CN205111877U - Gentle and agreeable arm - Google Patents
Gentle and agreeable arm Download PDFInfo
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- CN205111877U CN205111877U CN201520948028.8U CN201520948028U CN205111877U CN 205111877 U CN205111877 U CN 205111877U CN 201520948028 U CN201520948028 U CN 201520948028U CN 205111877 U CN205111877 U CN 205111877U
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- arm structure
- swing arm
- swing
- sliding nut
- main arm
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Abstract
The utility model discloses a gentle and agreeable arm, include main arm structure that is connected with the driving source and the swing arm structure of being connected with the load phase, 360 rotations in a circumferential direction swing can be done around the main arm structure to activity gomphosis and swing arm structure between main arm structure and the swing arm structure, be connected through flexible overspeed device tensioner between main arm structure and the swing arm structure, possess certain initial pretension rigidity between main arm structure and the swing arm structure, under the impact effect, the swing arm structure both can produce for the main arm structure buckles, can do 360 full rotation in a circumferential direction swings according to the change of impact direction again to reduced the impact size, reduced or avoided the impact to the injury that the human body caused, the security that has improved people - machine coexistence environment.
Description
Technical field
The utility model belongs to robot and people's interworking field, is specifically related to the submissive mechanical arm of a kind of robot.
Background technology
Modern industry field extensive use robot substitutes people and is engaged in heavy and repetitive work, greatly improves production efficiency and level of operation.But the operation of some complexity is often in the environment of " people-machine coexists " and " people-machine is mutual " in reality production, the contact-impact of robot arm to people threatens the also moment to exist.
The mechanical arm rigidity of conventional machines people is comparatively large, if strike people, its Rigid Robot Manipulator can not realize submissive distortion, larger to human injury.Although there is a kind of partially flexible mechanical arm in prior art, this mechanical arm is only submissive distortion in plane, can not realize 360 ° all-round to submissive distortion, therefore its scope of application and availability are subject to larger limitation.
Summary of the invention
In view of this, the purpose of this utility model be to provide one can realize 360 ° all-round to submissive distortion, the submissive mechanical arm of robot of initial pretension rigidity can be regulated again.
For achieving the above object, the utility model provides following technical scheme: a kind of submissive mechanical arm, comprise the main arm structure be connected with drive source and the swing arm structure be connected with load, described main arm structure and chimeric and swing arm structure movable between swing arm structure can be done 360 ° around main arm structure and rotate in a circumferential direction and swing, and described main arm structure is connected by flexible tension device with between swing arm structure.
Further, described main arm structure is primarily of annular arm and the end cap composition being arranged on annular arm end, and described end cap is provided with semi-circular recesses, and described groove is arranged around end cap center of circle circumference; Described swing arm structure comprises forearm, and described forearm end correspondence is provided with the semicircle boss for being entrenched in described end cap groove.
Further, described swing arm structure also comprises the postbrachium for connecting load, and described forearm is connected by adapter sleeve with between postbrachium.
Further, described flexible tension device comprises the active tension assembly be arranged in swing arm structure and the elastic parts be arranged in main arm structure, by flexible tension rope tractive between described active tension assembly and elastic parts; Described end cap is corresponding with on forearm to be provided with for the through hole through flexible tension rope.
Further, described active tension assembly forms primarily of spacing slideway I, sliding nut, motor and screw mandrel, described sliding nut is arranged in spacing slideway I, and described screw mandrel one end is connected with motor, and the other end is connected with sliding nut and drives sliding nut to move forward and backward along spacing slideway I; Described elastic parts forms primarily of some extension springs, spacing slideway II and slide block II, and it is interior and movable along spacing slideway II that described slide block II is arranged on spacing slideway II, and described extension spring two ends are connected on annular arm and slide block II; Described flexible tension rope two ends are connected with slide block II and sliding nut respectively.
Further, described sliding nut is also provided with dished cover, described flexible tension rope one end is connected with sliding nut by dished cover.
Further, described spacing slideway I is fixed on adapter sleeve.
