Manipulator device

Abstract

The utility model discloses a manipulator device which comprises a crown block assembly, a manipulator and an executing mechanism, the manipulator is connected with a suspension through the crown block assembly, and the manipulator is connected with the executing mechanism. The crown block assembly comprises a crown block base and a first guide rail, and the crown block base is arranged on the first guide rail and can slide along the first guide rail; the manipulator base is arranged on the crown block base through a first rotating shaft and can rotate along the first rotating shaft; the manipulator comprises a manipulator base, a manipulator body, a driving mechanism, a first connecting rod, a first swing arm, a second swing arm, a third swing arm and a base; the driving mechanism drives the first connecting rod to act so as to drive a quadrilateral structure formed by the first swing arm, the base, the second swing arm and the manipulator body to act, and then the third swing arm drives the executing mechanism to act. According to the mechanical arm device, it can be ensured that the mechanical arm conducts high-precision linear motion, and therefore high-precision positioning is achieved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to mechanical hand device technical field relates to a mechanical hand, especially relates to a power -assisted mechanical hand device. BACKGROUND

[0002] Power -assisted mechanical hand is a kind of device widely used in industrial production and robot application, and power -assisted mechanical hand realizes the movement and control of mechanical hand by specific drive system (such as pneumatic, electric, etc.).Mechanical hand is mainly composed of drive system, transmission system and control system, drive system is used to provide power source, such as compressed air (pneumatic system) or motor (electric system);Transmission mechanism passes power to each joint and actuator of mechanical hand;Control system realizes the accurate control and movement planning of mechanical hand.

[0003] Power -assisted mechanical hand has important application in industrial automation and manufacturing, but its technical scheme also has some defects, for example, the related defects such as the influence of running speed by load, limited output force and stability problem.

[0004] Therefore, it is urgent to design a new power -assisted mechanical hand to overcome at least part of the above-mentioned defects of the existing power -assisted mechanical hand. INVENTION CONTENTS

[0005] The utility model provides a mechanical hand device can ensure that mechanical hand carries out high -precision linear motion to reach high -precision positioning.

[0006] To solve the above technical problem, according to one aspect of the utility model, the following technical scheme is adopted:

[0007] A kind of mechanical hand device, the mechanical hand device includes: crown block assembly, mechanical hand and executing mechanism, the mechanical hand is set by crown block assembly, the mechanical hand is connected executing mechanism;

[0008] The crown block assembly includes crown block base and first guide rail, the crown block base is set to first guide rail, can slide along first guide rail;

[0009] The mechanical hand includes mechanical hand base, mechanical hand body, drive mechanism, first connecting rod, first swing arm, second swing arm, third swing arm and base;The mechanical hand base is set to the crown block base by first rotation axis, can rotate along first rotation axis;

[0010] The drive mechanism is based on the mechanical hand body setting, the drive mechanism is connected the first end of the first connecting rod by second rotation axis, the second end of the first connecting rod is connected the first end of first swing arm by third rotation axis;

[0011] The setting position of the first swing arm is arranged on the manipulator body through a fourth rotating shaft; and the second end of the first swing arm is arranged on the base through a sixth rotating shaft;

[0012] The first end of the second swing arm is arranged on the manipulator body through a fifth rotating shaft, and the second end of the second swing arm is arranged on the base through a seventh rotating shaft;

[0013] The first end of the third swing arm is arranged on the base through an eighth rotating shaft and can rotate through the eighth rotating shaft; and the second end of the third swing arm is arranged on the executing mechanism;

[0014] The driving mechanism drives the first connecting rod to act, so as to drive the quadrilateral structure formed by the first swing arm, the base, the second swing arm and the manipulator body to act, and further drive the executing mechanism to act through the third swing arm.

[0015] As an embodiment of the utility model, the first rotating shaft is arranged on a linear guide rail, and the first rotating shaft can act along the linear guide rail in the case that the driving mechanism drives the first rotating shaft to act.

