Mechanical arm

Abstract

The utility model provides a mechanical arm which comprises a base. The fixed column is provided with a column body connected with the base, a guide rod arranged on the column body and a sliding seat matched with the guide rod, the column body can rotate relative to the base by taking the center line of the column body as a first axis, and the sliding seat can move along the axis of the guide rod; the head end of the first cantilever is connected with the sliding seat, and a first turntable is arranged at the tail end; the head end of the second cantilever is connected with the first rotary table and can rotate relative to the first cantilever with the center line of the first rotary table as the second axis, and a clamping jaw is arranged at the tail end of the second cantilever. According to the multi-degree-of-freedom manipulator, the manipulator can still have multiple degrees of freedom while the structure of the manipulator is simplified, so that the clamping jaw can move in different degrees of freedom, and then operations such as flexible transferring and grabbing of workpieces are achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a manipulator. Background Art

[0002] With the popularization and application of mechanical automation, mechanical drive devices have been widely used, and robots are often used in automated production. Robots are used to grasp workpieces, thereby reducing production time during product production and improving the efficiency of automated production.

[0003] However, in order to ensure the accuracy of grasping, existing manipulators often have more complex structures. For example, a six-axis manipulator mainly completes the transfer and grasping of workpieces by driving the rotation of multiple joints. This mode of movement requires a large space for action, and it is difficult for a six-axis manipulator to operate efficiently when there is not enough space. In addition, although the three-axis manipulators and four-axis manipulators in the prior art are relatively mature, due to the limited freedom of movement of such manipulators, they cannot fully meet the actual production and processing processes that require more flexibility. In addition, some manipulators have insufficient stability during movement due to excessive swing amplitude, which may bring certain safety hazards to the processing and production process. Utility Model Content

[0004] In view of the above problems, the utility model provides a robot arm that can flexibly transfer and grasp workpieces in a scene with limited space and has better stability.

[0005] The utility model provides a manipulator, comprising:

[0006] Base;

[0007] A fixed column, comprising a column connected to the base, a guide rod arranged on the column, and a slide seat matched with the guide rod, wherein the column can rotate relative to the base with its own center line as a first axis, and the slide seat can move along the axis of the guide rod;

[0008] A first cantilever, the head end of which is connected to the slide seat, and the tail end of which is provided with a first turntable;

[0009] The second cantilever has a head end connected to the first turntable and can rotate relative to the first cantilever with the center line of the first turntable as the second axis, and a claw is arranged at the tail end.

[0010] In some embodiments, the column is vertically disposed above the base, the first cantilever is horizontally disposed on one side of the column, and the second cantilever is parallel to the first cantilever.

[0011] In some embodiments, a ratio of the first cantilever length to the second cantilever length is between 1.5-1.

[0012] In some embodiments, the base comprises:

[0013] seat body;

[0014] A turntable, a first end of which is connected to the column and a second end of which is fixed to the top of the seat;

[0015] The first driving member is connected to the rotating disk to drive the rotating disk to rotate around the first axis.

[0016] In some embodiments, the guide rod is a lead screw, and the slide seat includes a nut matched with the lead screw and a slider connected to the nut;

[0017] The fixing column also includes:

[0018] Support seats are respectively arranged at the top and bottom ends of the column, and both ends of the lead screw are respectively connected to the support seats;

[0019] The second driving member is connected to the lead screw to drive the lead screw to rotate and make the slider move along the axis of the lead screw along with the movement of the nut.

[0020] In some embodiments, a first guide portion is provided on a side of the column facing the first cantilever, and the slider is provided with a first sliding portion matched with the first guide portion.

[0021] In some embodiments, the first turntable has a rotating shaft extending toward the bottom of the first cantilever, and the head end of the second cantilever cooperates with the rotating shaft;

[0022] The first cantilever further comprises:

[0023] A third driving member, wherein the output shaft of the third driving member is connected to the first turntable and is used to drive the rotating shaft to move.

