CN209635840U - A kind of lifting arm mechanism - Google Patents
A kind of lifting arm mechanism Download PDFInfo
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- CN209635840U CN209635840U CN201822176536.5U CN201822176536U CN209635840U CN 209635840 U CN209635840 U CN 209635840U CN 201822176536 U CN201822176536 U CN 201822176536U CN 209635840 U CN209635840 U CN 209635840U
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- arm
- support arm
- push
- support
- lifting
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Abstract
The utility model discloses a kind of lifting arm mechanisms to improve the flexibility of lifting arm elevating movement to simplify the transmission mechanism of lifting arm.Go up and down arm mechanism, comprising: lead screw, including screw rod, and the feed screw nut matched with screw rod；Screw mandrel support seat is two, and support is set to the both ends of screw rod respectively；Driving device is set to an end of screw rod, and for driving screw rod to rotate, feed screw nut is for linear motion along screw rod；Lifting arm, including support arm pedestal, support arm and push arm, support arm pedestal is set to the one end of screw rod far from driving device, and one end of support arm is connect with support arm base rotation, one end of push arm and feed screw nut are rotatablely connected, and the other end can be slided along the length direction of support arm；Pallet is set to the one end of support arm far from support arm pedestal, and is rotatablely connected with support arm.
Description
Technical field
The utility model relates to robotic technology fields, more particularly to a kind of lifting arm mechanism.
Background technique
In recent years, increasing with the narrow spaces engineering such as tunnel, and since tunnel is generally longer and narrower, direction is indefinite and has
There is multiple wall obstacle, therefore generallys use crusing robot and the situation in tunnel is detected.
Currently, for crusing robot used by narrow space, in order to be carried out more to the situation in narrow space
Add comprehensive inspection, it will usually Multi-part linkage lifting arm be set on robot body, be then set to image capture device
Multi-part linkage lifting arm.Acquired image information is transmitted to control station by image capture device, while control station is according to reception
To image information instruction is assigned to crusing robot, the detection that can not only effectively improve crusing robot in this way is accurate
Property, additionally it is possible to the avoidance of crusing robot is realized, to reduce the probability of crusing robot damage.
But Multi-part linkage lifting arm in the prior art, mostly use the modes such as synchronous belt or synchronous pulley to realize more piece
The linkage of lifting arm, such that the transmission mechanism of lifting arm and control mode are complex, and the tensioning journey of synchronous belt
Degree can produce bigger effect the lifting process of lifting arm.
Utility model content
The purpose of the utility model embodiment is to provide a kind of lifting arm mechanism and is mentioned with simplifying the transmission mechanism of lifting arm
The flexibility of high lifting arm elevating movement.
The utility model embodiment provides a kind of lifting arm mechanism, comprising:
Lead screw, including screw rod, and the feed screw nut matched with the screw rod；
Screw mandrel support seat is two, and support is set to the both ends of the screw rod respectively；
Driving device is set to an end of the screw rod, for driving the screw rod to rotate, the feed screw nut edge
The screw rod is for linear motion；
Lifting arm, including support arm pedestal, support arm and push arm, it is separate that the support arm pedestal is set to the screw rod
One end of the driving device, one end of the support arm are connect with the support arm base rotation, one end of the push arm with
Feed screw nut's rotation connection, the other end can be slided along the length direction of the support arm；
Pallet is set to the one end of the support arm far from the support arm pedestal, and is rotatablely connected with the support arm.
In the utility model embodiment, optionally, the lifting arm mechanism further includes direct connection interconnecting module, the driving
The output end of device is connect with the screw rod by the direct connection interconnecting module.
In the utility model any embodiment, optionally, the lifting arm further includes push arm fixed block, and the push arm is solid
Determine block and be fixed on the feed screw nut, the push arm and the push arm fixed block are rotatablely connected.
In the utility model embodiment, optionally, the lifting arm includes described in the more piece that head and the tail are sequentially rotatablely connected
Support arm, and push arm described in the more piece that is sequentially rotatablely connected of head and the tail, the support arm are identical as the quantity of the push arm；
One end of head end support arm is connect with the support arm pedestal, and one end of head end push arm and the feed screw nut connect
It connects, the end of each push arm can be set to end along the length direction sliding of the support arm of corresponding order, the pallet
Hold the support arm far from one end of a upper support arm.
In the utility model any embodiment, optionally, connected between the two neighboring push arm by first rotating shaft,
End push arm is connect far from one end of a upper push arm with the first rotating shaft, and the first rotating shaft drives the push arm along the branch
Brace sliding.