[0016] As an embodiment of the utility model, the manipulator device further comprises a limiting mechanism, the limiting mechanism comprises a limiting rod, the first end of the limiting rod is arranged on the manipulator body;

[0017] The first swing arm or / and the second swing arm is provided with a limiting ring, the limiting rod is nested in the limiting ring, so that the movement of the first swing arm and the second swing arm is operated within a set range.

[0018] As an embodiment of the utility model, the limiting rod is provided with a first limiting point and a second limiting point, and the limiting ring can only move within the area between the first limiting point and the second limiting point.

[0019] As an embodiment of the utility model, the manipulator device further comprises a first air pressure disc brake; the first air pressure disc brake comprises a first brake disc arranged on the manipulator base and a first pneumatic brake arranged on the manipulator body.

[0020] As an embodiment of the utility model, the manipulator device further comprises a second air pressure disc brake, the second air pressure disc brake comprises a second brake disc arranged on the base and a second pneumatic brake arranged on the third swing arm.

[0021] As an embodiment of the utility model, the driving mechanism comprises a cylinder, a piston and an extension rod; the piston is arranged in the cylinder, one end of the extension rod is connected with the piston, and the other end of the extension rod extends out of the cylinder and is connected with the first connecting rod; and the cylinder can drive the extension rod to move longitudinally.

[0022] As an embodiment of the utility model, the first guide rail comprises a linear guide rail or / and a curved guide rail.

[0023] As an embodiment of the utility model, the headstock base is arranged on the first guide rail through a roller.

[0024] The mechanical hand device provided by the utility model can ensure high-precision linear movement of the mechanical hand, thereby achieving high-precision positioning.

[0025] In one use scenario of the utility model, the power input of the mechanical hand is derived from the driving of the cylinder, and the power realizes accurate guiding function through the linear guide rail. The load channel of the linear guide rail can ensure high-precision linear movement along the guide rail, thereby easily achieving extremely high positioning precision. In addition, the linear guide rail has excellent bearing capacity and can cope with loads from all directions, and this characteristic makes the linear movement smoother and lower in noise.

[0026] To ensure the safety and stability of the connecting rod mechanism during the working process, a limit protection device is specially installed. This device can limit the movement range of the connecting rod mechanism, effectively prevent interference or collision caused by excessive stroke, and further improve the reliability and safety of the whole mechanical hand. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 It is a structure schematic view of the mechanical hand device in one embodiment of the utility model.

[0028] Figure 2 It is a structure schematic view of the mechanical hand device in one embodiment of the utility model.

[0029] Figure 3 It is a structure schematic view of the mechanical hand device in one embodiment of the utility model.

[0030] Figure 4 It is a structure schematic view of the mechanical hand device in one embodiment of the utility model.

[0031] Figure 5 It is a structure schematic view of the mechanical hand device in one embodiment of the utility model.

[0032] Figure 6 It is a structure schematic view of the mechanical hand device in one embodiment of the utility model.

[0033] Figure 7 It is a structure schematic view of the mechanical hand device in one embodiment of the utility model.

[0034] Figure 8 It is a structure schematic view of the mechanical hand device in one embodiment of the utility model.

[0035] Figure 9 It is a structure schematic view of the mechanical arm device in an embodiment of the utility model.

[0036] Figure 10 It is a structure schematic view of the mechanical arm in an embodiment of the utility model.

[0037] Figure 11 It is a structure schematic view of the mechanical arm in an embodiment of the utility model.

[0038] Figure 12 It is a structure schematic view of the crown block assembly in an embodiment of the utility model.

[0039] Figure 13 It is a structure schematic view of the mechanical arm device in an embodiment of the utility model. DETAILED DESCRIPTION

[0040] The preferred embodiments of the utility model are described in detail below in combination with the drawings.

[0041] In order to further understand the utility model, the preferred embodiments of the utility model are described below in combination with the embodiments, but it should be understood that these descriptions are only for further illustrating the features and advantages of the utility model, and are not the limitation of the claims of the utility model.

