Industrial manipulator

Abstract

The utility model relates to the technical field of industrial equipment, and provides an industrial manipulator which comprises a plurality of mechanical arms, a grabbing mechanism is arranged at the tail end of the manipulator, a plurality of connecting rods are arranged on the manipulator, and the connecting rods are connected in a linkage mode and form a multi-connecting-rod mechanism matched with the mechanical arms. The mechanical arm is provided with a plurality of connecting rods, the connecting rods move along with a mechanical arm of the mechanical arm, force conversion and transmission are achieved, and the mechanical arm is equivalent to a labor-saving mechanism, so that the load at the tail end of the mechanical arm is increased, and compared with an existing mechanical arm, under the condition that the grabbing mechanism grabs workpieces with the same weight, the mechanical arm does not need to be too thick; the overall weight of the manipulator is further reduced, the manufacturing cost of the manipulator is lower, in addition, the output torque of the motor for driving the manipulator to operate is not too large, it can be understood that the motor outputs small force, and the manipulator can easily grab heavy workpieces.

Description

TECHNICAL FIELD

[0001] The utility model relates to industrial equipment technical field, concretely relates to an industrial mechanical hand. BACKGROUND

[0002] Chinese patent number ZL202410103217.9 discloses a multi-joint mechanical structure, including a rotating arm circumferentially rotatingly arranged on a base, and an acting part acting on a workpiece, a mechanical arm assembly is arranged between the rotating arm and the acting part, and a driving part for driving the mechanical arm assembly to move is exposedly arranged on the mechanical arm assembly; one end of the mechanical arm assembly is rotationally connected with the rotating arm, and the other end of the mechanical arm assembly is connected with the acting part in a matched mode; a plurality of movable fulcrums not on the same axis are arranged on the mechanical arm assembly to realize multi-axis movement of the mechanical arm assembly, and the rotating arm drives the acting part to move to a corresponding position and acts on the workpiece through the mechanical arm assembly.

[0003] Because the multi-joint mechanical structure is mainly used for grabbing workpieces, the greater the weight of the workpieces to be grabbed, the greater the thickness of the mechanical arm of the mechanical arm assembly, so as to increase the load bearing of the mechanical hand on the workpieces. As the thickness of the mechanical arm increases, the overall weight of the mechanical hand increases, and the production cost is relatively high. Therefore, the multi-joint mechanical structure is further improved in the present application. UTILITARY MODEL

[0004] The utility model provides an industrial mechanical hand, a plurality of connecting rods are arranged on the mechanical hand, the plurality of connecting rods move with the mechanical arm of the mechanical hand, realize the conversion and transmission of force, equivalent to a labor-saving mechanism, which increases the load at the end of the mechanical hand. Compared with the existing mechanical hand, the thickness of the mechanical arm of the present application does not need to be set too thick under the condition that the grabbing mechanism grabs the same weight workpiece. The overall weight of the mechanical hand is further reduced, and the cost of the mechanical hand is lower. In addition, the motor output torque for driving the mechanical hand to run does not need to be too large. It can be understood that the motor output is small. The mechanical hand can easily grab heavy workpieces.

[0005] An industrial mechanical hand designed for this purpose includes two or more mechanically connected mechanical arms and a grabbing mechanism for grabbing workpieces. The grabbing mechanism is located at the end of the mechanical hand. A plurality of connecting rods are arranged on the mechanical hand. The plurality of connecting rods are connected to each other and form a multi-link mechanism that cooperates with the mechanical arm. During the movement of each mechanical arm, power is transmitted to the grabbing mechanism to increase the load at the end of the mechanical hand.

[0006] The connecting rods are arranged along the length direction of the corresponding mechanical arm, and the connecting rods are fixed-length rod bodies. Alternatively, the connecting rods are arranged as telescopic rod bodies with adjustable length to adapt to mechanical arms of different lengths.

[0007] The connecting rod comprises a fixed rod and a movable rod, the movable rod being axially arranged in the fixed rod to adjust the length of the rod body of the connecting rod.

[0008] The corner connecting piece is connected with the mechanical arm, and the two corner connecting pieces of the adjacent two mechanical arms are connected with one connecting rod respectively.

[0009] The mechanical arm comprises a first mechanical arm, and the first mechanical arm is provided with a first connecting piece.

[0010] The first mechanical arm is provided with a first connecting seat, and the first connecting piece is rotationally arranged in the first connecting seat.

[0011] The mechanical arm comprises a first mechanical arm, and the first mechanical arm is provided with a second connecting piece.

[0012] The first mechanical arm is provided with a second connecting seat, and the second connecting seat is provided with a second driver.

