Carbon fiber manipulator

Abstract

The utility model discloses a carbon fiber manipulator which comprises a base; the first connecting rod and the second connecting rod are arranged in parallel up and down, and the first connecting rod is a carbon fiber circular tube; the second connecting rod is a carbon fiber square tube, and two ends of the first and second connecting rods are respectively pivoted with the base and the connecting seat to form a four-connecting-rod structure; the first rotary joint is connected to the base; the first rotary brake device is arranged on one side of the first rotary joint; the second rotary joint is arranged on the connecting seat; the second rotary brake device is arranged on one side of the second rotary joint; the upper end of a cylinder body of the lifting cylinder is fixed to the two fixing plates and the upper end of the base, and a piston rod of the lifting cylinder faces downwards and is connected to a connecting shaft at one end of the second connecting rod through a connecting piece. The mechanical arm breaks through material layout of a rigid mechanical arm, promotes upgrading and transformation of an existing mechanical arm technology, and effectively reduces the weight of the mechanical arm body by 30%.

Description

Technical Field

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

[0002] The existing robot arm body is mostly connected to the end execution gripper by bolts.

[0003] The existing low-altitude walking truss manipulators and suspended manipulators are all made of 45#, A3, Cr20 or cast iron (HT), aluminum alloy and other materials. Their specific gravity properties have hindered the low-altitude infrastructure development of the materials. There are often quality and safety hazards such as desoldering, breakage, falling, corrosion, and deformation of the manipulator arms. There are also occasional shaking, swaying, unstable infrastructure, inertial collision and other factors.

[0004] Existing robotic arms often rust and corrode when used in specific environments. The mechanical properties of the material itself, such as strength, plasticity, and toughness, will be destroyed, the geometric shape will be deformed, and the service life will be severely reduced.

[0005] The existing BPF manipulator linkage mechanism is a rectangular steel pipe that is processed and welded with a rotary sleeve, and is combined with a connecting plate, a cylinder, a rotary shaft, etc. to form a four-bar driving mechanism. The steel pipe material is often hardened due to welding, resulting in fission and causing hidden dangers.

[0006] The existing manipulator connecting rod drive mechanism has a rotating shaft and a connecting plate that are tightened by bolts on both sides. Once the drive mechanism is abnormal, the equipment is inconvenient to maintain, and when the rotating shaft is removed, the arm sometimes falls off. Summary of the invention

[0007] The purpose of the utility model is to provide a carbon fiber manipulator, which breaks through the material layout of rigid manipulator arms, promotes the upgrading and transformation of existing manipulator arm technology, effectively reduces the weight of the manipulator body by 30%, reduces costs, and improves quality and efficiency.

[0008] In order to achieve the above object, the technical solution of the utility model is:

[0009] A carbon fiber manipulator, comprising:

[0010] The base includes two L-shaped fixing plates arranged in parallel, and a connecting plate connecting the two fixing plates and the middle bending portion; the fixing plate and one end located at the lower part are respectively provided with a mounting hole at the upper and lower ends;

[0011] The first connecting rod and the second connecting rod are arranged in parallel up and down, wherein:

[0012] The first connecting rod is a carbon fiber round tube, each of which is connected to a connecting tube at both ends. The connecting tube at one end is sleeved on one end of a T-shaped joint, and the end has an external thread and an adjusting nut; the other two ends of the T-shaped joint are pivotally connected to the base fixing plate, and the lower part is located at the mounting hole of the upper part; the connecting tube at the other end of the first connecting rod is sleeved on one end of a connecting piece, and the end has an external thread and an adjusting nut, and the other end of the connecting piece has a through hole;

[0013] The second connecting rod is a carbon fiber square tube, one end of which is pivotally connected to the base fixing plate and the lower part is located at the mounting hole of the lower part through a connecting shaft;

[0014] The connecting seat is composed of two fixed plates arranged in parallel and a connecting plate connecting one side of the two fixed plates; the fixed plates are provided with mounting holes and a rotating shaft at the top and bottom, one end of the first connecting rod connecting piece with a through hole is sleeved and fixed on the rotating shaft at the top, and the other end of the second connecting rod is connected to the rotating shaft at the bottom, thereby forming a four-bar connecting rod structure;

[0015] The first rotary joint includes a rotating shaft and upper and lower bearings thereof and an external sleeve; the rotating shaft is connected to the base connecting plate through a bottom plate thereunder;

[0016] A first slewing brake device is arranged on one side of the first slewing joint and fixed on one side of the base;

[0017] The second rotary joint includes a rotating shaft and upper and lower bearings thereof and an external sleeve; the sleeve is connected to the two fixing plates of the connecting seat and the connecting plate;

[0018] A second slewing brake device is disposed on one side of the second slewing joint and fixed to one side of the second slewing joint sleeve;

[0019] A lifting cylinder is vertically downward, with the upper end of the cylinder body fixed to the two fixing plates and the upper end of the base, and the piston rod is downward and connected to the connecting shaft at one end of the second connecting rod through a connecting piece.

[0020] Furthermore, a limit rod is provided on the end surface of the lifting cylinder body near the piston rod, and correspondingly, a limit block for the limit rod to pass through is provided on the connecting member.

[0021] Preferably, both ends of the first connecting rod are connected to the connecting pipe by riveting.

[0022] Preferably, the first slewing brake device is arranged on one side of the first slewing joint, and comprises:

[0023] A brake disc is coaxially arranged outside the first swivel joint sleeve;

[0024] The brake cylinder, the cylinder body of which is vertically arranged on the outer side of the upper part of the base through a fixing bracket, is located under the brake disc; the fixing bracket is U-shaped, one side of which is fixed to the outer side of the upper part of the base, and the other side is located above the upper end surface of the brake disc;

[0025] A fixed brake block is arranged under one side of a fixed bracket located above the upper end surface of the brake disc;

[0026] The movable brake block is arranged at the end of the brake cylinder piston rod, is located below the brake disc, and cooperates with the fixed brake block to clamp the brake disc.

[0027] Furthermore, the first rotary brake device also includes a movable bracket, which is U-shaped and has two sides of its open end pivotally connected to the middle of the fixed bracket. The bottom surface of the middle of the movable bracket abuts against the end of the brake cylinder piston rod, and the movable brake block is arranged on the upper end surface of the middle of the movable bracket.

[0028] Preferably, the second slewing brake device is arranged on one side of the second slewing joint, and comprises:

[0029] The brake disc is coaxially arranged at the bottom of the second rotary joint shaft;

[0030] The brake cylinder, the cylinder body of which is vertically downwardly arranged on the outer wall of the second rotary joint sleeve through a fixed bracket, is located above the brake disc; the fixed bracket is U-shaped, one side of which is fixed to the outer wall of the second rotary joint sleeve, and the other side is located below the brake disc;

[0031] A fixed brake block is arranged under one side of a fixed bracket located below the brake disc;

[0032] The movable brake block is arranged at the end of the brake cylinder piston rod, is located above the brake disc, and cooperates with the fixed brake block to clamp the brake disc.

[0033] In addition, the second rotary brake device also includes a movable bracket, which is U-shaped and has two sides of its open end pivotally connected to the middle of the fixed bracket. The bottom surface of the middle of the movable bracket abuts against the end of the brake cylinder piston rod, and the movable brake block is arranged on the upper end surface of the middle of the movable bracket.

[0034] Preferably, the connecting seat and the sleeve of the second swivel joint are an integral structure.

[0035] Compared with the prior art, the utility model has the following advantages or positive effects:

[0036] The first and second connecting rods in the carbon fiber manipulator described in the utility model are made of carbon fiber material, and combined with the structural improvement of the first and second connecting rods, the rust and corrosion phenomena that occur when the manipulator is used in a specific environment are improved, the lightweight level of the manipulator is improved, the weight of the manipulator body is reduced, the shear strength and corrosion resistance of the manipulator are improved, the quality and safety hazards in the operation of the manipulator are reduced, the material layout of the rigid manipulator is broken through, and the rigid manipulator is successfully replaced. At the same time, through the connection innovations between the joints of the manipulators, such as the cooperation of the adjusting nuts at both ends of the first connecting rod to achieve adjustable length, the hidden danger of loss of the manipulator connecting rod during drive maintenance is eliminated, the product performance and assembly effect are improved, the cost is reduced, the operability of the manipulator transfer and assembly is effectively improved, consumption is reduced, and productivity is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A three-dimensional diagram of an embodiment of the utility model;

[0038] Figure 2 It is a front view of an embodiment of the utility model;

[0039] Figure 3 A top view of an embodiment of the utility model;

[0040] Figure 4 for Figure 3 AA section view;

[0041] Figure 5 It is a three-dimensional diagram of the first and second connecting rods in the embodiment of the utility model;

[0042] Figure 6 It is a three-dimensional exploded view of the first and second connecting rods in the embodiment of the utility model;

[0043] Figure 7 The first rotary brake device in the embodiment of the utility model is a three-dimensional Figure 1 ;

[0044] Figure 8 The first rotary brake device in the embodiment of the utility model is a three-dimensional Figure 2 ;

[0045] Fig. 9 It is a three-dimensional exploded view of the second swivel joint and the connecting seat in the embodiment of the utility model. DETAILED DESCRIPTION

[0046] See also Figures 1 to 9 The carbon fiber manipulator described in the utility model comprises:

[0047] The base 1 comprises two L-shaped fixing plates 11 and 12 arranged in parallel and a connecting plate 13 connecting the bent parts of the two fixing plates 11 and 12; a mounting hole is respectively provided at the upper and lower ends of the fixing plates 11 and 12 at the lower part;

[0048] The first connecting rod 2 and the second connecting rod 3 are arranged in parallel up and down, wherein:

[0049] The first connecting rod 2 is a carbon fiber round tube, and its two ends are connected to a connecting tube 21, 21' respectively. The connecting tube 21 at one end is sleeved on one end of a T-shaped joint 22, and the end has an external thread and an adjusting nut 23; the other two ends of the T-shaped joint 22 are pivotally connected to the mounting holes located at the upper part of the lower part of the fixing plates 11, 12 of the base 1; the connecting tube 21' at the other end of the first connecting rod 2 is sleeved on one end of a connecting piece 24, and the end has an external thread and an adjusting nut 25, and the other end of the connecting piece 24 has a through hole;

[0050] The second connecting rod 3 is a carbon fiber square tube, one end of which is pivotally connected to the mounting hole located at the lower part of the fixing plates 11 and 12 of the base 1 through a connecting shaft 31;

[0051] The connecting seat 4 is composed of two parallel fixed plates 41 and a connecting plate 42 connecting one side of the two fixed plates 41; the fixing plates 41 are respectively provided with mounting holes and rotating shafts 43, 43' at the top and bottom; one end of the connecting member 24 of the first connecting rod 2 with a through hole is sleeved and fixed on the rotating shaft 43 at the top, and the other end of the second connecting rod 3 is connected to the rotating shaft 43' at the bottom, thereby forming a four-bar connecting rod structure;

[0052] The first rotary joint 5 includes a rotating shaft 51 and upper and lower bearings 52 and an external sleeve 53; the rotating shaft 51 is connected to the base 1 and the connecting plate 13 through a bottom plate 54 thereunder;

[0053] The first rotary brake device 6 is arranged on one side of the first rotary joint 5 and fixed on one side of the base 1;

[0054] The second rotary joint 7 includes a rotating shaft 71 and upper and lower bearings 72 thereof and an external sleeve 73; the sleeve 73 connects the two fixing plates 41 and the connecting plate 42 of the connecting seat 4;

[0055] The second rotary brake device 8 is disposed on one side of the second rotary joint 7 and fixed to one side of the sleeve 73 of the second rotary joint 7;

[0056] A lifting cylinder 9, vertically downward, with the upper end of the cylinder body fixed to the upper ends of the two fixing plates 11 and 12 of the base 1, and the piston rod thereof downward and connected to the connecting shaft 31 at one end of the second connecting rod 3 through a connecting piece 91;

[0057] Preferably, a limit rod 92 is provided on the end surface of the cylinder body of the lifting cylinder 9 near the piston rod, and correspondingly, a limit block 93 for the limit rod 92 to pass through is provided on the connecting member 91.