[0024] In some embodiments, the second cantilever further comprises:

[0025] a fourth driving member located at the rear end of the second cantilever;

[0026] a second turntable, one end of which is connected to the output shaft of the fourth driving member, and the other end of which is connected to the claw;

[0027] Driven by the fourth driving member, the claw can rotate relative to the second cantilever with the center line of the second turntable as the third axis.

[0028] In some embodiments, a second guide portion is provided at the bottom of the second turntable;

[0029] The claws include:

[0030] A buffer frame, having a second sliding portion on the top, wherein the second sliding portion cooperates with the second guide portion so that the buffer frame can move along the radial direction of the second turntable;

[0031] A transverse grabbing assembly is disposed on the buffer frame in a direction perpendicular to the third axis and extends toward one side of the buffer frame;

[0032] The vertical grabbing assembly is arranged on the buffer frame along a direction parallel to the third axis and extends downwardly from the buffer frame.

[0033] In some embodiments, the buffer frame comprises:

[0034] an upper fixing plate, used for fixing the transverse grabbing assembly, and the second sliding portion is arranged on the upper fixing plate;

[0035] A lower fixing plate, used for fixing the vertical grab assembly;

[0036] The elastic component comprises pins respectively connected to the upper fixing plate and the lower fixing plate, and an elastic member sleeved on the outer side of the pins.

[0037] Due to the adoption of the above technical solution, the technical effects achieved by the utility model are as follows:

[0038] The manipulator provided by the utility model has a column that can rotate relative to the base with a first axis, a first cantilever that can move along the axis of the guide rod, and a second cantilever that can rotate relative to the first cantilever with a second axis. This arrangement can simplify the structure of the manipulator while still enabling the manipulator to have multiple degrees of freedom, so that the claws can move on different degrees of freedom, thereby realizing operations such as flexible transfer and grasping of workpieces. Moreover, since the first cantilever and the second cantilever can rotate relative to each other, the manipulator can adapt to different workspaces, and the manipulator can work normally even in scenes with limited free time. In addition, in the manipulator provided by the present application, the movement trajectories of components such as the column, the first cantilever, and the second cantilever are restricted by other components in the manipulator, such as the rotation trajectory of the column is restricted by the base, and the lifting trajectory of the first cantilever is restricted by the cooperation of the slide seat and the guide rod, etc. This arrangement can ensure the stability of the manipulator's movement process, thereby helping to improve the safety of the equipment.

[0039] The above description is only an overview of the technical solution of the embodiment of the utility model. In order to more clearly understand the technical means of the embodiment of the utility model, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiment of the utility model more obvious and easy to understand, the specific implementation methods of the utility model are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings are only used to illustrate the embodiments and are not considered to be limitations of the present invention. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings:

[0041] Figure 1 It is a structural schematic diagram of a manipulator provided by an embodiment of the utility model;

[0042] Figure 2 It is a structural schematic diagram of another manipulator provided by an embodiment of the utility model;

[0043] Figure 3 It is a structural schematic diagram of a base provided by an embodiment of the utility model;

[0044] Figure 4 It is a structural schematic diagram of a fixing column provided by an embodiment of the utility model;

[0045] Figure 5 It is a schematic diagram of the structure of another fixing column provided in an embodiment of the utility model;

[0046] Figure 6 It is a structural schematic diagram of a first cantilever provided in an embodiment of the utility model;

[0047] Figure 7 It is a structural schematic diagram of a second cantilever provided in an embodiment of the utility model;

[0048] Figure 8 It is a structural schematic diagram of a clamping claw provided by an embodiment of the utility model;

[0049] Fig. 9 It is a schematic structural diagram of another clamping claw provided in an embodiment of the utility model.

[0050] In the figure:

[0051] 100 base, 110 base body, 120 turntable, 130 first driving member;

[0052] 200 fixed column, 210 column body, 211 first guide part, 212 first sliding part, 220 guide rod, 230 slide seat, 240 support seat, 250 second driving member;

[0053] 300 first cantilever, 310 first turntable, 311 rotating shaft, 320 third driving member;

[0054] 400 second cantilever, 410 fourth driving member, 420 second turntable, 421 second guide portion;

[0055] 500 clamping claw, 510 buffer frame, 511 second sliding part, 512 upper fixing plate, 513 lower fixing plate, 514 elastic component, 520 horizontal grasping component, 521 first horizontal hand claw, 522 second horizontal hand claw, 530 vertical grasping component, 531 first vertical hand claw, 532 second vertical hand claw. DETAILED DESCRIPTION

[0056] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein.