In the utility model embodiment, optionally, the support arm is provided with sliding slot, and the first rotating shaft corresponds
Be inserted in the sliding slot.
In the utility model any embodiment, optionally, the support arm is provided with sliding rail, the end of the first rotating shaft
Portion is provided with sliding block, and the sliding block is slidably connected correspondingly with the sliding rail.
In the utility model embodiment, optionally, connected between the two neighboring support arm by the second shaft, institute
Pallet is stated to connect by third shaft with the support arm.
In the utility model any embodiment, optionally, the lifting arm mechanism further includes connecting with the third shaft
The adjusting motor connect, the angle adjusted for adjusting the pallet.
In the utility model embodiment, optionally, the push arm includes that the first push arm portion and second being oppositely arranged pushes away
Arm, the support arm include the first supporting arm part and the second supporting arm part being oppositely arranged, first push arm portion and described
Second push arm portion is set between first supporting arm part and second supporting arm part.
Using the lifting arm mechanism of the technical program, since one end of support arm is connect with support arm base rotation, push arm
One end and feed screw nut be rotatablely connected, the other end can slide along the length direction of the support arm, in this way, when driving device drive
When dynamic screw rod rotation, the feed screw nut matched with screw rod is for linear motion on screw rod；Further, feed screw nut pushes away
Arm rotates, while push arm is slided along the length direction of support arm, so that support arm be pushed to rotate around support arm pedestal, makes to prop up
Brace is risen far from one end of support arm pedestal, and then rises the pallet for being set to support arm therewith.
Compared with prior art, in the lifting arm mechanism of the technical program, the transmission mechanism of lifting arm and transmission are former
Manage relatively simple, and the elevating movement of lifting arm is more flexible, moves more reliable.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the lifting arm mechanism of an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of the lifting arm mechanism of another embodiment of the utility model；
Fig. 3 is the structural schematic diagram of the lifting arm mechanism of another embodiment of the utility model；
Fig. 4 is the structural schematic diagram of the sliding pair of the utility model embodiment.
Appended drawing reference:
1- lead screw；
101- screw rod；
102- feed screw nut；
2- screw mandrel support seat；
3- driving device；
4- lifting arm；
401- support arm pedestal；
402- support arm；
The first supporting arm part of 4021-；
The second supporting arm part of 4022-；
4023- first segment support arm；
4024- the second section support arm；
4025- third section support arm；
Section of four support arm of 4026-；
403- push arm；
The first push arm of 4031- portion；
The second push arm of 4032- portion；
4033- first segment push arm；
4034- the second section push arm；
4035- third section push arm；
Section of four push arm of 4036-；
404- push arm fixed block；
5- pallet；
6- direct connection interconnecting module；
7- first rotating shaft；
8- sliding slot；
The second shaft of 9-；
10- third shaft；
11- sliding rail；
12- sliding block；
13- adjusts motor.
Specific embodiment
For the transmission mechanism for simplifying lifting arm, the flexibility of lifting arm elevating movement is improved, the utility model embodiment mentions
A kind of lifting arm mechanism is supplied.It is right by the following examples to keep the purpose of this utility model, technical solution and advantage clearer
The utility model is described in further detail.
When the application refers to ordinal numbers such as " first ", " second ", " third " or " the 4th ", unless based on context its
The meaning of certain order of representation, it is appreciated that being only to distinguish to be used.
As shown in Figures 1 to 4, the utility model embodiment provides a kind of lifting arm mechanism, comprising:
Lead screw 1, including screw rod 101, and the feed screw nut 102 matched with screw rod 101；
Screw mandrel support seat 2 is two, and support is set to the both ends of screw rod 101 respectively；
Driving device 3 is set to an end of screw rod 101, and for driving screw rod 101 to rotate, feed screw nut 102 is along silk
Bar 101 is for linear motion；
Lifting arm 4, including support arm pedestal 401, support arm 402 and push arm 403, support arm pedestal 401 are set to silk
The one end of bar 101 far from driving device 3, one end of support arm 402 and support arm pedestal 401 are rotatablely connected, one end of push arm 403
It is rotatablely connected with feed screw nut 102, the other end can be slided along the length direction of support arm 402；
Pallet 5 is set to the one end of support arm 402 far from support arm pedestal 401, and is rotatablely connected with support arm 402.
Lifting arm mechanism in the technical program can be applied to a variety of occasions, for example, may be disposed at crusing robot, with
Crusing robot, which matches, carries out inspection work.Also, screw rod is generally arranged in horizontal direction, so that the elevating movement of lifting arm
It is more reliable and more stable.