[0013] The second connecting seat is rotationally arranged on the first mechanical arm, and the first mechanical arm is provided with a third driver.

[0014] The mechanical arm is provided with a fourth driver for driving the corresponding mechanical arm to move.

[0015] The grabbing mechanism is a magnetic adsorption grabbing mechanism, a vacuum adsorption grabbing mechanism or a gripper grabbing mechanism.

[0016] The beneficial technical effects of the utility model are as follows:

[0017] The mechanical arm is provided with a plurality of connecting rods, the plurality of connecting rods move with the mechanical arm of the mechanical hand to realize force conversion and transmission, which is equivalent to a labor-saving mechanism, so that the load at the end of the mechanical hand is increased, compared with the existing mechanical hand, in the case of grabbing the same weight workpiece, the thickness of the mechanical arm of the application does not need to be set too thick, the overall weight of the mechanical hand is further reduced, and the cost of the mechanical hand is lower. In addition, the motor output torque driving the mechanical hand to run does not need to be too large, that is, the motor output is small, so that the mechanical hand can easily grab a heavy workpiece.

[0018] The connecting rod and the corner connecting piece can be detachably installed on the corresponding mechanical hand to be suitable for additional corresponding mechanical hands (it can be understood that the connecting rod and the corner connecting piece are suitable for mechanical hands of different shafts, such as two-axis, three-axis, four-axis, five-axis or six-axis mechanical hands, under the condition that the shapes of the mechanical arms are the same). When the mechanical hand needs to increase the end load, the corresponding connecting rod and corner connecting piece can be installed, and the connecting rod and corner connecting piece are used as accessories of the mechanical hand. The connecting rod and the corner connecting piece can be equipped according to the working condition of the mechanical hand. When the weight of the workpiece grabbed by the mechanical hand is small, the manufacturer does not need to equip the connecting rod and the corner connecting piece for each mechanical hand, so the connecting rod and the corner connecting piece can be detachably installed on the mechanical hand, and can be flexibly matched with the corresponding mechanical hand. BRIEF DESCRIPTION OF DRAWINGS

[0019] The utility model will be explained in further detail below in combination with the drawings and specific embodiments.

[0020] Figure 1 It is a three-dimensional structure schematic view of the mechanical hand of the first embodiment of the utility model.

[0021] Figure 2 It is a structure schematic view of one of the activity states of the mechanical hand of the first embodiment of the utility model.

[0022] Figure 3 It is Figure 2 The enlarged view of A in the figure.

[0023] Figure 4 It is a plane structure schematic view of the mechanical hand of the first embodiment of the utility model.

[0024] Figure 5 It is a three-dimensional structure schematic view of the mechanical hand of the second embodiment of the utility model.

[0025] Figure 6 It is Figure 5 The enlarged view of B in the figure.

[0026] Figure 7 It is a structure schematic view of one of the activity states of the mechanical hand of the second embodiment of the utility model.

[0027] Figure 8 It is a structure schematic view of the connecting rod in the first embodiment of the utility model. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the utility model will be clearly and completely described below in combination with the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. In order to make the above purposes, characteristics and advantages of the present application more obvious and easy to understand, many specific details are described in the following description so as to be fully understood. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0029] First embodiment:

[0030] Referring to Figures 1-4 , and Figure 8 An industrial manipulator comprises two or more mechanical arms 1 connected with each other in transmission and a grabbing mechanism 3 for grabbing workpieces 2, the grabbing mechanism 3 is located at the end position of the manipulator, the manipulator is provided with a plurality of connecting rods 4, the plurality of connecting rods 4 are connected with each other in linkage and form a multi-connecting rod mechanism cooperating with the mechanical arms 1, the multi-connecting rod mechanism realizes power transmission to the grabbing mechanism 3 in the movement process of each mechanical arm 1, so as to increase the load of the end of the manipulator.

[0031] The manipulator is provided with a plurality of connecting rods 4, the plurality of connecting rods 4 move with the mechanical arms of the manipulator, realize force conversion and transmission, equivalent to a labor-saving mechanism, so as to increase the load of the end of the manipulator. Compared with the existing manipulator, the thickness of the mechanical arm of the present application does not need to be set too thick in the case of grabbing the same weight workpiece 2, the overall weight of the manipulator is further reduced, the cost of the manipulator is lower, in addition, the motor output torque for driving the manipulator to run does not need to be too large, that is, the motor output is small, so that the manipulator can easily grab the workpiece 2 with large weight.

[0032] The connecting rod 4 is arranged along the length direction of the corresponding mechanical arm 1, and the connecting rod 4 is a rod body with fixed length; or the connecting rod 4 is arranged as a telescopic rod body with adjustable length to adapt to the mechanical arms 1 with different lengths.

