Multipurpose operation manipulator

Abstract

A multipurpose operation manipulator comprises a mounting seat and a servo electric cylinder, one side of the mounting seat is connected to the tail end of a mechanical arm, the servo electric cylinder is mounted on the other side of the mounting seat, a piston rod penetrates through a mounting frame and then is rotationally connected with a mounting block, a check block is mounted on the peripheral face of the piston rod, the mounting frame is located on the outer side of the piston rod, and a spiral groove is formed in the inner side of the mounting frame. The supporting rods are evenly distributed on the mounting frame in the circumferential direction, one ends of the supporting rods are hinged to the mounting frame, the other ends of the supporting rods are connected with the replaceable clamping jaws, the connecting rods correspond to the supporting rods one to one, one ends of the connecting rods are hinged to the peripheral face of the mounting block in the circumferential direction, and the other ends of the connecting rods are hinged to the supporting rods. According to the design, a plurality of replaceable clamping jaws are used for clamping a workpiece in all directions, a servo electric cylinder is adopted for driving a piston rod to move or enabling a check block to move in a spiral groove, and therefore the mounting frame is driven to stretch out and draw back or rotate along the axis, and the replaceable clamping jaws complete preset actions such as insertion and extraction or rotation.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a multi-purpose robotic arm. Background Technology

[0002] As the final link and execution component in the interaction between the robot and the environment, the robot's hand and gripper have a very important impact on the robot's completion of tasks and improvement of its work level, and sometimes even play a key role. The flexibility, accuracy and adaptability of grasping and manipulating target objects are important indicators for measuring the design level of the robotic hand.

[0003] Current robotic arms mainly use motors or servo cylinders to drive replaceable grippers to hold workpieces. Due to the relatively fixed structure of the robotic arm and the various shapes of the workpieces, the gripping force of the robotic arm is not strong enough for objects of different shapes during actual gripping. This can lead to workpieces falling off during subsequent workpiece handling. Furthermore, the gripping angle and position of the replaceable gripper structure of the robotic arm are relatively fixed. For example, an electric replaceable gripper robotic arm disclosed in Chinese patent CN211541254U can grip workpieces, but the angle between its two replaceable grippers is 180 degrees. For some specific workpieces, such as cylindrical workpieces, this results in too few force points when gripping, making it impossible to stably grip the workpiece. At the same time, it is impossible to obtain the three-dimensional coordinates of the part's axis through rapid automatic centering for precise digital operation. Summary of the Invention

[0004] The purpose of this invention is to overcome the defects and problems of unstable gripping and inability to quickly self-center in existing technologies, and to provide a multi-purpose working robot that can grip stably and self-center quickly.

[0005] To achieve the above objectives, the technical solution of this utility model is: a multi-purpose robotic arm, including a mounting base, a servo cylinder, a mounting frame, multiple support rods, and multiple connecting rods. One side of the mounting base is connected to the end of the robotic arm. The servo cylinder is mounted on the other side of the mounting base. The piston rod of the servo cylinder passes through the mounting frame and is rotatably connected to a mounting block. A stop block is mounted on the outer circumferential surface of the piston rod of the servo cylinder. The mounting frame is located outside the piston rod. The inner side of the mounting frame has a spiral groove matching the stop block along the axial direction of the piston rod. The stop block is slidably connected to the spiral groove. Multiple support rods are evenly arranged circumferentially on the mounting frame. One end of each support rod is hinged to the mounting frame, and the other end of each support rod is connected to a replaceable gripper. Multiple connecting rods correspond one-to-one with multiple support rods. One end of each connecting rod is circumferentially hinged to the mounting block, and the other end of each connecting rod is hinged to the support rod.

[0006] The mounting bracket includes a sleeve and multiple mounting plates. The sleeve is coaxially disposed on the outside of the piston rod. The multiple mounting plates are connected to the outer circumferential surface of the sleeve along the circumferential direction. One end of each support rod is rotatably connected between two adjacent mounting plates. The spiral groove is located on the inner sidewall of the sleeve.

[0007] The replaceable gripper has a mounting hole, and the other end of the support rod has a connecting hole. Bolts are threaded into the mounting hole and the connecting hole.

[0008] The mounting block includes a connecting block and multiple connecting plates. The connecting block is cylindrical and rotatably connected to one end of the piston rod. The multiple connecting plates are connected to one end of the connecting block along the circumferential direction. One end of each connecting rod is rotatably connected between two adjacent connecting plates.

[0009] Multiple connecting plates are arranged in a one-to-one correspondence with multiple mounting plates. The mounting plate has an inclined surface on its lower side near the connecting plate. The connecting plate is in the shape of a right-angled triangle. The right-angled side of the connecting plate is slidably connected to the connecting block in the radial direction. The inclined side of the connecting plate abuts against the inclined surface.

[0010] The connecting rod includes two symmetrically arranged connecting rods. One end of the two connecting rods is rotatably connected to the left and right sides of the connecting plate, and the other end of the two connecting rods is rotatably connected to the left and right sides of the support rod.

[0011] One end face of the connecting block is provided with a plurality of trapezoidal grooves along the radial direction. An elastic element is installed in the trapezoidal groove. The shapes of the plurality of connecting plates and the plurality of trapezoidal grooves are one-to-one and are slidably connected to the plurality of trapezoidal grooves respectively. One side of the elastic element is connected to the connecting plate.

[0012] The support rod includes a lower clamping arm and an upper clamping arm connected in sequence. The upper clamping arm and the lower clamping arm are arranged at an angle. One end of the lower clamping arm is rotatably connected to the mounting frame, and one end of the upper clamping arm is connected to the replaceable gripper.

[0013] The inner wall of the replaceable gripper is provided with anti-slip texture.

[0014] The number of replaceable grippers is three, and the three replaceable grippers are evenly distributed in a circle around the axis of the piston rod.

[0015] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0016] 1. This utility model discloses a multi-purpose robotic arm that uses multiple replaceable grippers to clamp workpieces in various directions, providing numerous clamping points and relatively stable clamping. The robotic arm is driven by a servo electric cylinder, which moves a connecting rod. Since the connecting rod is hinged to a support rod, it causes the support rod to retract or expand on the mounting frame, allowing the replaceable grippers to clamp or release the workpiece. During the movement of the servo electric cylinder, a stop block moves within a spiral groove, causing the mounting frame to rotate circumferentially. This facilitates adjustment of the position and angle of the replaceable grippers. Combined with the clamping force of the replaceable grippers themselves, it achieves adaptive fitting to workpiece dimensions and effective workpiece clamping. The multiple replaceable grippers can also achieve automatic self-centering clamping for cylindrical objects. Therefore, this utility model offers stable clamping, wide applicability, and rapid self-centering.

[0017] 2. This utility model discloses a multi-purpose robotic arm with replaceable grippers and a support rod that are detachably connected. Different sized grippers can be used to hold the workpiece, making it widely applicable. The replaceable grippers feature anti-slip textures, providing good gripping force during insertion, removal, and rotation, facilitating stable operation of the robotic arm. The support rod uses an upper and lower gripper arm connection, increasing the range of motion of the grippers. Therefore, this utility model has a simple structure, is easy to use, and has a wide range of applications.

[0018] 3. In this multi-purpose manipulator, multiple connecting plates and mounting plates are provided. When the piston rod of the servo cylinder moves, the connecting plates can slide along the inclined surface of the mounting plates, thus serving a guiding function. Simultaneously, after the connecting plates contact the mounting plates, they can slide on the connecting blocks and drive the connecting rod to rotate, further enhancing the gripping effect of the grippers. Therefore, this invention provides a stable gripping process and a good gripping effect.

[0019] 4. The multi-purpose robotic arm of this utility model uses a three-jaw gripper to achieve automatic self-aligning clamping of cylindrical objects, which can automatically align the axis of the clamped object with the axis of rotation of the robotic arm. In this way, the three-dimensional coordinates of the axis of the clamped object can be obtained by setting various sensors to calculate the three-dimensional coordinates of the axis of rotation of the robotic arm, which is conducive to the automated and precise digital operation of the equipment. Therefore, this utility model has high working accuracy and good intelligence. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of this utility model.

[0021] Figure 2 This is a schematic diagram of the mounting block and servo electric cylinder in this utility model.

[0022] Figure 3This is a structural schematic diagram of the mounting bracket and support rod in this utility model.

[0023] Figure 4 This is a schematic diagram of the support rod and replaceable gripper in this utility model.

[0024] In the diagram: Mounting base 1, servo electric cylinder 2, piston rod 21, support rod 3, upper clamping arm 31, lower clamping arm 32, connecting hole 33, mounting block 4, connecting block 41, connecting plate 42, trapezoidal slide 43, elastic element 44, mounting bracket 5, sleeve 51, mounting plate 52, spiral groove 53, inclined surface 54, connecting rod 6, connecting rod 61, replaceable gripper 7, mounting hole 71, stop block 8, bolt 9. Detailed Implementation

[0025] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] Example 1:

[0027] See Figure 1 A multi-purpose robotic arm includes a mounting base 1, a servo cylinder 2, a mounting frame 5, multiple support rods 3, and multiple connecting rods 6. One side of the mounting base 1 is connected to the end of the robotic arm. The servo cylinder 2 is mounted on the other side of the mounting base 1. The piston rod 21 of the servo cylinder 2 passes through the mounting frame 5 and is rotatably connected to a mounting block 4. A stop block 8 is mounted on the outer circumferential surface of the piston rod 21 of the servo cylinder 2. The mounting frame 5 is located outside the piston rod 21. The inner side of the mounting frame 5 has a spiral groove 53 that matches the stop block 8 along the axial direction of the piston rod 21. The stop block 8 slides... The piston rod 21 is movably connected to the spiral groove 53. Multiple support rods 3 are evenly arranged circumferentially on the mounting frame 5. One end of each support rod 3 is hinged to the mounting frame 5, and the other end of each support rod 3 is connected to a replaceable gripper 7. Multiple connecting rods 6 correspond one-to-one with multiple support rods 3. One end of each connecting rod 6 is hinged circumferentially to the mounting block 4, and the other end of each connecting rod 6 is hinged to the support rod 3. The inner sidewall of the replaceable gripper 7 is provided with anti-slip texture. The three replaceable grippers 7 are circumferentially distributed with the axis of the piston rod 21 as the center, and the angle between each replaceable gripper 7 is 120 degrees.

[0028] In this embodiment, when clamping the workpiece, the robotic arm first moves the robotic hand to the area where it can be clamped. Then, the piston rod 21 of the servo cylinder 2 retracts, driving the mounting block 4 to move, which in turn causes the connecting rod 6 to rotate, driving the support rod 3 to move inward, so that the three replaceable grippers 7 can clamp the workpiece. If the piston rod 21 continues to retract while clamping the workpiece, the stop block 8 will move into the spiral groove 53, driving the mounting frame 5 to rotate, so that the three replaceable grippers 7 can drive the workpiece to rotate synchronously, making it easier for threaded rods to be screwed into nuts. If the stroke of the servo cylinder 21 is short, a connecting rod can be connected to the end of the piston rod 21. At the same time, a bearing can be installed between the mounting frame 4 and the mounting base 1 to make the rotation process of the mounting frame 4 stable.

[0029] Example 2:

[0030] The basic content is the same as in Example 1, except that:

[0031] See Figure 3 and Figure 4 The mounting bracket 5 includes a sleeve 51 and multiple mounting plates 52. The sleeve 51 is coaxially disposed on the outside of the piston rod 21. The multiple mounting plates 52 are connected to the outer circumferential surface of the sleeve 51 along the circumferential direction. One end of each support rod 3 is rotatably connected between two adjacent mounting plates 52. The spiral groove 53 is located on the inner sidewall of the sleeve 51. The support rod 3 includes a lower clamping arm 32 and an upper clamping arm 31 connected in sequence. The upper clamping arm 31 and the lower clamping arm 32 are arranged obliquely. One end of the lower clamping arm 32 is rotatably connected to the mounting bracket 5. One end of the upper clamping arm 31 is connected to the replaceable gripper 7. The replaceable gripper 7 has a mounting hole 71. The other end of the support rod 3 has a connecting hole 33. The mounting hole 71 and the connecting hole 33 are internally threaded with bolts 9.

[0032] In this embodiment, the angle between the upper clamping arm 31 and the lower clamping arm 32 is an obtuse angle. The replaceable clamping claw 7 is installed on the inner side of the upper clamping arm 31. When installing the replaceable clamping claw 7, first align the connecting hole 33 with the mounting hole 71, and then screw the bolt 9 into the connecting hole 33 and the mounting hole 71 to connect and fix the replaceable clamping claw 7 to the upper clamping arm 31.

[0033] Example 3:

[0034] The basic content is the same as Example 2, except that:

[0035] See Figure 2 and Figure 3The mounting block 4 includes a connecting block 41 and a plurality of connecting plates 42. The connecting block 41 is cylindrical and rotatably connected to one end of the piston rod 21. The plurality of connecting plates 42 are connected to one end of the connecting block 41 along the circumferential direction. One end of each connecting rod 6 is rotatably connected between two adjacent connecting plates 42.

[0036] Multiple connecting plates 42 are arranged in a one-to-one correspondence with multiple mounting plates 52. The mounting plate 52 has an inclined surface 54 on its lower side near the connecting plate 42. The connecting plate 42 is a right-angled triangle. The right-angled side of the connecting plate 42 is slidably connected to the connecting block 41 in the radial direction. The inclined side of the connecting plate 42 abuts against the inclined surface 54.

[0037] The connecting rod 6 includes two symmetrically arranged connecting rods 61. One end of the two connecting rods 61 is rotatably connected to the left and right sides of the connecting plate 42, and the other end of the two connecting rods 61 is rotatably connected to the left and right sides of the support rod 3.

[0038] The connecting block 41 has a plurality of trapezoidal grooves 43 radially opened on one end face. An elastic element 44 is installed in the trapezoidal groove 43. The shapes of the connecting plates 42 and the trapezoidal grooves 43 are one-to-one and are slidably connected to the trapezoidal grooves 43 respectively. One side of the elastic element 44 is connected to the connecting plate 42.

[0039] In this embodiment, multiple trapezoidal grooves 43 are welded to the outer circumference to prevent the connecting plate 42 from being pushed out. A bearing can be installed between the connecting block 41 and the piston rod 21. The elastic element 44 can be a spring. One end of the spring is connected to the inner wall of the trapezoidal groove 43, and the other end is connected to the other right-angle side of the connecting plate 42. During the clamping process, the piston rod 21 retracts into the servo electric cylinder 2. At this time, the connecting plate 41 slides along the inclined surface 54 of the mounting plate 52, and the connecting block 42 slides in the trapezoidal groove 43 of the connecting plate 41, causing one end of the connecting rod 6 to move.

Claims

1. A multi-purpose robotic arm, characterized in that: The system includes a mounting base (1), a servo cylinder (2), a mounting frame (5), multiple support rods (3), and multiple connecting rods (6). One side of the mounting base (1) is connected to the end of the robotic arm. The servo cylinder (2) is mounted on the other side of the mounting base (1). The piston rod (21) of the servo cylinder (2) passes through the mounting frame (5) and is rotatably connected to a mounting block (4). A stop block (8) is installed on the outer circumferential surface of the piston rod (21) of the servo cylinder (2). The mounting frame (5) is located outside the piston rod (21), and the inner side of the mounting frame (5) is along the piston rod (21). A spiral groove (53) matching the stop block (8) is provided in the axial direction. The stop block (8) is slidably connected to the spiral groove (53). A plurality of support rods (3) are evenly arranged on the mounting frame (5) in the circumferential direction. One end of the support rod (3) is hinged to the mounting frame (5). The other end of the support rod (3) is connected to a replaceable gripper (7). A plurality of connecting rods (6) correspond one-to-one with a plurality of support rods (3). One end of a plurality of connecting rods (6) is respectively hinged to the mounting block (4) in the circumferential direction. The other end of a plurality of connecting rods (6) is hinged to the support rod (3).

2. The multi-purpose robotic arm according to claim 1, characterized in that: The mounting bracket (5) includes a sleeve (51) and a plurality of mounting plates (52). The sleeve (51) is coaxially disposed on the outside of the piston rod (21). The plurality of mounting plates (52) are connected to the outer circumferential surface of the sleeve (51) along the circumferential direction. One end of each support rod (3) is rotatably connected between two adjacent mounting plates (52). The spiral groove (53) is located on the inner sidewall of the sleeve (51).

3. The multi-purpose robotic arm according to claim 1, characterized in that: The replaceable gripper (7) has an installation hole (71), and the other end of the support rod (3) has a connection hole (33). The installation hole (71) and the connection hole (33) are threaded with bolts (9).

4. A multi-purpose robotic arm according to claim 2, characterized in that: The mounting block (4) includes a connecting block (41) and a plurality of connecting plates (42). The connecting block (41) is cylindrical and rotatably connected to one end of the piston rod (21). The plurality of connecting plates (42) are connected to one end of the connecting block (41) along the circumferential direction. One end of each connecting rod (6) is rotatably connected between two adjacent connecting plates (42).

5. A multi-purpose robotic arm according to claim 4, characterized in that: Multiple connecting plates (42) are arranged in a one-to-one correspondence with multiple mounting plates (52). The mounting plate (52) has a sloping surface (54) on its lower side near the connecting plate (42). The connecting plate (42) is a right-angled triangle. The right-angled side of the connecting plate (42) is slidably connected to the connecting block (41) in the radial direction. The sloping side of the connecting plate (42) abuts against the sloping surface (54).

6. A multi-purpose robotic arm according to claim 5, characterized in that: The connecting rod (6) includes two symmetrically arranged connecting rods (61). One end of the two connecting rods (61) is rotatably connected to the left and right sides of the connecting plate (42), and the other end of the two connecting rods (61) is rotatably connected to the left and right sides of the support rod (3).

7. A multi-purpose robotic arm according to claim 5, characterized in that: The connecting block (41) has a plurality of trapezoidal grooves (43) radially opened on one end face. An elastic element (44) is installed in the trapezoidal groove (43). The shapes of the connecting plates (42) and the trapezoidal grooves (43) are one-to-one and are slidably connected to the trapezoidal grooves (43). One side of the elastic element (44) is connected to the connecting plate (42).

8. A multi-purpose robotic arm according to claim 1, characterized in that: The support rod (3) includes a lower clamping arm (32) and an upper clamping arm (31) connected in sequence. The upper clamping arm (31) and the lower clamping arm (32) are arranged at an angle. One end of the lower clamping arm (32) is rotatably connected to the mounting frame (5), and one end of the upper clamping arm (31) is connected to the replaceable gripper (7).

9. A multi-purpose robotic arm according to claim 1, characterized in that: The inner wall of the replaceable gripper (7) is provided with anti-slip texture.

10. A multi-purpose robotic arm according to claim 1, characterized in that: The number of replaceable grippers (7) is 3, and the 3 replaceable grippers (7) are evenly distributed in a circle around the axis of the piston rod (21).

Images