Using the lifting arm mechanism of the technical program, since one end of support arm 402 and the rotation of support arm pedestal 401 connect
It connecing, one end of push arm 403 and feed screw nut 102 are rotatablely connected, and the other end can be slided along the length direction of support arm 402, in this way,
When driving device 3 drives screw rod 101 to rotate, the feed screw nut 102 matched with screw rod 101 makees straight line fortune on screw rod 101
It is dynamic；Further, feed screw nut 102 pushes push arm 403 to rotate, while push arm 403 is sliding along the length direction of support arm 402
It is dynamic, so that support arm 402 be pushed to rotate around support arm pedestal 401, make one end liter of the support arm 402 far from support arm pedestal 401
It rises, and then rises the pallet for being set to support arm 402 5 therewith.Video camera, band thermal imaging binocular holder can be carried on pallet 5
Or the load such as partial discharge sensor, to realize the information collection in lifting process.
Compared with prior art, in the lifting arm mechanism of the technical program, the transmission mechanism of lifting arm 4 and transmission are former
Manage relatively simple, and the elevating movement of lifting arm 4 is more flexible, moves more reliable.
As shown in Figure 1 to Figure 3, in the utility model embodiment, optionally, lifting arm mechanism further includes direct connection switching model
The output end of block 6, driving device 3 is connect with screw rod 101 by direct connection interconnecting module 6.
In the technical scheme, the output end of driving device 3 is connect with screw rod 101 by direct connection interconnecting module 6, in this way
The powerdriven efficiency between driving device 3 and screw rod 101 can be made higher.In the technical program other embodiments, also
The power transmission between driving device 3 and screw rod 101 can be realized by modes such as transmission belt or transmission chains.
As shown in Figure 1 to Figure 3, in the utility model any embodiment, optionally, lifting arm 4 further includes that push arm is fixed
Block 404, push arm fixed block 404 are fixed on feed screw nut 102, and push arm 403 and push arm fixed block 404 are rotatablely connected.
It is fixed on the push arm fixed block 404 of feed screw nut 102 by being arranged, and makes push arm 403 and 404 turns of push arm fixed block
Dynamic connection, can be realized in this way in the case where not destroying feed screw nut 102 push arm 403 with the movement of feed screw nut 102,
In, push arm fixed block 404 and the fixed form of feed screw nut 102 are unlimited, as shown in Figures 2 and 3, can be by push arm fixed block
404 are sheathed on feed screw nut 102.
As shown in Figure 1 to Figure 3, in the utility model embodiment, optionally, lifting arm 4 includes that sequentially rotation connects head and the tail
The more piece support arm 402 connect, and the more piece push arm 403 that head and the tail are sequentially rotatablely connected, the quantity of support arm 402 and push arm 403
It is identical；
One end of head end support arm 402 is connect with support arm pedestal 401, one end of head end push arm 403 and feed screw nut 102
The end of connection, each push arm 403 can be set to end branch along the length direction sliding of the support arm 402 of corresponding order, pallet 5
The one end of brace 402 far from a upper support arm 402.
In various embodiments of the utility model, the push arm 403 of lifting arm 4 and the number of support arm 402 can be increased as needed
Amount, as shown in Fig. 2, lifting arm 4 include first segment support arm 4023, the second section support arm 4024, third section support arm 4025 with
And Section of four support arm 4026 and first segment push arm 4033, the second section push arm 4034, third section push arm 4035 and Section four
Push arm 4036.The height that lifting arm mechanism can rise to can be increased in this way.With support arm 402 for two sections, push arm 403 has two sections to be
The case where example has more piece push arm 403 and more piece support arm 402 to lifting arm 4 is illustrated, specifically:
When driving device 3 drives screw rod 101 to rotate, the feed screw nut 102 matched with screw rod 101 is on screw rod 101
It is for linear motion；Further, feed screw nut 102 pushes first segment push arm 4033 to rotate, while first segment push arm 4033
Length direction along first segment support arm 4023 slides, so that first segment support arm 4023 is pushed to rotate around support arm pedestal 401,
Rise first segment support arm 4023 far from one end of support arm pedestal 401；When the rotation of first segment support arm 4023 is increased to one
When determining height, first segment push arm 4033 pushes the second section push arm 4034 to rotate, while the second section push arm 4034 is along the second section
The length direction of support arm 4024 slides, and the second section support arm 4024 is driven to rotate around first segment support arm 4023, thus real
The pallet 5 for being now set to the second section support arm 4024 rises therewith.
As shown in Figure 1 to Figure 3, in the utility model any embodiment, optionally, lead between two neighboring push arm 403
The connection of first rotating shaft 7 is crossed, end push arm 403 is connect far from one end of a upper push arm 403 with first rotating shaft 7, and first rotating shaft 7 drives
Push arm 403 is slided along support arm 402.
