CN203245890U - Digital controlled three-section mechanical arm - Google Patents
Digital controlled three-section mechanical arm Download PDFInfo
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- CN203245890U CN203245890U CN 201220750342 CN201220750342U CN203245890U CN 203245890 U CN203245890 U CN 203245890U CN 201220750342 CN201220750342 CN 201220750342 CN 201220750342 U CN201220750342 U CN 201220750342U CN 203245890 U CN203245890 U CN 203245890U
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- mechanical arm
- driven pulley
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- numerical control
- arm
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Abstract
The utility model discloses a digital controlled three-section mechanical arm. The digital controlled three-section mechanical arm comprises a digital controlled three-section mechanical arm body. The digital controlled three-section mechanical arm body comprises a first section mechanical arm, a second section mechanical arm, a third section mechanical arm and guiding rails arranged on every section of arm portions of the three sections of mechanical arms. Every section of mechanical arms is connected with another via the guiding rails. The digital controlled three-section mechanical arm further comprises a speed-multiplying mechanism. The speed-multiplying mechanism comprises a belt driving mechanism, via which every arm portion of the digital controlled three-section mechanical arm is connected with another. Therefore, synchronous actions of every arm portion of the digital controlled three-section mechanical arm at the same speed are achieved. The movement speed of the digital controlled three-section mechanical arm is twice that of a conventional single-section mechanical arm and is the same as that of a two-section mechanical arm. When same arm stroke is achieved, the length of every arm portion of the digital controlled three-section mechanical arm is greatly reduced and dimension of an overall space of the digital controlled three-section mechanical arm is also greatly reduced.
Description
Technical field
The utility model relates to mechanical automation control appliance field, is specifically related to three sections mechanical arms of a kind of numerical control.
Background technology
Development along with modern industry, people are for enhancing productivity, stabilize and increase product quality, improve workman's working condition, accelerate to realize the consideration of industrial production mechanization and automation, utility model mechanical arm, and it is widely used in the production process, especially at high temperature, high pressure, dust, noise and with the occasion of radioactivity and pollution, mechanical arm is widely used especially.Mechanical arm is a new technology that occurs in the automation field in modern age, and has become an important component part in the modern industry production system.Mechanical arm is a kind of of industrial robot, and it is by manipulator, controller, and servo drive system and detect sensing device and consist of is a kind of apery operation, automatically control, but overprogram can be finished at three dimensions the automated production equipment of each section's operation.Mechanical arm is applied to automobile industry the earliest, often is applied to welding, sprays paint loading and unloading and carrying.Mechanical arm extends and has enlarged the brothers and the cerebral function that enter, and it can replace being engaged in the work in the adverse circumstances such as danger, harmful, poisonous, low temperature and Gao Re, replaces the people to be engaged in heavy, and the dull duplication of labour is raised labour productivity, the assurance product quality.
In the existing traditional injection moulding mechanical arm, take the mechanical arm of single intercept form and bipartial as main, its arm stroke is subject to the restriction of arm length of the arm of single intercept form or bipartial, and when arm is in off working state, it is many that the arm of arm often is higher than the board height, greatly increased the space hold volume of whole manipulator; Simultaneously, the speed of service of the mechanical arm of single intercept form or bipartial not only is activated the restriction of mode, and is subject to the restriction of itself structure, and present mechanical arm can't satisfy more and more higher machinery manufacturing industry development.
The utility model content
The purpose of this utility model is for above-mentioned deficiency, provide a kind of numerical control three sections mechanical arms, by three sections arm arm is set, and adopt specific control method and duplication acceleration mechanism in mechanical arm, realize whole manipulator take up room dwindle and accelerate the manipulator arm speed of service.
The technical scheme that the utility model adopts for achieving the above object is:
Three sections mechanical arms of a kind of numerical control, it comprises three sections mechanical arm bodies of numerical control, three sections mechanical arm bodies of this numerical control comprise first section mechanical arm, second section mechanical arm, the 3rd section mechanical arm and are arranged on every section guide rail on the mechanical arm arm, and every section mechanical arm connects by guide rail; Three sections mechanical arms of this numerical control also comprise duplication acceleration mechanism, and this duplication acceleration mechanism comprises belt drive unit, and each arm of three sections mechanical arms of described numerical control connects by duplication acceleration mechanism, realize that each arm of three sections mechanical arms of numerical control is with identical speed synchronization action.
Described duplication acceleration mechanism comprises the first belt drive unit, it comprises the first driven pulley, the second driven pulley and the first belt, three sections mechanical arm bodies of described numerical control arrange stiff end, described servomotor is fixed on stiff end top, described the first driven pulley and the second driven pulley are separately fixed at the up and down two ends of stiff end, described the first belt connects described servomotor after walking around described the first driven pulley and the second driven pulley, and the two ends of described the first belt are separately fixed at the up and down two ends of described first section mechanical arm.