The beneficial effects of the utility model are: this mechanical arm can produce bending relative to main arm structure under impact effect, again can according to the change in impact direction do 360 ° all-round to rotary oscillation, reduce impact size, reduce or avoid the injury that impact causes human body; Built-in flexible tension device can not have an impact to the rotation of swing arm structure and swing, not only attractive in appearance, and security is high, can not cause secondary injury in collision process to human body, improves the security of people-machine coexisted environment; Tensile force flexible adjustment, applied widely; Overall structure is simple, dismounting is easy to maintenance, and engineering practicability is strong.
Accompanying drawing explanation
In order to make the purpose of this utility model, technical scheme and beneficial effect clearly, the utility model provides following accompanying drawing to be described:
Fig. 1 is structural representation of the present utility model;
Fig. 2 is submissive distortion schematic diagram of the present utility model.
Detailed description of the invention
Below in conjunction with accompanying drawing, preferred embodiment of the present utility model is described in detail.
As shown in the figure, the submissive mechanical arm of robot in the present embodiment, comprise the main arm structure be connected with drive source and the swing arm structure be connected with load, described main arm structure and chimeric and swing arm structure movable between swing arm structure can be done 360 ° around main arm structure and rotate in a circumferential direction and swing, and described main arm structure is connected by flexible tension device with between swing arm structure.This mechanical arm under impact F effect, swing arm structure can relative to main arm structure produce bending, meanwhile, swing arm structure can according to the change in power F direction do 360 ° all-round to rotary oscillation, thus reduce impact, reduce or avoid causing larger injury to human body.Flexible tension device herein can apply initial pretension rigidity between main arm structure and swing arm structure, realizes tensioning function, can not have an impact again to the rotation of swing arm structure, swing simultaneously.
In the present embodiment, described main arm structure forms primarily of annular arm 1 and the end cap 2 that is arranged on annular arm 1 end, and described end cap 2 is provided with semi-circular recesses, and described groove is arranged around end cap 2 center of circle circumference; Described swing arm structure comprises forearm 3, and described forearm 3 end correspondence is provided with the semicircle boss for being entrenched in described end cap 2 groove.Matched with boss by semicircular groove, not only can realize main arm structure and fit with being connected of swing arm structure, forearm 3 also can be made to make 360 ° of full circuit oscillations relative to end cap 2.Its structure is simple, and processing and manufacturing is easy, is convenient to assembling.
In the present embodiment, described swing arm structure also comprises the postbrachium 4 for connecting load, and described forearm 3 is connected by adapter sleeve 5 with between postbrachium 4.
In the present embodiment, described flexible tension device comprises the active tension assembly be arranged in swing arm structure and the elastic parts be arranged in main arm structure, by flexible tension rope 6 tractive between described active tension assembly and elastic parts; Described end cap 2 is corresponding with on forearm 3 to be provided with for the through hole through flexible tension rope 6.Be arranged in swing arm structure and main arm structure by corresponding with elastic parts for active tension assembly, not only attractive in appearance, and security is high, can not cause secondary injury in an impact to human body.
Concrete, active tension assembly in the present embodiment forms primarily of spacing slideway I 7, sliding nut 8, motor 9 and screw mandrel 10, described sliding nut 8 is arranged in spacing slideway I 7, described screw mandrel 10 one end is connected with motor 9, and the other end is connected with sliding nut 8 and drives sliding nut 8 to move forward and backward along spacing slideway I 7; Described elastic parts forms primarily of some extension springs 11, spacing slideway II 12 and slide block II 13, it is interior and movable along described spacing slideway II 12 that described slide block II 13 is arranged on spacing slideway II 12, and described extension spring 11 two ends are connected to annular arm 1 with on slide block II 13; Described flexible tension rope 6 two ends are connected with slide block II 13 and sliding nut 8 respectively.
Initial time, slide block II 13 and sliding nut 8 are all near spacing place, left side, and extension spring 11 is also in original length.After entering predetermined work program, starter motor 9, the motor 9 opened drives screw mandrel 10 to rotate, straight-line displacement is produced to the right at the effect lower slider nut 8 of screw mandrel 10, drive flexible tension rope 6 and slide block II 13 to move right thereupon, now, extension spring 11 stretches to the right and produces certain pulling force.When sliding nut 8 moves to right to a certain position, just create between main arm structure and swing arm structure and can ensure that mechanical arm normally works required initial pretension rigidity, move realization, therefore this rigidity value is adjustable because pretension effect rotarily drives slide block by motor.Certainly, flexible tension device herein also can adopt other forms, and as only adopted extension spring by main arm structure together with swing arm structure tractive, now, rigidity value is non-adjustable.
