Mechanical arm

Abstract

The utility model relates to an industrial robot technology, in particular to a manipulator. Comprising a lifting mechanism, a first swing arm, a first joint assembly, a second swing arm and a second joint assembly, and the right end of the first swing arm is installed on a lifting base of the lifting mechanism through the first joint assembly; the second swing arm is mounted at the left end of the first swing arm; the actuating mechanism is mounted at the left end of the second swing arm and comprises an actuating driving mechanism, an actuating rotating shaft and a controllable conductive slip ring; the middle of the execution rotating shaft is sleeved with a sliding ring part, an electric brush part is fixedly installed on the portion, corresponding to the sliding ring part, of the first swing arm, the sliding ring part and the electric brush part are assembled in a sliding and conductive mode, and a sliding ring is correspondingly provided with a wiring position. A brush sheet of the electric brush part is provided with a ferromagnetic part, and an electromagnetic adsorption part is arranged at the outer side position corresponding to the ferromagnetic part; according to the scheme, the controllable conductive slip ring is arranged as a connecting part of a circuit, so that the problem of cable winding is solved.

Description

Technical Field

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

[0002] With the development of industrial robots to date, a very wide variety of manipulators have been derived, including Cartesian coordinate type, cylindrical coordinate type, polar coordinate type and multi-joint type. Different types of manipulators are applied to different working environments.

[0003] One use of the multi-joint manipulator is process connection, that is, as a transfer device between two processes. For example, in the Chinese patent "201620482033.9 - Foldable multi-joint manipulator", the actuating mechanism of the manipulator is a suction cup, and the actuating part has no degrees of freedom. Such a manipulator can install functional components on the actuating part; however, the functional components of the actuating part need to be connected to the control host through pipelines, and this connection method limits the rotation angle of the manipulator.

[0004] If the working end of the multi-joint manipulator has degrees of freedom, the manipulator can be applied to more work. The greater the degrees of freedom of the actuating part of the multi-joint manipulator, the more work it can handle; the power of the actuating part needs to be connected by cables, and the cables will affect the working range of the actuating part. When the influence of the cables is overcome by the actuating part, the rotation angle will be larger. Content of the Utility Model

[0005] Aiming at the above defects, the purpose of the utility model is to provide a manipulator. The actuating part of the manipulator is provided with a Z-axis rotation degree of freedom, and the actuating power of the Z-axis degree of freedom is conducted through a conductive slip ring. Therefore, the rotation angle of the actuating device installed on the Z-axis is not affected by cables.

[0006] To achieve this purpose, the utility model adopts the following technical solutions:

[0007] A manipulator includes a lifting mechanism, a first swing arm, a first joint assembly, a second swing arm and a second joint assembly. The lifting mechanism is arranged vertically, the first swing arm is arranged horizontally, and the right end of the first swing arm is installed on the lifting seat of the lifting mechanism through the first joint assembly; the right end of the second swing arm is installed on the left end of the first swing arm through the second joint assembly;

[0008] It is characterized in that it further includes an actuating mechanism, and the actuating mechanism is installed on the left end of the second swing arm. The actuating mechanism includes an actuating drive mechanism, an actuating rotating shaft and a controllable conductive slip ring;

[0009] The actuating rotating shaft is rotatably installed vertically on the second swing arm. The actuating drive mechanism is fixedly installed on the second swing arm, and the working end of the actuating drive mechanism and the actuating rotating shaft are assembled into a transmission through a gear set;

[0010] The controllable conductive slip ring includes a slip ring part, a brush part, a ferromagnetic part, and an electromagnetic adsorption part. The middle part of the execution rotating shaft is sleeved with the slip ring part. A brush part is fixedly installed on the part of the second swing arm corresponding to the slip ring part. The slip ring part and the brush part are slidably and conductively assembled. Wiring positions are respectively provided on the slip rings in the slip ring part;

[0011] The brush piece of the brush part is provided with a ferromagnetic part, and an electromagnetic adsorption part is provided at the corresponding outer position of the ferromagnetic part. The electromagnetic adsorption part is fixedly installed on the second swing arm. When the electromagnetic adsorption part adsorbs the ferromagnetic part, the brush piece is separated from contact with the slip ring; after the electromagnetic adsorption part releases the adsorption of the ferromagnetic part, the brush piece remains in contact with the slip ring.

