Mechanical arm

Abstract

The utility model provides a manipulator, which belongs to the technical field of manipulators and comprises a manipulator seat body, the manipulator seat body is provided with a driving part, and the driving part is in transmission connection with a transmission claw and drives the transmission claw to move up and down; the upper part of the sliding sleeve is connected with the transmission claw; the upper part of the guide sleeve is fixedly connected with the manipulator seat body, a sliding sleeve is in sliding fit with the periphery of the guide sleeve, a positioning core is in sliding fit with a through hole in the guide sleeve, and the lower part of the guide sleeve is connected with the clamping jaw; the upper end of the positioning core abuts against an induction probe. The sensor is fixedly connected with the manipulator seat body, and the axis of the sensor intersects with the lifting track of the sensing probe; the material grabbing device is simple in structure, the material state can be detected in the material grabbing process, the situation that a mechanical arm does not clamp materials or the material clamping position is not accurate is avoided, a material detection device does not need to be specially added in the follow-up process, grabbing is reliable and accurate, and efficiency is effectively improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of mechanical hand, specifically relates to a mechanical hand. BACKGROUND

[0002] The prior art cannot generally feedback the clamping result synchronously when clamping materials by the mechanical hand, and in some cases, the mechanical hand does not clamp materials or the clamping position of the mechanical hand is inaccurate, which affects the subsequent work rhythm; to solve this problem, material state detection is usually added in the subsequent process to identify the above-mentioned conditions, but there are problems such as insufficient integration and difficult control. UTILITY MODEL CONTENTS

[0003] In order to solve the above technical problems, the present disclosure provides a kind of mechanical hand, structure design is simple, easy to assemble and maintain, can detect material clamping state synchronously, guarantee the accuracy of material clamping, guarantee work rhythm, and can be flexibly adjusted according to different materials, especially suitable for the clamping of cylindrical materials.

[0004] The utility model provides a kind of mechanical hand, comprising:

[0005] Mechanical hand seat body;

[0006] Mechanical hand seat body is provided with drive part, the drive part is drivingly connected transmission claw, drives the lifting movement of transmission claw;

[0007] Slip sleeve, the upper portion of the slip sleeve is connected with the transmission claw;

[0008] Guide sleeve, the upper portion of the guide sleeve is fixedly connected with the mechanical hand seat body, the outer periphery of the guide sleeve is slidably connected with the slip sleeve, the inner through hole of the guide sleeve is slidably connected with the positioning core, the lower portion of the guide sleeve is connected with the claw;

[0009] The upper end of the positioning core 10 is abutted with inductive probe, the lower end extends out of the guide sleeve, and is substantially flush with the lowermost end of the claw;The inductive probe can be lifted along the axial direction;

[0010] Further comprising sensor, the sensor is fixedly connected with the mechanical hand seat body, the axis of the sensor intersects with the axis of the inductive probe, and the sensor can be sensed when the inductive probe is lifted between the first position and the second position along the axis.

[0011] Further, it further includes transmission claw connecting block, the transmission claw is provided with two, is separately arranged on the both sides of the mechanical hand seat body and the lowest surface of the transmission claw is lower than the lowest surface of the mechanical hand seat body, is fixedly connected with the transmission claw connecting block, and the drive part is drivingly connected with transmission claw connecting block;

[0012] The robotic arm base has sliding holes on both sides, and the transmission claw connecting block slides into the sliding holes.

[0013] Furthermore, the sliding sleeve is located below the transmission claw, and the upper part of the sliding sleeve is provided with a slot. The lower end of the transmission claw extends into the slot, driving the sliding sleeve to rise and fall relative to the robot arm base.

[0014] Furthermore, the claws are provided in two or more configurations, arranged circumferentially around the guide sleeve;

[0015] The upper end of the claw is connected to the lower part of the guide sleeve, and the outer side of the lower end of the claw is a slope that gradually decreases from top to bottom;

[0016] It also includes a conical sleeve, which is fixed to the lower part of the sliding sleeve. The conical sleeve is provided with an inclined inner wall that cooperates with the inclined surface of the chuck. When the sliding sleeve moves upward, it causes the conical sleeve to squeeze the chuck inward and retract.

[0017] Furthermore, the claws are provided in two or more configurations, arranged circumferentially around the guide sleeve;

[0018] The upper end of the claw is connected to the lower part of the guide sleeve, and the outer side of the claw near the guide sleeve is a slope that gradually increases from top to bottom;

[0019] The lower part of the sliding sleeve is provided with an inclined inner wall that cooperates with the inclined surface of the claw. When the sliding sleeve moves downward, it squeezes the claw to retract inward.

