Safe manipulator

Abstract

The utility model discloses a safe manipulator in the technical field of manipulators, which comprises a fixed disc, a vertical rod is arranged at the bottom of the fixed disc, a U-shaped sheet is arranged at the bottom of the vertical rod, an air cylinder is mounted at the top of the fixed disc, a connecting shaft is arranged below the fixed disc, a base is arranged at the bottom end of the connecting shaft, and a handle is arranged on the base. A transverse rod is arranged on the outer side of the base, a first connecting rod is arranged at the end of the transverse rod, first fixing shafts are arranged at the two ends of the first connecting rod, a second connecting rod is arranged at one end of the first connecting rod, an upper connecting rod and a lower connecting rod are arranged in the U-shaped piece, and a first bolt and a second bolt are arranged on the two sides of the U-shaped piece. By means of the design of the six-jaw clamping arm, the stability and accuracy of workpiece clamping are guaranteed, excessive clamping is avoided, workpiece deformation is reduced, the clamping force of the six-jaw clamping arm is distributed in a balanced mode, the clamping force of each group of clamping jaws is equal, and the combined clamping vectors are consistent, so that the clamping center is determined, and the stability and accuracy in the clamping process are guaranteed.

Description

Technical Field

[0001] This utility model belongs to the field of robotic arm technology, specifically relating to a safe robotic arm. Background Technology

[0002] A robotic arm is an automated device that mimics certain movements and functions of a human hand and arm to grasp, move objects, or operate tools according to a fixed program. Robotic arms were the earliest industrial robots and the first modern robots to emerge. They can replace heavy human labor to achieve mechanization and automation of production, and can operate in hazardous environments to protect human safety. Therefore, they are widely used in machinery manufacturing, metallurgy, electronics, light industry, and nuclear energy sectors.

[0003] Existing safety robotic arms still have some shortcomings. When most robotic arms are gripping and transferring workpieces, the gripping force of the robotic arm is not strong or it becomes loose during the workpiece transfer process, and the workpiece is easy to fall to the ground and be damaged. To address this, we propose a safety robotic arm. Utility Model Content

[0004] The purpose of this invention is to provide a safe robotic arm to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a safety manipulator, including a fixed plate, a vertical rod at the bottom of the fixed plate, a U-shaped piece at the bottom of the vertical rod, a cylinder mounted on the top of the fixed plate, a connecting shaft at the bottom of the fixed plate, a base at the bottom end of the connecting shaft, a crossbar on the outer side of the base, a first connecting rod at the end of the crossbar, a first fixed shaft at both ends of the first connecting rod, a second connecting rod at one end of the first connecting rod, an upper connecting rod and a lower connecting rod inside the U-shaped piece, a first bolt and a second bolt on both sides of the U-shaped piece, clamping arms at the ends of the upper and lower connecting rods, and a second fixed shaft at the top of the clamping arms.

[0006] Preferably, the bottom surface of the fixed plate is uniformly equipped with multiple sets of uprights, and the bottom of each set of uprights is fixedly connected with a U-shaped piece. The bottom output end of the cylinder is fixedly connected to the top end of the connecting shaft.

[0007] Preferably, a base is fixedly connected to the bottom end of the connecting shaft, and multiple sets of crossbars are evenly distributed around the outer side of the base. The ends of the crossbars are rotatably connected to one end of the first connecting rod through a first fixed shaft.

[0008] Preferably, one end of the first connecting rod is rotatably connected to the end of the second connecting rod via a first fixed shaft, and the end of the upper connecting rod is rotatably disposed inside the U-shaped piece via a first bolt.

[0009] Preferably, the end of the lower connecting rod is rotatably disposed inside the U-shaped piece by a second bolt, and the ends of the upper connecting rod and the lower connecting rod are rotatably connected to one side of the clamping arm by a second fixed shaft.

[0010] Preferably, a protective pad is fixedly connected to the inner surface of the clamping arm.

[0011] Compared with the prior art, the beneficial effects of this utility model are:

[0012] The six-jaw gripper design ensures the stability and accuracy of workpiece clamping, avoids over-clamping, reduces workpiece deformation, and ensures a balanced distribution of clamping force. The clamping force of each jaw is equal, and the combined clamping vector is consistent, thus determining the clamping center and ensuring stability and accuracy during the clamping process. When machining thin-walled parts, the six-jaw gripper can guarantee high roundness, reduce machining deformation, and improve machining accuracy. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0014] Figure 2 This is a front structural diagram of the present invention;

[0015] Figure 3 This is a schematic diagram of the top structure of this utility model.

[0016] In the diagram: 1. Fixed plate; 2. Upright pole; 3. U-shaped piece; 4. Cylinder; 5. Connecting shaft; 6. Base; 7. Crossbar; 8. First connecting rod; 9. First fixed shaft; 10. Second connecting rod; 11. Upper connecting rod; 12. First bolt; 13. Lower connecting rod; 14. Second bolt; 15. Clamping arm; 16. Protective pad; 17. Second fixed shaft. Detailed Implementation

[0017] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0018] Please see Figure 1-3This utility model provides a technical solution: a safety manipulator, including a fixed plate 1, a vertical rod 2 at the bottom of the fixed plate 1, a U-shaped piece 3 at the bottom of the vertical rod 2, a cylinder 4 installed at the top of the fixed plate 1, a connecting shaft 5 at the bottom of the fixed plate 1, a base 6 at the bottom end of the connecting shaft 5, a crossbar 7 on the outside of the base 6, a first connecting rod 8 at the end of the crossbar 7, a first fixed shaft 9 at both ends of the first connecting rod 8, a second connecting rod 10 at one end of the first connecting rod 8, an upper connecting rod 11 and a lower connecting rod 13 inside the U-shaped piece 3, a first bolt 12 and a second bolt 14 on both sides of the U-shaped piece 3, a clamping arm 15 at the end of the upper connecting rod 11 and the lower connecting rod 13, and a second fixed shaft 17 at the top end of the clamping arm 15.

[0019] Specifically, multiple sets of uprights 2 are evenly installed on the bottom surface of the fixed plate 1 in a circular pattern. U-shaped plates 3 are fixedly connected to the bottom of each set of uprights 2. The bottom output end of the cylinder 4 is fixedly connected to the top end of the connecting shaft 5. The bottom end of the connecting shaft 5 is fixedly connected to the base 6. Multiple sets of crossbars 7 are evenly distributed on the outer side of the base 6 in a circular pattern. The end of the crossbar 7 is rotatably connected to one end of the first connecting rod 8 through the first fixed shaft 9. One end of the first connecting rod 8 is rotatably connected to the end of the second connecting rod 10 through the first fixed shaft 9. The end of the upper connecting rod 11 is rotatably located inside the U-shaped plate 3 through the first bolt 12. The end of the lower connecting rod 13 is rotatably located inside the U-shaped plate 3 through the second bolt 14. The ends of the upper connecting rod 11 and the lower connecting rod 13 are rotatably connected to one side of the clamping arm 15 through the second fixed shaft 17. A protective pad 16 is fixedly connected to the inner surface of the clamping arm 15.

[0020] In this embodiment, the six-jaw clamping arm 15 ensures the stability and accuracy of workpiece clamping. In actual use, the operation of the cylinder 4 can drive the connecting shaft 5 to extend and retract. The extension and retraction of the connecting shaft 5 can drive the base 6 to move vertically. The up and down movement of the base 6 can drive the crossbar 7 to rise and fall. The rise and fall of the crossbar 7 can drive the first connecting rod 8 and the second connecting rod 10 to pull. The up and down movement of the first connecting rod 8 and the second connecting rod 10 can drive the clamping arm 15 to open and close through the upper connecting rod 11 and the lower connecting rod 13. The opening and closing of the clamping arm 15 can achieve the effect of clamping and releasing the workpiece, improving the clamping effect of the device.

[0021] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A safety robot comprising a fixed disc (1), characterised in that: The bottom of the fixed disc (1) is provided with a vertical rod (2), the bottom of the vertical rod (2) is provided with a U-shaped sheet (3), the top of the fixed disc (1) is provided with a cylinder (4), the lower side of the fixed disc (1) is provided with a connecting shaft (5), the bottom end of the connecting shaft (5) is provided with a base (6), the outer side of the base (6) is provided with a cross rod (7), the end of the cross rod (7) is provided with a first connecting rod (8), the two ends of the first connecting rod (8) are provided with a first fixed shaft (9), one end of the first connecting rod (8) is provided with a second connecting rod (10), the inside of the U-shaped sheet (3) is provided with an upper connecting rod (11) and a lower connecting rod (13), the two sides of the U-shaped sheet (3) are provided with a first bolt (12) and a second bolt (14), the end of the upper connecting rod (11) and the lower connecting rod (13) is provided with a clamping arm (15), the top end of the clamping arm (15) is provided with a second fixed shaft (17).

2. A safety hand according to claim 1, characterized in that: The bottom surface of the fixed disc (1) is uniformly provided with a plurality of vertical rods (2), the bottom of the plurality of vertical rods (2) is fixedly connected with a U-shaped sheet (3), the bottom output end of the cylinder (4) is fixedly connected with the top end of the connecting shaft (5).

3. A safety hand according to claim 1, characterized in that: The bottom end of the connecting shaft (5) is fixedly connected with a base (6), the outer side of the base (6) is uniformly distributed with a plurality of cross rods (7), the end of the cross rod (7) is rotatably connected with one end of the first connecting rod (8) through the first fixed shaft (9).

4. A safety hand according to claim 1, characterized in that: One end of the first connecting rod (8) and the end of the second connecting rod (10) are rotatably connected through the first fixed shaft (9), the end of the upper connecting rod (11) is rotatably arranged in the inside of the U-shaped sheet (3) through the first bolt (12).

5. A safety hand according to claim 1, characterized in that: The end of the lower connecting rod (13) is rotatably arranged in the inside of the U-shaped sheet (3) through the second bolt (14), the ends of the upper connecting rod (11) and the lower connecting rod (13) are rotatably connected to one side of the clamping arm (15) through the second fixed shaft (17).

6. A safety hand according to claim 1, characterized in that: The inner side surface of the clamping arm (15) is fixedly connected with a protective pad (16).

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