[0012] Preferably, the lifting mechanism includes a driving base, a vertical frame, a guide rail, a lead screw, and a lead screw driving mechanism;

[0013] Taking the driving base as the foundation, the lower end of the vertical frame is fixed to the driving base, and the guide rail is vertically fixed to the vertical frame; an upper mounting part is provided at the upper end of the vertical frame, and the upper mounting part and the driving base are in a vertically corresponding state;

[0014] The guide rail is vertically fixed to the vertical frame. The lead screw is parallel to the guide rail. The upper end of the lead screw is rotatably installed on the upper mounting part, and the lower end of the lead screw is rotatably installed on the driving base. The lifting seat is slidably matched with the guide rail, and the lifting seat is in threaded cooperation with the lead screw;

[0015] The lead screw driving mechanism is fixedly installed on the driving base. A concave cavity facing upward is provided at the bottom of the driving base. A driven gear is installed at the lower end of the lead screw, and a driving gear is installed at the working end of the lead screw driving mechanism. The driving gear and the driven gear are located in the concave cavity and are in transmission engagement.

[0016] Preferably, the first joint assembly includes a first joint rotating seat, a first joint driving motor, and a first joint gear disk; the first joint rotating seat is fixedly installed on the lifting seat, the first swing arm is pivotally connected to the first joint rotating seat, and the pivotal axis of the first swing arm is parallel to the lead screw;

[0017] The first joint gear disk is fixedly installed on the first joint rotating seat, the first joint driving motor is fixedly installed on the first swing arm, and a first joint driving gear is installed at the working end of the first joint driving motor. The first joint driving gear meshes with the first joint gear disk.

[0018] Preferably, the second joint assembly includes a second joint driving motor and a second joint gear disk;

[0019] A rotating shaft is rotatably installed at the left end of the first swing arm. A second joint gear disk is fixedly installed in the middle of the rotating shaft. The rotating end of the second swing arm is fixedly installed on the rotating shaft;

[0020] The second joint drive motor is fixedly installed on the first swing arm, and a second joint drive gear is fixedly installed at the working end of the second joint drive motor. The second joint drive gear meshes with the second joint gear disk.

[0021] Further, the actuating drive mechanism is fixedly installed on the second swing arm, and the actuating rotating shaft is rotatably installed on the second swing arm.

[0022] Further, the first swing arm and the second swing arm are both provided with weight-reducing hollowings.

[0023] One of the above technical solutions has the following beneficial effects: For the manipulator proposed in this solution, the actuating part is a rotating shaft structure, and other functional components will be installed on the rotating shaft. To solve the problems brought by cable connection, a controllable conductive slip ring is set as the connection component of the circuit in this solution; the conductive slip ring can solve the problem of cable winding. In addition, an electromagnetic cut-off mechanism is provided in the brush part of the conductive slip ring. When the actuating rotating shaft does not require circuit connection, the connection relationship between the brush part and the slip ring part can be released, reducing the ineffective wear between the brush part and the slip ring part. Description of the Drawings

[0024] Figure 1 is the overall structural schematic diagram of the present utility model;

[0025] Figure 2 is Figure 1 the partial enlarged view at A in

[0026] Figure 3 is Figure 1 the partial enlarged view at B in

[0027] Figure 4 is the internal structural schematic diagram of the lifting mechanism of the present utility model;

[0028] Figure 5 is the bottom structural schematic diagram of the lifting mechanism of the present utility model;

[0029] Figure 6 is the rear view perspective schematic diagram of the actuating mechanism of the present utility model;

[0030] Figure 7 is Figure 6 the partial enlarged view at C in

[0031] Figure 8 is Figure 7 the partial enlarged view at D in

[0032] Wherein:

[0033] Lifting mechanism 100, driving base 110, vertical frame 120, guide rail 130, lead screw 140, lead screw driving mechanism 150, driving gear 151, driven gear 152, lifting seat 160;