Described duplication acceleration mechanism also comprises the second belt drive unit, and it comprises the 3rd driven pulley, the 4th driven pulley, the second fixed block and the second belt, and described the 3rd driven pulley and the 4th driven pulley are separately positioned on the up and down two ends of described second section mechanical arm; Described the second fixed block is fixed on the outside of described the first driven pulley and the second driven pulley, and described the second belt connects from beginning to end, and be flexibly connected described the 3rd driven pulley with the 4th driven pulley, be fixedly connected with described the second fixed block.
Described duplication acceleration mechanism also comprises the 3rd belt drive unit, it comprises the 5th driven pulley, the 6th driven pulley, the 3rd belt, the 3rd fixed block and the 4th fixed block, described the 3rd fixed block is fixed on the following side of described first section mechanical arm, described the 4th fixed block is fixed on the following side of described the 3rd section mechanical arm, and described the 5th driven pulley and the 6th driven pulley are separately positioned on the up and down two ends of described second section mechanical arm; Described the 3rd belt connects described the 5th driven pulley of rear flexible connection and the 6th driven pulley from beginning to end, and is fixedly connected with described the 3rd fixed block and the 4th fixed block; Described second section mechanical arm connects described first section mechanical arm by the 3rd belt drive unit, and described the 3rd section mechanical arm connects described second section mechanical arm by the 3rd belt drive unit.
Three sections mechanical arms of described numerical control also comprise the special-purpose aluminium extruded type of first section mechanical arm, second section special-purpose aluminium extruded type of mechanical arm, the 3rd section special-purpose aluminium extruded type of mechanical arm and droop protection chain.
The beneficial effects of the utility model are: by three sections mechanical arms of numerical control being set and connecting duplication acceleration mechanism at the arm of each mechanical arm, and the action by special-purpose control method control servomotor, realize three arm synchronous same-speed degree actions of three sections mechanical arms of numerical control; The movement velocity of three sections mechanical arms of numerical control of the present utility model is 2 times of single sectional type mechanical hand arm of prior art, is 1 times of bipartial mechanical arm; When realizing identical arm stroke, each arm length of three sections mechanical arms of numerical control of the present utility model shortens greatly, and the spatial volume of three sections mechanical arms of whole numerical control dwindles greatly.
By the protection chain of droop is set, guarantee that the motion of three sections mechanical arms of numerical control is smooth and easy, when three sections mechanical arms of numerical control were in off working state, the protection chain took less spatial volume, is conducive to reduce the overall volume of three sections mechanical arms of numerical control.
Adopt special-purpose aluminium extruded type as the arm structural beams of mechanical arm, increased the intensity of mechanical arm, weight reduction is conducive to increase the speed of service and the precision of mechanical arm, alleviates the burden of belt gear and servomotor.
Below in conjunction with accompanying drawing and the specific embodiment, the utility model is further specified.
Description of drawings
Fig. 1 is the retracted configuration overall structure schematic diagram of the utility model embodiment;
Fig. 2 is the extended conformation overall structure schematic diagram of the utility model embodiment;
Fig. 3 is another visual angle structural representation of Fig. 2;
Fig. 4 is another visual angle structural representation of Fig. 2;
Fig. 5 is the cross-sectional structure schematic diagram of first section mechanical arm;
Fig. 6 is the cross-sectional structure schematic diagram of second section mechanical arm;
Among the figure:
1. 3. first sections mechanical arms of stiff end 2. servomotors
4. the 3rd section mechanical arm 61. first driven pulleys of second section mechanical arm 5.
62. the second driven pulley 63. first belts 71. the 3rd driven pulley
72. the 4th driven pulley 73. second fixed blocks 74. second belts
81. the 5th driven pulley 82. the 6th driven pulley 83. the 3rd belt
84. the 3rd fixed block 85. the 4th fixed block 9. guide rails
10. protection chain.
The specific embodiment
Embodiment: referring to Fig. 1 to Fig. 6, three sections mechanical arms of the numerical control that the present embodiment provides, it comprises three sections mechanical arm bodies of numerical control, three sections mechanical arm bodies of this numerical control comprise first section mechanical arm 3, second section mechanical arm 4, the 3rd section mechanical arm 5 and are arranged on every section guide rail 9 on the mechanical arm arm, and every section mechanical arm connects by guide rail 9; Three sections mechanical arms of this numerical control also comprise duplication acceleration mechanism, and this duplication acceleration mechanism comprises belt drive unit, and each arm of three sections mechanical arms of described numerical control connects by duplication acceleration mechanism, realize that each arm of three sections mechanical arms of numerical control is with identical speed synchronization action.