[0042] The description of this part is only for several typical embodiments, and the utility model is not limited to the range described in the embodiments. The mutual replacement of the same or similar prior art means and some technical features in the embodiments is also within the description and protection range of the utility model.

[0043] The "connection" in the specification includes direct connection and indirect connection.

[0044] The utility model discloses a kind of mechanical arm devices, Figures 1 to 13 Disclose the structure schematic view of the mechanical arm device in an embodiment of the utility model;Please refer to Figure 1 , the mechanical arm device includes: crown block assembly 1, mechanical arm 3 and executing mechanism 5, the mechanical arm 3 is set by crown block assembly 1, and the mechanical arm 3 is connected executing mechanism 5.The crown block assembly 1 includes crown block base 101 and first guide rail 103, the crown block base 101 is set to first guide rail 103, can slide along first guide rail 103.In an embodiment, the first guide rail 103 can include linear guide rail or / and curved guide rail;The crown block base 101 can be set to the first guide rail 103 by roller 105.The executing mechanism 5 can be assembled and disassembled tool, can also be other functional components.

[0045] The mechanical arm 3 comprises a mechanical arm base 301, a mechanical arm body 303, a driving mechanism 305, a first connecting rod 307, a first swing arm 309, a second swing arm 311, a third swing arm 313 and a base 315; the mechanical arm base 301 is arranged on the headstock base 101 through a first rotating shaft 317 and can rotate along the first rotating shaft 317. The driving mechanism 305 is arranged based on the mechanical arm body 303, the driving mechanism 305 is connected with the first end of the first connecting rod 307 through a second rotating shaft 319, the second end of the first connecting rod 307 is connected with the first end of the first swing arm 309 through a third rotating shaft 321. The set position of the first swing arm 309 is arranged on the mechanical arm body 303 through a fourth rotating shaft 323; the second end of the first swing arm 309 is arranged on the base 315 through a sixth rotating shaft 327. The first end of the second swing arm 311 is arranged on the mechanical arm body 303 through a fifth rotating shaft 325, and the second end of the second swing arm 311 is arranged on the base 315 through a seventh rotating shaft 329. The first end of the third swing arm 313 is arranged on the base 315 through an eighth rotating shaft 331 and can rotate through the eighth rotating shaft 331; the second end of the third swing arm 313 is arranged on the executing mechanism 5. The driving mechanism 305 drives the first connecting rod 307 to act, so as to drive the quadrilateral structure formed by the first swing arm 309, the base 315, the second swing arm 311 and the mechanical arm body 303 to act, and further drive the executing mechanism 5 to act through the third swing arm 313.

[0046] In an embodiment of the utility model, the first rotating shaft 317 is arranged on a linear guide rail 333, and the first rotating shaft 317 can act along the linear guide rail 333 (namely can slide in the linear guide rail 333) in the case that the driving mechanism 305 drives the first rotating shaft 317 to act. The linear guide rail 333 can be arranged longitudinally. The mechanical arm device can further comprise a limiting mechanism 335, the limiting mechanism 335 comprises a limiting rod 3351, the first end of the limiting rod 3351 can be arranged on the mechanical arm body 303 through a ninth rotating shaft 3357; the first swing arm 309 or / and the second swing arm 311 is provided with a limiting ring 337, the limiting rod 3351 is nested in the limiting ring 337, so that the movement of the first swing arm 309 and the second swing arm 311 runs in the set range. In an embodiment, the limiting rod 3351 can be provided with a first limiting point 3353 and a second limiting point 3355, and the limiting ring 337 can only move in the area between the first limiting point 3353 and the second limiting point 3355.

[0047] In an embodiment, the driving mechanism 305 can include a cylinder, a piston and a telescopic rod; the piston is arranged in the cylinder, one end of the telescopic rod is connected with the piston, the other end of the telescopic rod extends out of the cylinder and is connected with the first connecting rod; the cylinder can drive the telescopic rod to move longitudinally.

[0048] The mechanical arm device can further include a first air pressure disc brake 339; the first air pressure disc brake 339 includes a brake disc arranged on the mechanical arm base 301 and a pneumatic brake arranged on the mechanical arm body 303. In addition, the mechanical arm device can further include a second air pressure disc brake 341; the second air pressure disc brake 341 includes a second brake disc arranged on the base 315 and a second pneumatic brake arranged on the third swing arm 313.

[0049] The working principle of the utility model is as follows: the mechanical arm base is installed on the crown block base and moves with the crown block, the mechanical arm body is connected to the mechanical arm base through the first rotating shaft and can rotate along the horizontal direction, the brake disc is installed on the mechanical arm base and the pneumatic brake is installed on the mechanical arm body. The cylinder is installed on the mechanical arm body, the cylinder drives the second rotating shaft to move up and down, the first rotating shaft is connected with the linear guide rail to ensure that it moves linearly, the second rotating shaft is connected with the first connecting rod, the first connecting rod is connected with the first swing arm through the third rotating shaft, the first swing arm is connected with the mechanical arm body through the fourth rotating shaft, so that the first swing arm can rotate around the fourth rotating shaft under the driving of the cylinder. The second swing arm is connected with the mechanical arm body through the fifth rotating shaft, the first swing arm and the second swing arm are connected with the base through the sixth rotating shaft and the seventh rotating shaft respectively, the second swing arm swings around the fifth rotating shaft along with the first swing arm, the first swing arm, the second swing arm, the mechanical arm base and the base form a parallelogram, the base is always parallel to the mechanical arm body in the swing process of the swing arm, the third swing arm is connected with the base through the eighth rotating shaft and rotates horizontally around the eighth rotating shaft, the third swing arm moves up and down along with the swing of the first swing arm.

[0050] In one use scenario of the utility model, the crown block assembly is connected with the base through the forging and hanging trolley, the forging and hanging trolley is designed ingeniously and can slide stably and smoothly on the 180-degree arc-shaped track. At the same time, the mechanical arm is closely connected with the crown block assembly through the base, so that the mechanical arm can move flexibly along with the sliding of the crown block assembly and realize accurate positioning in the working range.

[0051] The core movement mechanism of the manipulator relies on a connecting rod mechanism. Under the pushing force provided by the cylinder and the guiding action of the linear guide rail, the connecting rod is pushed to move in a double rocker mode. This movement mode enables the connecting rod to drive the swing arm to move up and down smoothly and stably in the vertical direction, thereby meeting various operation requirements. In order to ensure that the movement of the manipulator is within a safe range, a limit protection device is specially arranged, which can limit the movement stroke of the connecting rod and effectively prevent interference or collision caused by excessive stroke of the connecting rod, thereby ensuring the safety and reliability of the entire operation process.

[0052] In addition, the mounting and dismounting jig is connected to the end of the manipulator swing arm. This connection enables the mounting and dismounting jig to flexibly follow the swing arm to rotate around the end of the connecting rod, thereby adapting to various complex operation scenarios. In order to ensure the stability and accuracy of the mounting and dismounting jig during rotation, an air disc brake is specially provided for braking control. This brake has the characteristics of rapid response and strong braking force, and can ensure that the mounting and dismounting jig can quickly and accurately stop rotating when needed, thereby providing strong support for the entire operation process.

[0053] In summary, the manipulator device provided by the present application can ensure that the manipulator moves linearly with high precision, thereby achieving high-precision positioning.

[0054] In one use scenario of the present application, the power input of the manipulator is derived from the driving of the cylinder, and the power is precisely guided by the linear guide rail. The load channel of the linear guide rail can ensure high-precision linear movement along the guide rail, thereby easily achieving extremely high positioning accuracy. In addition, the linear guide rail has excellent load capacity and can cope with loads from all directions, which makes the linear movement smoother and less noisy.

[0055] In order to ensure the safety and stability of the connecting rod mechanism during operation, a limit protection device is specially installed. This device can limit the movement range of the connecting rod mechanism, effectively prevent interference or collision caused by excessive stroke, and further improve the reliability and safety of the entire manipulator.