[0020] Furthermore, the guide sleeve has a stepped portion in the inner through hole, and the positioning core has an abutment portion on the outer wall that mates with the stepped portion.

[0021] Furthermore, the lower end of the positioning core extends to the claw, and the lowest end of the positioning core is basically flush with the lowest end of the claw. The term "basically flush" means that when the positioning core moves to its lowest position, the vertical distance between the lowest end of the positioning core and the lowest end of the claw does not exceed half of the set sensing distance.

[0022] Furthermore, a tail plug is fixedly connected to the upper part of the guide sleeve, and the tail plug is screwed into the inner through hole of the guide sleeve;

[0023] The tail plug has an inner through hole, and the sensing probe passes through the inner through hole of the tail plug and moves up and down relative to the tail plug;

[0024] It also includes an elastic element, the lower end of which abuts against the positioning core, and the upper end of which abuts against the tail plug.

[0025] Furthermore, it also includes an adjusting screw, which is screwed into the inner through hole of the tail plug, with the lower end of the adjusting screw extending out of the inner through hole of the tail plug;

[0026] The adjusting screw is provided with an inner through hole, and the inductive probe passes through the inner through hole of the adjusting screw and is lifted relative to the adjusting screw.

[0027] Further, the sensor is fixed to the outer wall of the robot base body through the sensor fixing block and extends to the inside of the robot base body.

[0028] Long strip holes are arranged on the two sides of the sensor fixing block, and the robot base body is provided with a strip hole, and the sensor adjusts the height position through the long strip hole.

[0029] Compared with the prior art, the technical scheme provided by the utility model has the following advantages:

[0030] 1. The scheme has simple structure, and material clamping can be realized through cooperation of the guide sleeve and the sliding sleeve, the guide sleeve and the positioning core and the sliding sleeve and the clamping jaw, coaxiality of the material and the clamping jaw is effectively ensured, and reliable and accurate grabbing is achieved.

[0031] 2. Through linkage of the probe, the sensor and the robot clamping process, material state can be detected during material grabbing, the situation that the robot does not clamp the material or clamps the material in an inaccurate position is avoided, a material detection device does not need to be specially added in subsequent processes, and efficiency is effectively improved. BRIEF DESCRIPTION OF DRAWINGS

[0032] In order to more clearly illustrate the technical scheme in the specific embodiment or prior art of the utility model, the following will briefly introduce the drawings needed to be used in the specific embodiment or prior art description, and obviously, the drawings in the following description are some embodiments of the utility model, and for ordinary skilled in the art, other drawings can also be obtained according to these drawings without creative labor.

[0033] Figure 1 It is a schematic diagram of the overall structure of the robot of the utility model;

[0034] Figure 2 It is a schematic diagram of the overall structure of the robot of the utility model in another direction;

[0035] Figure 3 It is a schematic diagram of the overall structure of the robot of the utility model;

[0036] Figure 4 It is a schematic diagram of the robot of the utility model in a clamped state;

[0037] Figure 5 It is a schematic diagram of the robot of the utility model in a clamped state;

[0038] Figure 6 It is a schematic diagram of the robot of the utility model in another embodiment.

[0039] Figure 7 Figure 2 is a partial enlarged view of another embodiment of the mechanical hand of the utility model.

[0040] Mark explanation:

[0041] 1, drive part; 2, mounting plate; 3, transmission claw connecting block; 4, transmission claw; 5, mechanical hand seat body; 6, sliding sleeve; 61, clamping groove; 7, strip hole; 8, clamping jaw; 9, taper sleeve; 10, positioning core; 11, guide sleeve; 12, inductive probe; 13, elastic element; 14, tail plug; 15, adjusting screw; 16, sensor fixing block; 161, long hole; 17, sensor; 18, material. Specific implementation

[0042] The technical scheme of the utility model will be described clearly and completely below in conjunction with the drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the ordinary skilled in the art without making creative efforts belong to the protection scope of the utility model.

[0043] In the description of the utility model, it is necessary to explain that the orientation or position relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like is based on the orientation or position relationship shown in the drawings.

[0044] In the description of the utility model, it is necessary to explain that, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixed connection, can also be detachable connection, or integrally connected, can be mechanical connection, can also be electrical connection, can be directly connected, can also be indirectly connected through intermediate medium, can be the communication inside two elements. For the ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0045] In addition, the technical features involved in different embodiments of the utility model described below can be combined with each other as long as there is no conflict.

[0046] The utility model will be further described below in conjunction with the drawings and embodiments.

[0047] Please refer to Figures 1-5The utility model provides a kind of manipulator, including manipulator seat body 5, driving part 1 is provided on manipulator seat body 5 upper part, driving part 1 transmission connection driving claw 4, driving driving claw 4 lifting movement;Slip sleeve 6, and driving claw 4 is connected in slip sleeve 6 upper part;Guide sleeve 11, guide sleeve 11 upper part is fixedly connected with manipulator seat body 5, and slip sleeve 6 is slidably fitted on the outer periphery of guide sleeve 11, and positioning core 10 is slidably fitted in the inner through-hole of guide sleeve 11, and guide sleeve 11 lower part is connected with claw 8;Positioning core 10 upper end abuts with response probe 12, lower end extends guide sleeve 11, and with claw 8 lowermost end is substantially flush;It further includes sensor 17, and sensor 17 is fixedly connected with manipulator seat body 5, and the axis of sensor 17 intersects with the lifting track of response probe 12.

[0048] Driving part 1 can be cylinder, oil cylinder, motor etc., for providing power driving driving claw 4 relative manipulator seat body 5 lifting movement, preferably, driving part 1 is set on the upper end of manipulator seat body 5 by mounting plate 2.Sensor 17 is used for the response of response probe 12, and when manipulator clamps material 18, material 18 is against positioning core 10, makes positioning core 10 along guide sleeve 11 upward movement, in turn drives response probe 12 upward movement, when response probe 12 enters the response range of sensor 17, sensor 17 generates signal and is transmitted to driving part 1, makes driving part 1 action, drives driving claw 4 action, finally clamps material 18 in suitable position.

[0049] Sensor 17 can select inductive, photoelectric proximity sensor, can also use piezo-resistance contact sensor, when response probe 12 approaches or response, signal is generated, in turn controls driving part 1 action.

[0050] Driving part 1 transmission connection driving claw connecting block 3, and driving claw connecting block 3 is fixedly connected with driving claw 4;Manipulator seat body 5 both sides are provided with sliding hole, and driving claw connecting block 3 is slidably fitted with sliding hole;Driving claw 4 is equipped with two, and is arranged on the both sides of manipulator seat body 5, and is fixedly connected with driving claw connecting block 3.Driving claw 4 connecting block is slidably fitted with the sliding hole of manipulator seat body 5, and good guiding effect is played to the lifting of driving claw 4.

[0051] Slip sleeve 6 is arranged below manipulator seat body 5, and slip sleeve 6 upper part is equipped with clamping groove 61, and the lower end of driving claw 4 extends into clamping groove 61, drives slip sleeve 6 relative manipulator seat body 5 lifting.Slip sleeve 6 upper part side is provided with clamping groove 61, and clamping groove 61 can be hole groove or ring groove, and the lower end of driving claw 4 extends into clamping groove 61, drives slip sleeve 6 lifting when driving claw 4 lifting.

[0052] The clamping claws 8 are arranged in a circumferential direction around the guide sleeve 11, and the upper ends of the clamping claws 8 are connected to the lower part of the guide sleeve 11. The outer side of the end of the clamping claw 8 away from the guide sleeve 11 is provided with a slope gradually decreasing from top to bottom. The taper sleeve 9 is fixed to the lower part of the sliding sleeve 6, and the taper sleeve 9 is provided with an inner slope wall matched with the slope of the clamping claw 8. When the sliding sleeve 6 moves upward, the taper sleeve 9 is pressed to make the clamping claw 8 shrink inward. When it is necessary to clamp the material 18, the driving part 1 drives the transmission claw 4 to move upward, and then drives the sliding sleeve 6 and the taper sleeve 9 to move upward. During the movement, the inner slope wall of the taper sleeve 9 presses the clamping claw 8, and gradually makes the clamping claw 8 clamp the material 18.

[0053] The through hole of the guide sleeve 11 is provided with a stepped part, and the outer wall of the positioning core 10 is provided with an abutting part matched with the stepped part. Through the stepped part and the abutting part, the positioning core 10 is prevented from sliding out of the guide sleeve 11.

[0054] The lower end of the positioning core 10 extends to the clamping claw 8, and the lowermost end of the positioning core 10 is basically flush with the lowermost end of the clamping claw 8. When the positioning core 10 moves to the lowermost position, the distance between the lowermost end of the positioning core 10 and the lowermost end of the clamping claw 8 in the vertical height is not more than one half of the set sensing distance. The set sensing distance refers to the distance that the sensing probe 12 moves upward when the sensor 17 senses the sensing probe 12.

[0055] The upper part of the guide sleeve 11 is fixedly connected with the tail plug 14, and the tail plug 14 is screwed with the through hole of the guide sleeve 11. The tail plug 14 is provided with a through hole, and the sensing probe 12 passes through the through hole of the tail plug 14 and moves up and down relative to the tail plug 14. The elastic element 13 is arranged, and the lower end of the elastic element 13 abuts against the positioning core 10, and the upper end of the elastic element 13 abuts against the tail plug 14. Through the tail plug 14 and the elastic element 13, the downward pressure can be provided for the positioning core 10, and the positioning core 10 is reset after clamping the material once. When the angle of part of the material 18 is not accurate, the pressure of the positioning core 10 helps the material 18 to return to the correct position. The position of the tail plug 14 can be adjusted to change the pressure on the positioning core 10. The elastic element 13 can be a spring, a rubber block or the like.

[0056] The adjusting screw 15 is screwed with the through hole of the tail plug 14, and the lower end of the adjusting screw 15 extends out of the through hole of the tail plug 14. The adjusting screw 15 is provided with a through hole, and the sensing probe 12 passes through the through hole of the adjusting screw 15 and moves up and down relative to the adjusting screw 15. The lower end of the adjusting screw 15 extends out of the through hole of the tail plug 14, and the adjusting screw 15 abuts against the positioning core 10 when necessary, so as to limit the positioning core 10 from continuing to move upward, and avoid the sensing probe 12 from being damaged by knocking due to the error of clamping the material 18.

[0057] The sensor 17 is fixed to the outer wall of the manipulator seat body 5 through the sensor fixing block 16 and extends to the inside of the manipulator seat body 5; the sensor fixing block 16 is provided with long holes 161 on both sides, the manipulator seat body 5 is provided with a strip-shaped hole 7, and the sensor 17 adjusts the height position through the long holes 161.

[0058] Please refer to Figure 6 As another embodiment, the clamping jaws 8 are two or more and are arranged in the circumferential direction of the guide sleeve 11; the upper end of the clamping jaw 8 is connected to the lower part of the guide sleeve 11, and the outer side of the end of the clamping jaw 8 close to the guide sleeve 11 is provided with a slope A that gradually increases from top to bottom; the lower part of the sliding sleeve 6 is provided with a slope inner wall that cooperates with the slope A of the clamping jaw 8, and when the sliding sleeve 6 moves downward, the clamping jaw 8 is extruded and shrinks inward. The upper end of the clamping jaw 8 is connected to the lower part of the guide sleeve 11, and the connection can be a locking nut 7 or a flange connection, or can be a clamp, and the specific connection mode is prior art and will not be described in detail. When it is necessary to clamp the material 18, the driving part 1 drives the transmission claw 4 to move downward, and in turn drives the sliding sleeve 6 to move downward, and in the movement process, the slope inner wall of the sliding sleeve 6 extrudes the clamping jaw 8, and gradually makes the clamping jaw 8 clamp the material 18.

[0059] The specific working process is as follows: the manipulator moves above the material 18 and gradually approaches the material 18, the positioning core 10 abuts against the material 18 and gradually moves upward under the action of the material 18, thereby driving the inductive probe 12 to move upward, when the inductive probe 12 moves to a set distance, the sensor 17 generates a signal, and in turn controls the driving part 1 to work, thereby driving the transmission claw 4 to move up and down, and extruding the clamping jaw 8 to clamp the material 18. When the material 18 is unloaded, the positioning core 10 moves downward under the gravity of the positioning core 10 itself or the elastic force of the elastic element 13, until the abutting part of the positioning core 10 abuts against the stepped part of the guide sleeve 11, and the reset is completed, ready for the next time of clamping the material 18.

[0060] The above description is only a specific embodiment of the present disclosure, enabling those skilled in the art to understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to these embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A robot, characterized in that The utility model provides a kind of mechanical hand seat body (5);Mechanical hand seat body (5) is provided with drive part (1), the drive part (1) is connected transmission claw (4), drives transmission claw (4) lifting movement; Slide sleeve (6), the upper portion of slide sleeve (6) is connected with transmission claw (4); Guide sleeve (11), the upper portion of guide sleeve (11) is fixedly connected with mechanical hand seat body (5), the outer periphery of guide sleeve (11) is slidably connected with slide sleeve (6), the inner through hole of guide sleeve (11) is slidably connected with positioning core (10), the lower portion of guide sleeve (11) is connected with clamping jaw (8); The upper end of positioning core (10) is abutted with inductive probe (12), the lower end of positioning core (10) extends out of guide sleeve (11), and is substantially flush with the lowermost end of clamping jaw (8);Inductive probe (12) can be lifted along the axial direction; Further comprising sensor (17), the sensor (17) is fixedly connected with the mechanical hand seat body (5), the axis of sensor (17) intersects with the axis of inductive probe (12), when inductive probe (12) is lifted along the axis, sensor (17) can be inducted. Further comprising transmission claw connecting block (3), transmission claw (4) is provided with two, is separately arranged in the two sides of mechanical hand seat body (5) and the lowest surface of transmission claw (4) is lower than the lowest surface of mechanical hand seat body (5), is fixedly connected with transmission claw connecting block (3), drive part (1) is connected with transmission claw connecting block (3) in transmission; The two sides of mechanical hand seat body (5) are provided with sliding hole, and transmission claw connecting block (3) is slidably connected with the sliding hole.

2. The robot of claim 1 wherein, Slide sleeve (6) is arranged below transmission claw (4), and the upper portion of slide sleeve (6) is provided with clamping groove (61), and the lower end of transmission claw (4) extends into clamping groove (61), to drive slide sleeve (6) to be lifted relative to mechanical hand seat body (5). Clamping jaw (8) is provided with two to multiple, and is arranged circumferentially around guide sleeve (11); 3. A robot according to claim 1 or 2, c h a r a c t e r i z e d in that The upper end of clamping jaw (8) is connected with the lower portion of guide sleeve (11), and the outer side of the lower end of clamping jaw (8) is provided with a slope that gradually decreases from top to bottom; 4. The robot of claim 1 wherein, Further comprising taper sleeve (9), the taper sleeve (9) is fixedly connected with the lower portion of slide sleeve (6), and the taper sleeve (9) is provided with a slope inner wall matched with the slope of clamping jaw (8), when slide sleeve (6) moves upwards, clamping jaw (8) is pressed inwards to shrink by taper sleeve (9). Clamping jaw (8) is provided with two to multiple, and is arranged circumferentially around guide sleeve (11); The upper end of clamping jaw (8) is connected with the lower portion of guide sleeve (11), and the outer side of the lower end of clamping jaw (8) is provided with a slope that gradually decreases from top to bottom; 5. The robot of claim 1 wherein, The lower portion of slide sleeve (6) is provided with a slope inner wall matched with the slope of clamping jaw (8), when slide sleeve (6) moves downwards, clamping jaw (8) is pressed inwards to shrink. The inner through hole of guide sleeve (11) is provided with a step portion, and the outer wall of positioning core (10) is provided with an abutment portion matched with the step portion. ​ 6. The robot of claim 1 wherein, ​ 7. A robot according to claim 1 or 6, c h a r a c t e r i z e d in that The lower end of the positioning core (10) extends to the claw (8), and when the positioning core (10) moves to the lowest position, the distance between the lowermost end of the positioning core (10) and the lowermost end of the claw (8) in the vertical height is not more than one half of the set sensing distance.

8. The robot of claim 1 wherein, The upper part of the guide sleeve (11) is fixedly connected with a tail plug (14), and the tail plug (14) is screwed with the inner through hole of the guide sleeve (11); The tail plug (14) is provided with an inner through hole, the sensing probe (12) passes through the inner through hole of the tail plug (14), and the sensing probe (12) is lifted relative to the tail plug (14); Further comprising an elastic element (13), the lower end of the elastic element (13) abuts against the positioning core (10), and the upper end of the elastic element (13) abuts against the tail plug (14).

9. A robot according to claim 8, c h a r a c t e r i z e d in that Further comprising an adjusting screw (15), the adjusting screw (15) is screwed with the inner through hole of the tail plug (14), and the lower end of the adjusting screw (15) extends out of the inner through hole of the tail plug (14); The adjusting screw (15) is provided with an inner through hole, the sensing probe (12) passes through the inner through hole of the adjusting screw (15), and the sensing probe (12) is lifted relative to the adjusting screw (15).

10. The robot of claim 1 wherein, The sensor (17) is fixed on the outer wall of the mechanical hand seat body (5) through a sensor fixing block (16) and extends into the mechanical hand seat body (5); The sensor fixing block (16) is provided with long strip holes (161) on both sides, the mechanical hand seat body (5) is provided with a strip-shaped hole (7), and the sensor (17) adjusts the height position through the long strip holes (161).

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