Two adjacent push arms 403 are connected by first rotating shaft 7, and make be connected two push arms 403 can be around
The rotation of one shaft 7, can effectively simplify the rotation connection structure of two adjacent push arms 403, and be further simplified liter in this way
The transmission mechanism of arm 4 drops.
Further, as shown in Figure 1, in the utility model embodiment, specifically, support arm 402 is provided with sliding slot 8,
First rotating shaft 7 is inserted in sliding slot 8 correspondingly.
In the present embodiment, the sliding pair between push arm 403 and support arm 402 is formed by first rotating shaft 7 and sliding slot 8, this
Sample can pass through the 8 movement drive rotation lifting of support arm 402 along the chute of first rotating shaft 7.The formation process of the sliding pair is easier to pipe
Control, and keep the structure of lifting arm 4 relatively simple, elevating movement is more flexible.
Further, as shown in figure 4, support arm 402 is provided with cunning in another optional embodiment of the utility model
Rail 11, the end of first rotating shaft 7 are provided with sliding block 12, and sliding block 12 is slidably connected correspondingly with sliding rail 11.
In the present embodiment, sliding rail 11 is fixed on support arm 402, forms sliding pair between sliding block 12 and sliding rail 11, and first
Shaft 7 is fixed to each other with sliding block 12, and push arm 403 is limited in first rotating shaft 7 and can rotate around first rotating shaft 7.In this way, passing through push arm
403 push realization first rotating shaft 7 to slide with movable slider 12 along sliding rail 11, so that support arm 402 be driven to realize rotation lifting.The reality
It applies in example, push arm 403 and the connection of support arm 402 can be kept more reliable by the set-up mode of sliding block 12 and sliding rail 11.
Please continue to refer to Fig. 1 to Fig. 3, in the utility model embodiment, optionally, between two neighboring support arm 402
It is connected by the second shaft 9, pallet 5 is connect by third shaft 10 with support arm 402.
Two adjacent support arms 402 are connected by the second shaft 9, and make be connected two support arms 402
It is rotated around the second shaft 9, can effectively simplify the rotation connection structure of two adjacent support arms 402 in this way, and further
Simplify the transmission mechanism of lifting arm 4, elevating movement is more flexible.Also, pass through third shaft 10 for pallet 5 and support arm 402
Connection, can effectively increase the flexibility that pallet 5 is rotated around support arm 402 in this way.
Further, as shown in Figure 1, in the utility model any embodiment, optionally, lifting arm mechanism further include with
The adjusting motor 13 that third shaft 10 connects adjusts the angle that motor 13 is used for adjusting tray 5.
It, can be by adjusting motor 13 in real time to pallet 5 by being set to the adjusting motor 13 of the connection of third shaft 10
Angle be adjusted, keep the direction that sets constant to control the load being arranged on pallet 5 and pallet 5.
Also, in various embodiments of the utility model, the length of push arm 403 and support arm 402 can be matched by design, with
Realize that the load on pallet 5 and pallet 5 is gone up and down along the vertical direction, the effect that track does not deviate.
As shown in Figure 1, the specific constructive form of push arm 403 and support arm 402 is not in various embodiments of the utility model
Limit, optionally, push arm 403 include the first push arm portion 4031 and the second push arm portion 4032 being oppositely arranged, and support arm 402 includes phase
To the first supporting arm part 4021 and the second supporting arm part 4022 of setting, the first push arm portion 4031 and the setting of the second push arm portion 4032
Between the first supporting arm part 4021 and the second supporting arm part 4022.By setting above-mentioned for push arm 403 and support arm 402
Structure, can be further improved the structural stability of elevating mechanism, to keep the elevating movement of lifting arm 4 more steady reliable.
Obviously, it is practical without departing from this can to carry out various modification and variations to the utility model by those skilled in the art
Novel spirit and scope.If in this way, these modifications and variations of the present invention belong to the utility model claims and
Within the scope of its equivalent technologies, then the utility model is also intended to include these modifications and variations.
Claims (10)
1. a kind of lifting arm mechanism characterized by comprising
Lead screw, including screw rod, and the feed screw nut matched with the screw rod；
Screw mandrel support seat is two, and support is set to the both ends of the screw rod respectively；
Driving device is set to an end of the screw rod, and for driving the screw rod to rotate, the feed screw nut is along described
Screw rod is for linear motion；
Lifting arm, including support arm pedestal, support arm and push arm, the support arm pedestal are set to the screw rod far from described
One end of driving device, one end of the support arm are connect with the support arm base rotation, one end of the push arm with it is described
Feed screw nut's rotation connection, the other end can be slided along the length direction of the support arm；
Pallet is set to the one end of the support arm far from the support arm pedestal, and is rotatablely connected with the support arm.
