Mechanical arm

Abstract

The utility model relates to the field of automation equipment, and discloses a manipulator which comprises a supporting arm, a lifting driving device installed on the supporting arm and a brake device used for braking the lifting driving device, and the brake device is installed in the lifting driving device. The mechanical arm further comprises a control button installed on the supporting arm, and the control button is electrically connected with the brake device. When the control button is pressed, the brake device releases the braking of the lifting driving device; and when the pressing of the control button is released, the control button bounces, and the brake device brakes the lifting driving device. According to the mechanical arm, on the premise that safety is guaranteed, the convenience degree of controlling the brake device is further improved.

Description

Technical Field

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

[0002] At present, a general manipulator is provided with a braking device in a lifting drive device. When the manipulator stops working, the braking device can quickly lock the joint to ensure that the manipulator remains in the current posture, avoiding the movement of the manipulator due to gravity, inertia or other external factors, so as to protect the safety of the body, the working area and the surrounding personnel. However, for safety reasons, the control for releasing the braking state of the existing braking device of the manipulator is generally set in an industrial control computer in the control room. During the use process, the operator needs to operate the industrial control computer to control the process while releasing the braking state of the braking device, which is likely to cause distraction and result in safety accidents.

[0003] In view of this, it is necessary to design a manipulator to further improve the convenience of controlling the braking device on the premise of ensuring safety.

[0004] The above information is given as background information only to assist in understanding the present disclosure, and does not determine or admit whether any of the above content can be used as the prior art relative to the present disclosure. Summary of the Utility Model

[0005] The utility model provides a manipulator to further improve the convenience of controlling the braking device on the premise of ensuring safety.

[0006] To achieve the above object, the utility model provides the following technical solutions:

[0007] A manipulator includes a support arm, a lifting drive device installed on the support arm, and a braking device for braking the lifting drive device, and the braking device is installed in the lifting drive device;

[0008] The manipulator further includes a control button installed on the support arm, and the control button is electrically connected to the braking device;

[0009] When the control button is pressed, the braking device releases the braking of the lifting drive device; when the control button is released from being pressed, the control button pops up and the braking device brakes the lifting drive device.

[0010] Optionally, the control button includes a transparent pressing cover portion and a lighting lamp arranged in the transparent pressing cover portion;

[0011] When the transparent pressing cover portion is pressed, the lighting lamp emits light; when the transparent pressing cover portion is released from being pressed, the lighting lamp goes out.

[0012] Optionally, the lifting drive device includes a drive motor, which includes a drive shaft, a rotor connected to the drive shaft, and a support gasket fixedly connected to the drive shaft;

[0013] The braking device includes a brake disc and an electromagnetic brake disc. The electromagnetic brake disc is used to drive the brake disc to press or release the support gasket, and the electromagnetic brake disc is electrically connected to the control button.

[0014] Optionally, the lifting drive device further includes a lead screw and a lifting shaft. The lead screw is in transmission connection with the drive shaft, and a lead screw nut is installed on the lead screw;

[0015] The lifting shaft is parallel to the lead screw and connected to the lead screw nut, and the lifting shaft slidably passes through the support arm.

[0016] Optionally, a protective cover is further installed on the support arm. The protective cover is installed on one side of the top of the support arm, and the lead screw is installed in the protective cover;

[0017] An inspection opening is formed on the protective cover, and an inspection door is detachably installed on the inspection opening;

[0018] A plurality of embedding columns are installed on the inspection door. The protective cover is provided with embedding blind holes corresponding to the embedding columns, and the embedding columns are embedded in the embedding blind holes to fix the inspection door in the protective cover.

[0019] Optionally, an adsorption assembly for adsorbing workpieces is installed at the bottom end of the lifting shaft.

[0020] Optionally, the manipulator further includes a support base, a rotary drive device installed in the support base, and a rotary arm rotatably connected to the rotary drive device. The rotary arm is rotatably connected to the support arm.

[0021] Optionally, a through hole is provided on the support arm;

[0022] The control button is installed on the top of the support arm. The drive motor is located on one side of the bottom of the support arm. The control line passes through the through hole and is respectively connected to the control button and the braking device at both ends.

[0023] Optionally, the transparent pressing cover portion includes a pressing portion and a light emitting portion extending along the pressing portion. The light emitting lamp is installed in the light emitting portion;

[0024] The light emitting portion is provided with a cavity for accommodating the light emitting lamp.