Described duplication acceleration mechanism comprises the first belt drive unit, it comprises the first driven pulley 61, the second driven pulley 62 and the first belt 63, three sections mechanical arm bodies of described numerical control arrange stiff end 1, described servomotor 2 is fixed on stiff end 1 top, described the first driven pulley 61 and the second driven pulley 62 are separately fixed at the up and down two ends of stiff end 1, described the first belt 63 is walked around described the first driven pulley 61 and the described servomotor 2 of the second driven pulley 62 rear connections, and the two ends of described the first belt 63 are separately fixed at the up and down two ends of described first section mechanical arm 3.
Described duplication acceleration mechanism also comprises the second belt drive unit, it comprises the 3rd driven pulley 71, the 4th driven pulley 72, the second fixed block 73 and the second belt 74, and described the 3rd driven pulley 71 and the 4th driven pulley 72 are separately positioned on the up and down two ends of described second section mechanical arm 4; Described the second fixed block 73 is fixed on same one side of described the first driven pulley 61 and the second driven pulley 62, and described the second belt 74 head and the tail connect, and be flexibly connected described the 3rd driven pulley 71 with the 4th driven pulley 72, be fixedly connected with described the second fixed block 73.
Described duplication acceleration mechanism also comprises the 3rd belt drive unit, it comprises the 5th driven pulley 81, the 6th driven pulley 82, the 3rd belt 83, the 3rd fixed block 84 and the 4th fixed block 85, described the 3rd fixed block 84 is fixed on the following side of described first section mechanical arm 3, described the 4th fixed block 85 is fixed on the following side of described the 3rd section mechanical arm 5, and described the 5th driven pulley 81 and the 6th driven pulley 82 are separately positioned on the up and down two ends of described second section mechanical arm 4; Be flexibly connected described the 5th driven pulley 81 and the 6th driven pulley 82 after described the 3rd belt 83 head and the tail connect, and be fixedly connected with described the 3rd fixed block 84 and the 4th fixed block 85; Described second section mechanical arm 4 connects described first section mechanical arm 3 by the 3rd belt drive unit, and described the 3rd section mechanical arm 5 connects described second section mechanical arm 4 by the 3rd belt drive unit.
Three sections mechanical arms of described numerical control also comprise first section mechanical arm, 3 special-purpose aluminium extruded types, second section mechanical arm 4 special-purpose aluminium extruded type, the 3rd section mechanical arm 5 special-purpose aluminium extruded type and droop protection chain 10.The aluminium extruded type of second section mechanical arm 4 special-purpose aluminium extruded type and the 3rd section mechanical arm 5 special-purpose aluminium extruded types employing same structures in the present embodiment, this aluminium extruded type is provided with a groove, and this groove conveniently arranges guide rail.
Operation principle of the present utility model: select to control submodule then haul distance and the speed of service of the operation of bronze drum digital control system calculating needs by the operator, operation result is sent in the servomotor 2, owing to first section mechanical arm 3 and stiff end 1, first section mechanical arm 3 and second section mechanical arm 4,5 of second section mechanical arm 4 and the 3rd section mechanical arms all are connected in the mode of guide rail and carry out transmission by duplication acceleration mechanism, the action of servomotor 2 drives the action of duplication acceleration mechanism, thereby drive each section mechanical arm by belt drive unit and do translational motion with identical speed, realize the quick of each section mechanical arm, accurate translation.Protect chain 10 at the droop that three sections manipulator bodies arrange; its at the volley cable that guarantees three sections mechanical arms of numerical control can not be damaged; and the protection chain 10 of droop takies less spatial volume when three sections mechanical arms of numerical control are in off working state; the volume of three sections mechanical arms of whole numerical control is reduced, be convenient in narrow space, install three sections mechanical arms of numerical control.Use special-purpose aluminium extruded type, increase the intensity of mechanical arm, simultaneously weight reduction.
The utility model is not limited to above-mentioned embodiment, adopts or approximation apparatus identical with the utility model above-described embodiment, and obtain other be used for three sections mechanical arms of numerical control, all within protection domain of the present utility model.
Claims (5)
1. three sections mechanical arms of a numerical control, it is characterized in that, it comprises three sections mechanical arm bodies of numerical control, three sections mechanical arm bodies of this numerical control comprise first section mechanical arm, second section mechanical arm, the 3rd section mechanical arm and are arranged on every section guide rail on the mechanical arm arm, and every section mechanical arm connects by guide rail; Three sections mechanical arms of this numerical control also comprise duplication acceleration mechanism, and this duplication acceleration mechanism comprises belt drive unit, and each arm of three sections mechanical arms of described numerical control connects by duplication acceleration mechanism, realize that each arm of three sections mechanical arms of numerical control is with identical speed synchronization action.