2. lifting arm mechanism as described in claim 1, which is characterized in that the lifting arm mechanism further includes direct connection switching model
Block, the output end of the driving device are connect with the screw rod by the direct connection interconnecting module.
3. lifting arm mechanism as described in claim 1, which is characterized in that the lifting arm further includes push arm fixed block, described
Push arm fixed block is fixed on the feed screw nut, and the push arm and the push arm fixed block are rotatablely connected.
4. lifting arm mechanism as described in claim 1, which is characterized in that the lifting arm includes that head and the tail are sequentially rotatablely connected
Support arm described in more piece, and push arm described in the more piece that is sequentially rotatablely connected of head and the tail, the quantity of the support arm and the push arm
It is identical；
One end of head end support arm is connect with the support arm pedestal, and one end of head end push arm is connect with the feed screw nut, often
The end of a push arm can be set to described in end along the length direction sliding of the support arm of corresponding order, the pallet
The one end of support arm far from a upper support arm.
5. lifting arm mechanism as claimed in claim 4, which is characterized in that pass through first rotating shaft between the two neighboring push arm
Connection, end push arm are connect far from one end of a upper push arm with the first rotating shaft, and the first rotating shaft drives the push arm edge
The support arm sliding.
6. lifting arm mechanism as claimed in claim 5, which is characterized in that the support arm is provided with sliding slot, and described first turn
Axis is inserted in the sliding slot correspondingly.
7. lifting arm mechanism as claimed in claim 5, which is characterized in that the support arm is provided with sliding rail, and described first turn
The end of axis is provided with sliding block, and the sliding block is slidably connected correspondingly with the sliding rail.
8. lifting arm mechanism as claimed in claim 5, which is characterized in that pass through second turn between the two neighboring support arm
Axis connection, the pallet are connect by third shaft with the support arm.
9. lifting arm mechanism as claimed in claim 8, which is characterized in that the lifting arm mechanism further includes turning with the third
The adjusting motor of axis connection, the angle for adjusting motor and being used to adjust the pallet.
10. lifting arm mechanism as described in any one of claims 1 to 9, which is characterized in that the push arm includes being oppositely arranged
First push arm portion and the second push arm portion, the support arm include the first supporting arm part and the second supporting arm part being oppositely arranged, institute
The first push arm portion and second push arm portion is stated to be set between first supporting arm part and second supporting arm part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822176536.5U CN209635840U (en) | 2018-12-24 | 2018-12-24 | A kind of lifting arm mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822176536.5U CN209635840U (en) | 2018-12-24 | 2018-12-24 | A kind of lifting arm mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209635840U true CN209635840U (en) | 2019-11-15 |
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ID=68475753
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822176536.5U Active CN209635840U (en) | 2018-12-24 | 2018-12-24 | A kind of lifting arm mechanism |
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| Country | Link |
|---|---|
| CN (1) | CN209635840U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117088029A (en) * | 2023-10-16 | 2023-11-21 | 昆山威普特机器人科技有限公司 | Product turnover robot |
-
2018
- 2018-12-24 CN CN201822176536.5U patent/CN209635840U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117088029A (en) * | 2023-10-16 | 2023-11-21 | 昆山威普特机器人科技有限公司 | Product turnover robot |
| CN117088029B (en) * | 2023-10-16 | 2024-05-03 | 昆山威普特机器人科技有限公司 | Product turnover robot |
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| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201225 Address after: C10, No. 1199 Bin'an Road, Binjiang District, Hangzhou City, Zhejiang Province Patentee after: ZHEJIANG HUARAY TECHNOLOGY Co.,Ltd. Address before: No. 176, Xinning Road, ningwei street, Xiaoshan District, Hangzhou City, Zhejiang Province, 310053 Patentee before: ZHEJIANG DAHUA ROBOT TECHNOLOGY Co.,Ltd. |
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| TR01 | Transfer of patent right | ||
| CP01 | Change in the name or title of a patent holder |
Address after: C10, No. 1199 Bin'an Road, Binjiang District, Hangzhou City, Zhejiang Province Patentee after: Zhejiang Huarui Technology Co.,Ltd. Address before: C10, No. 1199 Bin'an Road, Binjiang District, Hangzhou City, Zhejiang Province Patentee before: ZHEJIANG HUARAY TECHNOLOGY Co.,Ltd. |
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| CP01 | Change in the name or title of a patent holder |