Mechanical arm

Abstract

The utility model belongs to the field of mechanical arms, and particularly relates to a mechanical arm. The transverse sliding table comprises a transverse profile, a transverse sliding rail, a transverse rack, a transverse sliding block, a sliding plate and a transverse driving motor; the transverse sliding rail and the transverse rack are transversely arranged on the transverse profile in parallel; the transverse sliding block is arranged on the back face of the sliding plate and clamped on the transverse sliding rail. The transverse driving motor is arranged on the front face of the sliding plate. The output end of the transverse driving motor penetrates through the sliding plate and is provided with a first gear meshed with the transverse gear. The vertical sliding rail and the vertical rack are vertically arranged on the vertical profile in parallel; the vertical sliding block is clamped on the vertical sliding rail and arranged on the front face of the sliding plate. The vertical driving motor is arranged on the back face of the sliding plate, and the output end of the vertical driving motor penetrates through the sliding plate and is provided with a second gear engaged with the vertical rack. The manipulator can realize transverse and longitudinal large-range grabbing, and is reasonable in stress and stable in performance.

Description

Technical Field

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

[0002] While robotic arms offer flexible grasping capabilities, they are expensive and have a limited range. For example, grasping objects over a large horizontal and vertical span within a vertical plane is difficult for robotic arms. To meet this functional requirement, operational stability and reasonable force must also be ensured, and currently, no better device exists. Utility Model Content

[0003] The utility model provides a mechanical arm that can effectively solve the problems in the background technology.

[0004] The utility model provides a mechanical arm, comprising a horizontal slide, a vertical slide and a mechanical claw; the mechanical claw is arranged at the bottom end of the vertical slide; the vertical slide is arranged on the horizontal slide;

[0005] The transverse slide comprises a transverse profile, a transverse slide rail, a transverse rack, a transverse slider, a slide plate and a transverse drive motor; the transverse slide rail and the transverse rack are arranged transversely and parallelly on the transverse profile; the transverse slider is arranged on the back of the slide plate, and the transverse slider is clamped on the transverse slide rail; the transverse drive motor is arranged on the front of the slide plate, and the output end of the transverse drive motor passes through the slide plate and is provided with a first gear meshing with the transverse gear;

[0006] The vertical slide includes a vertical profile, a vertical slide rail, a vertical rack, a vertical slider and a vertical drive motor; the vertical slide rail and the vertical rack are vertically and parallelly arranged on the vertical profile; the vertical slider is clamped on the vertical slide rail, and the vertical slider is arranged on the front of the slide; the vertical drive motor is arranged on the back of the slide, and the output end of the vertical drive motor passes through the slide and is provided with a second gear engaged with the vertical rack.

[0007] As a further optimization of the present invention, there are two horizontal slide rails, and the horizontal rack is arranged between the two horizontal slide rails; there are two vertical slide rails, and the vertical rack is arranged between the two vertical slide rails.

[0008] As a further optimization of the present invention, a first mounting plate is provided on the back of the skateboard; the vertical slide also includes a vertical drag chain, one end of the vertical drag chain is connected to the top of the vertical profile, and the other end of the vertical drag chain is connected to the first mounting plate.

[0009] As a further optimization of the present invention, a second mounting plate is provided on the back of the skateboard; the horizontal slide also includes a horizontal drag chain and a drag wire trough; the drag wire trough is horizontally fixed on the back of the horizontal profile; the horizontal drag chain is provided on the drag wire trough, one end of the horizontal drag chain is connected to the drag wire trough or the horizontal profile, and the other end of the horizontal drag chain is connected to the second mounting plate.

[0010] As further optimization of the utility model, further comprising board piece and sensor, board piece is equipped in both ends of horizontal section material, sensor is equipped on second mounting plate, sensing detects for detecting board piece position.