[0033] Referring to Figure 8 The connecting rod 4 comprises a fixed rod 16 and a movable rod 17, the movable rod 17 is arranged in axial telescopic mode on the fixed rod 16, so as to adjust the length of the rod body of the connecting rod 4.

[0034] In the embodiment, the fixed rod 16 is provided with a threaded inner cavity, and the fixed rod 16 is provided with a movable rod 17 at each end, and each movable rod 17 is provided with an external thread matched with the threaded inner cavity. Alternatively, the fixed rod 16 is provided with a plurality of first insertion holes on the surface, the movable rod 17 is provided with a plurality of second insertion holes, the movable rod 17 is inserted into the fixed rod 16, the first insertion hole corresponds to the corresponding second insertion hole, and then a screw is inserted into the first insertion hole and the second insertion hole, and the screw is provided with a nut at the end to fix the movable rod 17 in the inner cavity of the fixed rod 16.

[0035] In the embodiment, the movable rod 17 is provided with a first connecting hole 19 connected with the corner connecting piece 15.

[0036] Each mechanical arm 1 is provided with a corner connecting piece 15, the corner connecting piece 15 is connected with the mechanical arm 1, and the two corner connecting pieces 15 of the adjacent two mechanical arms 1 are respectively connected with a connecting rod 4; the connecting rod 4 and each mechanical arm 1 are connected through the corner connecting piece 15 to form a linkage connection to realize power transmission.

[0037] In the embodiment, the shape of the corner connecting piece 15 can be designed according to the actual situation, so here mainly describes how the connecting rod 4 and the corner connecting piece 15 are connected, the corner connecting piece 15 is provided with a second connecting hole movably connected with the connecting rod 4, the corner connecting piece 15 is matched with the connecting rod 4, the insertion piece is inserted into the first connecting hole 19 and the second connecting hole, the insertion piece is provided with an external thread matched with the locking nut at the end, which prevents the insertion piece from being separated from the first connecting hole 19 and the second connecting hole at will, and connects the corner connecting piece 15 and the connecting rod 4, and since the insertion piece and the connecting hole are loosely matched, when the manipulator operates, the mechanical arm 1 expands or retracts, and each connecting rod 4 can move with the mechanical arm 1.

[0038] In addition, each corner connecting piece 15 is provided with a third connecting hole connected with the corresponding mechanical arm 1, and the third connecting hole is matched with the corresponding connecting plug to detachably install the corner connecting piece 15 on the mechanical arm 1.

[0039] Each connecting rod 4 can also be detachably mounted on the corresponding corner connector 15, and the connecting rod 4 and the corner connector 15 can be detachably mounted on the corresponding robot, so as to be applicable to additional corresponding robots (it can be understood that the connecting rod 4 and the corner connector 15 are applicable to robots of different shafts, such as two-axis, three-axis, four-axis, five-axis or six-axis robots, under the condition that the shapes of the mechanical arms are the same), and when the robot needs to increase the end load, the corresponding connecting rod 4 and corner connector 15 can be mounted, and the connecting rod 4 and the corner connector 15 are used as accessories of the robot. The connecting rod 4 and the corner connector 15 can be equipped according to the operation of the robot, and when the weight of the workpiece grabbed by the robot is small, the manufacturer does not need to equip the connecting rod 4 and the corner connector 15 for each robot, so the connecting rod 4 and the corner connector 15 can be detachably mounted on the robot, and can be flexibly matched with the corresponding robot.

[0040] The mechanical arm 1 comprises a first mechanical arm 10, and the first mechanical arm 10 is provided with a first connecting piece 5 connected with the grabbing mechanism 3. The first connecting piece 5 is vertically arranged on the first mechanical arm 10, and the grabbing mechanism 3 is transversely arranged outside the first connecting piece 5, so as to form a grabbing plane 7 vertically acting on the workpiece 2 on the grabbing mechanism 3.

[0041] The first mechanical arm 10 is provided with a first connecting seat 8, and the first connecting piece 5 is rotatably arranged on the first connecting seat 8. The first connecting seat 8 is provided with a first driver 9, and an output shaft of the first driver 9 is in transmission connection with the first connecting piece 5. The first driver 9 drives the first connecting piece 5 to rotate on the first connecting seat 8, so as to adjust the angle position of the grabbing mechanism 3 in the vertical direction.