[0056] The technical features of the above-described embodiments can be combined in any manner. In order to make the description concise, not all possible combinations of the technical features in the above-described embodiments are described, but as long as the combinations of the technical features do not exist, they should be considered as the scope of the present application.

[0057] The description and application of the present application are illustrative, and are not intended to limit the scope of the present application to the above-mentioned embodiments. The effects or advantages involved in the embodiments can not be embodied in the embodiments due to various factors, and the description of the effects or advantages is not used to limit the embodiments. Variations and changes of the disclosed embodiments are possible, and various components of the embodiments are known to those skilled in the art. It should be clear to those skilled in the art that the present application can be realized in other forms, structures, arrangements, proportions, and with other components, materials and parts without departing from the spirit or essential characteristics of the present application. Other variations and changes of the disclosed embodiments can be made without departing from the scope and spirit of the present application.

Claims

1. A robotic arm device, characterized in that, The robotic arm device includes: a crane assembly, a robotic arm, and an actuator. The robotic arm is mounted via the crane assembly and is connected to the actuator. The overhead crane assembly includes an overhead crane base and a first guide rail, wherein the overhead crane base is disposed on the first guide rail and can slide along the first guide rail; The robotic arm includes a robotic arm base, a robotic arm body, a drive mechanism, a first link, a first swing arm, a second swing arm, a third swing arm, and a base; the robotic arm base is mounted on the crane base via a first rotating shaft and can rotate along the first rotating shaft; The drive mechanism is set based on the robot body. The drive mechanism is connected to the first end of the first link through the second rotating shaft. The second end of the first link is connected to the first end of the first swing arm through the third rotating shaft. The first swing arm is mounted on the robot body via a fourth pivot; the second end of the first swing arm is mounted on the base via a sixth pivot. The first end of the second swing arm is mounted on the robot body via the fifth pivot, and the second end of the second swing arm is mounted on the base via the seventh pivot. The first end of the third swing arm is mounted on the base via an eighth pivot and can rotate via the eighth pivot; the second end of the third swing arm is provided with the actuator. The drive mechanism drives the first link to move, thereby driving the quadrilateral structure formed by the first swing arm, the base, the second swing arm, and the robot body to move, and then drives the actuator to move through the third swing arm.

2. The robotic arm device according to claim 1, characterized in that: The first rotating shaft is mounted on a straight guide rail. When the driving mechanism drives the first rotating shaft to move, the first rotating shaft can move along the straight guide rail.

3. The robotic arm device according to claim 1, characterized in that: The robotic arm device further includes a limiting mechanism, which includes a limiting rod, the first end of which is disposed on the robotic arm body; The first swing arm and / or the second swing arm are provided with a limiting ring, and the limiting rod is nested in the limiting ring, so that the movement of the first swing arm and the second swing arm runs within a set range.

4. The robotic arm device according to claim 3, characterized in that: The limiting rod is provided with a first limiting point and a second limiting point, and the limiting ring can only move within the area between the first limiting point and the second limiting point.

5. The robotic arm device according to claim 1, characterized in that: The robotic arm device further includes a first pneumatic disc brake; the first pneumatic disc brake includes a first brake disc disposed on the robotic arm base and a second pneumatic brake disposed on the robotic arm body.

6. The robotic arm device according to claim 1, characterized in that: The robotic arm device further includes a second pneumatic disc brake, which is a second brake disc mounted on the base and a second pneumatic brake mounted on the third swing arm.

7. The robotic arm device according to claim 1, characterized in that: The driving mechanism includes a cylinder, a piston, and a telescopic rod; the piston is disposed inside the cylinder, one end of the telescopic rod is connected to the piston, and the other end extends out of the cylinder and is connected to the first connecting rod; the cylinder can drive the telescopic rod to move longitudinally.

8. The robotic arm device according to claim 1, characterized in that: The first guide rail includes a linear guide rail and / or a curved guide rail.

9. The robotic arm device according to claim 1, characterized in that: The crane base is mounted on the first guide rail via rollers.

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