CN110480677A - A kind of installation clamping structure for rotation section at mechanical arm rotation connection - Google Patents
A kind of installation clamping structure for rotation section at mechanical arm rotation connection Download PDFInfo
- Publication number
- CN110480677A CN110480677A CN201910859187.3A CN201910859187A CN110480677A CN 110480677 A CN110480677 A CN 110480677A CN 201910859187 A CN201910859187 A CN 201910859187A CN 110480677 A CN110480677 A CN 110480677A
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- Prior art keywords
- rotation
- movable axis
- clamping structure
- section
- pneumatic actuation
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
- Actuator (AREA)
Abstract
The invention discloses a kind of installation clamping structures for rotation section at mechanical arm rotation connection, it can solve the installation clamping structure of rotation section at existing mechanical arm rotation connection when in use, first, after installation clamping structure is connected between rotation section, although rotation section can keep normal rotation on installation clamping structure, but, the rotation amplitude for rotating section can not be but adjusted using installation clamping structure, to be unable to satisfy the protection of the anticollision to rotation section and mechanical arm or inordinate rotation in some specific situations, and existing such installation clamping structure lacks installation safeguard structure come the problem of in case of emergency protection to rotation section.It is covered including shackle member and the bottom being disposed below, is provided with top plate at the top of the shackle member, top docking groove is provided on the top plate, is connected with snap-gauge at the ceiling edge, the snap-gauge bottom is fixedly installed with hydraulic pump.
Description
Technical field
The present invention relates to mechanical arm fields, and in particular to a kind of installation clamping for rotation section at mechanical arm rotation connection
Structure.
Background technique
It needs to realize the rotation at joint of mechanical arm using rotation section at mechanical arm rotation connection, and rotates section and installing
When need to dock using installation clamping structure, the top half for installing clamping structure is connected with the upper arm that rotation saves, installation
The lower half portion of clamping structure is connected with the lower arm of rotation section.But the peace that rotation saves at existing mechanical arm rotation connection
Filling clamping structure, there are still certain defects when in use, firstly, after installation clamping structure is connected between rotation section, rotation
Although section can keep normal rotation on installation clamping structure, the rotation amplitude for rotating section but can not be using installation
Clamping structure is adjusted, thus be unable to satisfy the anticollision to rotation section and mechanical arm in some specific situations or
The protection of inordinate rotation, and existing such installation clamping structure lacks installation safeguard structure and comes in case of emergency to rotation
The case where section is protected, and is fallen off between the upper arm and lower arm saved such as rotation.
The patent of Publication No. CN208389540U discloses a kind of band rotating disc rotating filter element clamping structure, with the application
Text is compared, and the clamping structure that documents provide can not solve what the application text was proposed: at existing mechanical arm rotation connection
Rotate the installation clamping structure saved when in use, firstly, after installation clamping structure is connected between rotation section, though rotation saves
Normal rotation can be so kept on installation clamping structure, still, the rotation amplitude for rotating section but can not be using installation clamping
Structure is adjusted, to be unable to satisfy the anticollision to rotation section and mechanical arm in some specific situations or excessively
The protection of rotation, and existing such installation clamping structure lack installation safeguard structure come in case of emergency to rotation save into
The problem of row protection.