In the present embodiment, described sliding nut 8 is also provided with dished cover 14, described flexible tension rope 6 one end is connected with sliding nut 8 by dished cover 14.
In the present embodiment, described spacing slideway I 7 is fixed on adapter sleeve 5.Adapter sleeve 5 herein had both been connector, fastening for realizing the connection of forearm, postbrachium, and also as installation base plate, for mounting limit slideway I 7, the parts such as motor, are convenient to dismounting maintenance.
What finally illustrate is, above preferred embodiment is only in order to illustrate the technical solution of the utility model and unrestricted, although be described in detail the utility model by above preferred embodiment, but those skilled in the art are to be understood that, various change can be made to it in the form and details, and not depart from the utility model claims limited range.
Claims (7)
1. a submissive mechanical arm, it is characterized in that: comprise the main arm structure be connected with drive source and the swing arm structure be connected with load, described main arm structure and chimeric and swing arm structure movable between swing arm structure can be done 360 ° around main arm structure and rotate in a circumferential direction and swing, and described main arm structure is connected by flexible tension device with between swing arm structure.
2. submissive mechanical arm according to claim 1, is characterized in that: described main arm structure is primarily of annular arm and the end cap composition being arranged on annular arm end, and described end cap is provided with semi-circular recesses, and described groove is arranged around end cap center of circle circumference; Described swing arm structure comprises forearm, and described forearm end correspondence is provided with the semicircle boss for being entrenched in described end cap groove.
3. submissive mechanical arm according to claim 2, is characterized in that: described swing arm structure also comprises the postbrachium for connecting load, and described forearm is connected by adapter sleeve with between postbrachium.
4. submissive mechanical arm according to claim 3, it is characterized in that: described flexible tension device comprises the active tension assembly be arranged in swing arm structure and the elastic parts be arranged in main arm structure, by flexible tension rope tractive between described active tension assembly and elastic parts; Described end cap is corresponding with on forearm to be provided with for the through hole through flexible tension rope.
5. submissive mechanical arm according to claim 4, it is characterized in that: described active tension assembly forms primarily of spacing slideway I, sliding nut, motor and screw mandrel, described sliding nut is arranged in spacing slideway I, described screw mandrel one end is connected with motor, and the other end is connected with sliding nut and drives sliding nut to move forward and backward along spacing slideway I; Described elastic parts forms primarily of some extension springs, spacing slideway II and slide block II, and it is interior and movable along spacing slideway II that described slide block II is arranged on spacing slideway II, and described extension spring two ends are connected on annular arm and slide block II; Described flexible tension rope two ends are connected with slide block II and sliding nut respectively.
6. submissive mechanical arm according to claim 5, is characterized in that: described sliding nut is also provided with dished cover, and described flexible tension rope one end is connected with sliding nut by dished cover.
7. submissive mechanical arm according to claim 5, is characterized in that: described spacing slideway I is fixed on adapter sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520948028.8U CN205111877U (en) | 2015-11-24 | 2015-11-24 | Gentle and agreeable arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520948028.8U CN205111877U (en) | 2015-11-24 | 2015-11-24 | Gentle and agreeable arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205111877U true CN205111877U (en) | 2016-03-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520948028.8U Active CN205111877U (en) | 2015-11-24 | 2015-11-24 | Gentle and agreeable arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205111877U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110524575A (en) * | 2018-05-23 | 2019-12-03 | 深圳市丞辉威世智能科技有限公司 | Elastic linkage and robot |
-
2015
- 2015-11-24 CN CN201520948028.8U patent/CN205111877U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110524575A (en) * | 2018-05-23 | 2019-12-03 | 深圳市丞辉威世智能科技有限公司 | Elastic linkage and robot |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |