CN106737601A - Crawl type mechanical arm - Google Patents

Abstract

Crawl type mechanical arm, it is characterised in that including rotation console, the mechanical arm on rotation console herein is set, the mechanical gripper in this mechanical arm front end is set, be arranged on the air-control device on the mechanical arm.Crawl type mechanical arm compact conformation of the invention, light and handy flexible, small volume can carry out the operation in small space, be not take up space；The principal arm of mechanical arm is driven using bi-motor, each armed lever structure setting compact and reasonable effectively increases integral rigidity and stability, the operability for meeting the accuracy of material crawl and carrying；Existing horizontal rotation, vertical rotary, gradient rotation etc. can be realized to complete the demand of various feature angles.

Description

Grabbing Robotic Arm

technical field

The invention belongs to the technical field of robot equipment, and in particular relates to a grasping robot arm.

Background technique

The robotic arm is the most widely used automatic mechanical device in the field of robotics. It can be seen in industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, and space exploration. Although their shapes are different, they all have a common feature, that is, they can accept instructions and precisely locate a certain point in three-dimensional (or two-dimensional) space for operation.

Robotic arms are divided into multi-joint robotic arms, rectangular coordinate robotic arms, spherical coordinate robotic arms, polar coordinate robotic arms, cylindrical coordinate robotic arms, etc. according to different structural forms. The most common six-degree-of-freedom mechanical arm can realize X movement, Y movement, Z movement, X rotation, Y rotation, and Z rotation, so as to meet the telescopic, rotating and lifting functions of the mechanical arm.

In the design process of the mechanical arm, the most important thing is to consider the basic function of the arm, that is, to move the gripper to the required position and bear the maximum weight of the workpiece grasped by the gripper, as well as the weight of the arm itself, which requires the arm to have a large load-bearing capacity, Good rigidity and light weight. The rigidity of the arm directly affects the smoothness of the movement, the speed of movement and the positioning accuracy when the arm grabs the workpiece. If the rigidity is poor, it will cause the bending deformation of the arm in the vertical plane and the lateral torsional deformation in the horizontal plane, and the arm will vibrate, or the workpiece will be stuck and unable to work during the movement. For this reason, in addition to selecting better materials with good rigidity, the structural design of the arm and the size of the driving force provided to the arm also directly affect the stability of the arm's grasping work. Secondly, the structure of the arm should be compact and small so that the arm movement can be brisk and flexible. Especially for cantilever-type robotic arms, the arrangement of parts on the arm should also be considered to avoid the adverse effect of the biased moment on the movement of the arm. The greater the biased moment, the greater the vibration of the arm will be. At present, there are often many problems in the structural design of the grasping robot arm, such as poor rigidity and unstable operation of the arm; the arm is too large, occupies a large area, and has a complex and heavy structure; the high failure rate of equipment increases maintenance costs, Reduce equipment life.

Contents of the invention

The object of the present invention is to provide a grasping robot arm with small volume, exquisite and compact structure, strong rigidity, good stability, and precise grasping and positioning.

The purpose of the present invention is achieved through the following technical solutions:

The grab type mechanical arm of the present invention is characterized in that it comprises a rotating console, a mechanical arm arranged on the rotating console, a mechanical gripper arranged at the front end of the mechanical arm, and an air control device arranged on the mechanical arm ,

The rotary console includes a bottom frame, a rotary base arranged on the bottom frame, a motor I connected with the rotary base,

The mechanical arm includes a driving device and a mechanical arm rod connected to the driving device, the driving device includes a motor II and a motor III arranged in parallel on the rotating base, and a deceleration device connected to the motor II Machine Ⅰ, reducer Ⅱ connected with said motor Ⅲ,

The mechanical arm lever includes a main arm connected with the output shafts of the reducer I and reducer II respectively, a swing rod I connected with the output shaft of the reducer I, and a swing rod I connected with the output shaft of the reducer II The swing link II connected to the output shaft, the rear arm I hinged with the swing link I through the axis I, the rear arm II hinged with the swing link II through the axis II, and the main arm through the axis III The articulated auxiliary arm I, the forearm hinged with the other end of the auxiliary arm I through the axis IV, the axis V connected with the small arm, the forearm hinged with the axis V, and the other end of the arm through the axis The triangular connecting plate hinged with phase VI, connecting the triangular connecting plate with the axis VII of the rear arm II, and the auxiliary arm II hinged with the rear arm I through the axis VIII,

The forearm is hinged to the angle I of the triangular connecting plate

Angle II of the triangular connecting plate is hinged to the rear arm II through axis VII,

Angle III of the triangular connecting plate is hinged to the axis III.

The mechanical gripper includes a connecting frame fixedly connected with the small arm, a stepping motor arranged on the connecting frame, a reducer III connected with the stepping motor, and a reducer III connected with the reducer III Scratch your head.

The air control device includes a gas supply device, a control device, a pipe frame arranged on the mechanical arm, an air pipe fixed on the pipe frame or the mechanical arm, and a clamp for fixing the air pipe.

The gripping head includes an air clamp connected with the reducer III, and a jaw connected with the air clamp.

The gripping head is an electric clip, a suction cup or an electromagnetic adsorber.

Advantages of the present invention:

The grasping-type mechanical arm of the present invention is compact in structure, light and flexible, and small in size, and can be operated in a small space without occupying space; dual motors are used to drive the main arm of the mechanical arm, and the structure of each arm is compact and reasonable, effectively improving It ensures the overall rigidity and stability, meets the accuracy of material grabbing and the operability of handling; it can realize horizontal rotation, vertical rotation, slope rotation, etc. to complete the requirements of various characteristic angles.

Description of drawings

Fig. 1 is the structural representation of invention.

Fig. 2 is the front view of the inventive type Fig. 1 .

detailed description

The specific implementation manner of the present invention will be further described below in conjunction with the accompanying drawings.

As shown in Figures 1 and 2, the grasping type mechanical arm of the present invention is characterized in that it comprises a rotating console, a mechanical arm arranged on the rotating console, a mechanical gripper arranged at the front end of the mechanical arm, arranged on the The air control device on the mechanical arm,

The rotary console includes a chassis 14, a rotary base 13 arranged on the chassis 14, a motor I connected to the rotary base 13,

Described mechanical arm comprises driving device and the mechanical arm lever that is connected with this driving device, and described driving device comprises motor II17 and motor III18 that are arranged in parallel on described rotating base 13, is connected with described motor II17 Reducer I15, the reducer II30 connected with the motor III18,

The mechanical arm lever includes the main arm 11 connected with the output shaft of the reducer I15 and the reducer II30 respectively, the swing rod I16 connected with the output shaft of the reducer I15, and the output shaft of the reducer I15 connected with the reducer II30 The swing link II connected to the output shaft of the swing link II, the rear arm I19 hinged with the swing link I16 through the axis I22, the rear arm II20 hinged with the swing link II through the axis II23, and the main arm 11 through the axis Auxiliary arm I9 hinged with III24, forearm 6 hinged with the other end of auxiliary arm I9 through axis IV25, axis V26 connected with this forearm 6, forearm 12 hinged with this axis V26, and this forearm The other end of 12 is the triangular connecting plate 10 hinged by the axis VI27, connecting the triangular connecting plate 10 and the axis VII28 of the rear arm II20, and the auxiliary arm II21 hinged with the rear arm I19 by the axis VIII29,

The forearm 12 is hinged with the angle I of the triangular connecting plate 10

The corner II of the triangular connecting plate 10 is hinged to the rear arm II20 through the axis VII28,

The angle III of the triangular connecting plate 10 is hinged to the axis III24.

The mechanical gripper includes a connecting frame 3 fixedly connected to the small arm 6, a stepping motor 5 arranged on the connecting frame 3, a speed reducer III4 connected to the stepping motor 5, and a decelerating The grabbing head connected with machine III4.

The air control device includes a gas supply device, a control device, a pipe frame 7 arranged on the mechanical arm rod, an air pipe 8 fixed on the pipe frame 7 or the mechanical arm rod, and the air pipe 8 is fixed. clips.

The gripping head includes an air clamp 2 connected with the reducer III4, and a clamping jaw 1 connected with the air clamp 2, and the air clamp 2 is connected with the output end of the air pipe 8.

The gripping head is an electric clip, a suction cup or an electromagnetic adsorber.