Summary of the invention
The purpose of the present invention is to provide a kind of installation clamping structures for rotation section at mechanical arm rotation connection, can be with
Solve at existing mechanical arm rotation connection the installation clamping structure of rotation section when in use, firstly, installation clamping structure with
After being connected between rotation section, although rotation section can keep normal rotation on installation clamping structure, rotate section
Rotation amplitude can not be but adjusted using installation clamping structure, be saved in some specific situations to rotation to be unable to satisfy
And mechanical arm anticollision or inordinate rotation protection, and existing such installation clamping structure lacks installation protection knot
Structure is come the problem of in case of emergency protecting rotation section.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of installation clamping structure for rotation section at mechanical arm rotation connection, including shackle member and be disposed below
Bottom set, be provided with top plate at the top of the shackle member, top docking groove be provided on the top plate, is clamped at the ceiling edge
There is snap-gauge, the snap-gauge bottom is fixedly installed with hydraulic pump, and the hydraulic pump bottom is connected with a hydraulic telescopic rod, the liquid
Pressure telescopic rod bottom end is connected with connecting plate, the shackle member is fixedly mounted on the side wall of hydraulic pump there are two fixed plate, two
A frame is welded between a fixed plate, the connecting plate passes through frame and connecting plate bottom is fixedly connected pneumatically
It drives, is fixedly installed with power supply on the pneumatic actuation side wall, and be welded with a single extension in the pneumatic actuation bottom sidewall
Ring, the pneumatic actuation are connected with a drive shaft and a fixed link on the side wall of shackle member, and the drive shaft is consolidated
Fixed pole one end is all connected with movable axis, and the junction between the fixed link and movable axis is equipped with runner, the fixed link with
It is connected between movable axis by runner, inclined-plane is provided on the outer wall of the movable axis two sides, and the movable axis both ends are equal
It is connected with a turntable, the turntable is arranged on the loose slot outer wall on the outer wall of shackle member two sides, two turntables
There are two the baffles being obliquely installed for bottom installation；
Baffle bottom close to the pneumatic actuation is connected with two connecting rods, and two connecting rod bottom ends connect jointly
Chassis, is fixedly installed with a driving motor on the chassis, the transmission shaft of the driving motor through chassis and with its bottom
Shaft be connected, bottom set is welded on the shaft side wall, the bottom set is internally provided with bottom docking groove, and
It is welded with two double links in the bottom set top sidewall, is respectively connected with a protection between two double links and single link
Spring.
Preferably, triangular structure is constituted between two baffles, and is set in the middle part of the baffle of the pneumatic actuation
It is equipped with notch.
Preferably, the pneumatic actuation is inconjunction with movable axis, chassis, bottom set by living between hydraulic telescopic rod and shackle member
Dynamic connection, and pneumatic actuation, movable axis, chassis, bottom cover the direction in activity along loose slot.
Preferably, the movable axis is inconjunction with chassis, bottom set by being rotatablely connected between drive shaft and loose slot inner wall.
Preferably, the bottom set between driving motor and shaft and tray bottom outer wall by being rotatablely connected.
Preferably, the power supply is electrically connected between hydraulic pump, pneumatic actuation, driving motor respectively by several conducting wires
It connects.
Preferably, it is flexibly connected between the shackle member and bottom set by movable axis, movable axis to loose slot top inner wall
On spacing it is smaller, shackle member and bottom set between movable amplitude it is smaller.
Preferably, the application method of this kind installation clamping structure, specific steps are as follows:
Step 1: rotation being saved and is assembled between installation clamping structure, and the upper arm for rotating section is fixedly mounted on top
Inside docking groove, the lower arm for rotating section is fixedly mounted on inside the docking groove of bottom；
Step 2: when the rotation amplitude of rotation section by pneumatic actuation without driving drive shaft flexible, thus sharp when adjusting
Movable axis, movable axis rotation under the pushing of drive shaft are pushed with drive shaft, movable axis drives two in the course of rotation
Baffle rotates together, and rotates with chassis, and the rotation on chassis drives one rotation direction of bottom set and movable axis to rotate, real
Now rotate the rotating function of section, while auxiliary mechanical arm swing arm, during swing arm two baffles by with shackle member bottom it
Between collision limit amplitude of fluctuation；
Step 3: it when needing the lower arm direction to rotation section to be adjusted, is rotated by driving motor drive shaft, benefit
It drives bottom to cover with the rotation of shaft and rotates adjustment direction below chassis；
Step 4: it when the rotation amplitude of rotation section needs to adjust, drives hydraulic telescopic rod flexible by hydraulic pump, utilizes
The flexible of hydraulic telescopic rod drives pneumatic actuation and the movable axis up and down along the direction of loose slot, when hydraulic pump drives
When hydraulic telescopic rod is shunk, pneumatic actuation and movable axis rise along the direction of loose slot, at this point, baffle center line is to being clamped
Spacing between part bottom reduces, and the rotation amplitude for rotating section reduces, when hydraulic pump driving hydraulic telescopic rod elongation, pneumatic driving
Dynamic and movable axis declines along the direction of loose slot, at this point, baffle center line increases to the spacing between shackle member bottom, turns
The rotation amplitude of dynamic section increases.