[0025] Optionally, the control button comprises a shell, a plurality of support portions for fitting the support arm extend from the bottom of the shell, and the support portions are detachably connected to the support arm;

[0026] The bottom surface of the support portion close to the support arm is provided with anti-slip grooves, and the support portion is provided with a mounting hole for a threaded fastener to pass through.

[0027] Compared with the prior art, the utility model has the following beneficial effects:

[0028] The manipulator provided by the utility model arranges the control button of the braking device on the support arm, so that the on-site operator can directly operate the control button to control the movement or stop of the manipulator; in this embodiment, it is equivalent to delegating the control authority of the braking device from the operator in the control room to the on-site operator, and the on-site operator directly controls the manipulator through the control button installed on the support arm, avoiding the situation where the operator in the control room is easily prone to control errors due to distracted operation, and further improving the convenience of releasing the braking state of the manipulator.

[0029] The present invention has other characteristics and advantages, which will be apparent from the accompanying drawings and subsequent specific embodiments incorporated herein, or will be described in detail in the accompanying drawings and subsequent specific embodiments incorporated herein, which together are used to explain the specific principles of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 It is a three-dimensional structural schematic diagram of a manipulator provided by an embodiment of the utility model;

[0032] Figure 2 yes Figure 1 A magnified schematic diagram of position A in the middle;

[0033] Figure 3 It is a structural schematic diagram of a driving motor provided by an embodiment of the utility model;

[0034] Figure 4 It is a top view schematic diagram of a manipulator provided by an embodiment of the utility model;

[0035] Figure 5 yes Figure 4Schematic diagram of the A-A cross-sectional structure

[0036] Figure 6 It is a schematic three-dimensional structure diagram of the manipulator provided by the embodiment of the present utility model

[0037] Figure 7 It is a top view schematic diagram of another control button provided by the embodiment of the present utility model

[0038] Reference numerals: 1, support arm; 101, through hole; 2, lifting drive device; 21, drive motor; 211, drive shaft; 212, rotor; 213, support gasket; 22, lead screw; 23, lifting shaft; 24, protective cover; 25, maintenance door; 251, embedding column; 3, braking device; 31, brake disc; 32, electromagnetic brake disc; 4, control button; 40, pressing part; 41, light-emitting part; 43, housing; 5, support seat; 6, rotation drive device; 7, rotating arm Detailed implementation manners

[0039] To describe in detail the possible application scenarios, technical principles, specific implementable solutions, achievable purposes and effects of this application, etc., the following will be described in detail in conjunction with the specific examples listed and with reference to the accompanying drawings. The embodiments described herein are only used to more clearly illustrate the technical solutions of this application, so they are only examples and cannot be used to limit the protection scope of this application

[0040] Referring to "embodiment" in this article means that the specific features, structures or characteristics described in conjunction with the embodiment may be included in at least one embodiment of this application. The term "embodiment" that appears in various positions in the specification does not necessarily refer to the same embodiment, nor does it particularly limit its independence or relevance to other embodiments. In principle, in this application, as long as there is no technical contradiction or conflict, the technical features mentioned in each embodiment can be combined in any way to form the corresponding implementable technical solution

[0041] Unless otherwise defined, the meanings of the technical terms used in this article are the same as those generally understood by those skilled in the technical field to which this application belongs; the use of the relevant terms in this article is only for describing specific embodiments and is not intended to limit this application

[0042] In the description of this application, the term "and / or" is an expression used to describe the logical relationship between objects, indicating that there can be three relationships. For example, A and / or B means: there is A, there is B, and there is both A and B at the same time. In addition, the character " / " in this article generally represents an "or" logical relationship between the associated objects before and after

[0043] In this application, terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual quantitative, primary-secondary or sequential relationship between these entities or operations.

[0044] Without further limitation, in this application, the expressions "including", "comprising", "having" or other similar expressions used in a statement are intended to cover non-exclusive inclusion. These expressions do not exclude that there may be additional elements in the process, method or product including the said elements, so that in a process, method or product including a series of elements, not only those defined elements can be included, but also other elements not explicitly listed, or elements inherent to this process, method or product can be included.

[0045] The same as the understanding in the "Examination Guidelines", in this application, expressions such as "greater than", "less than", "exceeding" are understood not to include the present number; expressions such as "above", "below", "within" are understood to include the present number. In addition, in the description of the embodiments of this application, the meaning of "a plurality of" is two or more (including two), and similar expressions related to "many" are also understood in this way, such as "multiple groups", "multiple times", etc., unless otherwise specifically defined.

[0046] In the description of the embodiments of this application, the spatially related expressions used, such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "perpendicular", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the specific embodiment or the drawings, and is only for the convenience of describing the specific embodiments of this application or facilitating the understanding of the reader, rather than indicating or implying that the device or component referred to must have a specific position, a specific orientation, or be constructed or operated in a specific orientation, and therefore cannot be understood as a limitation to the embodiments of this application.

[0047] Unless otherwise clearly specified or limited, in the description of the embodiments of this application, the terms "installed", "connected", "coupled", "fixed", "set", etc. should be understood in a broad sense. For example, the said "connection" can be a fixed connection, a detachable connection, or an integral setting; it can be a mechanical connection, an electrical connection, or a communication connection; it can be directly connected, or indirectly connected through an intermediate medium; it can be the communication inside two elements or the interaction relationship between two elements. For those skilled in the art to which this application pertains, the specific meanings of the above terms in the embodiments of this application can be understood according to specific circumstances.

[0048] In view of the defects of the existing manipulators described above, the applicant, based on rich practical experience and professional knowledge in the design and manufacture of such products for many years, and in combination with the application of theory, actively conducts research and innovation in the hope of creating a technology that can solve the defects in the existing technology, making the manipulator more practical. After continuous research, design, and repeated sample making and improvement, the present utility model with practical value has finally been created.

[0049] Please refer to Figures 1 to 6 , an embodiment of the present utility model provides a manipulator, including a support arm 1, a lifting drive device 2 installed on the support arm 1, and a braking device 3 for braking the lifting drive device 2. The braking device 3 is installed in the lifting drive device 2. The key point of this embodiment is that the manipulator further includes a control button 4 installed on the support arm 1, and the control button 4 is electrically connected to the braking device 3; when the control button 4 is pressed, the braking device 3 releases the braking of the lifting drive device 2; when the pressing of the control button 4 is released, the control button 4 pops up and the braking device 3 brakes the lifting drive device 2.

[0050] In this embodiment, by arranging the control button 4 on the support arm 1, the on-site operator can directly operate the manipulator according to the on-site situation, that is, keep the braking device 3 in the state of releasing the brake or in the braking state. Compared with the prior art in which the control button is set in the industrial control computer in the control room, arranging the control button 4 directly on the support arm 1 enables the on-site operator to directly control whether the manipulator rises or falls through the control button 4, and the operation is more rapid and convenient, and it avoids the situation that the operator in the control room is easily distracted and makes operation mistakes.

[0051] For the manipulator in this embodiment, the position of the support arm 1 is generally fixed after adjustment. For the manipulator in this embodiment, the lifting drive device 2 is generally equipped with an adsorption device for adsorbing workpieces or a stop plate for stopping workpieces, or other actuating devices that need to change the height of the workpieces.

[0052] Optionally, the control button 4 includes a transparent pressing cover part and a light-emitting lamp arranged in the transparent pressing cover part; when the transparent pressing cover part is pressed, the light-emitting lamp emits light; when the pressing of the transparent pressing cover part is released, the light-emitting lamp goes out. Specifically, the light-emitting lamp enables the on-site operator to directly judge the working state of the manipulator through the light, that is, when the light is on, the manipulator is in the normal working state; when the light is off, the manipulator is in the state of being locked by the braking device 3 and stops operating.

[0053] Optionally, the lifting drive device 2 includes a driving motor 21, the driving motor 21 includes a driving shaft 211, a rotor 212 connected to the driving shaft 211, and a support gasket 213 fixedly connected to the driving shaft 211, and the rotor 212 is used to drive the rotating shaft 211 to rotate; the brake device 3 includes a brake disc 31 and an electromagnetic brake disc 32, the electromagnetic brake disc 32 is used to drive the brake disc 31 to press or release the support gasket 213, and the electromagnetic brake disc 32 is electrically connected to the control button 4. As known to those skilled in the art, if the electromagnetic brake disc 32 adopts a brake externally connected half-wave rectifier, when the control button is pressed, the half-wave rectifier rectifies the single-phase alternating current into direct current, and after power is applied, the winding generates a magnetic field to suck the armature back, and at the same time the armature compresses the spring fixed in the iron core, at this time, the brake disc 31 and the support gasket 213 are separated from each other, and the lifting drive device 2 can operate normally. When the control button pops up and the power is lost, the winding discharges, and the spring pops out the armature, causing the support pad 213 and the brake disc 31 to collide with each other, thereby generating a braking torque to stop the rotation of the drive shaft 211. Therefore, in the present application, when the electromagnetic brake disc 32 is powered on, it sucks the brake disc 31 upward to allow the drive motor 21 to work, and when the power is off, the brake disc 31 loses the upward attraction and presses the support pad 213 downward to brake.

[0054] Optionally, the lifting drive device 2 further includes a screw rod 22 and a lifting shaft 23, the screw rod 22 is transmission-connected to the drive shaft 211, and a screw rod 22 nut is installed on the screw rod 22; the lifting shaft 23 is parallel to the screw rod 22 and connected to the screw rod 22 nut, and the lifting shaft 23 slides through the support arm 1. Specifically, the driving motor 21 drives the screw rod 22 to rotate, and the screw rod 22 rotates so that the lifting shaft 23 moves along the center line direction of the screw rod 22. A sliding hole is provided on the support arm 1, and the lifting shaft 23 slides through the sliding hole.

[0055] Optionally, the manipulator further includes a support base 5, a rotation drive device 6 installed in the support base 5, and a rotation arm 7 rotationally connected to the rotation drive device 6, and the rotation arm 7 is rotationally connected to the support arm 1. Specifically, the rotation drive device 6 can drive the rotation arm 7 to rotate, so that the rotation arm 7 rotates to a suitable position and is fixed, and the support arm 1 is rotated relative to the rotation arm, so that the support arm 1 is kept in a suitable position. In the actual production process, the support arm 1 is not in motion to avoid hurting people.

[0056] Optionally, a through hole 101 is provided on the support arm 1; the control button 4 is installed on the top of the support arm 1, the drive motor 21 is located at one side of the bottom of the support arm 1, and the control line passes through the through hole 101 and the two ends are respectively connected to the control button 4 and the brake device 3. The control button 4 controls the brake device 3 to brake or release the brake through the control line.

[0057] Optionally, a protective cover 24 is also installed on the support arm 1, and the protective cover 24 is installed on the top side of the support arm 1, and the screw rod 22 is installed in the protective cover 24; an inspection port is opened on the protective cover 24, and a maintenance door 25 is detachably installed on the inspection port; a plurality of embedded columns 251 are installed on the inspection door 25, and the protective cover 24 is provided with embedded blind holes corresponding to the embedded columns 251, and the embedded columns 251 are embedded in the blind holes.

[0058] Specifically, by providing the protective cover 24, hair, clothes, etc. can be prevented from being drawn into the screw rod 22, thereby improving safety. In addition, the inspection door 25 is fixed to the protective cover 24 by the embedded structure of the embedded column 251, making it more convenient to disassemble and assemble the inspection door 25. When the inspection door 25 needs to be disassembled, all the embedded columns 251 can be directly pulled out.

[0059] Optionally, an adsorption assembly for adsorbing the workpiece is installed at the bottom end of the lifting shaft 23. After the adsorption assembly adsorbs the workpiece, the lifting drive device 2 is activated to raise the workpiece to a suitable height, and then other material-retrieving devices transfer the workpiece.

[0060] Optionally, the transparent cover portion includes a pressing portion 40 and a light emitting portion 41 extending from the pressing portion 40, and the light emitting lamp is installed in the light emitting portion 41; the light emitting portion 41 is provided with a cavity for accommodating the light emitting lamp. Figure 7 As shown, when the operator at the site presses the pressing part 40 , the light-emitting part 1 will not be blocked by the operator's fingers, so that the operator at the site can more easily confirm whether the brake device 3 stops the lifting drive device 2 .

[0061] Optionally, the control button 4 includes a shell 43, and a plurality of support parts for fitting the support arm 1 extend from the bottom of the shell 43, and the support parts are detachably connected to the support arm 1; the support parts are provided with anti-skid grooves on the bottom surface close to the support arm 1, and the support parts are provided with mounting holes for threaded fasteners to pass through. The provision of the anti-skid grooves can increase the friction between the support parts and the support arm 1, thereby making the fixing effect of the shell 43 better.

[0062] Finally, it should be noted that although the above embodiments have been described in the specification and drawings of this application, this does not limit the scope of patent protection of this application. All technical solutions generated by replacing or modifying equivalent structures or equivalent processes based on the essential concept of this application using the contents recorded in the specification and drawings of this application, as well as directly or indirectly implementing the technical solutions of the above embodiments in other related technical fields, are included in the scope of patent protection of this application.

Claims

1. A manipulator, comprising a support arm (1), a lifting drive device (2) mounted on the support arm (1), and a brake device (3) for stopping the lifting drive device (2), wherein the brake device (3) is mounted in the lifting drive device (2); characterized in that: The manipulator further comprises a control button (4) mounted on the support arm (1), wherein the control button (4) is electrically connected to the brake device (3); When the control button (4) is pressed, the brake device (3) releases the brake on the lifting drive device (2); when the control button (4) is released and pressed, the control button (4) pops up and the brake device (3) stops the lifting drive device (2).

2. The robot according to claim 1, characterized in that: The control button (4) comprises a transparent pressing cover portion and a light emitting lamp arranged in the transparent pressing cover portion; When the transparent pressing cover is pressed, the light emits light; when the transparent pressing cover is released and pressed, the light goes out.

3. The robot according to claim 1, characterized in that: The lifting drive device (2) comprises a driving motor (21), wherein the driving motor (21) comprises a driving shaft (211), a rotor (212) connected to the driving shaft (211), and a supporting gasket (213) fixedly connected to the driving shaft (211); The brake device (3) comprises a brake disc (31) and an electromagnetic brake disc (32), wherein the electromagnetic brake disc (32) is used to drive the brake disc (31) to press or release the support pad (213), and the electromagnetic brake disc (32) is electrically connected to the control button (4).

4. The robot according to claim 3, characterized in that: The lifting drive device (2) further comprises a screw rod (22) and a lifting shaft (23); the screw rod (22) is drivingly connected to the driving shaft (211), and a screw rod (22) nut is mounted on the screw rod (22); The lifting shaft (23) is parallel to the screw rod (22) and is connected to the screw rod (22) through a nut, and the lifting shaft (23) slides through the support arm (1).

5. The robot according to claim 4, characterized in that: The support arm (1) is also provided with a protective cover (24), the protective cover (24) being installed on one side of the top of the support arm (1), and the screw rod (22) being installed in the protective cover (24); The protective cover (24) is provided with an inspection opening, and the inspection opening is detachably provided with an inspection door (25); A plurality of embedded columns (251) are installed on the inspection door (25), and the protection cover (24) is provided with embedded blind holes corresponding to the embedded columns (251). The embedded columns (251) are embedded in the embedded blind holes to fix the inspection door (25) in the protection cover (24).

6. The robot according to claim 4, characterized in that: The bottom end of the lifting shaft (23) is provided with an adsorption component for adsorbing workpieces.

7. The robot according to claim 1, characterized in that: It also comprises a support seat (5), a rotation drive device (6) installed in the support seat (5), and a rotation arm (7) rotationally connected to the rotation drive device (6), wherein the rotation arm (7) is rotationally connected to the support arm (1).

8. The robot according to claim 3, characterized in that: The support arm (1) is provided with a through hole (101); The control button (4) is installed on the top of the support arm (1), the drive motor (21) is located on one side of the bottom of the support arm (1), and the control line passes through the through hole (101) and the two ends are respectively connected to the control button (4) and the brake device (3).

9. The robot according to claim 2, characterized in that: The transparent pressing cover portion comprises a pressing portion (40) and a light emitting portion (41) extending from the pressing portion (40), and the light emitting lamp is installed in the light emitting portion (41); The light emitting portion (41) is provided with a cavity for accommodating the light emitting lamp.

10. The robot according to claim 2, characterized in that: The control button (4) comprises a shell (43), and a plurality of supporting portions for fitting the supporting arm (1) extend from the bottom of the shell (43), and the supporting portions are detachably connected to the supporting arm (1); The bottom surface of the support portion close to the support arm (1) is provided with anti-slip grooves, and the support portion is provided with a mounting hole for a threaded fastener to pass through.

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