[0057] Reference Figure 1-Figure 2 As shown, the embodiment of the utility model provides a manipulator, including a base 100, a fixed column 200, a first cantilever 300 and a second cantilever 400. The fixed column 200 has a column 210 connected to the base 100, a guide rod 220 arranged on the column 210, and a slide 230 matched with the guide rod 220. The column 210 can rotate relative to the base 100 with its own center line as the first axis a, and the slide 230 can move along the axis of the guide rod 220; the head end of the first cantilever 300 is connected to the slide 230, and the tail end is provided with a first turntable 310; the head end of the second cantilever 400 is connected to the first turntable 310, and can rotate relative to the first cantilever 300 with the center line of the first turntable 310 as the second axis b, and the tail end is provided with a claw 500.

[0058] It should be noted that the motion structures of the column 210, the first cantilever 300 and the second cantilever 400 in the present application can have a variety of different implementations. For example, the rotation process of the column 210 relative to the base 100 about the first axis a can be achieved by connecting the column 210 with the turntable 120 in the base 100, or by connecting the column 210 with the rotating shaft 311 set in the base 100; the motion process of the first cantilever 300 along the axis of the guide rod 220 can be achieved by the cooperation of the ball screw and the screw nut, or by the cooperation of the rack and the gear, or by the cooperation of the optical axis and the sliding cylinder; the rotation process of the second cantilever 400 relative to the first cantilever 300 can be achieved by the connection of the first turntable 310 and the second cantilever 400, or by the connection of the gear shaft and the second cantilever 400, and the present application does not limit this.

[0059] The manipulator provided by the utility model can simplify the structure of the manipulator while still enabling the manipulator to have multiple degrees of freedom, so that the claw 500 can move in different degrees of freedom, thereby realizing operations such as flexible transfer and grasping of the workpiece. In addition, since the first cantilever 300 and the second cantilever 400 can rotate relative to each other, the manipulator can adapt to different workspaces, and the manipulator can work normally even in scenes with limited free time. In addition, in the manipulator provided by the present application, the movement trajectory of components such as the column 210, the first cantilever 300 and the second cantilever 400 is limited by other components in the manipulator, such as the rotation trajectory of the column 210 is limited by the base 100, and the lifting trajectory of the first cantilever 300 is limited by the cooperation of the slide 230 and the guide rod 220, etc. This setting method can ensure the stability of the manipulator movement process, thereby helping to improve the safety of the equipment.

[0060] In some embodiments, the column 210 is vertically disposed above the base 100 , the first cantilever 300 is horizontally disposed on one side of the column 210 , and the second cantilever 400 is parallel to the first cantilever 300 .

[0061] The column 210 is arranged vertically so that the extension direction of the first axis a is the vertical direction, and the first cantilever 300 and the second cantilever 400 are arranged horizontally so that the extension direction of the second axis b is also the vertical direction. In addition, further, the guide rod 220 can be vertically arranged inside the column 210 so that the first cantilever 300 can move up and down in the vertical direction. Compared with the inclined arrangement of the column 210, the first cantilever 300 and the second cantilever 400, this arrangement in the present application can not only ensure that the manipulator has a stable structure to a large extent, but also enable the manipulator to have a larger working range, that is, the manipulator can work between the projection range of the first cantilever 300 on the horizontal plane (minimum working range) to the projection range of the first cantilever 300 and the second cantilever 400 on the horizontal plane when they are both in an extended state and located in the same straight line (maximum working range).

[0062] In other embodiments, in order to further ensure the structural stability of the manipulator, avoid tipping over during operation of the manipulator as much as possible, and take into account the maximum working range of the manipulator, the ratio of the length of the first cantilever 300 to the length of the second cantilever 400 is set between 1.5-1.