[0042] In the embodiment, since the first connecting seat 8 is fixedly arranged on the first mechanical arm 10, the first connecting piece 5 and the grabbing mechanism 3 always maintain the vertical and horizontal arrangement during the movement of the robot, that is, the included angle between the first connecting piece 5 and the grabbing mechanism 3 maintains 90°, so the grabbing plane 7 always maintains the state of horizontal plane. When the grabbing mechanism 3 grabs the workpiece 2, it can vertically act on the workpiece 2, and when the workpiece 2 needs to adjust the horizontal state position, the first driver 9 drives the first connecting piece 5 to rotate on the first connecting seat 8, and the grabbing mechanism 3 performs horizontal rotation movement in place, so that the grabbing plane 7 can stably grab the upper surface of the workpiece 2.

[0043] In the embodiment, the first driver 9 is a motor or a rotary cylinder, the first connecting seat 8 is provided with a connecting flange, the first driver 9 is fixed on the connecting flange, the bottom of the first connecting seat 8 is provided with a bearing fixing seat for mounting a bearing, the first connecting piece 5 is inserted into the bearing fixing seat of the first connecting seat 8, and a bearing sleeve is arranged outside the first connecting piece 5, and the output shaft of the first driver 9 is inserted into the first connecting seat 8 and in transmission connection with the first connecting piece 5, so as to drive the first connecting piece 5 to rotate.

[0044] The mechanical arm is provided with a fourth driver 18 for driving the corresponding mechanical arm 1 to move, and the output shaft of the fourth driver 18 is in transmission connection with the corresponding mechanical arm 1.

[0045] In the embodiment, the fourth driver 18 is a motor, which drives the corresponding mechanical arm 1 to move through a corresponding gear transmission. This is the prior art, and the main improvement of the present application is to add a multi-link mechanism to the mechanical arm. The transmission mode of the mechanical arm 1 is the same as that of the prior art, and therefore will not be described in detail here.

[0046] The grabbing mechanism 3 is a magnetic adsorption grabbing mechanism, a vacuum adsorption grabbing mechanism or a clamping jaw grabbing mechanism.

[0047] In the embodiment, the grabbing mechanism 3 is preferably a vacuum adsorption grabbing mechanism, specifically a vacuum chuck, and the adsorption mechanism of the vacuum chuck. The clamping jaw grabbing mechanism mainly clamps through two clamping jaws.

[0048] Second embodiment:

[0049] Referring to Figures 5-7 A mechanical arm for industrial use is different from the first embodiment in that the mechanical arm 1 comprises a first mechanical arm 10, the first mechanical arm 10 is provided with a second connecting piece 11, the second connecting piece 11 is connected with the grabbing mechanism 3, the grabbing mechanism 3 is provided with a grabbing part 12 acting on the workpiece 2, the grabbing part 12 is arranged in a spaced-apart manner in the upward and downward direction with the second connecting piece 11; the second connecting piece 11 is rotationally arranged on the first mechanical arm 10, and the angle position of the grabbing mechanism 3 is adjusted in the upward and downward direction through the rotation of the second connecting piece 11.

[0050] The first mechanical arm 10 is provided with a second connecting seat 13, the second connecting seat 13 is provided with a second driver 6, the output shaft of the second driver 6 is in transmission connection with the second connecting piece 11, the second connecting piece 11 is driven to rotate by the second driver 6, and the grabbing mechanism 3 is rotated to the corresponding position angle by following the second connecting piece 11.

[0051] The second connecting seat 13 is rotationally arranged on the first mechanical arm 10, the first mechanical arm 10 is provided with a third driver 14, the output shaft of the third driver 14 is in transmission connection with the second connecting seat 13, the second connecting seat 13 is driven to rotate on the first mechanical arm 10 by the third driver 14, so as to adjust the angle position of the grabbing mechanism 3 in the front and rear direction.

[0052] In the embodiment, the second connecting seat 13 is L-shaped, and is rotatably arranged on the first mechanical arm 10 through a rotating shaft, a bearing or the like. The rotating shaft is provided with a first belt pulley. The third driver 14 on the first mechanical arm 10 is a motor. The output shaft of the third driver 14 is provided with a second belt pulley. The first belt pulley and the second belt pulley are provided with a belt therebetween. The first belt pulley and the second belt pulley are connected through the belt and assembled into a belt pulley assembly. The third driver 14 drives the second connecting seat 13 to rotate on the first mechanical arm 10 through the belt pulley assembly, so as to drive the grabbing mechanism 3 to flip forward and backward.

[0053] The connection between the second connecting piece 11 and the second connecting seat 13 can refer to the connection between the first connecting seat 8 and the first connecting piece 5 in the first embodiment, which will not be described in detail here.