[0011] As further optimization of the utility model, the bottom surface of board piece is fixed with the top surface of horizontal section material, and the top surface of board piece is slope surface; sensor is infrared sensor or roller microswitch.

[0012] As further optimization of the utility model, both ends of horizontal section material are equipped with two board pieces that are left-right staggered; sensor includes infrared sensor and roller microswitch, and infrared sensor and roller microswitch correspond to detect two left-right staggered board pieces respectively.

[0013] As further optimization of the utility model, the top surface of horizontal section material is equipped with sliding groove along length direction, board piece cover is equipped in sliding groove position, and the detection end of infrared sensor faces the bottom surface of sliding groove.

[0014] As further optimization of the utility model, both ends of the front of horizontal section material are equipped with limit stopper, and the position of limit stopper corresponds with the side wall of sliding plate.

[0015] The mechanical arm provided by the utility model can realize large-range grabbing in horizontal and vertical directions, and has reasonable stress and stable performance. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is the front view of the embodiment;

[0017] Figure 2 It is Figure 1 the front axial side view;

[0018] Figure 3 It is Figure 1 the back axial side view;

[0019] Among them, horizontal slide 1, horizontal section material 1a, horizontal slide rail 1b, horizontal rack 1c, horizontal slide block 1d, sliding plate 1e, first mounting plate 1e1, second mounting plate 1e2, horizontal drive motor 1f, horizontal drag chain 1g, drag line groove 1h, vertical slide 2, vertical section material 2a, vertical slide rail 2b, vertical rack 2c, vertical slide block 2d, vertical drive motor 2e, vertical drag chain 2f, mechanical claw 3, infrared sensor 4, roller microswitch 5, board piece 6, material 7, limit stopper 8. DETAILED DESCRIPTION

[0020] As Figure 1-3 shown, the embodiment includes horizontal slide 1, vertical slide 2 and mechanical claw 3. Mechanical claw 3 is equipped in the bottom end of vertical slide 2, and clamping jaw 3 is used for clamping material 7, and vertical slide 2 is equipped on horizontal slide 1.

[0021] The transverse sliding table 1 comprises a transverse profile 1a, a transverse sliding rail 1b, a transverse rack 1c, a transverse sliding block 1d, a sliding plate 1e and a transverse driving motor 1f.

[0022] The transverse profile 1a is a light aluminum profile with a rectangular cross section, and the transverse profile 1a is placed horizontally. Two transverse sliding rails 1b and a transverse rack 1c are fixed parallelly on the front surface of the transverse profile 1a, and the transverse rack 1c is arranged between the two transverse sliding rails 1b.

[0023] The sliding plate 1e is a rectangular plate, and the transverse sliding block 1d is arranged on the back surface of the sliding plate 1e. There are four transverse sliding blocks 1d, and each pair of transverse sliding blocks 1d is arranged on the two transverse sliding rails 1b respectively.

[0024] The transverse driving motor 1f is arranged on the front surface of the sliding plate 1e, and the output end of the transverse driving motor 1f penetrates through the sliding plate 1e and is provided with a first gear meshing with the transverse rack 1c. The transverse driving motor 1f drives the first gear to rotate, and through gear transmission, the sliding plate 1e is driven to realize transverse movement.

[0025] Preferably, the embodiment further provides limiting blocks 8 arranged at the two ends of the front surface of the transverse profile 1a. The positions of the limiting blocks 8 correspond to the side walls of the sliding plate 1e, and the limiting is realized through the impact between the sliding plate 1e and the limiting blocks 8.

[0026] The vertical sliding table 2 is arranged on the sliding plate 1e. In the embodiment, the vertical sliding table 2 comprises a vertical profile 2a, a vertical sliding rail 2b, a vertical rack 2c, a vertical sliding block 2d and a vertical driving motor 2e.

[0027] The vertical profile 2a is also a light aluminum profile with a rectangular cross section, and the vertical profile 2a is placed vertically. Two vertical sliding rails 2b and a vertical rack 2c are arranged vertically and parallelly on the vertical profile 2a. The vertical rack 2c is arranged between the two vertical sliding rails 2b.

[0028] The vertical sliding block 2d is arranged on the front surface of the sliding plate 1e, and there are four vertical sliding blocks 2d, and each pair of vertical sliding blocks 2d is arranged on the two vertical sliding rails 2b respectively.

[0029] The vertical driving motor 2e is arranged on the back surface of the sliding plate 1e, and the output end of the vertical driving motor 2e penetrates through the sliding plate 1e and is provided with a second gear meshing with the vertical rack 2c. The vertical driving motor 2e is arranged on the front surface of the sliding plate 1e, and the output end of the vertical driving motor 2e penetrates through the sliding plate 1e and is provided with a second gear meshing with the vertical rack 2c. The vertical driving motor 2e drives the second gear to rotate, and through gear transmission, the vertical profile 2a is driven to realize vertical movement. The mechanical claw 3 is fixed at the bottom end of the vertical profile 2a.

[0030] This embodiment enables gripping over a wide range of both horizontal and vertical directions. The use of horizontal profiles 1a and vertical profiles 2a reduces counterweight, and the heavier horizontal drive motor 1f and vertical drive motor 2e are located on the front and back of the slide 1e, respectively, maximizing the center of gravity between the horizontal profiles 1a and 2a. This effectively prevents tipping and ensures a balanced force distribution.

[0031] Furthermore, this embodiment also features a first mounting plate 1e1 on the back of the slide 1e. The vertical slide 2 also includes a vertical drag chain 2f, one end of which is connected to the top of the vertical profile 2a, and the other end of which is connected to the first mounting plate 1e1. Placing the drag chain on the back of the slide 1e also serves to shift the center of gravity backward.

[0032] Furthermore, this embodiment also provides a second mounting plate 1e2 on the back of the slide 1e. The transverse slide 1 is also provided with a transverse drag chain 1g and a tow trough 1h. The tow trough 1h is a long strip with a U-shaped cross section, and the tow trough 1h is laterally fixed to the back of the transverse profile 1a. The transverse drag chain 1g is provided on the tow trough 1h, one end of the transverse drag chain 1g is connected to the tow trough 1h or the transverse profile 1a, and the other end of the transverse drag chain 1g is connected to the second mounting plate 1e2. The transverse drag chain 1g and the tow trough 1h are provided on the back of the transverse profile 1a, which also increases the weight on the back as much as possible to move the center of gravity backward, while leaving space on the top surface of the transverse profile 1a for easy installation of sensors.

[0033] Furthermore, this embodiment is also provided with a plate 6 and a sensor. The plate 6 is provided at both ends of the transverse profile 1a, and the sensor is provided on the second mounting plate 1e2, and the sensing detection is used to detect the position of the plate 6. Specifically, the bottom surface of the plate 6 is fixed to the top surface of the transverse profile 1a, preferably with countersunk screws. The top surface of the plate 6 is a slope with a high middle and low sides. The sensor is an infrared sensor 4 or a roller microswitch 5. The infrared sensor 4 is selected to detect the distance. When the infrared sensor 4 detects the plate 6, the detection height changes, which can serve as a warning signal and play the role of limit triggering. When the roller microswitch 5 is selected, when the roller on the roller microswitch 5 touches the plate 6, it can also serve as a trigger signal.

[0034] Furthermore, two plates 6 are installed at both ends of the transverse profile 1a, offset from each other. The sensors use both an infrared sensor 4 and a roller microswitch 5, which detect the two plates 6 respectively. Using two different types of sensors provides a double layer of protection.

[0035] Further, the top surface of the transverse profile 1a is provided with a chute along the length direction, the plate member 6 is covered on the chute position, and the detection end of the infrared sensor 4 faces the bottom surface of the chute. The top surface of the transverse profile 1a is exposed outside and may be interfered by external light, the infrared sensor 4 does not directly detect the top surface of the transverse profile 1a but detects the bottom surface of the chute, so that the interference of light can be effectively reduced. Moreover, the profile itself is light in weight and generally has various chutes on each surface, so that it is not necessary to additionally open a groove and a suitable one can be directly selected on the market.

[0036] It should be noted that the orientation expressions such as transverse, longitudinal, front, back, top, etc. in the present application are all based on the drawings attached to the specification Figure 1 For reference, only for explanation, not for range limitation.

[0037] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit the protection scope of the present application. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced by equivalents without departing from the essence and scope of the technical solutions of the present application.

Claims

1. A robotic arm, characterized in that: It includes a horizontal slide, a vertical slide and a mechanical claw; the mechanical claw is arranged at the bottom end of the vertical slide; the vertical slide is arranged on the horizontal slide; The transverse slide comprises a transverse profile, a transverse slide rail, a transverse rack, a transverse slider, a slide plate and a transverse drive motor; the transverse slide rail and the transverse rack are arranged transversely and parallelly on the transverse profile; the transverse slider is arranged on the back of the slide plate, and the transverse slider is clamped on the transverse slide rail; the transverse drive motor is arranged on the front of the slide plate, and the output end of the transverse drive motor passes through the slide plate and is provided with a first gear meshing with the transverse gear; The vertical slide includes a vertical profile, a vertical slide rail, a vertical rack, a vertical slider and a vertical drive motor; the vertical slide rail and the vertical rack are vertically and parallelly arranged on the vertical profile; the vertical slider is clamped on the vertical slide rail, and the vertical slider is arranged on the front of the slide; the vertical drive motor is arranged on the back of the slide, and the output end of the vertical drive motor passes through the slide and is provided with a second gear engaged with the vertical rack.

2. A robotic arm according to claim 1, characterized in that: There are two horizontal slide rails, and the horizontal rack is arranged between the two horizontal slide rails; there are two vertical slide rails, and the vertical rack is arranged between the two vertical slide rails.

3. The robotic arm according to claim 1, characterized in that: A first mounting plate is provided on the back of the slide; the vertical slide also includes a vertical drag chain, one end of the vertical drag chain is connected to the top of the vertical profile, and the other end of the vertical drag chain is connected to the first mounting plate.

4. The robotic arm according to claim 1, wherein: A second mounting plate is provided on the back of the skateboard; the transverse slide also includes a transverse drag chain and a drag wire trough; the drag wire trough is laterally fixed on the back of the transverse profile; the transverse drag chain is provided on the drag wire trough, one end of the transverse drag chain is connected to the drag wire trough or the transverse profile, and the other end of the transverse drag chain is connected to the second mounting plate.

5. The robotic arm according to claim 4, characterized in that: It also includes a plate and a sensor; the plate is arranged at both ends of the horizontal profile; the sensor is arranged on the second mounting plate, and the sensing detection is used to detect the position of the plate.

6. The robotic arm according to claim 5, characterized in that: The bottom surface of the plate is fixed to the top surface of the horizontal profile, and the top surface of the plate is a sloped surface; the sensor is an infrared sensor or a roller micro switch.

7. The robotic arm according to claim 6, characterized in that: Two plates that are offset left and right are provided at both ends of the transverse profile; the sensor includes an infrared sensor and a roller micro switch, and the infrared sensor and the roller micro switch respectively detect the two plates that are offset left and right.

8. The robotic arm according to claim 6, characterized in that: A slide groove is provided on the top surface of the transverse profile along the length direction, the plate cover is arranged at the slide groove position, and the detection end of the infrared sensor faces the bottom surface of the slide groove.

9. The robotic arm according to claim 1, characterized in that: Limit blocks are provided at both ends of the front of the transverse profile, and the positions of the limit blocks correspond to the side walls of the slide plate.

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