2. three sections mechanical arms of numerical control according to claim 1, it is characterized in that, described duplication acceleration mechanism comprises the first belt drive unit, it comprises the first driven pulley, the second driven pulley and the first belt, three sections mechanical arm bodies of described numerical control arrange stiff end, described servomotor is fixed on stiff end top, described the first driven pulley and the second driven pulley are separately fixed at the up and down two ends of stiff end, described the first belt connects described servomotor after walking around described the first driven pulley and the second driven pulley, and the two ends of described the first belt are separately fixed at the up and down two ends of described first section mechanical arm.
3. three sections mechanical arms of numerical control according to claim 1, it is characterized in that, described duplication acceleration mechanism also comprises the second belt drive unit, it comprises the 3rd driven pulley, the 4th driven pulley, the second fixed block and the second belt, and described the 3rd driven pulley and the 4th driven pulley are separately positioned on the up and down two ends of described second section mechanical arm; Described the second fixed block is fixed on the outside of described the first driven pulley and the second driven pulley, and described the second belt connects from beginning to end, and be flexibly connected described the 3rd driven pulley with the 4th driven pulley, be fixedly connected with described the second fixed block.
4. three sections mechanical arms of numerical control according to claim 1, it is characterized in that, described duplication acceleration mechanism also comprises the 3rd belt drive unit, it comprises the 5th driven pulley, the 6th driven pulley, the 3rd belt, the 3rd fixed block and the 4th fixed block, described the 3rd fixed block is fixed on the following side of described first section mechanical arm, described the 4th fixed block is fixed on the following side of described the 3rd section mechanical arm, and described the 5th driven pulley and the 6th driven pulley are separately positioned on the up and down two ends of described second section mechanical arm; Described the 3rd belt connects described the 5th driven pulley of rear flexible connection and the 6th driven pulley from beginning to end, and is fixedly connected with described the 3rd fixed block and the 4th fixed block; Described second section mechanical arm connects described first section mechanical arm by the 3rd belt drive unit, and described the 3rd section mechanical arm connects described second section mechanical arm by the 3rd belt drive unit.
5. three sections mechanical arms of numerical control according to claim 1; it is characterized in that, three sections mechanical arms of described numerical control also comprise the special-purpose aluminium extruded type of first section mechanical arm, second section special-purpose aluminium extruded type of mechanical arm, the 3rd section special-purpose aluminium extruded type of mechanical arm and droop protection chain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220750342 CN203245890U (en) | 2012-12-31 | 2012-12-31 | Digital controlled three-section mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220750342 CN203245890U (en) | 2012-12-31 | 2012-12-31 | Digital controlled three-section mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203245890U true CN203245890U (en) | 2013-10-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220750342 Expired - Lifetime CN203245890U (en) | 2012-12-31 | 2012-12-31 | Digital controlled three-section mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203245890U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103072145A (en) * | 2012-12-31 | 2013-05-01 | 东莞艾尔发自动化机械有限公司 | Preparation method of digital controlled three-section mechanical arm and digital controlled three-section mechanical arm |
| CN104669298A (en) * | 2013-11-29 | 2015-06-03 | 徐建 | Multi-section arm of manipulator |
| CN105216011A (en) * | 2015-11-03 | 2016-01-06 | 湖南宇环智能装备有限公司 | A kind of telescopic manipulator device |
| CN105856209A (en) * | 2016-06-18 | 2016-08-17 | 彭道兴 | Manipulator arm for injection molding machines or die casting machines and manipulator |
-
2012
- 2012-12-31 CN CN 201220750342 patent/CN203245890U/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103072145A (en) * | 2012-12-31 | 2013-05-01 | 东莞艾尔发自动化机械有限公司 | Preparation method of digital controlled three-section mechanical arm and digital controlled three-section mechanical arm |
| CN103072145B (en) * | 2012-12-31 | 2015-09-30 | 东莞艾尔发自动化机械有限公司 | The preparation method of a kind of numerical control three sections of mechanical arms and numerical control three sections of mechanical arms |
| CN104669298A (en) * | 2013-11-29 | 2015-06-03 | 徐建 | Multi-section arm of manipulator |
| CN105216011A (en) * | 2015-11-03 | 2016-01-06 | 湖南宇环智能装备有限公司 | A kind of telescopic manipulator device |
| CN105856209A (en) * | 2016-06-18 | 2016-08-17 | 彭道兴 | Manipulator arm for injection molding machines or die casting machines and manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20161223 Address after: 523000 Guangdong province Dongguan city Dalang town of pine village beauty Road No. 198 Patentee after: DONGGUAN ALFA AUTOMATION TECHNOLOGY CO.,LTD. Address before: 523000 Dongguan Province, Dalang City, the town of Pine Hill scenic West Road, No. 228 Patentee before: Dongguan Alfa Automation Machinery Ltd. |
|
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20131023 |