[0054] In addition, the second driver 6 is a motor or a rotary cylinder. When the grabbing mechanism 3 grabs the upper surface of the workpiece 2, the second driver 6 is driven to make the grabbing mechanism 3 flip up and down, so as to flip the workpiece 2 to the lower surface. When the workpiece 2 is processed in the polishing process, the grabbing mechanism 3 grabs the upper surface of the workpiece 2 to the polishing position. When the upper surface of the workpiece 2 is polished, the grabbing mechanism 3 grabs the workpiece 2 and flips it. When the workpiece 2 is flipped to the lower surface, the grabbing mechanism 3 grabs the workpiece 2 to the grinding head for direct polishing.

Claims

1. An industrial robot, comprising two or more robotic arms (1) connected to each other by transmission, and a gripping mechanism (3) for gripping a workpiece (2), the gripping mechanism (3) being located at the end of the robotic arm, characterized in that: The robotic arm is equipped with several links (4), which are linked together to form a multi-link mechanism that cooperates with the robotic arm (1). The multi-link mechanism transmits power to the gripping mechanism (3) during the movement of each robotic arm (1) to increase the load at the end of the robotic arm. Each robotic arm (1) is provided with a corner connector (15), which is connected to the robotic arm (1). The two corner connectors (15) of two adjacent robotic arms (1) are respectively connected to a link (4). Several links (4) are linked to each robotic arm (1) through the corner connectors (15) to realize power transmission.

2. The industrial robotic arm according to claim 1, characterized in that: The connecting rod (4) is arranged along the length direction of the corresponding robotic arm (1), and the connecting rod (4) is a rod of fixed length; or, the connecting rod (4) is set as a telescopic rod of adjustable length to adapt to robotic arms (1) of different lengths.

3. The industrial robotic arm according to claim 2, characterized in that: The connecting rod (4) includes a fixed rod (16) and a movable rod (17). The movable rod (17) is axially telescopically mounted on the fixed rod (16) to adjust the length of the connecting rod (4).

4. The industrial robotic arm according to claim 1, characterized in that: The robotic arm (1) includes a first robotic arm (10), on which a first connector (5) is provided. The first connector (5) is connected to the gripping mechanism (3). The first connector (5) extends vertically on the first robotic arm (10), and the gripping mechanism (3) extends laterally along the outside of the first connector (5) to form a gripping plane (7) that acts vertically on the workpiece (2) on the gripping mechanism (3).

5. The industrial robotic arm according to claim 4, characterized in that: The first robotic arm (10) is provided with a first connecting seat (8), and a first connecting member (5) is rotatably mounted on the first connecting seat (8). A first driver (9) is provided on the first connecting seat (8). The output shaft of the first driver (9) is connected to the first connecting member (5) in a transmission manner. The first driver (9) drives the first connecting member (5) to rotate on the first connecting seat (8) so as to adjust the angle position of the gripping mechanism (3) in the vertical direction.

6. The industrial robotic arm according to claim 1, characterized in that: The robotic arm (1) includes a first robotic arm (10), on which a second connector (11) is provided. The second connector (11) is connected to a gripping mechanism (3). The gripping mechanism (3) is provided with a gripping part (12) that acts on the workpiece (2). The gripping part (12) and the second connector (11) are spaced apart in the vertical direction. The second connector (11) is rotatably mounted on the first robotic arm (10). By rotating the second connector (11), the angle position of the gripping mechanism (3) can be adjusted in the vertical direction.

7. The industrial robotic arm according to claim 6, characterized in that: The first robotic arm (10) is provided with a second connecting seat (13), and the second connecting seat (13) is provided with a second driver (6). The output shaft of the second driver (6) is connected to the second connecting member (11) for transmission. The second connecting member (11) is driven to rotate by the second driver (6), and the gripping mechanism (3) follows the second connecting member (11) to rotate to the corresponding position angle.

8. The industrial robotic arm according to claim 7, characterized in that: The second connecting seat (13) is rotatably mounted on the first robotic arm (10). The first robotic arm (10) is provided with a third driver (14). The output shaft of the third driver (14) is connected to the second connecting seat (13) for transmission. The second connecting seat (13) is driven to rotate on the first robotic arm (10) by the third driver (14) so ​​as to adjust the angle position of the gripping mechanism (3) in the front-back direction.

9. The industrial robotic arm according to claim 1, characterized in that: The robotic arm is provided with a fourth driver (18) for driving the corresponding robotic arm (1) to move. The output shaft of the fourth driver (18) is connected to the corresponding robotic arm (1) in a transmission connection. The gripping mechanism (3) is a magnetic adsorption gripping mechanism, a vacuum adsorption gripping mechanism, or a gripper gripping mechanism.

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