阅读说明：本技术 一种具有旋转功能的机械臂 (Mechanical arm with rotation function ) 是由 沈洁 于 2018-08-23 设计创作，主要内容包括：本发明提供一种具有旋转功能的机械臂,包括底座、运动机构和控制部件。底座,包括支撑台,设置在支撑台上的电机,设置在支撑台限位孔里的第一轴承。运动机构,包括第一轴承连接的连接环,通过定位销与连接环连接的导轨,与导轨连接的气缸,与气缸连接的活塞杆,通过连接环与活塞杆连接的小臂,与小臂连接的机械抓手。控制部件,包括与电机连接的第二轴承,与第二轴承连接的把手。本发明提供的一种具有旋转功能的机械臂,通过转动把手即可使大臂固定,防止了机械臂在工作时出现偏移,从而避免了机械臂对工件造成损害,结构简单、操作方便。(The invention provides a mechanical arm with a rotating function, which comprises a base, a motion mechanism and a control component. The base comprises a supporting table, a motor arranged on the supporting table and a first bearing arranged in a limiting hole of the supporting table. The movement mechanism comprises a connecting ring connected with the first bearing, a guide rail connected with the connecting ring through a positioning pin, an air cylinder connected with the guide rail, a piston rod connected with the air cylinder, a small arm connected with the piston rod through the connecting ring, and a mechanical gripper connected with the small arm. And the control part comprises a second bearing connected with the motor and a handle connected with the second bearing. According to the mechanical arm with the rotating function, the large arm can be fixed by rotating the handle, so that the mechanical arm is prevented from deviating during working, the damage of the mechanical arm to a workpiece is avoided, the structure is simple, and the operation is convenient.)

1. A robot arm having a rotating function, comprising:

the base comprises a supporting platform, a motor arranged on the supporting platform and a first bearing arranged in a limiting hole of the supporting platform;

the moving mechanism comprises a connecting ring connected with the first bearing, a guide rail connected with the connecting ring through a positioning pin, an air cylinder connected with the guide rail, a piston rod connected with the air cylinder, a small arm connected with the piston rod through the connecting ring, and a mechanical gripper connected with the small arm;

and the control part comprises a second bearing connected with the motor and a handle connected with the second bearing.

2. The mechanical arm with the rotation function as claimed in claim 1, wherein the guide rail is provided with a guide sleeve.

3. The robot arm with rotation function as claimed in claim 1, wherein the handle is provided with a handle cover.

4. A robot arm with rotation function as claimed in claim 1, wherein the support table is fixedly connected to the outside by nuts and bolts.

5. A rotary mechanical arm as claimed in claim 1, wherein the piston rod is provided with a sealing piston sleeve.

6. The mechanical arm with the rotation function as claimed in claim 1, wherein the mechanical hand is provided with a sensor.

Technical Field

The invention relates to the technical field of mechanical arms, in particular to a mechanical arm with a rotating function.

Background

The robot system consists of a vision sensor, a mechanical arm system and a main control computer, wherein the mechanical arm system comprises a modularized mechanical arm and a dexterous hand. The mechanical arm is a high-precision and high-speed dispensing robot hand, and is a complex system with multiple inputs, multiple outputs, high nonlinearity and strong coupling. Because of its unique operational flexibility, it has been widely used in the fields of industrial assembly, safety and explosion protection. The mechanical arm is a complex system, and uncertainties such as parameter perturbation, external interference, unmodeled dynamics and the like exist. Therefore, uncertainty exists in a modeling model of the mechanical arm, and for different tasks, the motion trail of a joint space of the mechanical arm needs to be planned, so that the end pose is formed by cascading, and the uncertainty mainly comprises two main types: the method comprises the following steps of structural uncertainty and non-structural uncertainty, wherein the non-structural uncertainty is mainly caused by factors of non-controlled objects such as measurement noise, external interference, sampling time lag in calculation, rounding errors and the like.

Most arms in the existing market can rotate, but a lot of arms carry out the during operation after rotating, certain skew can appear, easily cause certain damage to the work piece.

Disclosure of Invention

The purpose of the invention is as follows: in order to solve the above problems, a robot arm having a rotation function is provided.

The technical scheme is as follows: a robot arm with a swivel function, comprising:

the base comprises a supporting table, a motor arranged on the supporting table and a first bearing arranged in a limiting hole of the supporting table.

The movement mechanism comprises a connecting ring connected with the first bearing, a guide rail connected with the connecting ring through a positioning pin, an air cylinder connected with the guide rail, a piston rod connected with the air cylinder, a small arm connected with the piston rod through the connecting ring, and a mechanical gripper connected with the small arm.

And the control part comprises a second bearing connected with the motor and a handle connected with the second bearing.

In a further embodiment, a guide sleeve is arranged on the guide rail.

In a further embodiment, the handle is provided with a handle sleeve.

In a further embodiment, the support platform is fixedly connected with the outside through nuts and bolts.

In a further embodiment, the piston rod is provided with a sealing piston sleeve.

In a further embodiment, the mechanical gripper is provided with an inductor.

Has the advantages that: according to the mechanical arm with the rotating function, the large arm can be fixed by rotating the handle, so that the mechanical arm is prevented from deviating during working, the damage of the mechanical arm to a workpiece is avoided, the structure is simple, and the operation is convenient.

Drawings

FIG. 1 is a block diagram of the present invention.

In the above drawings, the various reference numbers are: the device comprises a support table 1, a motor 2, a first bearing 3, a connecting ring 4, a positioning pin 5, a guide rail 6, a cylinder 7, a piston rod 8, a sealing piston sleeve 9, a small arm 10, a mechanical hand grip 12, a handle 13 and a second bearing 14.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the embodiment, the mechanical arm with the rotation function comprises a base, a motion mechanism and a control component.

Wherein, the base includes a supporting bench 1, a motor 2 and a first bearing 3.

The motor 2 is arranged on the supporting platform 1, the first bearing 3 is arranged in a limiting hole of the supporting platform, and the supporting platform 1 is fixedly connected with the outside through a nut and a bolt.

The motor 2 is a stepping motor, the bottom surface of the support table 1 is rectangular, and the whole rectangular body is a cuboid with four cut corners.

The moving mechanism comprises a connecting ring 4, a guide rail 6, a positioning pin 5, a cylinder 7, a piston rod 8, a small arm 10 and a mechanical hand grip 12.

The connecting ring 4 is connected with the first bearing 3, the guide rail 6 is connected with the connecting ring 4 through the positioning pin 5, the air cylinder 7 is connected with the guide rail 6, the piston rod 8 is connected with the air cylinder 7, the small arm 10 is connected with the piston rod 8 through the connecting ring 4, and the mechanical gripper 12 is connected with the small arm 10.

A guide sleeve is arranged on the guide rail 6, a sealing piston sleeve 9 is arranged on the piston rod 8, and an inductor is arranged on the mechanical gripper 12.

The connecting ring 4 is circular and connects the two parts to realize rotation.

The guide rail 6 is fixed by the positioning pin 5, and the cylinder 7 provides power for the piston rod 8 to drive the piston rod 8 to work.

Wherein the control member comprises a second bearing 14 and a handle 13.

The handle 13 is provided with a handle sleeve.

The second bearing 14 is connected to the motor 2, and the handle 13 is connected to the second bearing 14.

It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. The invention is not described in detail in order to avoid unnecessary repetition.