The invention has the benefit that due to the presence of pneumatic actuation and drive shaft so that clamping structure with rotation
When section is used cooperatively, drive shaft can be driven flexible by pneumatic actuation, thus using drive shaft promotion movable axis, and due to
Runner is installed, and movable axis two sides are inclined-plane, movable axis structure triangular in shape, to make between movable axis and fixed link
Movable axis can the rotation under the pushing of drive shaft, movable axis drives two baffles to rotate together in the course of rotation,
And it is rotated with chassis, the rotation on chassis drives one rotation direction of bottom set and movable axis to rotate, to realize rotation section
Rotating function, while the swing arm function of auxiliary mechanical arm can be played, and during swing arm two baffles by with card
Collision between fitting bottom limits amplitude of fluctuation；
Due to the presence of driving motor and shaft, and bottom is set on shaft side wall, so that bottom set can
It is rotated by driving motor drive shaft to realize rotation adjustment direction, so that the lower arm of rotation section can be realized rotation adjusting angle
Degree, direction, it is more flexible.
Due to hydraulic pump, the presence of hydraulic telescopic rod, so that can pass through when the rotation amplitude of rotation section needs to adjust
Hydraulic pump drives hydraulic telescopic rod flexible, and flexible using hydraulic telescopic rod drives pneumatic actuation and movable axis along activity
The direction of slot is up and down, and when hydraulic pump driving hydraulic telescopic rod is shunk, pneumatic actuation and movable axis are along loose slot
Direction rises, at this point, baffle center line is reduced to the spacing between shackle member bottom, the rotation amplitude for rotating section reduces, and works as liquid
When press pump drives hydraulic telescopic rod elongation, pneumatic actuation and movable axis decline along the direction of loose slot, at this point, baffle center
Line increases to the spacing between shackle member bottom, and the rotation amplitude for rotating section increases, so that the rotation amplitude of rotation section is controllable, from
And it can satisfy and avoid that rotation saves and mechanical arm rotation amplitude is excessive and occur colliding and inordinate rotation under specific condition
It happens.
Due to the presence of two protection springs, when so that falling off between the top half and lower half portion of rotation section,
The traction of spring can be protected to be protected by two, avoid the crash that falls off.
Detailed description of the invention
In order to facilitate the understanding of those skilled in the art, the present invention will be further described below with reference to the drawings.
Fig. 1 is overall structure of the present invention；
Fig. 2 is side structure schematic diagram of the present invention；
Fig. 3 is side view of the present invention；
Fig. 4 is main view of the present invention；
Fig. 5 is structure schematic diagram of the present invention；
Fig. 6 is top view of the present invention；
Fig. 7 is pneumatic driving structure schematic diagram of the present invention；
Fig. 8 is pneumatic actuation planar structure schematic diagram of the present invention；
Fig. 9 is the movable axial section of the present invention；
In figure: 1, shackle member；2, hydraulic pump；3, hydraulic telescopic rod；4, frame；5, pneumatic actuation；6, loose slot；7, turn
Disk；8, baffle；9, connecting rod；10, chassis；11, driving motor；12, shaft；13, bottom covers；14, bottom docking groove；15, single to hang
Ring；16, spring is protected；17, power supply；18, connecting plate；19, fixed plate；20, top docking groove；21, double links；22, snap-gauge；
23, top plate；24, notch；25, drive shaft；26, movable axis；27, inclined-plane；28, fixed link；29, runner.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with embodiment, it is clear that described reality
Applying example is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is general
Logical technical staff all other embodiment obtained without creative efforts belongs to what the present invention protected
Range.
It please refers to shown in Fig. 1-9, a kind of installation clamping structure for rotation section at mechanical arm rotation connection, including clamping
Part 1 and the bottom being disposed below cover 13, are provided with top plate 23 at the top of shackle member 1, and top docking groove 20 is provided on top plate 23,
23 edge of top plate is connected with snap-gauge 22, and 22 bottom of snap-gauge is fixedly installed with hydraulic pump 2, and 2 bottom of hydraulic pump is connected with a liquid
Telescopic rod 3 is pressed, 3 bottom end of hydraulic telescopic rod is connected with connecting plate 18, and shackle member 1 is fixedly installed on the side wall of hydraulic pump 2
Two fixed plates 19, a frame 4 is welded between two fixed plates 19, and connecting plate 18 passes through frame 4 and connecting plate 18
Bottom is fixedly connected with pneumatic actuation 5, power supply 17 is fixedly installed on 5 side wall of pneumatic actuation, and weld in 5 bottom sidewall of pneumatic actuation
It is connected to a single link 15, pneumatic actuation 5 is connected with a drive shaft 25 and a fixed link on the side wall of shackle member 1
28, drive shaft 25,28 one end of fixed link are all connected with movable axis 26, and the junction between fixed link 28 and movable axis 26 is equipped with
Runner 29 is connected by runner 29 between fixed link 28 and movable axis 26, is provided with inclined-plane on 26 two sides outer wall of movable axis
27, and 26 both ends of movable axis are respectively connected with a turntable 7, turntable 7 is arranged in the loose slot 6 on 1 two sides outer wall of shackle member
On outer wall, there are two the baffles 8 being obliquely installed for two 7 bottom of turntable installations；
8 bottom of baffle close to pneumatic actuation 5 is connected with two connecting rods 9, two common connecting base plates in 9 bottom end of connecting rod
10, be fixedly installed with a driving motor 11 on chassis 10, the transmission shaft of driving motor 11 through chassis 10 and with its bottom
Shaft 12 is connected, and a bottom set 13 is welded on 12 side wall of shaft, and bottom set 13 is internally provided with bottom docking groove 14, and
Bottom, which covers, is welded with two double links 21 in 13 top sidewalls, be respectively connected with a protection between two double links 21 and single link 15
Spring 16.
Triangular structure is constituted between two baffles 8, and is arranged jagged 24 in the middle part of the baffle 8 of pneumatic actuation 5, is kept away
Exempt from baffle 8 to be in contact between pneumatic actuation 5 in 26 rotation process of movable axis.
Pneumatic actuation 5 is inconjunction with movable axis 26, chassis 10, bottom set 13 by movable between hydraulic telescopic rod 3 and shackle member 1
Connection, and pneumatic actuation 5, movable axis 26, chassis 10, bottom set 13 in activity along the direction of loose slot 6, due to hydraulic pump 2,
The presence of hydraulic telescopic rod 3, so that when the rotation amplitude of rotation section needs to adjust hydraulic stretch can be driven by hydraulic pump 2
Contracting bar 3 is flexible, and flexible using hydraulic telescopic rod 3 drives on the direction of pneumatic actuation 5 and movable axis 26 along loose slot 6
Lower activity, when hydraulic pump 2 drives hydraulic telescopic rod 3 to shrink, pneumatic actuation 5 and movable axis 26 along loose slot 6 direction
Rise, at this point, 8 center line of baffle is reduced to the spacing between 1 bottom of shackle member, the rotation amplitude for rotating section reduces, when hydraulic
When 2 driving hydraulic telescopic rod 3 of pump extends, pneumatic actuation 5 and movable axis 26 decline along the direction of loose slot 6, at this point, baffle
8 center lines increase to the spacing between 1 bottom of shackle member, and the rotation amplitude for rotating section increases, so that the rotation amplitude of rotation section
Controllably, avoid that rotation saves and mechanical arm rotation amplitude is excessive and occur colliding and excessively under specific condition so as to meet
The case where rotation, occurs.
Movable axis 26 is inconjunction with chassis 10, bottom set 13 by being rotatablely connected between 6 inner wall of drive shaft 25 and loose slot, so that
Movable axis 26 can the rotation under the pushing of drive shaft 25, movable axis 26 drives two baffles 8 together in the course of rotation
Rotation, and rotated with chassis 10, the rotation on chassis 10 drives 26 1 rotation directions of bottom set 13 and movable axis to rotate, from
And realize the rotating function of rotation section, while the swing arm function of auxiliary mechanical arm can be played, and two during swing arm
Baffle 8 limits amplitude of fluctuation by the collision between 1 bottom of shackle member.
Bottom set 13 between 10 bottom outer wall of driving motor 11 and shaft 12 and chassis by being rotatablely connected, so that bottom
It is real that set 13 can rotate the lower arm for enabling rotation to save to realize rotation adjustment direction by 11 drive shaft 12 of driving motor
Now rotation adjustment angle, direction, it is more flexible.
Power supply 17 is electrically connected between hydraulic pump 2, pneumatic actuation 5, driving motor 11 respectively by several conducting wires.
It is flexibly connected between shackle member 1 and bottom set 13 by movable axis 26, on movable axis 26 to 6 top inner wall of loose slot
Spacing is smaller, and the movable amplitude between shackle member 1 and bottom set 13 is smaller.
This kind installs the application method of clamping structure, specific steps are as follows:
Step 1: rotation being saved and is assembled between installation clamping structure, and the upper arm for rotating section is fixedly mounted on top
Inside docking groove 20, the lower arm for rotating section is fixedly mounted on inside bottom docking groove 14；
Step 2: when the rotation amplitude of rotation section is not necessarily to adjust, driving drive shaft 25 flexible by pneumatic actuation 5, from
And drive shaft 25 is utilized to push movable axis 26, the rotation under the pushing of drive shaft 25 of movable axis 26, mistake of the movable axis 26 in rotation
It drives two baffles 8 to rotate in journey together, and is rotated with chassis 10, the rotation on chassis 10 drives bottom set 13 and activity
26 1 rotation direction rotations of axis, realize the rotating function of rotation section, while auxiliary mechanical arm swing arm, two during swing arm
Baffle 8 limits amplitude of fluctuation by the collision between 1 bottom of shackle member；
Step 3: when needing the lower arm direction to rotation section to be adjusted, pass through 12 turns of 11 drive shaft of driving motor
It is dynamic, drive bottom set 13 to rotate adjustment direction below chassis 10 using the rotation of shaft 12；
Step 4: when the rotation amplitude of rotation section needs to adjust, drive hydraulic telescopic rod 3 flexible by hydraulic pump 2, benefit
Flexible with hydraulic telescopic rod 3 drives pneumatic actuation 5 and the movable axis 26 up and down along the direction of loose slot 6, works as liquid
When press pump 2 drives hydraulic telescopic rod 3 to shrink, pneumatic actuation 5 and movable axis 26 rise along the direction of loose slot 6, at this point, gear
8 center line of plate is reduced to the spacing between 1 bottom of shackle member, and the rotation amplitude for rotating section reduces, when hydraulic pump 2 drives hydraulic stretch
When contracting bar 3 extends, pneumatic actuation 5 and movable axis 26 decline along the direction of loose slot 6, at this point, 8 center line of baffle is to being clamped
Spacing between 1 bottom of part increases, and the rotation amplitude for rotating section increases.
The invention has the benefit that due to the presence of pneumatic actuation 5 and drive shaft 25 so that clamping structure with turn
When dynamic section is used cooperatively, drive shaft 25 can be driven flexible by pneumatic actuation 5, to push movable axis using drive shaft 25
26, and due to being equipped with runner 29 between movable axis 26 and fixed link 28, and 26 two sides of movable axis are inclined-plane 27, activity
The structure triangular in shape of axis 26 so that movable axis 26 can the rotation under the pushing of drive shaft 25, movable axis 26 is in rotation
It drives two baffles 8 to rotate together in the process, and is rotated with chassis 10, the rotation on chassis 10 drives bottom set 13 and lives
26 1 rotation direction rotations of moving axis, to realize the rotating function of rotation section, while can play the swing arm of auxiliary mechanical arm
Function, and two baffles 8 limit amplitude of fluctuation by the collision between 1 bottom of shackle member during swing arm；
Due to the presence of driving motor 11 and shaft 12, and bottom set 13 is arranged on 12 side wall of shaft, so that
Bottom set 13 can rotate the lower arm for enabling rotation to save to realize rotation adjustment direction by 11 drive shaft 12 of driving motor
Realize rotation adjustment angle, direction, it is more flexible.
Due to hydraulic pump 2, the presence of hydraulic telescopic rod 3, so that when the rotation amplitude of rotation section needs to adjust, Neng Goutong
To cross hydraulic pump 2 drive hydraulic telescopic rod 3 flexible, and flexible using hydraulic telescopic rod 3 drives pneumatic actuation 5 and movable axis 26
Direction along loose slot 6 is up and down, when hydraulic pump 2 drives hydraulic telescopic rod 3 to shrink, pneumatic actuation 5 and movable axis
26 rise along the direction of loose slot 6, at this point, 8 center line of baffle is reduced to the spacing between 1 bottom of shackle member, rotate section
Rotation amplitude reduces, and when hydraulic pump 2 drives hydraulic telescopic rod 3 to extend, pneumatic actuation 5 and movable axis 26 are along loose slot 6
Direction decline, at this point, 8 center line of baffle between 1 bottom of shackle member spacing increase, rotate section rotation amplitude increase,
So that the rotation amplitude of rotation section is controllable, rotation section and mechanical arm rotation amplitude mistake are avoided under specific condition so as to meet
It is big and occur colliding and generation the case where inordinate rotation.
