A multi-link robot arm for handling operations

Abstract

The application discloses a multi-link mechanical arm for carrying operation and relates to the technical field of carrying manipulators, which comprises a main arm, a connecting seat arranged on the movable end of the main arm, and a telescopic assembly arranged on the connecting seat. Through the arrangement of the steel wire rope one, the motor two can wind the steel wire rope one to make the inner arm slide out of the outer arm, thereby increasing the overall length of the last mechanical arm composed of the inner arm and the outer arm, the movable range of the mechanical arm can be increased without moving the mechanical arm, and the space occupied by the components required for moving the mechanical arm is saved. Through the arrangement of the steel wire rope two, the steel wire rope two has a pulling effect on the far end of the last section of the mechanical arm, so that the far end is subjected to an upward force, the last section of the mechanical arm cannot be inclined downward, and the phenomenon of increased abrasion caused by the deflection of the bearing at the connecting position when the mechanical arm clamps heavy objects is avoided, and the service life of the mechanical arm is effectively prolonged.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of handling manipulator, in particular to a multi-link manipulator for handling operation. BACKGROUND

[0002] The cargo handling manipulator is an industrial robot system specially designed for handling, loading and unloading, stacking and transferring goods. It completes various material handling tasks through the mechanical arm structure and end effector.

[0003] In order to improve the handling range of goods, the cargo handling manipulator in the prior art is usually composed of a mechanical arm and a slide rail at the bottom of the mechanical arm. When the range of goods to be handled changes, the mechanical arm is moved along the slide rail to change the effective handling range of the mechanical arm. However, in actual use, when the distance between two goods lines increases, the mechanical arm needs to be moved to the target line after clamping the goods, which is not only low in efficiency, but also occupies a large amount of working space, which is inconvenient to use. In addition, when handling heavy goods, the last section of the mechanical arm where the clamping jaw is located is subjected to increased gravity, and the last section of the mechanical arm is only connected with the mechanical arm. When the last section of the mechanical arm tends to tilt under the action of gravity, the shaft of the rotary connection of the last section of the mechanical arm will be deflected, which increases the frictional force on the shaft and accelerates the wear of the joints of the mechanical arm, thereby reducing the service life of the mechanical arm.

[0004] To solve the above problems, the present application provides a multi-link manipulator for handling operation. SUMMARY

[0005] To solve the above technical problems, a multi-link manipulator for handling operation is provided.

[0006] To achieve the above purposes, the present application can adopt the following technical solutions:

[0007] The present application provides a multi-link manipulator for handling operation, comprising: a main arm, a connecting seat is arranged on the movable end of the main arm, and a telescopic assembly is arranged on the connecting seat.

[0008] The telescopic assembly comprises a motor one fixedly installed in the connecting seat, a rotating seat rotatably connected to the bottom of the connecting seat, an output shaft of the motor one penetrating through the connecting seat and fixedly connected with the rotating seat, an outer arm fixedly connected to the bottom of the rotating seat, a motor two fixedly installed at the bottom of the rotating seat, an inner arm slidably connected in the outer arm, two steel wires one fixedly and symmetrically connected to the output shaft of the motor two, two rope wheels one symmetrically and rotatably connected to the inner wall of the outer arm away from the motor two, the rope wheels one being located between the outer arm and the inner arm, the two steel wires one being wound around the rope wheels one on the side close to the motor two, and one end of the two steel wires one away from the motor two being fixedly connected to the side of the inner arm close to the motor two, and the inner arm being fixedly installed with a clamping jaw at the end away from the connecting seat.

[0009] Preferably, a pulley is arranged at the connection between the outer arm and the inner arm.

[0010] Preferably, a straightening assembly is arranged on the connecting seat, the straightening assembly comprising a motor three fixedly installed on the connecting seat, two winding wheels rotatably connected to the connecting seat, an output shaft of the motor three being connected with the winding wheel closest to the motor three, and one steel wire two being fixedly and commonly connected with the two winding wheels, a rope wheel two rotatably connected to the end of the inner arm away from the outer arm, a rotating shaft rotatably connected in the connecting seat, and the two ends of the rotating shaft penetrating out of the connecting seat and coaxially fixedly connected with the two winding wheels.

[0011] Preferably, the steel wire two is wound around the rope wheel two.

[0012] Preferably, the two ends of the steel wire two are wound around the two winding wheels respectively.

[0013] Preferably, a limiting assembly is arranged on the connecting seat, the limiting assembly comprising an electric telescopic rod fixedly installed in the connecting seat, a sliding rod fixedly installed in the connecting seat, the electric telescopic rod and the sliding rod being symmetrically arranged at the two sides of the rotating shaft, a sleeve ring arranged between the electric telescopic rod and the sliding rod, two side ears arranged at the two sides of the sleeve ring, the telescopic end of the electric telescopic rod being fixedly connected with one side ear of the sleeve ring, the side ear of the sleeve ring away from the electric telescopic rod being slidably connected with the sliding rod, a plurality of tooth grooves being formed in the sleeve ring, and a gear wheel fixedly connected to the middle part of the rotating shaft.

[0014] Preferably, the plurality of tooth grooves are equidistantly arranged on the inner arc surface of the sleeve ring.

[0015] Preferably, a plurality of teeth are equidistantly arranged on the gear wheel, the number of the teeth being the same as that of the tooth grooves, and the gear wheel is engaged with the tooth grooves.

[0016] As described above, the multi-link mechanical arm for carrying operation has the following characteristics and advantages:

[0017] Through the setting of the steel wire rope one, the motor two winds the steel wire rope one, and the inner arm slides out of the outer arm, thereby increasing the overall length of the last section of the mechanical arm composed of the inner arm and the outer arm, so as to adapt to the situation that the moving range of the mechanical arm needs to be different in different goods carrying scenes, without increasing the slide rail to cooperate with the movement of the mechanical arm, the moving range of the mechanical arm can be increased, and the space occupied by the components required for the slide rail to cooperate with the mechanical arm is saved.

[0018] Through the setting of the steel wire rope two, the steel wire rope two has a pulling effect on the distal end of the last section of the mechanical arm, so that the distal end is subjected to an upward force, thereby preventing the last section of the mechanical arm from tilting downward, and preventing the phenomenon of increased wear caused by the deflection of the bearing at the rotating connection when the mechanical arm clamps heavy objects, that is, preventing the output shaft of the motor one from deflecting when the motor one drives the clamp to rotate, and effectively improving the service life of the mechanical arm and the motor one.

[0019] Through the setting of the rope wheel two, when the outer arm and the inner arm need to rotate under the carrying demand, under the condition that the distance between the inner arm and the rotating seat is fixed, the rope wheel two and the steel wire rope two rotate to cooperate, so that the outer arm and the inner arm can rotate according to the carrying demand, and the steel wire rope two always maintains the pulling effect on the inner arm and the outer arm, so as to maintain the effect of reducing the friction of the rotating connection of the mechanical arm.

[0020] Through the setting of the gear and the gear slot, the length of the inner arm extending out of the outer arm can be adjusted to any length, and the adjustment is more accurate according to the demand of the mechanical arm for carrying goods, and after the adjustment is completed, the sleeve ring is clamped by the gear slot, so that the steel wire rope two always maintains the pulling effect on the outer arm and the inner arm, thereby increasing the application range of the carrying operation mechanical arm. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is the overall structure of the present application shown in the perspective view;

[0022] Figure 2 It is the rotating seat structure of the present application shown in the perspective view from below;

[0023] Figure 3 It is the Figure 1 enlarged view of A in the figure;

[0024] Figure 4 It is the outer arm and inner arm structure of the present application shown in the perspective view;

[0025] Figure 5 It is the Figure 1 enlarged view of B in the figure;

[0026] Figure 6 It is the winding wheel structure of the present application shown in the perspective view;

[0027] Figure 7 It is the side view perspective schematic diagram of the connecting seat internal structure shown in the application;

[0028] Figure 8 It is the side view perspective schematic diagram of the connecting seat internal structure shown in the application;

[0029] Figure 9 It is the side view perspective schematic diagram of the connecting seat internal structure shown in the application;

[0030] Figure 10 It is the side view perspective schematic diagram of the connecting seat internal structure shown in the application.

[0031] Among them, the reference numerals in the application are: 1, main arm; 2, connecting seat;

[0032] Telescopic assembly: 301, motor one; 302, rotating seat; 303, outer arm; 304, motor two; 305, inner arm; 306, steel wire rope one; 307, rope wheel one; 308, clamping jaw;

[0033] Straightening assembly: 401, motor three; 402, winding wheel; 403, steel wire rope two; 404, rope wheel two; 405, rotating shaft;

[0034] Limiting assembly: 501, electric telescopic rod; 502, sliding rod; 503, sleeve ring; 504, gear slot; 505, gear. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the application will be described clearly and completely below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the application.