[0063] Among them, the "length of the first cantilever 300" refers to the distance between the farthest end and the nearest end of the outer contour of the first cantilever 300 along the direction perpendicular to the first axis a; the "length of the second cantilever 400" refers to the distance between the farthest end and the nearest end of the outer contour of the second cantilever 400 along the direction perpendicular to the second axis b.

[0064] It can be understood that when the ratio of the length of the first cantilever 300 to the length of the second cantilever 400 is 1, it means that the first cantilever 300 and the second cantilever 400 are of equal length, and the structure of the manipulator is the most stable at this time, but the maximum working range of the manipulator is small; when the ratio of the length of the first cantilever 300 to the length of the second cantilever 400 is 1.5, the overall center of gravity of the first cantilever 300 and the second cantilever 400 gradually moves away from the center of gravity of the base 100. Although the manipulator has a larger maximum working range at this time, the structural stability of the manipulator is gradually reduced. Preferably, the ratio of the length of the first cantilever 300 to the length of the second cantilever 400 can be set to 1.25, so that the manipulator can take into account both stability and maximum working range.

[0065] In some embodiments, reference Figure 3 As shown, the base 100 includes a base body 110, a turntable 120 and a first driving member 130. The first end of the turntable 120 is connected to the column 210, and the second end is fixed to the top of the base body 110; the first driving member 130 is connected to the turntable 120 to drive the turntable 120 to rotate around the first axis a.

[0066] It should be noted that the seat 110 can not only be used to fix the turntable 120 and the first drive member 130, but also serve as a supporting component of the entire manipulator. In order to further improve the structural stability of the manipulator, the seat 110 can be set to an I-shaped structure or a trapezoidal structure, etc., and the present application does not limit the structure of the seat 110. In addition, the first drive member 130, as a driving component, can be a drive motor, a hydraulic drive member, a pneumatic drive member, etc., and the present application does not limit the type of the first drive member 130.

[0067] In order to more clearly understand the operation process of the first cantilever 300 , the present application describes the structure related to the first cantilever 300 with a specific example.

[0068] For example, refer to Figure 4 As shown, the guide rod 220 is a lead screw, and the slide seat 230 includes a nut (not marked in the figure) matched with the lead screw and a slider (not marked in the figure) connected to the nut; further, the fixed column 200 also includes a support seat 240 and a second driving member 250. The support seat 240 is respectively arranged at the top and bottom ends of the column 210, and the two ends of the lead screw are respectively connected to the support seat 240; the second driving member 250 is connected to the lead screw to drive the lead screw to rotate, and the slider moves along the axis of the lead screw with the movement of the nut.

[0069] Optionally, the second drive member 250 can be connected to the end of the lead screw through a coupling. In addition, in order to achieve miniaturization of the overall size of the manipulator, the second drive member 250 can be vertically arranged at the end of the column 210. In addition, the second drive member 250 can be a drive motor, a hydraulic drive member, a pneumatic drive member, etc. The present application does not limit the connection method between the second drive member 250 and the lead screw, the setting method of the second drive member 250, and the type of the second drive member 250.

[0070] In some embodiments, reference Figure 5 As shown, a first guide portion 211 is provided on one side of the column 210 facing the first cantilever 300, and a first sliding portion 212 is provided on the slider to match the first guide portion 211. Exemplarily, the first guide portion 211 may be a linear guide rail, and the first sliding portion 212 may be a linear slider. Alternatively, the first guide portion 211 may be a rack, and the first sliding portion 212 may be a gear. The present application does not limit the structures of the first guide portion 211 and the first sliding portion 212.

[0071] Through the cooperation between the first guide portion 211 and the first sliding portion 212 , the movement process of the first cantilever 300 can be made smoother, which is beneficial to improving the stability of the robot.

[0072] In some embodiments, reference Figure 1 and Figure 6 As shown, the first turntable 310 has a rotating shaft 311 extending toward the bottom of the first cantilever 300, and the head end of the second cantilever 400 cooperates with the rotating shaft 311. Further, the first cantilever 300 also includes a third driving member 320, the output shaft of the third driving member 320 is connected to the first turntable 310, and is used to drive the rotating shaft 311 to move.