Due to the presence of two protection springs 16, so that falling off between the top half and lower half portion of rotation section
When, the traction of spring 16 can be protected to be protected by two, avoid the crash that falls off.
In the use of the present invention, hydraulic pump 2 is blocked by snap-gauge 22 firstly, assembled to entire installation clamping structure
It connects and is fixed on top plate 23, and 3 bottom end of hydraulic telescopic rod of 2 bottom of hydraulic pump is connected with connecting plate 18, then will be movable
Axis 26 is mounted between two loose slots 6, and the turntable 7 at 26 both ends of movable axis is located on 6 outer wall of loose slot, and then by turntable 7
The baffle 8 of two composition triangular structures is fixedly mounted in bottom, is fixedly connected with bottom by two connecting rods 9 close to 8 bottom of baffle
Disk 10 installs driving motor 11 on chassis 10, and the transmission shaft of driving motor 11 through chassis 10 and connects a shaft 12, with
Afterwards, bottom set 13 is weldingly fixed on 12 outer wall of shaft, then 18 bottom of connecting plate is fixedly connected with pneumatic actuation 5, complete peace
After the assembling for filling clamping structure, rotation is saved and is assembled between installation clamping structure, the upper arm for rotating section is fixedly mounted on
Inside top docking groove 20, the lower arm for rotating section is fixedly mounted on inside bottom docking groove 14.Clamping structure is matched with rotation section
It closes in use, when the rotation amplitude of rotation section by pneumatic actuation 5 without driving drive shaft 25 flexible, to utilize when adjusting
Drive shaft 25 pushes movable axis 26, due to being equipped with runner 29, and 26 two sides of movable axis between movable axis 26 and fixed link 28
Be inclined-plane 27, the structure triangular in shape of movable axis 26 so that movable axis 26 can the rotation under the pushing of drive shaft 25, it is living
Moving axis 26 drives two baffles 8 to rotate together in the course of rotation, and rotates with chassis 10, the rotation band on chassis 10
It moves 26 1 rotation directions of bottom set 13 and movable axis to rotate, to realize the rotating function of rotation section, while can play auxiliary
The swing arm function of helping mechanical arm, two baffles 8 limit swing by the collision between 1 bottom of shackle member during swing arm
Amplitude, and due to the presence of driving motor 11 and shaft 12, and bottom set 13 is arranged on 12 side wall of shaft, so that
Bottom set 13 can rotate the lower arm for enabling rotation to save to realize rotation adjustment direction by 11 drive shaft 12 of driving motor
Realize rotation adjustment angle, direction, it is more flexible.When the rotation amplitude of rotation section needs to adjust, liquid is driven by hydraulic pump 2
Press the telescopic rod 3 flexible, flexible using hydraulic telescopic rod 3 drives pneumatic actuation 5 and movable axis 26 along the side of loose slot 6
To up and down, when hydraulic pump 2 drives hydraulic telescopic rod 3 to shrink, pneumatic actuation 5 and movable axis 26 are along loose slot 6
Direction rises, at this point, 8 center line of baffle is reduced to the spacing between 1 bottom of shackle member, the rotation amplitude for rotating section reduces, when
When hydraulic pump 2 drives hydraulic telescopic rod 3 to extend, pneumatic actuation 5 and movable axis 26 decline along the direction of loose slot 6, at this point,
8 center line of baffle increases to the spacing between 1 bottom of shackle member, and the rotation amplitude for rotating section increases, so that the rotation of rotation section
Amplitude-controllable, so as to meet avoided under specific condition rotation save and mechanical arm rotation amplitude it is excessive and occur colliding and
The case where inordinate rotation, occurs.Due to the presence of two protection springs 16, so that it is divided in the top half of rotation section and lower half
Between when falling off, the traction of spring 16 can be protected to be protected by two.
Present invention disclosed above preferred embodiment is only intended to help to illustrate the present invention.There is no detailed for preferred embodiment
All details are described, also do not limit the specific embodiment that the invention is only.Obviously, according to the content of this specification, can make
Many modifications and variations.These embodiments are chosen and specifically described to this specification, is original in order to better explain the present invention
Reason and practical application, so that skilled artisan be enable to better understand and utilize the present invention.The present invention is only authorized
The limitation of sharp claim and its full scope and equivalent.