[0034] First swing arm 200, rotating shaft 210;

[0035] First joint assembly 300, first joint rotating seat 310, first joint driving motor 320, first joint gear disc 330;

[0036] Second swing arm 400;

[0037] Second joint assembly 500, second joint driving motor 510, second joint gear disc 520;

[0038] Actuating mechanism 600, actuating driving mechanism 610, actuating rotating shaft 620, controllable conductive slip ring 630, slip ring part 631, brush part 632, ferromagnetic part 633, electromagnetic adsorption part 634. Detailed implementation mode

[0039] The embodiments of the present utility model will be described in detail below. The examples of the embodiments are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present utility model and should not be construed as a limitation of the present utility model.

[0040] As Figure 1 、 Figure 7 and Figure 8 shown, a manipulator includes a lifting mechanism 100, a first swing arm 200, a first joint assembly 300, a second swing arm 400 and a second joint assembly 500. The lifting mechanism 100 is vertically arranged, the first swing arm 200 is horizontally arranged, and the right end of the first swing arm 200 is installed on the lifting seat 160 of the lifting mechanism 100 through the first joint assembly 300; the right end of the second swing arm 400 is installed on the left end of the first swing arm 200 through the second joint assembly 500;

[0041] It further includes an actuating mechanism 600. The actuating mechanism 600 is installed at the left end of the second swing arm 400. The actuating mechanism 600 includes an actuating driving mechanism 610, an actuating rotating shaft 620 and a controllable conductive slip ring 630;

[0042] The actuating rotating shaft 620 is vertically rotatably installed on the second swing arm 400. The actuating driving mechanism 610 is fixedly installed on the second swing arm 400. The working end of the actuating driving mechanism 610 and the actuating rotating shaft 620 are in a transmission assembly through a gear set;

[0043] The controllable conductive slip ring 630 includes a slip ring part 631, a brush part 632, a ferromagnetic part 633 and an electromagnetic adsorption part 634. The middle part of the execution rotating shaft 620 is sleeved with the slip ring part 631. A brush part 632 is fixedly installed on the part of the second swing arm 400 corresponding to the slip ring part 631. The slip ring part 631 and the brush part 632 are assembled for sliding conduction. Wiring positions are respectively arranged on the slip rings in the slip ring part 631; each slip ring is electrically connected to a wiring position, and the wiring position is used to connect an external power receiving or communication-connected device;

[0044] The brush piece of the brush part 632 is provided with a ferromagnetic part 633, and an electromagnetic adsorption part 634 is arranged at the corresponding outer position of the ferromagnetic part 633. The electromagnetic adsorption part 634 is fixedly installed on the second swing arm 400. When the electromagnetic adsorption part 634 adsorbs the ferromagnetic part 633, the brush piece is separated from the slip ring in contact; after the electromagnetic adsorption part 634 releases the adsorption on the ferromagnetic part 633, the brush piece remains in contact with the slip ring.

[0045] This solution sets the controllable conductive slip ring 630 as a connection component of the circuit; the controllable conductive slip ring 630 can solve the problem of cable winding. In addition, the brush part 632 of the controllable conductive slip ring 630 is provided with an electromagnetic cut-off mechanism. When the execution rotating shaft 620 does not require circuit connection, the connection relationship between the brush part 632 and the slip ring part 631 can be released, reducing the ineffective wear between the brush part 632 and the slip ring part 631.