[0058] Preferably, both ends of the first connecting rod 2 are connected to the connecting pipes 21, 21' by riveting.

[0059] Preferably, the first slewing brake device 6 is arranged on one side of the first slewing joint 5, and comprises:

[0060] The brake disc 61 is coaxially arranged outside the sleeve 53 of the first rotary joint 5;

[0061] The brake cylinder 62, the cylinder body of which is vertically upwardly arranged on the outer side of the upper part of the base 1 through a fixing bracket 63, is located below the brake disc 61; the fixing bracket 63 is U-shaped, one side of which is fixed to the outer side of the upper part of the base 1, and the other side is located above the upper end surface of the brake disc 61;

[0062] A fixed brake block 64 is disposed under one side of a fixed bracket 63 located above the upper end surface of the brake disc 61;

[0063] The movable brake block 65 is disposed at the end of the piston rod of the brake cylinder 62 , is located below the brake disc 61 , and cooperates with the fixed brake block 64 to clamp the brake disc 61 .

[0064] Furthermore, the first rotary brake device 6 also includes a movable bracket 66, which is U-shaped, and the two sides of its open end are pivotally connected to the middle of the fixed bracket 63, the bottom surface of the middle of the movable bracket 66 abuts against the end of the piston rod of the brake cylinder 62, and the movable brake block 65 is arranged on the upper end surface of the middle of the movable bracket 66.

[0065] Preferably, the second slewing brake device 8 is arranged on one side of the second slewing joint 7, and comprises:

[0066] The brake disc 81 is coaxially arranged at the bottom of the rotating shaft 71 of the second rotating joint 7;

[0067] The brake cylinder 82, the cylinder body of which is vertically downwardly arranged on the outer wall of the sleeve 73 of the second rotary joint 7 through a fixing bracket 83, is located above the brake disc 81; the fixing bracket 83 is U-shaped, one side of which is fixed to the outer wall of the sleeve 73 of the second rotary joint 7, and the other side is located below the brake disc 81;

[0068] A fixed brake block 84 is disposed under one side of a fixed bracket 83 located below the brake disc 81;

[0069] The movable brake block 85 is disposed at the end of the piston rod of the brake cylinder 82 , is located above the brake disc 81 , and cooperates with the fixed brake block 84 to clamp the brake disc 81 .

[0070] In addition, the second rotary brake device 8 also includes a movable bracket 86, which is U-shaped, and the two sides of its open end are pivotally connected to the middle of the fixed bracket 83, the bottom surface of the middle of the movable bracket 86 abuts against the end of the piston rod of the brake cylinder 82, and the movable brake block 85 is arranged on the upper end surface of the middle of the movable bracket 86.

[0071] Preferably, the connecting seat 4 and the sleeve 73 of the second swivel joint 7 are an integral structure.