Claims (8)
1. it is a kind of at mechanical arm rotation connection rotation section installation clamping structure, including shackle member (1) and be located at its under
The bottom of side covers (13), which is characterized in that is provided with top plate (23) at the top of the shackle member (1), is provided on the top plate (23)
Top docking groove (20), top plate (23) edge are connected with snap-gauge (22), and snap-gauge (22) bottom is fixedly installed with liquid
Press pump (2), hydraulic pump (2) bottom are connected with a hydraulic telescopic rod (3), and hydraulic telescopic rod (3) bottom end is connected with
Connecting plate (18), there are two fixed plate (19), two institutes for fixed installation on the side wall of hydraulic pump (2) for the shackle member (1)
It states and is welded with a frame (4) between fixed plate (19), the connecting plate (18) passes through frame (4) and connecting plate (18) bottom
Portion is fixedly connected pneumatic actuation (5), is fixedly installed with power supply (17) on pneumatic actuation (5) side wall, and the pneumatic actuation
(5) a single link (15) is welded in bottom sidewall, the pneumatic actuation (5) is connected on the side wall of shackle member (1)
A piece drive shaft (25) and a fixed link (28), the drive shaft (25), fixed link (28) one end are all connected with movable axis
(26), and the junction between the fixed link (28) and movable axis (26) is equipped with runner (29), the fixed link (28) with
It is connected between movable axis (26) by runner (29), is provided with inclined-plane (27) on the outer wall of movable axis (26) two sides, and
Movable axis (26) both ends are respectively connected with a turntable (7), and the turntable (7) is arranged in shackle member (1) two sides outer wall
On loose slot (6) outer wall on, there are two the baffles (8) being obliquely installed for two turntable (7) bottoms installations；
Baffle (8) bottom close to the pneumatic actuation (5) is connected with two connecting rods (9), two connecting rod (9) bottom ends
Common connecting base plate (10) is fixedly installed with a driving motor (11) on the chassis (10), the driving motor (11)
Transmission shaft is connected through chassis (10) and with the shaft of its bottom (12), is welded with one on shaft (12) side wall
Bottom covers (13), and the bottom set (13) is internally provided with bottom docking groove (14), and is welded in set (13) top sidewall of the bottom
Two double links (21), are respectively connected with a protection spring (16) between two double links (21) and single link (15).
2. a kind of installation clamping structure for rotation section at mechanical arm rotation connection according to claim 1, feature
It is, triangular structure, and the setting in the middle part of the baffle (8) of the pneumatic actuation (5) is constituted between two baffles (8)
Jagged (24).
3. a kind of installation clamping structure for rotation section at mechanical arm rotation connection according to claim 1, feature
It is, the pneumatic actuation (5) is inconjunction with movable axis (26), chassis (10), bottom set (13) by hydraulic telescopic rod (3) and is clamped
Part is flexibly connected between (1), and pneumatic actuation (5), movable axis (26), chassis (10), bottom set (13) in activity along activity
The direction of slot (6).
4. a kind of installation clamping structure for rotation section at mechanical arm rotation connection according to claim 1, feature
It is, the movable axis (26) is inconjunction with chassis (10), bottom set (13) by turning between drive shaft (25) and loose slot (6) inner wall
Dynamic connection.
5. a kind of installation clamping structure for rotation section at mechanical arm rotation connection according to claim 1, feature
It is, the bottom set (13) between driving motor (11) and shaft (12) and chassis (10) bottom outer wall by being rotatablely connected.
6. a kind of installation clamping structure for rotation section at mechanical arm rotation connection according to claim 1, feature
Be, the power supply (17) by several conducting wires respectively between hydraulic pump (2), pneumatic actuation (5), driving motor (11) it is electric
Property connection.
7. a kind of installation clamping structure for rotation section at mechanical arm rotation connection according to claim 1, feature
It is, be flexibly connected between the shackle member (1) and bottom set (13) by movable axis (26), movable axis (26) arrives loose slot (6)
Spacing in top inner wall is smaller, and the movable amplitude between shackle member (1) and bottom set (13) is smaller.
