficiency of material flow; the object entering the transmission channel 600 can be transmitted along a predetermined path and direction, reducing the problem of object position deviation caused by external interference, position changes, etc. during the transfer process and enhancing transmission stability.

[0028] The above has specifically described the preferred embodiments of the present invention, but the present invention is not limited to the described embodiments. Those skilled in the art can also make various equivalent variations or substitutions without departing from the spirit of the present invention, and these equivalent variations or substitutions are all included within the scope defined by the claims of this application.

Claims

1. A manipulator, characterized in that, It comprises a mounting base, a clamping mechanism and two groups of synchronous belt assemblies, wherein the clamping mechanism is arranged on the mounting base, the two groups of synchronous belt assemblies are respectively arranged on the movable parts of the clamping mechanism, a clamping space is arranged between the two groups of synchronous belt assemblies, and the clamping mechanism drives the two groups of synchronous belt assemblies to move closer to or away from each other so as to adjust the width of the clamping space; The two groups of synchronous belt assemblies rotate in the same direction and at the same speed to make the clamped objects move in a straight line; the two groups of synchronous belt assemblies rotate in opposite directions and at the same speed to make the clamped objects rotate in place; The clamping mechanism includes a driving device, a connecting shaft and two groups of connecting rod groups. The driving device is arranged on the mounting base. One end of the connecting shaft is fixedly connected to the driving part of the driving device. Each group of connecting rod groups includes a first connecting rod and a second connecting rod. The first connecting rod and the second connecting rod in the same connecting rod group are arranged in parallel. One end of the first connecting rod is hinged to the mounting base, and the other end of the first connecting rod is hinged to the synchronous belt assembly one-to-one. The middle part of the second connecting rod is hinged to the mounting base, and one end of the second connecting rod is hinged to the synchronous belt assembly one-to-one. The other end of the second connecting rod is provided with a slot hole, and the connecting shaft is penetrated inside the slot hole, and the connecting shaft is slidably connected to the slot hole.

2. The manipulator according to claim 1, characterized in that, The synchronous belt assembly includes a connecting frame, a flexible synchronous belt, a driving wheel, a driven wheel, a second motor and a first synchronous belt. The connecting frame is arranged on the movable part of the clamping mechanism, the driving wheel is arranged on the connecting frame, the driving wheel and the connecting frame can rotate relative to each other, the driven wheel is arranged on the connecting frame, the driven wheel and the connecting frame can rotate relative to each other, the second motor is arranged on the connecting frame, the second motor is connected to the driving wheel through the first synchronous belt, and the driving wheel is connected to the driven wheel through the flexible synchronous belt.

3. A manipulator according to claim 2, characterized in that, The material of the flexible synchronous belt is one or more of rubber, thermoplastic polyurethane elastomer, silicone material, plastic material and composite material.

4. The manipulator according to claim 2, wherein, The synchronous belt assembly also includes a first motor, a screw and a connecting block, the connecting block is hinged to the movable part of the clamping mechanism, the first motor is arranged on the connecting block, the rotating part of the first motor is threadedly connected to the screw, and the screw is fixed on the connecting frame.

5. A manipulator according to claim 4, wherein, The synchronous belt assembly also includes a slider and a guide rail. The guide rail is fixed on the connecting frame. The guide rail is arranged parallel to the lead screw. The slider is slidably connected to the guide rail. The slider is fixed to the first motor.

6. A manipulator according to claim 1, characterized in that The mounting base comprises a base body and two mounting parts arranged on the base body, the mounting parts are provided with first connecting holes, and the clamping claw mechanism is hinged to the mounting parts through the first connecting holes.

7. A manipulator according to claim 6, characterized in that, The robot also includes a robot arm. The base body is provided with a first mounting surface and a second mounting surface perpendicular to the first mounting surface. Both the first mounting surface and the second mounting surface are provided with mounting holes. The robot arm is fixedly connected to the mounting base through the mounting holes.

8. A manipulator according to claim 1, wherein, The manipulator further includes a transmission channel. A second connection hole is provided on the synchronous belt assembly. The input end of the transmission channel is connected to the output end of the synchronous belt assembly through the second connection hole.

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