Claims

1. A carbon fiber manipulator, It is characterized in that include, The base includes two L-shaped fixing plates arranged in parallel, and a connecting plate connecting the two fixing plates and the middle bending portion; the fixing plate and one end located at the lower part are respectively provided with a mounting hole at the upper and lower ends; The first connecting rod and the second connecting rod are arranged in parallel up and down, wherein: The first connecting rod is a carbon fiber round tube, each of which is connected to a connecting tube at both ends. The connecting tube at one end is sleeved on one end of a T-shaped joint, and the end has an external thread and an adjusting nut; the other two ends of the T-shaped joint are pivotally connected to the base fixing plate, and the lower part is located at the mounting hole of the upper part; the connecting tube at the other end of the first connecting rod is sleeved on one end of a connecting piece, and the end has an external thread and an adjusting nut, and the other end of the connecting piece has a through hole; The second connecting rod is a carbon fiber square tube, one end of which is pivotally connected to the base fixing plate and the lower part is located at the mounting hole of the lower part through a connecting shaft; The connecting seat is composed of two fixed plates arranged in parallel and a connecting plate connecting one side of the two fixed plates; the fixed plates are provided with mounting holes and a rotating shaft at the top and bottom, one end of the first connecting rod connecting piece with a through hole is sleeved and fixed on the rotating shaft at the top, and the other end of the second connecting rod is connected to the rotating shaft at the bottom, thereby forming a four-bar connecting rod structure; The first rotary joint includes a rotating shaft and upper and lower bearings thereof and an external sleeve; the rotating shaft is connected to the base connecting plate through a bottom plate thereunder; A first slewing brake device is arranged on one side of the first slewing joint and fixed on one side of the base; The second rotary joint includes a rotating shaft and upper and lower bearings thereof and an external sleeve; the sleeve is connected to the two fixing plates of the connecting seat and the connecting plate; A second slewing brake device is disposed on one side of the second slewing joint and fixed to one side of the sleeve; A lifting cylinder is vertically downward, with the upper end of the cylinder body fixed to the two fixing plates and the upper end of the base, and the piston rod is downward and connected to the connecting shaft at one end of the second connecting rod through a connecting piece.

2. The carbon fiber manipulator according to claim 1, It is characterized in that A limiting rod is arranged on the end surface of the lifting cylinder body near the piston rod, and correspondingly, a limiting block for the limiting rod to pass through is arranged on the connecting member.

3. The carbon fiber manipulator according to claim 1, It is characterized in that The two ends of the first connecting rod are connected to the connecting pipe by riveting.

4. The carbon fiber manipulator according to claim 1, It is characterized in that The first slewing brake device is arranged on one side of the first slewing joint, and comprises: A brake disc is coaxially arranged outside the first swivel joint sleeve; The brake cylinder, the cylinder body of which is vertically arranged on the outer side of the upper part of the base through a fixing bracket, is located under the brake disc; the fixing bracket is U-shaped, one side of which is fixed to the outer side of the upper part of the base, and the other side is located above the upper end surface of the brake disc; A fixed brake block is arranged under one side of a fixed bracket located above the upper end surface of the brake disc; The movable brake block is arranged at the end of the brake cylinder piston rod, is located below the brake disc, and cooperates with the fixed brake block to clamp the brake disc.

5. The carbon fiber manipulator according to claim 4, It is characterized in that The first rotary brake device also includes a movable bracket, which is U-shaped. The two sides of its open end are pivotally connected to the middle of the fixed bracket. The bottom surface of the middle of the movable bracket abuts against the end of the brake cylinder piston rod, and the movable brake block is arranged on the upper end surface of the middle of the movable bracket.

6. The carbon fiber manipulator according to claim 1, It is characterized in that The second slewing brake device is arranged on one side of the second slewing joint, and comprises: The brake disc is coaxially arranged at the bottom of the second rotary joint shaft; The brake cylinder, the cylinder body of which is vertically downwardly arranged on the outer wall of the second rotary joint sleeve through a fixing bracket, is located above the brake disc; the fixing bracket is U-shaped, one side of which is fixed to the outer wall of the second rotary joint sleeve, and the other side is located below the brake disc; A fixed brake block is arranged under one side of a fixed bracket located below the brake disc; The movable brake block is arranged at the end of the brake cylinder piston rod, is located above the brake disc, and cooperates with the fixed brake block to clamp the brake disc.

7. The carbon fiber manipulator according to claim 6, It is characterized in that The second rotary brake device also includes a movable bracket, which is U-shaped. The two sides of its open end are pivotally connected to the middle of the fixed bracket. The bottom surface of the middle of the movable bracket abuts against the end of the brake cylinder piston rod, and the movable brake block is arranged on the upper end surface of the middle of the movable bracket.

8. The carbon fiber manipulator according to claim 1, 6 or 7, It is characterized in that The connecting seat and the sleeve of the second rotary joint are an integral structure.

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