8. a kind of installation clamping structure for rotation section at mechanical arm rotation connection according to claim 1, feature
It is, this kind installs the application method of clamping structure, specific steps are as follows:
Step 1: rotation being saved and is assembled between installation clamping structure, and the upper arm for rotating section is fixedly mounted on top docking
Slot (20) is internal, and the lower arm for rotating section is fixedly mounted on bottom docking groove (14) inside；
Step 2: when the rotation amplitude of rotation section is not necessarily to adjust, driving drive shaft (25) flexible by pneumatic actuation (5), from
And drive shaft (25) is utilized to push movable axis (26), and movable axis (26) rotation under the pushing of drive shaft (25), movable axis (26)
It drives two baffles (8) to rotate together in the course of rotation, and is rotated with chassis (10), the rotation band of chassis (10)
It moves (26) rotation directions of bottom set (13) and movable axis to rotate, realizes the rotating function of rotation section, while auxiliary mechanical arm
Swing arm, two baffles (8) limit amplitude of fluctuation by the collision between shackle member (1) bottom during swing arm；
Step 3: when needing the lower arm direction to rotation section to be adjusted, turned by driving motor (11) drive shaft (12)
It is dynamic, drive bottom set (13) to rotate adjustment direction below chassis (10) using the rotation of shaft (12)；
Step 4: when the rotation amplitude of rotation section needs to adjust, benefit flexible by hydraulic pump (2) driving hydraulic telescopic rod (3)
Flexible with hydraulic telescopic rod (3) drives pneumatic actuation (5) and the movable axis (26) living up and down along the direction of loose slot (6)
Dynamic, when hydraulic pump (2) driving hydraulic telescopic rod (3) is shunk, pneumatic actuation (5) and movable axis (26) are along loose slot (6)
Direction rise, at this point, baffle (8) center line is to the spacing diminution between shackle member (1) bottom, the rotation amplitude for rotating section subtracts
Small, when hydraulic pump (2) driving hydraulic telescopic rod (3) elongation, pneumatic actuation (5) and movable axis (26) are along loose slot (6)
Direction decline, at this point, baffle (8) center line between shackle member (1) bottom spacing increase, rotate section rotation amplitude increasing
Add.
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| CN201910859187.3A CN110480677B (en) | 2019-09-11 | 2019-09-11 | A installation joint structure that is used for arm to rotate junction and rotates festival |
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|---|---|---|---|---|
| GB2160845B (en) * | 1984-06-26 | 1987-06-17 | Deutsche Forsch Luft Raumfahrt | Apparatus for positioning an article |
| CN102658546A (en) * | 2012-04-28 | 2012-09-12 | 刘朝龙 | Industrial robot |
| CN102672727A (en) * | 2012-04-01 | 2012-09-19 | 北京航空航天大学 | Robot monomer capable of realizing deformable robot |
| KR20130024159A (en) * | 2011-08-30 | 2013-03-08 | 엘지전자 주식회사 | Distance detecting apparatus for mobile robot and method thereof |
| CN106142128A (en) * | 2016-07-28 | 2016-11-23 | 上海交通大学 | Revolution rocking type mechanical arm joint module |
| WO2018088508A1 (en) * | 2016-11-14 | 2018-05-17 | Ｎｅｃエンベデッドプロダクツ株式会社 | Multi-directional drive device, robot joint mechanism, and multi-directional drive method |
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2019
- 2019-09-11 CN CN201910859187.3A patent/CN110480677B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2160845B (en) * | 1984-06-26 | 1987-06-17 | Deutsche Forsch Luft Raumfahrt | Apparatus for positioning an article |
| KR20130024159A (en) * | 2011-08-30 | 2013-03-08 | 엘지전자 주식회사 | Distance detecting apparatus for mobile robot and method thereof |
| CN102672727A (en) * | 2012-04-01 | 2012-09-19 | 北京航空航天大学 | Robot monomer capable of realizing deformable robot |
| CN102658546A (en) * | 2012-04-28 | 2012-09-12 | 刘朝龙 | Industrial robot |
| CN106142128A (en) * | 2016-07-28 | 2016-11-23 | 上海交通大学 | Revolution rocking type mechanical arm joint module |
| WO2018088508A1 (en) * | 2016-11-14 | 2018-05-17 | Ｎｅｃエンベデッドプロダクツ株式会社 | Multi-directional drive device, robot joint mechanism, and multi-directional drive method |
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