Electrical manipulator with modular splicing structure

Abstract

The utility model discloses an electrical manipulator with a modularized splicing structure, which belongs to the technical field of electrical manipulators, and is characterized by comprising a manipulator structure, a fixing frame is bolted at the bottom of the manipulator structure, a clamping jaw assembly is inserted into the inner wall of the fixing frame, a fixing block is bolted on the inner wall of the fixing frame, and the clamping jaw assembly is inserted into the fixing block. The left side of the fixing block is in bolted connection with a first limiting mechanism, the surface of the first limiting mechanism is in clamped connection with the inner wall of the clamping jaw assembly, and the problems that when an existing electric mechanical arm is installed and used, the splicing process is tedious, efficiency is low mostly, part of structures need to be assembled with the help of professional tools, operation steps are many, consumed time is long, and cost is high are solved. The problems that in the prior art, a large amount of time needs to be consumed for dismantling connecting pieces during dismantling, the requirement for rapidly replacing and adjusting modules is not convenient to meet, the efficiency of equipment maintenance and function conversion is low, and the equipment is difficult to adapt to rapidly-changed operation scenes are solved.

Description

Technical Field

[0001] This utility model relates to the field of electrical manipulator technology, and in particular to an electrical manipulator with a modular splicing structure. Background Technology

[0002] An electric robotic arm with a modular assembly structure is an automated mechanical device that is electrically driven and adopts a modular design concept. Its components are designed as independent modules with specific functions, such as execution modules, drive modules, and control modules. These modules can be easily assembled, combined, and disassembled like building blocks according to different task requirements. During operation, the electric drive system provides power to the robotic arm, enabling it to accurately complete various operations such as grasping, handling, and assembly. This design not only enhances the versatility and flexibility of the robotic arm, making it easy to quickly adapt to diverse production processes and work scenarios, but also allows for rapid replacement and repair when modules malfunction, reducing downtime and maintenance costs.

[0003] Existing robotic arms have a fixed range of motion in the X, Y, and Z directions, which limits the three-dimensional space of movement and makes the range of motion of the robotic arm relatively limited. Increasing the arm length of the robotic arm would reduce its load capacity.

[0004] An existing patent (publication number: CN220903337U) discloses an electro-mechanical manipulator, relating to the field of manipulators, including a housing and a robotic arm assembly. The housing is internally equipped with a lifting mechanism for vertically raising and lowering the robotic arm assembly. The output end of the robotic arm assembly is fixedly fitted with an execution mechanism for grasping materials. This utility model provides an electro-mechanical manipulator that allows the engagement of a first bevel gear and a second bevel gear to rotate a threaded rod and the second bevel gear. The engagement of the threaded rod with a movable plate allows the movable plate and the support to move vertically, thereby enabling vertical adjustment of the robotic arm assembly and the execution mechanism. This allows adjustment of the vertical height of the robotic arm assembly and the execution mechanism, thereby increasing the working range of the execution mechanism and reducing the blind spot. A limiting rod and a limiting ring are movably connected, thereby limiting and guiding the vertical movement of the robotic arm assembly under the action of the limiting ring and the limiting rod.

[0005] To address the aforementioned issues, existing patents offer solutions. However, the installation and use of existing electric robotic arms often suffer from cumbersome assembly processes and low efficiency. Some structures require the use of specialized tools for assembly, involving numerous and time-consuming steps. Disassembly also requires a significant amount of time to remove connecting parts, making it difficult to meet the needs for rapid module replacement and adjustment. This results in low efficiency in equipment maintenance and functional conversion, making it difficult to adapt to rapidly changing work scenarios.

[0006] To address this, an electric manipulator with a modular assembly structure is proposed. Utility Model Content

[0007] The purpose of this utility model is to provide an electric manipulator with a modular splicing structure, which can solve the problems of cumbersome splicing process and low efficiency in the installation and use of existing electric manipulators. Some structures require the use of special tools for assembly, with many operation steps and long time. Disassembly also requires a lot of time to remove the connecting parts, which is not convenient to meet the needs of quick replacement and adjustment of modules, resulting in low efficiency of equipment maintenance and function conversion, and difficulty in adapting to rapidly changing work scenarios.

[0008] To achieve the above objectives, this utility model provides the following technical solution: an electric manipulator with a modular splicing structure, comprising a manipulator structure, a fixing frame bolted to the bottom of the manipulator structure, a claw assembly inserted into the inner wall of the fixing frame, a fixing block bolted to the inner wall of the fixing frame, a first limiting mechanism bolted to the left side of the fixing block, the surface of the first limiting mechanism engaging with the inner wall of the claw assembly, and a second limiting mechanism bolted to the right side of the fixing block, the surface of the second limiting mechanism engaging with the inner wall of the claw assembly;

[0009] The first limiting mechanism includes a telescopic rod, a spring frame, and a limiting frame. The right side of the telescopic rod is bolted to the left side of the fixing block, the left side of the fixing block is bolted to the right side of the limiting frame, the spring frame is sleeved on the surface of the telescopic rod, and the surface of the limiting frame is engaged with the inner wall of the claw assembly.