The grasping robot arm of the present invention can move freely at any point in space (horizontal 180 degrees). The upper part of the moving and rotating console is composed of three parallelogram mechanical rods perpendicular to the horizontal plane, as shown in Figure 2, that is, a front end is obtained by connecting axis III24-subarm I9-axis IV25-axis V26-forearm 12-axis VI27 Parallelogram; connecting axis III24-auxiliary arm II21-axis VIII29-rear arm I19-axis I22-reducer I output shaft-main arm 11, to obtain a parallelogram I; connecting axis III24-axis VII28-rear arm II20-axis II23 - output shaft of reducer II - main arm 11, to obtain a parallelogram II; the two parallelogram arms driven by the motor and perpendicular to the horizontal plane move parallel to each other, and the two sets of mechanical arms controlled by the motor are two vertical The moving parallelogram is connected to the front parallelogram through the shaft and the triangular connecting plate 10, and the two equal sides of the triangular connecting plate 10 are two parallelogram sides; the mechanical gripper is installed at the end of the front parallelogram, and the two are driven by the motor. The compound movement of the parallelogram on the vertical horizontal plane completes the vertical (Z direction) and front and rear (Y direction) movement, and the rotation of the turntable and (Y direction) compound movement completes the left and right (X direction) movement; The parallelogram completes the space movement, so that the mechanical gripper (that is, the end of the mechanical arm) is always kept horizontal no matter where it is in space; the mechanical gripper can be installed with motors according to needs, and can realize horizontal rotation, vertical rotation, slope rotation, etc. To meet the requirements of a certain angle, grabbing tools with various functions such as air clips, suction cups, and electromagnetic adsorption can be installed on the motor of the manipulator to complete tasks such as grabbing and placing any item.

The grasping-type mechanical arm of the present invention is compact in structure, light and flexible, and small in size, and can be operated in a small space without occupying space; dual motors are used to drive the main arm of the mechanical arm, and the structure of each arm is compact and reasonable, effectively improving It ensures the overall rigidity and stability, meets the accuracy of material grabbing and the operability of handling; it can realize horizontal rotation, vertical rotation, slope rotation, etc. to complete the requirements of various characteristic angles.

Claims (5)

1. A grasping type mechanical arm is characterized in that comprising a rotary console, a mechanical arm arranged on the rotary console, a mechanical gripper arranged at the front end of the mechanical arm, an air control arm arranged on the mechanical arm device, The rotary console includes a bottom frame, a rotary base arranged on the bottom frame, a motor I connected with the rotary base, The mechanical arm includes a driving device and a mechanical arm rod connected to the driving device, the driving device includes a motor II and a motor III arranged in parallel on the rotating base, and a deceleration device connected to the motor II Machine Ⅰ, reducer Ⅱ connected with said motor Ⅲ, The mechanical arm lever includes a main arm connected with the output shafts of the reducer I and reducer II respectively, a swing rod I connected with the output shaft of the reducer I, and a swing rod I connected with the output shaft of the reducer II The swing link II connected to the output shaft, the rear arm I hinged with the swing link I through the axis I, the rear arm II hinged with the swing link II through the axis II, and the main arm through the axis III The articulated auxiliary arm I, the forearm hinged with the other end of the auxiliary arm I through the axis IV, the axis V connected with the small arm, the forearm hinged with the axis V, and the other end of the arm through the axis The triangular connecting plate hinged with phase VI, connecting the triangular connecting plate with the axis VII of the rear arm II, and the auxiliary arm II hinged with the rear arm I through the axis VIII, The forearm is hinged to the angle I of the triangular connecting plate Angle II of the triangular connecting plate is hinged to the rear arm II through axis VII, Angle III of the triangular connecting plate is hinged to the axis III. 2. The grasping robot arm according to claim 1, characterized in that said mechanical gripper comprises a connecting frame fixedly connected to said forearm rod, a stepping motor arranged on this connecting frame, and The reducer III connected to the stepping motor, and the gripping head connected to the reducer III. 3. The grasping robot arm according to claim 1, wherein the air control device includes a gas supply device, a control device, a pipe frame arranged on the rod of the mechanical arm, and fixed on the pipe frame Or the trachea on the mechanical arm bar, fix the clamp of the trachea. 4. The grasping robot arm according to claim 2, characterized in that said grasping head comprises an air clamp connected with said reducer III, and a gripper connected with said air clamp. 5. The grasping robot arm according to claim 2, wherein the grasping head is an electric clamp, a sucker or an electromagnetic absorber.