[0046] As Figure 4 and Figure 5 shown, the lifting mechanism 100 includes a driving base 110, a vertical frame 120, a guide rail 130, a lead screw 140 and a lead screw driving mechanism 150;

[0047] With the driving base 110 as the foundation, the lower end of the vertical frame 120 is fixed to the driving base 110, and the guide rail 130 is vertically fixed to the vertical frame 120; the upper end of the vertical frame 120 is provided with an upper mounting part, and the upper mounting part and the driving base 110 are in a vertically corresponding state;

[0048] The guide rail 130 is vertically fixed to the vertical frame 120. The lead screw 140 is parallel to the guide rail 130. The upper end of the lead screw 140 is rotatably installed on the upper mounting part, and the lower end of the lead screw 140 is rotatably installed on the driving base 110. The lifting seat 160 is slidably matched with the guide rail 130, and the lifting seat 160 is in threaded cooperation with the lead screw 140;

[0049] The lead screw driving mechanism 150 is fixedly installed on the driving base 110. The bottom of the driving base 110 is provided with an upward concave cavity. The lower end of the lead screw 140 is installed with a driven gear 152, and the working end of the lead screw driving mechanism 150 is installed with a driving gear 151. The driving gear 151 and the driven gear 152 are located in the concave cavity, and the driving gear 151 and the driven gear 152 are in transmission engagement.

[0050] The lifting mechanism 100 of this solution uses a single vertical frame 120 as the lifting foundation, and the screw rod 140 lifting structure as the lifting mechanism 100. The driving base 110 and the screw rod driving mechanism 150 are all located at the bottom, forming the center of gravity of the structure.

[0051] As Figure 2 shown, the first joint assembly 300 includes a first joint rotating seat 310, a first joint driving motor 320, and a first joint gear disk 330; the first joint rotating seat 310 is fixedly installed on the lifting seat 160, the first swing arm 200 is pivotally connected to the first joint rotating seat 310, and the pivotal axis of the first swing arm 200 is parallel to the screw rod 140;

[0052] The first joint gear disk 330 is fixedly installed on the first joint rotating seat 310, the first joint driving motor 320 is fixedly installed on the first swing arm 200, a first joint driving gear is installed at the working end of the first joint driving motor 320, and the first joint driving gear meshes with the first joint gear disk 330.

[0053] The connection relationship between the first joint rotating seat 310 and the first swing arm 200 is set in a horizontal swinging manner to construct a planar degree of freedom, and combined with the lifting mechanism 100, a three-dimensional working range is formed; the first joint is combined with the fixed first joint gear disk 330 by the first joint driving motor 320 to construct a rotating structure centered on the first joint gear disk 330. When the first joint driving motor 320 works, the first swing arm 200 rotates around the center of the first joint gear disk 330 within a certain angle range.

[0054] As Figure 3 shown, the second joint assembly 500 includes a second joint driving motor 510 and a second joint gear disk 520;

[0055] A rotating shaft 210 is rotatably installed at the left end of the first swing arm 200, a second joint gear disk 520 is fixedly installed in the middle of the rotating shaft 210, and the rotating end of the second swing arm 400 is fixedly installed on the rotating shaft 210;

[0056] The second joint driving motor 510 is fixedly installed on the first swing arm 200, a second joint driving gear is fixedly installed at the working end of the second joint driving motor 510, and the second joint driving gear meshes with the second joint gear disk 520.

[0057] The second joint drive motor 510 is installed on the first swing arm 200 to move the center of gravity of the device inwards and improve the stability of the equipment; the second joint assembly 500 adopts the same rotation principle as the first joint assembly 300. Adding the second swing arm 400 can reduce the space occupied by the device in the non-working state. In cooperation with the first joint assembly 300, the first swing arm 200 and the second swing arm 400 form a folding structure, reducing the influence of stress on the deformation of the transverse robotic arm.

[0058] In addition, the actuating drive mechanism 610 is fixedly installed on the second swing arm 400, and the actuating rotating shaft 620 is rotatably installed on the second swing arm 400.

[0059] The actuating part is installed on the second swing arm 400 to achieve the maximum stroke and increase the working range.

[0060] In addition, the first swing arm 200 and the second swing arm 400 are both provided with weight-reducing cutouts.

[0061] The technical principle of the present utility model has been described above in conjunction with specific embodiments. These descriptions are only for explaining the principle of the present utility model and should not be construed in any way as a limitation on the protection scope of the present utility model. Based on the explanations herein, those skilled in the art can readily conceive of other specific embodiments of the present utility model without creative efforts, and these embodiments will fall within the protection scope of the present utility model.