[0010] Preferably, the limiting frame includes a movable plate and an insert block. The side of the insert block closest to the movable plate is bolted to the movable plate, the right side of the movable plate is bolted to the left side of the telescopic rod, the surface of the insert block is movably connected to the inner wall of the fixed frame, and the surface of the insert block is engaged with the inner wall of the claw assembly.

[0011] Preferably, the inner wall of the claw assembly is provided with a limiting groove for use with the insert block, and the inner wall of the fixing frame is provided with a movable groove for use with the insert block.

[0012] Preferably, a pull rod is bolted to the left side of the movable plate, and a pull plate is bolted to the left side of the pull rod.

[0013] Preferably, an adjusting plate is bolted to the right side of the movable plate, and a screw is bolted to the front side of the adjusting plate.

[0014] Preferably, a movable frame is bolted to the left side of the second limiting mechanism, the surface of the adjusting plate is movably connected to the inner wall of the movable frame, and the surface of the screw is movably connected to the inner wall of the movable frame.

[0015] Preferably, the screw has a nut threaded onto its surface, and the rear side of the nut is in close contact with the front side of the movable frame.

[0016] Preferably, the bottom of the robotic arm structure is provided with a pre-assembly box, the top of the pre-assembly box is provided with a positioning frame, and the surface of the robotic arm structure is bolted to the inner wall of the positioning frame.

[0017] Compared with the prior art, the beneficial effects of this utility model are:

[0018] 1. By setting a first limiting mechanism, the limiting frame can quickly snap into the inner wall of the claw assembly under the elastic force of the spring frame during splicing, realizing the quick connection between the claw assembly and the fixed frame without the need for complex tools, thus improving the efficiency of splicing the electrical manipulator structure modules and meeting the needs of rapid assembly and disassembly.

[0019] 2. This application sets up a second limiting mechanism and a claw assembly. The first and second limiting mechanisms are symmetrically arranged to limit and engage the claw assembly from both sides, ensuring the stability of the claw assembly after assembly. At the same time, the double-sided limiting method ensures that the claw assembly is subjected to uniform force. On the basis of rapid assembly, it ensures tight connection between modules and avoids loosening or misalignment caused by unilateral limiting, effectively improving the reliability of the modular structure of the electric manipulator. Attached Figure Description

[0020] Figure 1 This is an overall structural diagram of the electro-manipulator with a modular splicing structure according to this utility model;

[0021] Figure 2 This is a structural diagram of the claw assembly of this utility model;

[0022] Figure 3 This is a structural diagram of the first limiting mechanism of this utility model;

[0023] Figure 4 This is a structural diagram of the limiting frame of this utility model;

[0024] Figure 5 This is a structural diagram of the fixing frame of this utility model;

[0025] Figure 6 This is a structural diagram of the screw of this utility model;

[0026] Figure 7 This is a structural diagram of the positioning frame of this utility model.

[0027] In the diagram, 1. Robotic arm structure; 2. First limiting mechanism; 201. Telescopic rod; 202. Spring frame; 203. Limiting frame; 203a. Movable plate; 203b. Insert block; 3. Fixed frame; 4. Claw assembly; 5. Fixed block; 6. Second limiting mechanism; 7. Limiting groove; 8. Movable groove; 9. Pull rod; 10. Pull plate; 11. Adjusting plate; 12. Screw; 13. Movable frame; 14. Nut; 15. Pre-assembled box; 16. Positioning frame. Detailed Implementation

[0028] 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.

[0029] Please see Figure 1-7 The present invention provides the following technical solution:

[0030] An electric manipulator with a modular splicing structure includes a manipulator structure 1, a fixing frame 3 bolted to the bottom of the manipulator structure 1, a claw assembly 4 inserted into the inner wall of the fixing frame 3, a fixing block 5 bolted to the inner wall of the fixing frame 3, a first limiting mechanism 2 bolted to the left side of the fixing block 5, the surface of the first limiting mechanism 2 engaging with the inner wall of the claw assembly 4, and a second limiting mechanism 6 bolted to the right side of the fixing block 5, the surface of the second limiting mechanism 6 engaging with the inner wall of the claw assembly 4.

[0031] The first limiting mechanism 2 includes a telescopic rod 201, a spring frame 202, and a limiting frame 203. The right side of the telescopic rod 201 is bolted to the left side of the fixing block 5, and the left side of the fixing block 5 is bolted to the right side of the limiting frame 203. The spring frame 202 is sleeved on the surface of the telescopic rod 201, and the surface of the limiting frame 203 is engaged with the inner wall of the claw assembly 4.

[0032] In this embodiment: By setting a first limiting mechanism 2, the telescopic rod 201 is fixed to the position of the fixed block 5 during use, and the telescopic rod 201 is fixed to the position of the limiting frame 203. During splicing, the limiting frame 203 can quickly snap into the inner wall of the claw assembly 4 under the elastic force of the spring frame 202, realizing the rapid connection between the claw assembly 4 and the fixed frame 3 without the need for complex tools, which improves the efficiency of the splicing of the electric manipulator structure 1 modules and meets the needs of rapid assembly and disassembly. By setting a second limiting mechanism 6 and the claw assembly 4, the first limiting mechanism 2 and the second limiting mechanism 6 are symmetrically set, limiting and snapping the claw assembly 4 from both sides, ensuring the stability of the claw assembly 4 after splicing. At the same time, the double-sided limiting method makes the claw assembly 4 evenly stressed. On the basis of rapid splicing, it ensures that the connection between modules is tight and avoids loosening or misalignment caused by unilateral limiting, effectively improving the reliability of the modular structure of the electric manipulator structure 1.

[0033] Specifically, such as Figure 4 As shown, the limiting frame 203 includes a movable plate 203a and an insert block 203b. The side of the insert block 203b closest to the movable plate 203a is bolted to the movable plate 203a. The right side of the movable plate 203a is bolted to the left side of the telescopic rod 201. The surface of the insert block 203b is movably connected to the inner wall of the fixed frame 3. The surface of the insert block 203b is engaged with the inner wall of the claw assembly 4.

[0034] Specifically, such as Figure 2 , Figure 5 As shown, the inner wall of the claw assembly 4 is provided with a limiting groove 7 that cooperates with the insertion block 203b, and the inner wall of the fixing frame 3 is provided with a movable groove 8 that cooperates with the insertion block 203b.

[0035] Specifically, such as Figure 4 As shown, a pull rod 9 is bolted to the left side of the movable plate 203a, and a pull plate 10 is bolted to the left side of the pull rod 9.

[0036] In this embodiment: by setting up a movable plate 203a, a pull rod 9, a pull plate 10, and a plug 203b, the plug 203b is fixed to the position of the movable plate 203a during use, which facilitates the subsequent movement of the pull rod 9 by the pull plate 10. Simultaneously, the movement of the pull rod 9 causes the movable plate 203a and the plug 203b to move within the inner wall of the fixed frame 3, allowing the plug 203b to release its limiting state. Then, the claw assembly 4 is inserted into the inner wall of the fixed frame 3, causing the movable plate 203a to pass through the spring frame 2. 02 and telescopic rod 201 are reset, so that the movable plate 203a can drive the insert block 203b to move on the inner wall of the fixed frame 3 and the claw assembly 4, so that the insert block 203b can restrict the position of the claw assembly 4, realizing modular quick installation. The limiting groove 7 opened on the inner wall of the claw assembly 4 makes it easy for the insert block 203b to restrict the position of the claw assembly 4 through the limiting groove 7. The movable groove 8 opened on the inner wall of the fixed frame 3 makes it easy for the insert block 203b to move on the inner wall of the fixed frame 3 through the movable groove 8.

[0037] Specifically, such as Figure 6 As shown, an adjusting plate 11 is bolted to the right side of the movable plate 203a, and a screw 12 is bolted to the front side of the adjusting plate 11.

[0038] Specifically, such as Figure 6 As shown, a movable frame 13 is bolted to the left side of the second limiting mechanism 6, the surface of the adjusting plate 11 is movably connected to the inner wall of the movable frame 13, and the surface of the screw 12 is movably connected to the inner wall of the movable frame 13.

[0039] In this embodiment: by setting an adjusting plate 11, a screw 12 and a movable frame 13, when the first limiting mechanism 2 and the second limiting mechanism 6 complete the work of limiting the claw assembly 4, the adjusting plate 11 will drive the screw 12 to move to a suitable position on the inner wall of the movable frame 13, so that the subsequent auxiliary limiting work can be carried out by the adjusting plate 11 and the screw 12, and the inner wall of the fixed frame 3 can be prevented from accidentally falling off during the use of the claw assembly 4.

[0040] Specifically, such as Figure 6 As shown, a nut 14 is threaded onto the surface of the screw 12, and the rear side of the nut 14 is in close contact with the front side of the movable frame 13.

[0041] Specifically, such as Figure 7 As shown, a pre-assembly box 15 is provided at the bottom of the robotic arm structure 1, and a positioning frame 16 is provided at the top of the pre-assembly box 15. The surface of the robotic arm structure 1 is bolted to the inner wall of the positioning frame 16.

[0042] In this embodiment: by setting a nut 14, the screw 12 can be rotated on the surface of the screw 12 during use, which makes it easy to restrict the position of the screw 12 and the adjusting plate 11 by the nut 14, which facilitates the subsequent stable installation of the claw assembly 4. A pre-assembly box 15 and a positioning frame 16 are set at the bottom of the robot arm structure 1. The positioning frame 16 on the top of the pre-assembly box 15 can provide a precise positioning reference for the robot arm structure 1 during installation, which can reduce the debugging time during the installation process of the robot arm structure 1, and at the same time enhance the stability of the robot arm structure 1 after splicing.

[0043] Working principle: During the use of the robotic arm structure 1, the first limiting mechanism 2 is set up. During use, the telescopic rod 201 is fixed to the position of the fixed block 5, and the telescopic rod 201 is fixed to the position of the limiting frame 203. During the assembly, the limiting frame 203 can quickly snap into the inner wall of the claw assembly 4 under the elastic force of the spring frame 202, realizing the rapid connection between the claw assembly 4 and the fixed frame 3. Without the need for complicated tools, the efficiency of the modular assembly of the electric robotic arm structure 1 is improved, meeting the needs of rapid assembly and disassembly. By setting the second limiting mechanism 6 and the claw assembly 4, the first limiting mechanism 2 and the second limiting mechanism 6 are symmetrically set up, limiting and snapping the claw assembly 4 from both sides, ensuring the stability of the claw assembly 4 after assembly. At the same time, the double-sided limiting method makes the claw assembly 4 evenly stressed. On the basis of rapid assembly, it ensures that the connection between modules is tight, avoiding loosening or misalignment caused by unilateral limiting, effectively improving the reliability of the modular structure of the electric robotic arm structure 1.

[0044] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An electro-mechanical manipulator with a modular splicing structure, comprising a manipulator structure (1), characterized in that: The bottom of the robotic arm structure (1) is bolted with a fixing frame (3), and a claw assembly (4) is inserted into the inner wall of the fixing frame (3). A fixing block (5) is bolted to the inner wall of the fixing frame (3). A first limiting mechanism (2) is bolted to the left side of the fixing block (5), and the surface of the first limiting mechanism (2) engages with the inner wall of the claw assembly (4). A second limiting mechanism (6) is bolted to the right side of the fixing block (5), and the surface of the second limiting mechanism (6) engages with the inner wall of the claw assembly (4). The first limiting mechanism (2) includes a telescopic rod (201), a spring frame (202) and a limiting frame (203). The right side of the telescopic rod (201) is bolted to the left side of the fixing block (5), the left side of the fixing block (5) is bolted to the right side of the limiting frame (203), the spring frame (202) is sleeved on the surface of the telescopic rod (201), and the surface of the limiting frame (203) is engaged with the inner wall of the claw assembly (4).

2. The electro-mechanical manipulator with a modular splicing structure according to claim 1, characterized in that: The limiting frame (203) includes a movable plate (203a) and a plug (203b). The side of the plug (203b) close to the movable plate (203a) is bolted to the movable plate (203a). The right side of the movable plate (203a) is bolted to the left side of the telescopic rod (201). The surface of the plug (203b) is movably connected to the inner wall of the fixed frame (3). The surface of the plug (203b) is engaged with the inner wall of the claw assembly (4).

3. An electro-mechanical manipulator with a modular splicing structure according to claim 2, characterized in that: The inner wall of the claw assembly (4) is provided with a limiting groove (7) for use with the insert block (203b), and the inner wall of the fixing frame (3) is provided with a movable groove (8) for use with the insert block (203b).

4. An electro-mechanical manipulator with a modular splicing structure according to claim 2, characterized in that: A pull rod (9) is bolted to the left side of the movable plate (203a), and a pull plate (10) is bolted to the left side of the pull rod (9).

5. An electro-mechanical manipulator with a modular splicing structure according to claim 2, characterized in that: An adjusting plate (11) is bolted to the right side of the movable plate (203a), and a screw (12) is bolted to the front side of the adjusting plate (11).

6. An electro-mechanical manipulator with a modular splicing structure according to claim 5, characterized in that: The second limiting mechanism (6) is bolted to the left side of a movable frame (13), the surface of the adjusting plate (11) is movably connected to the inner wall of the movable frame (13), and the surface of the screw (12) is movably connected to the inner wall of the movable frame (13).

7. An electro-mechanical manipulator with a modular splicing structure according to claim 6, characterized in that: The screw (12) is threaded with a nut (14), and the rear side of the nut (14) is in close contact with the front side of the movable frame (13).

8. An electro-mechanical manipulator with a modular splicing structure according to claim 1, characterized in that: The bottom of the robotic arm structure (1) is provided with a pre-assembly box (15), and the top of the pre-assembly box (15) is provided with a positioning frame (16). The surface of the robotic arm structure (1) is bolted to the inner wall of the positioning frame (16).

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