[0036] The embodiments provided by the application will be described in detail below:

[0037] A multi-link mechanical arm for carrying work, as shown in the figure, comprising: a main arm 1, an active end of the main arm 1 is provided with a connecting seat 2, and the connecting seat 2 is provided with a telescopic assembly; Figure 1

[0038] As shown in the figure, the main arm 1 is provided with a telescopic assembly, and the telescopic assembly comprises an outer arm 303, an inner arm 305, a rotating seat 302, a motor one 301, a motor two 304, a steel wire rope one 306, a clamping jaw 308 and a rope wheel one 307. Figures 1 to 9 ​As shown, the telescopic assembly comprises a motor 301 fixedly installed in the connecting seat 2, a rotating seat 302 rotatably connected to the bottom of the connecting seat 2, an output shaft of the motor 301 penetrating through the connecting seat 2 and fixedly connected with the rotating seat 302, an outer arm 303 fixedly connected to the bottom of the rotating seat 302, a motor 304 fixedly installed at the bottom of the rotating seat 302, an inner arm 305 slidably connected in the outer arm 303, a pulley arranged at the connection between the outer arm 303 and the inner arm 305, two steel wires 306 fixedly connected to the output shaft of the motor 304, two rope wheels 307 rotatably connected to the inner wall of the outer arm 303 away from the motor 304, the rope wheels 307 being located between the outer arm 303 and the inner arm 305, the two steel wires 306 being wound around the rope wheels 307 on the side close to the motor 304, and one end of each of the two steel wires 306 away from the motor 304 being fixedly connected to the side of the inner arm 305 close to the motor 304, i.e. one end of each of the two steel wires 306 being fixedly connected to the output shaft of the motor 304 and the other end being fixedly connected to the inner arm 305 through the rope wheels 307, and a clamping jaw 308 fixedly installed at one end of the inner arm 305 away from the connecting seat 2.

[0039] Further, as shown in Figures 1 to 3 and Figures 5 to 8 and Figure 10 shown, the connecting seat 2 is provided with a straightening assembly, the straightening assembly comprising a motor 401 fixedly installed on the connecting seat 2, two winding wheels 402 rotatably connected to the connecting seat 2, an output shaft of the motor 401 connected with the winding wheel 402 closest to the motor 401, one steel wire 403 fixedly connected with the two winding wheels 402, both ends of the steel wire 403 being wound around the two winding wheels 402, i.e. a rope wheel 404 rotatably connected to one end of the inner arm 305 away from the outer arm 303, the steel wire 403 being wound around the rope wheel 404, a rotating shaft 405 rotatably connected in the connecting seat 2, both ends of the rotating shaft 405 penetrating through the connecting seat 2, and both ends of the rotating shaft 405 penetrating out of the connecting seat 2 and coaxially fixedly connected with the two winding wheels 402.

[0040] Further, as shown in Figure 6 , Figure 8 and Figure 10As shown, the connecting seat 2 is provided with a limiting assembly, the limiting assembly comprises an electric telescopic rod 501 fixedly installed in the connecting seat 2, a sliding rod 502 is fixedly installed in the connecting seat 2, the electric telescopic rod 501 and the sliding rod 502 are symmetrically arranged on both sides of the rotating shaft 405, a sleeve ring 503 is arranged between the electric telescopic rod 501 and the sliding rod 502, two side ears are arranged on both sides of the sleeve ring 503, the telescopic end of the electric telescopic rod 501 is fixedly connected with one side ear of the sleeve ring 503, the side ear of the sleeve ring 503 away from the electric telescopic rod 501 is slidingly connected with the sliding rod 502, a plurality of tooth grooves 504 are arranged on the inner arc surface of the sleeve ring 503, and a gear 505 is fixedly connected to the middle part of the rotating shaft 405.

[0041] In combination with the above-mentioned embodiments, the following is the entire working process and working principle of the above-mentioned embodiments:

[0042] The initial state is:

[0043] The motor one 301 is not started, the output shaft of the motor two 304 does not wind the steel wire rope one 306, the winding wheel 402 winds the steel wire rope two 403, the steel wire rope two 403 is in a straight state, the movable end of the electric telescopic rod 501 is extended, the sleeve ring 503 is away from the gear 505, and the tooth groove 504 is not engaged with the gear 505.

[0044] The working state is:

[0045] Pull the mechanical arm:

[0046] Start the motor three 401 to drive the winding wheel 402 to wind the steel wire rope two 403, so that the steel wire rope two 403 is in a tight state, when the inner arm 305 away from the outer arm 303 end generates a pulling force, the inner arm 305 away from the outer arm 303 end keeps horizontal state under the action of the pulling force, and the outer arm 303 keeps horizontal state under the action of the inner arm 305, so that the connecting part of the connecting seat 2 and the rotating seat 302 will not be inclined, by applying a pulling force to the last section of the inner arm 305 of the mechanical arm, compared with the carrying mechanical arm in the prior art, the last section of the mechanical arm is solved. When the weight is turned, the connecting part is easy to be slightly inclined, the output shaft of the motor one 301 is prevented from being deflected, so as to avoid the situation that the friction increases when the output shaft of the motor one 301 is deflected, so as to prolong the service life of the mechanical arm.

[0047] Extend the mechanical arm:

[0048] When the mechanical arm needs to be extended, motor two 304 starts, so that the output shaft of motor two 304 winds the end of steel wire rope one 306 close to motor two 304, so that steel wire rope one 306 passes through the winding of rope wheel one 307, pulls the inner arm 305 close to the end of motor two 304 to slide to rope wheel one 307, thereby driving the outer sliding of inner arm 305 to outer arm 303, in this process, inner arm 305 pulls steel wire rope two 403, so that winding wheel 402 is continuously rotated by the tension to release winding wheel 402, until inner arm 305 extends out of outer arm 303 enough length, so that the length of outer arm 303 and inner arm 305 meets the carrying demand, at this time, the telescopic end of electric telescopic rod 501 is retracted, so that the tooth groove 504 of the collar 503 engages with the gear 505, thereby the gear 505 is clamped by the tooth groove 504 in the collar 503, so that the rotating shaft 405 and the winding wheel 402 cannot rotate, providing additional fixing effect for the winding wheel 402, so that steel wire rope two 403 remains tight after the length adjustment of outer arm 303 and inner arm 305 is completed, to maintain the tension effect on inner arm 305.

[0049] Rotating mechanical arm:

[0050] When the direction of the clamping jaw 308 needs to be changed during the cargo carrying process, the rotating seat 302, the outer arm 303 and the inner arm 305 need to be rotated to drive the clamping jaw 308 to rotate, at this time, the motor one 301 on the connecting seat 2 drives the rotating seat 302 to rotate, so that the rotating seat 302 drives the outer arm 303 to rotate, thereby driving the inner arm 305 and the clamping jaw 308 to rotate.

[0051] In the process of rotating the rotating seat 302 to drive the outer arm 303 and the inner arm 305 to rotate, the rope wheel two 404 on the inner arm 305 can rotate, under the rotation limiting action of the rope wheel two 404, the rope wheel two 404 realizes corresponding movement on the steel wire rope two 403, so that both ends of the steel wire rope two 403 are wound on the winding wheel 402, the inner wall 305 has a certain rotating space through the setting of the rope wheel two 404, the steel wire rope two 403 slides with the inner arm 305, keeps the steel wire rope two 403 always in a tight state when the inner arm 305 rotates, realizes that the steel wire rope two 403 keeps the pulling effect on the inner arm 305 and the outer arm 303 in the process of rotating the inner arm 305. It should be noted that the rotation angle of the outer arm 303 and the inner arm 305 is limited, and the limit is that the steel wire rope two 403 will not be pulled out of the winding wheel 402 when the steel wire rope two 403 slides relative to the rope wheel two 404.

[0052] Shortening the mechanical arm:

[0053] When the moving distance of the goods is shortened, the length of the outer arm 303 and the inner arm 305 needs to be shortened, the movable end of the electric telescopic rod 501 is extended, the sleeve ring 503 is driven to slide away from the gear 505, so that the gear slot 504 is away from the outer wall of the gear 505, then the motor two 304 is started to release the steel wire rope one 306, so that the steel wire rope one 306 no longer pulls the end of the inner arm 305 close to the motor two 304, so that the inner arm 305 can slide back to the inside of the outer arm 303, in the process, the motor three 401 is started to drive the two winding wheels 402 to rotate, and the steel wire rope two 403 is wound, so that the steel wire rope two 403 pulls the inner arm 305 under the cooperation of the rope wheel two 404, so that it slides into the outer arm 303, at this time, the last segment of the mechanical arm composed of the outer arm 303 and the inner arm 305 will be shortened. Continue to wind the steel wire rope two 403 through the winding wheel 402, until the steel wire rope one 306 is straightened again, and the end of the inner arm 305 close to the motor two 304 is pulled, at this time, the inner arm 305 is contracted to the shortest distance, the motor three 401 is turned off, and the winding wheel 402 is stopped. Then the movable end of the electric telescopic rod 501 is retracted, so that the sleeve ring 503 is clamped again, so that the rotating shaft 405 cannot rotate, so as to complete the shortening of the mechanical arm, so as to adapt to different goods moving requirements, and still can keep the pulling effect of the steel wire rope two 403 to the inner arm 305 and the outer arm 303 in the shortening process.

[0054] The drawings of the present scheme are all drawn for the purpose of expressing the structure, and do not equal the size of the real object, and also do not represent the actual power of the real object, especially the motor one 301, the motor two 304 and the motor three 401, the size of the motor in the drawing should not be used to judge that the power of the motor is too small to realize the technical effects described in the present scheme.

[0055] The above is only an embodiment of the present application, and does not limit the present application, any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A multi-link robot arm for a handling operation, characterized by, The utility model relates to a kind of telescopic arm, including: Main arm (1), the movable end of main arm (1) is provided with connecting seat (2), connecting seat (2) is provided with telescopic assembly; Telescopic assembly includes motor one (301) fixedly installed in connecting seat (2), the bottom of connecting seat (2) is rotatably connected with rotating seat (302), the output shaft of motor one (301) passes through connecting seat (2) and is fixedly connected with rotating seat (302), the bottom of rotating seat (302) is fixedly connected with outer arm (303), the bottom of rotating seat (302) is fixedly installed with motor two (304), inner arm (305) is slidably connected in outer arm (303), the output shaft of motor two (304) is fixedly connected with two steel wires one (306) on symmetry, the inner side wall of outer arm (303) away from motor two (304) is rotatably connected with two rope pulleys one (307) on symmetry, rope pulley one (307) is located between outer arm (303) and inner arm (305), two steel wires one (306) are wound on the rope pulley one (307) on the side just, the end of two steel wires one (306) away from motor two (304) is fixedly connected with the side of inner arm (305) close to motor two (304), the end of inner arm (305) away from connecting seat (2) is fixedly installed with gripper (308); Connecting seat (2) is provided with straightening assembly, straightening assembly includes motor three (401) fixedly installed in connecting seat (2), connecting seat (2) is rotatably connected with two winding wheels (402) on symmetry, the output shaft of motor three (401) is connected with the winding wheel (402) closest to motor three (401), two winding wheels (402) are fixedly connected with one steel wire two (403) in common, the end of inner arm (305) away from outer arm (303) is rotatably connected with rope pulley two (404), rotating shaft (405) is rotatably connected in connecting seat (2), the both ends of rotating shaft (405) pass out connecting seat (2) and are coaxially fixedly connected with two winding wheels (402); Steel wire two (403) is wound on rope pulley two (404), the both ends of steel wire two (403) are wound on two winding wheels (402) respectively; Connecting seat (2) is provided with limiting assembly, limiting assembly includes electric telescopic rod (501) fixedly installed in connecting seat (2), sliding rod (502) is fixedly installed in connecting seat (2), electric telescopic rod (501) and sliding rod (502) are symmetrically arranged on the both sides of rotating shaft (405), electric telescopic rod (501) and sliding rod (502) are provided with sleeve ring (503) between, two side ears are arranged on the both sides of sleeve ring (503), the telescopic end of electric telescopic rod (501) is fixedly connected with one side ear of sleeve ring (503), the side ear of sleeve ring (503) away from electric telescopic rod (501) side is slidably connected with sliding rod (502), a plurality of tooth slots (504) are formed in sleeve ring (503), gear (505) is fixedly connected in the middle part of rotating shaft (405).

2. The multi-link robot arm for handling operations according to claim 1, characterized in that, Pulley is arranged at the junction of outer arm (303) and inner arm (305).

3. The multi-link robot arm for handling operations according to claim 1, characterized in that, A plurality of tooth grooves (504) are equidistantly arranged on the inner arc surface of the collar (503).

4. The multi-link robot arm for handling operations according to claim 3, characterized in that, A plurality of teeth are equidistantly arranged on the gear (505), and the number of the teeth is the same as that of the tooth grooves (504). The gear (505) is engaged with the tooth grooves (504).

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