Claims

1. A manipulator, comprising a lifting mechanism, a first swing arm, a first joint assembly, a second swing arm and a second joint assembly, wherein the lifting mechanism is arranged vertically, the first swing arm is arranged horizontally, the right end of the first swing arm is mounted on a lifting seat of the lifting mechanism through the first joint assembly; the right end of the second swing arm is mounted on the left end of the first swing arm through the second joint assembly; It is characterized in that It also includes an actuator, which is installed at the left end of the second swing arm, and includes an actuator drive mechanism, an actuator shaft and a controllable conductive slip ring; The execution shaft is vertically rotatably mounted on the second swing arm, the execution drive mechanism is fixedly mounted on the second swing arm, and the working end of the execution drive mechanism and the execution shaft form a transmission assembly through a gear set; The controllable conductive slip ring includes a slip ring part, a brush part, a ferromagnetic part and an electromagnetic adsorption part. The middle part of the actuator shaft is sleeved with the slip ring part, the part of the second swing arm corresponding to the slip ring part is fixedly installed with the brush part, the slip ring part and the brush part are slidably conductively assembled, and the slip rings in the slip ring part are respectively provided with wiring positions; The brush piece of the brush part is provided with a ferromagnetic part, and an electromagnetic adsorption part is provided at the outer position corresponding to the ferromagnetic part. The electromagnetic adsorption part is fixedly installed on the second swing arm. When the electromagnetic adsorption part adsorbs the ferromagnetic part, the brush piece and the slip ring are out of contact; after the electromagnetic adsorption part releases the adsorption of the ferromagnetic part, the brush piece and the slip ring maintain contact.

2. The robot according to claim 1, characterized in that: The lifting mechanism comprises a driving base, a vertical frame, a guide rail, a screw and a screw driving mechanism; The driving base is the basis, the lower end of the vertical frame is fixed to the driving base, and the guide rail is vertically fixed to the vertical frame; the upper end of the vertical frame is provided with an upper mounting portion, and the upper mounting portion and the driving base are in a state of upper and lower correspondence; The guide rail is vertically fixed to the vertical frame, the lead screw is parallel to the guide rail, the upper end of the lead screw is rotatably mounted on the upper mounting portion, and the lower end of the lead screw is rotatably mounted on the driving base, the lifting seat is slidably matched with the guide rail, and the lifting seat is threadedly matched with the lead screw; The screw drive mechanism is fixedly installed on the driving base, and an upward concave cavity is provided at the bottom of the driving base. A driven gear is installed at the lower end of the screw, and a driving gear is installed at the working end of the screw drive mechanism. The driving gear and the driven gear are located in the concave cavity, and the driving gear and the driven gear are meshed with each other.

3. The robot according to claim 2, characterized in that: The first joint assembly includes a first joint rotating seat, a first joint driving motor and a first joint gear plate; the first joint rotating seat is fixedly mounted on the lifting seat, the first swing arm is pivotally connected to the first joint rotating seat, and the pivot axis of the first swing arm is parallel to the screw rod; The first joint toothed disc is fixedly mounted on the first joint rotating seat, the first joint driving motor is fixedly mounted on the first swing arm, the working end of the first joint driving motor is mounted with a first joint driving gear, and the first joint driving gear is meshed with the first joint toothed disc.

4. The robot according to claim 3, characterized in that: The second joint assembly includes a second joint drive motor and a second joint gear plate; A rotating shaft is rotatably mounted on the left end of the first swing arm, a second joint gear plate is fixedly mounted on the middle of the rotating shaft, and a rotating end of the second swing arm is fixedly mounted on the rotating shaft; The second joint drive motor is fixedly mounted on the first swing arm, and a second joint drive gear is fixedly mounted on the working end of the second joint drive motor. The second joint drive gear is meshed with the second joint gear disc.

5. The robot according to claim 4, characterized in that: The execution driving mechanism is fixedly installed on the second swing arm, and the execution rotating shaft is rotatably installed on the second swing arm.

6. The robot according to claim 5, characterized in that: The first swing arm and the second swing arm are both provided with weight-reducing hollow portions.

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