[0073] It should be noted that the third driving member 320 can be arranged perpendicular to the second axis b to further reduce the overall size of the manipulator, and the third driving member 320 can be a driving motor, a hydraulic driving member, a pneumatic driving member, etc. In addition, the rotation of the second cantilever 400 can be driven by the third driving member 320 and the first turntable 310, and can also be driven by a connecting rod, a gear rack, a chain sprocket, etc., which is not limited in this application.

[0074] In some embodiments, reference Figure 2 and Figure 7 As shown, the second cantilever 400 further includes a fourth driving member 410 located at the rear end of the second cantilever 400, and a second turntable 420, one end of the second turntable 420 is connected to the output shaft of the fourth driving member 410, and the other end is connected to the claw 500. Moreover, under the drive of the fourth driving member 410, the claw 500 can rotate relative to the second cantilever 400 with the center line of the second turntable 420 as the third axis c.

[0075] Preferably, the second cantilever 400 body may be provided with a plurality of spaced mounting holes (not shown in the figure), and the fourth driving member 410 may be fixed to any of the mounting holes, so that the claw 500 has a plurality of different mounting positions on the second cantilever 400. In addition, the fourth driving member 410 may be a driving motor, a hydraulic driving member, a pneumatic driving member, etc., which is not limited in the present application.

[0076] In some embodiments, reference Figure 8 and Fig. 9 As shown, a second guide portion 421 is provided at the bottom of the second turntable 420. Further, the claw 500 includes a buffer frame 510, a transverse grab assembly 520 and a vertical grab assembly 530. The buffer frame 510 has a second sliding portion 511 at the top, and the second sliding portion 511 cooperates with the second guide portion 421 so that the buffer frame 510 can move radially along the second turntable 420; the transverse grab assembly 520 is provided on the buffer frame 510 in a direction perpendicular to the third axis c and extends to one side of the buffer frame 510; the vertical grab assembly 530 is provided on the buffer frame 510 in a direction parallel to the third axis c and extends to the bottom of the buffer frame 510. The second guide portion 421 can be a guide rail, and the second sliding portion 511 can be a guide block.

[0077] Further, refer to Fig. 9 As shown, the buffer frame 510 includes an upper fixing plate 512, a lower fixing plate 513 and an elastic component 514. The upper fixing plate 512 is used to fix the horizontal grabbing component 520, and the second sliding portion 511 is arranged on the upper fixing plate 512; the lower fixing plate 513 is used to fix the vertical grabbing component 530; the elastic component 514 has a pin (not marked in the figure) connected to the upper fixing plate 512 and the lower fixing plate 513 respectively, and an elastic member (not marked in the figure) sleeved on the outer side of the pin.

[0078] The setting of the elastic component 514 can make the buffer frame 510 have a certain buffering effect. Especially when the claw 500 is performing a grasping action, the buffering effect provided by the elastic component 514 can avoid damage to the workpiece due to inappropriate force of the claw 500 to a certain extent, which is conducive to improving the smoothness of the grasping process of the claw 500.

[0079] In addition, the lateral grasping assembly 520 may include a first lateral gripper 521 and a second lateral gripper 522 that are arranged opposite to each other, and the vertical grasping assembly 530 includes a first vertical gripper 531 and a second vertical gripper 532 that are arranged opposite to each other. Moreover, the first lateral gripper 521, the second lateral gripper 522, the first vertical gripper 531 and the second vertical gripper 532 are all elastic. This arrangement enables the clamping claw 500 to be in flexible contact with the workpiece, thereby preventing damage to the workpiece due to excessive clamping force.

[0080] It can be understood that the present application can provide the first horizontal gripper 521, the second horizontal gripper 522, the first vertical gripper 531 and the second vertical gripper 532 with a certain degree of elasticity by respectively setting elastic gaskets on the inner sides of the four grippers; or, the first horizontal gripper 521, the second horizontal gripper 522, the first vertical gripper 531 and the second vertical gripper 532 can be made of elastic materials (such as elastic metal, rubber, etc.) to make the four grippers elastic, and the present application does not limit this.

[0081] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. Similarly, in order to simplify the present invention and help understand one or more of the various aspects of the present invention, in the above description of the exemplary embodiments of the present invention, the various features of the embodiments of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. Among them, the claims that follow the specific embodiments are hereby expressly incorporated into the specific embodiments, wherein each claim itself serves as a separate embodiment of the present invention.

[0082] It should be noted that the above embodiments illustrate the utility model rather than limit the utility model, and those skilled in the art may design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets should not be constructed as a limitation on the claims. The word "comprising" does not exclude the existence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the existence of multiple such elements. The utility model can be implemented by means of hardware including several different elements and by means of appropriately programmed computers. In a unit claim that lists several devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order. These words can be interpreted as names. The steps in the above embodiments should not be understood as limitations on the order of execution unless otherwise specified.

Claims

1. A robot, characterized in that: include: Base; A fixed column, comprising a column connected to the base, a guide rod arranged on the column, and a slide seat matched with the guide rod, wherein the column can rotate relative to the base with its own center line as a first axis, and the slide seat can move along the axis of the guide rod; A first cantilever, the head end of which is connected to the slide seat, and the tail end of which is provided with a first turntable; The second cantilever has a head end connected to the first turntable and can rotate relative to the first cantilever with the center line of the first turntable as the second axis, and a claw is arranged at the tail end.

2. The robot according to claim 1, characterized in that: The column is vertically arranged above the base, the first cantilever is horizontally arranged at one side of the column, and the second cantilever is parallel to the first cantilever.

3. The robot according to claim 2, characterized in that: The ratio of the first cantilever length to the second cantilever length is between 1.5-1.

4. The robot according to claim 1, characterized in that: The base comprises: seat body; A turntable, a first end of which is connected to the column and a second end of which is fixed to the top of the seat; The first driving member is connected to the rotating disk to drive the rotating disk to rotate around the first axis.

5. The robot according to claim 1, characterized in that: The guide rod is a lead screw, and the slide seat includes a nut matched with the lead screw and a slider connected with the nut; The fixing column also includes: Support seats are respectively arranged at the top and bottom ends of the column, and both ends of the lead screw are respectively connected to the support seats; The second driving member is connected to the lead screw to drive the lead screw to rotate and make the slider move along the axis of the lead screw along with the movement of the nut.

6. The robot according to claim 5, characterized in that: A first guide portion is disposed on one side of the column facing the first cantilever, and a first sliding portion matched with the first guide portion is disposed on the sliding block.

7. The robot according to claim 1, characterized in that: The first turntable has a rotating shaft extending toward the bottom of the first cantilever, and the head end of the second cantilever cooperates with the rotating shaft; The first cantilever further comprises: A third driving member, wherein the output shaft of the third driving member is connected to the first turntable and is used to drive the rotating shaft to move.

8. The robot according to claim 1, characterized in that: The second cantilever further comprises: a fourth driving member located at the rear end of the second cantilever; a second turntable, one end of which is connected to the output shaft of the fourth driving member, and the other end of which is connected to the claw; Driven by the fourth driving member, the claw can rotate relative to the second cantilever with the center line of the second turntable as the third axis.

9. The robot according to claim 8, characterized in that: A second guide portion is provided at the bottom of the second turntable; The claws include: A buffer frame, having a second sliding portion on the top, wherein the second sliding portion cooperates with the second guide portion so that the buffer frame can move along the radial direction of the second turntable; A transverse grabbing assembly is disposed on the buffer frame in a direction perpendicular to the third axis and extends toward one side of the buffer frame; The vertical grabbing assembly is arranged on the buffer frame along a direction parallel to the third axis and extends downwardly from the buffer frame.

10. The robot according to claim 9, characterized in that: The buffer frame comprises: an upper fixing plate, used for fixing the transverse grabbing assembly, and the second sliding portion is arranged on the upper fixing plate; A lower fixing plate, used for fixing the vertical grab assembly; The elastic component comprises pins respectively connected to the upper fixing plate and the lower fixing plate, and an elastic member sleeved on the outer side of the pins.

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