Mechanical arm

Abstract

The utility model provides a manipulator. The manipulator comprises a mounting seat, a driving unit assembly, a four-bar mechanism and a bearing frame, a positioning pin hole is formed in the mounting seat; the driving unit assembly is arranged on the mounting seat; the four-bar mechanism is in transmission connection with the driving unit assembly; the bearing frame is hinged to the lower portion of the four-bar mechanism. Thus, the manipulator can be positioned and fixed through the positioning pin holes, rapid mounting and dismounting between the manipulator and the cross beam are achieved, meanwhile, the bearing frame is stable in structure, the manipulator execution tail end can be arranged below the bearing frame, in the motion execution process, the execution tail end jumps slightly and moves stably, and the production and assembly precision can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of automation equipment, and in particular to a robot arm. Background Art

[0002] With the continuous improvement of the level of automation and intelligence in modern industry, manipulators, as key end-effectors, play an increasingly important role in many fields such as manufacturing, assembly, handling, testing and services. The patent application number is 202020967494.1, and the patent name is a patent for a lightweight fast parallel combination robot arm. A robot arm is disclosed, which is connected to the beam through a first mounting seat and connected to the end-effector through a second mounting seat. However, in this patent, both the first mounting seat and the second mounting seat are flat-plate structures, which are not convenient for installation between the beam and the first mounting seat. At the same time, the second mounting plate is small in size and light in weight. During the execution of the movement, it has large jumps, which affects the production and assembly accuracy. Utility Model Content

[0003] In order to solve the above technical problems, the present application provides a robot arm, including a mounting seat, a drive unit assembly, a four-bar mechanism, and a supporting frame; the mounting seat is provided with a positioning pin hole; the drive unit assembly is arranged on the mounting seat; the four-bar mechanism is transmission-connected to the drive unit assembly; and the supporting frame is hinged at the bottom of the four-bar mechanism.

[0004] In some embodiments of the present application, the drive unit assembly includes a first drive unit and a second drive unit symmetrically arranged on a mounting base, and the first drive unit and the second drive unit are both motors.

[0005] In some embodiments of the present application, the four-bar mechanism includes a first link, a second link, a third link and a fourth link; the first end of the first link is transmission connected to the first drive unit; the first end of the second link is hinged to the second end of the first link; the first end of the third link is transmission connected to the second drive unit; the first end of the fourth link is hinged to the second end of the third link.

[0006] In some embodiments of the present application, two four-bar mechanisms are included, and the two four-bar mechanisms are symmetrically arranged and connected by a connecting shaft.

[0007] In some embodiments of the present application, a balancing mechanism is further included, one end of which is hinged to the mounting seat, and the other end of which is hinged to the supporting frame.

[0008] In some embodiments of the present application, the balancing mechanism includes a first balancing pole, a second balancing pole and a third balancing pole; the third balancing pole is hinged to the second end of the third connecting rod; the first end of the first balancing pole is hinged to the mounting seat, and the second end is hinged to the first end of the third balancing pole; the first end of the second balancing pole is hinged to the second end of the third balancing pole, and the second end is hinged to the supporting frame.

[0009] In some embodiments of the present application, the supporting frame includes a first side wall, a second side wall, a first hinge axis, a second hinge axis and a connecting rod, and several of the connecting rods are respectively arranged between the first side wall and the second side wall, and the first hinge axis and the second hinge axis are arranged on the first side wall and the second side wall.

[0010] In some embodiments of the present application, a third driving unit is provided on the supporting frame, and the third driving unit is a motor.

[0011] Compared with the prior art, the utility model has the following advantages and beneficial effects: the manipulator of the present application is provided with a mounting seat and a supporting frame, and the mounting seat is provided with a positioning pin hole, so that the manipulator can be positioned and fixed through the positioning pin hole, and the manipulator and the crossbeam can be quickly installed and disassembled. At the same time, the supporting frame structure is stable, and the manipulator execution end can be arranged under the supporting frame. During the execution of the movement, the execution end has small jumps and smooth movements, which can improve the production assembly accuracy.

[0012] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The accompanying drawings constituting a part of this document are used to provide a further understanding of this document. The exemplary embodiments and descriptions of this document are used to explain this document and do not constitute an improper limitation on this document. In the accompanying drawings:

[0014] Figure 1 is a schematic structural diagram of a manipulator provided by an exemplary embodiment of the present application;

[0015] Figure 2 is a front view of a manipulator provided by an exemplary embodiment of the present application;

[0016] Figure 3 is a top view of a manipulator provided by an exemplary embodiment of the present application;

[0017] Figure 4 It is a schematic structural diagram of a load-bearing frame provided by an exemplary embodiment of the present application.

[0018] In the figure:

[0019] 10. Mounting seat; 101. Positioning pin hole; 20. Drive unit assembly; 201. First drive unit; 202. Second drive unit; 30. Four-bar mechanism; 301. First connecting rod; 302. Second connecting rod; 303. Third connecting rod; 304. Fourth connecting rod; 40. Support frame; 401. First side wall; 402. Second side wall; 403. First hinge axis; 404. Second hinge axis; 405. Connecting rod; 50. Balancing mechanism; 501. First balance rod; 502. Second balance rod; 503. Third balance rod; 60. Third drive unit. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application. It should be noted that, in the absence of conflict, the embodiments in the present application and the features in the embodiments can be combined with each other arbitrarily.

[0021] With the continuous improvement of the level of automation and intelligence in modern industry, manipulators, as key end-effectors, play an increasingly important role in many fields such as manufacturing, assembly, handling, testing and services. The patent application number is 202020967494.1, and the patent name is a patent for a lightweight fast parallel combination robot arm. A robot arm is disclosed, which is connected to the beam through a first mounting seat and connected to the end-effector through a second mounting seat. However, in this patent, both the first mounting seat and the second mounting seat are flat-plate structures, which are not convenient for installation between the beam and the first mounting seat. At the same time, the second mounting plate is small in size and light in weight. During the execution of the movement, it has large jumps, which affects the production and assembly accuracy.

[0022] Based on this, an exemplary embodiment of the present application provides a manipulator, which is provided with a mounting seat and a supporting frame, and the mounting seat is provided with positioning pin holes. In this way, the manipulator can be positioned and fixed through the positioning pin holes, and rapid installation and disassembly between the manipulator and the crossbeam can be achieved. At the same time, the supporting frame structure is stable, and during the movement, the jump is small and the movement is smooth.

[0023] An exemplary embodiment of the present application provides a robot arm, such as Figure 1As shown, the manipulator includes a mounting seat 10, a drive unit assembly 20, a four-bar mechanism 30, and a supporting frame 40; a positioning pin hole 101 is provided on the mounting seat 10, and when the manipulator is installed on the beam, the positioning pin hole 101 can be used to position and fix the manipulator, thereby realizing rapid installation and disassembly between the manipulator and the beam; the drive unit assembly 20 is arranged on the mounting seat 10; the four-bar mechanism 30 is transmission-connected with the drive unit assembly 20; the supporting frame 40 is hinged at the bottom of the four-bar mechanism 30, and the supporting frame 40 has a stable structure. The manipulator execution end can be arranged at the bottom of the supporting frame 40. During the execution of the movement, the execution end has small jumps and stable movements, thereby improving the production assembly accuracy.

[0024] like Figure 2 As shown, the drive unit assembly 20 includes a first drive unit 201 and a second drive unit 202 symmetrically arranged on the mounting seat 10, and the first drive unit 201 and the second drive unit 202 are both motors. The first drive unit 201 and the second drive unit 202 jointly drive the four-bar mechanism 30 to move, which has strong power and is suitable for heavy-load working conditions.

[0025] Continue to refer Figure 2 , the four-bar mechanism 30 includes a first connecting rod 301, a second connecting rod 302, a third connecting rod 303 and a fourth connecting rod 304; the first end of the first connecting rod 301 is connected to the first driving unit 201 by transmission; the first end of the second connecting rod 302 is hinged to the second end of the first connecting rod 301; the first end of the third connecting rod 303 is connected to the second driving unit 202 by transmission; the first end of the fourth connecting rod 304 is hinged to the second end of the third connecting rod 303. In order to reduce weight and make the manipulator lightweight, the first connecting rod 301, the second connecting rod 302, the third connecting rod 303 and the fourth connecting rod 304 are all provided with weight-reducing holes for reducing weight. In one embodiment, in order to increase the stability of the manipulator movement, the manipulator includes two four-bar mechanisms 30, which are symmetrically arranged and connected by a connecting shaft. The two first connecting rods 301, the two second connecting rods 302, the two third connecting rods 303 and the two fourth connecting rods 304 are all connected by a connecting shaft.

[0026] like Figures 1 to 3 As shown, in order to increase the stability of the four-bar mechanism 30, the manipulator further includes a balancing mechanism 50, one end of which is hinged to the mounting seat 10, and the other end is hinged to the bearing frame 40. The balancing mechanism 50 includes a first balancing rod 501, a second balancing rod 502, and a third balancing rod 503; the third balancing rod 503 is hinged to the second end of the third connecting rod 303; the first end of the first balancing rod 501 is hinged to the mounting seat 10, and the second end is hinged to the first end of the third balancing rod 503; the first end of the second balancing rod 502 is hinged to the second end of the third balancing rod 503, and the second end is hinged to the bearing frame 40.

[0027] like Figure 4 As shown, the bearing frame 40 includes a first side wall 401, a second side wall 402, a first hinge shaft 403, a second hinge shaft 404 and a connecting rod 405. A plurality of connecting rods 405 are respectively arranged between the first side wall 401 and the second side wall 402. The first hinge shaft 403 and the second hinge shaft 404 are arranged on the first side wall 401 and the second side wall 402. The second connecting rod 302 and the second connecting rod 302 are respectively hinged to the first hinge shaft 403, and the second balancing rod 502 is hinged to the second hinge shaft 404. The bearing frame 40 has a stable structure, and a manipulator execution end can be arranged below the bearing frame 40. During the execution of the movement, the execution end has a small jump and a stable movement, which can improve the production assembly accuracy.

[0028] In one embodiment, a third driving unit 60 is provided on the supporting frame 40, and the third driving unit 60 is a motor. The third driving unit 60 can be connected to an actuator under the transmission, and can be applied to working conditions requiring rotation, thereby expanding the application range of the manipulator.

[0029] In this application, the terms "comprises", "comprising" or any other variations thereof are intended to cover non-exclusive inclusion, so that an article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such article or device. In the absence of more restrictions, the elements defined by the sentence "comprising..." do not exclude the presence of other identical elements in the article or device comprising the elements.

[0030] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0031] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the intention of the present application also includes these modifications and variations.

Claims

1. A robot, characterized in that: It includes a mounting seat, a drive unit assembly, a four-bar mechanism, and a bearing frame; the mounting seat is provided with a positioning pin hole; the drive unit assembly is arranged on the mounting seat; the four-bar mechanism is transmission-connected with the drive unit assembly; and the bearing frame is hinged below the four-bar mechanism.

2. The robot according to claim 1, characterized in that: The driving unit assembly comprises a first driving unit and a second driving unit symmetrically arranged on a mounting seat, and the first driving unit and the second driving unit are both motors.

3. The robot according to claim 2, characterized in that: The four-bar mechanism includes a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod; the first end of the first connecting rod is transmission connected to the first driving unit; the first end of the second connecting rod is hinged to the second end of the first connecting rod; the first end of the third connecting rod is transmission connected to the second driving unit; the first end of the fourth connecting rod is hinged to the second end of the third connecting rod.

4. The robot according to claim 1, characterized in that: It comprises two four-bar mechanisms, which are symmetrically arranged and connected via a connecting shaft.

5. The robot according to claim 3, characterized in that: It also includes a balancing mechanism, one end of which is hinged to the mounting seat, and the other end of which is hinged to the supporting frame.

6. The robot according to claim 5, characterized in that: The balancing mechanism includes a first balancing pole, a second balancing pole and a third balancing pole; the third balancing pole is hinged to the second end of the third connecting rod; the first end of the first balancing pole is hinged to the mounting seat, and the second end is hinged to the first end of the third balancing pole; the first end of the second balancing pole is hinged to the second end of the third balancing pole, and the second end is hinged to the supporting frame.

7. The robot according to claim 1, characterized in that: The supporting frame includes a first side wall, a second side wall, a first hinge shaft, a second hinge shaft and connecting rods, a plurality of the connecting rods are respectively arranged between the first side wall and the second side wall, and the first hinge shaft and the second hinge shaft are arranged on the first side wall and the second side wall.

8. The robot according to claim 7, characterized in that: The supporting frame is provided with a third driving unit, and the third driving unit is a motor.

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