CN211940916U - Mechanical arm - Google Patents
Mechanical arm Download PDFInfo
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- CN211940916U CN211940916U CN202020441544.2U CN202020441544U CN211940916U CN 211940916 U CN211940916 U CN 211940916U CN 202020441544 U CN202020441544 U CN 202020441544U CN 211940916 U CN211940916 U CN 211940916U
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- movable block
- belt
- top beam
- robot arm
- drive
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Abstract
The utility model relates to a mechanical arm technical field discloses a mechanical arm. The mechanical arm comprises a portal frame, a first shaft travelling mechanism and a second shaft travelling mechanism, wherein the portal frame comprises two side plates arranged at intervals and a top beam arranged between the two side plates; the first shaft travelling mechanism is arranged on the top beam and comprises a first driving block and a first movable block, wherein the first driving block is positioned at one end of the top beam, and the first movable block reciprocates along the top beam; the second shaft travelling mechanism and the top beam are arranged at an included angle and comprise a second driving block positioned on the first movable block and a second movable block which reciprocates along the direction of the included angle. The utility model realizes the support of the first shaft traveling mechanism through the portal frame, and is more stable and firm; set up the second drive on first movable block, reduced the part number of supporting second axle running gear, made the structure of arm simpler, simultaneously, reduced the interference to operator's operation, increase operating space, it is more convenient to make operator's operation.
Description
Technical Field
The utility model relates to a mechanical arm technical field especially relates to a mechanical arm.
Background
With the increasing sophistication of mechanical automation technology, robotic arms are used in various fields as operational tools. The rotary structure type mechanical arm can only seek in a fixed arc line area, so the current translational structure type mechanical arm is widely used.
In order to ensure the support strength of the translational structure type mechanical arm and realize the stability of large span, a more complex support mechanism is generally adopted at present, so that the mechanical arm occupies a large space and seriously influences the operation of a user; meanwhile, the complex support structure has higher requirements on processing and assembly.
Therefore, a robot arm is needed to solve the above problems.
SUMMERY OF THE UTILITY MODEL
Based on the above, the utility model aims to provide a mechanical arm supports stably, simple structure.
In order to achieve the purpose, the utility model adopts the following technical proposal:
a robotic arm, comprising:
the portal frame comprises two side plates arranged at intervals and a top beam arranged between the two side plates;
the first shaft travelling mechanism is arranged on the top beam and comprises a first drive block and a first movable block, wherein the first drive block is positioned at one end of the top beam, and the first movable block reciprocates along the top beam;
and the second shaft travelling mechanism is arranged at an included angle with the top beam and comprises a second driving block positioned on the first movable block and a second movable block reciprocating along the direction of the included angle.
As a preferable scheme of the mechanical arm, a flexible cable is further arranged between the top beam and the first movable block.
As a preferable aspect of the robot arm, the first axis traveling mechanism includes:
the first sliding rail is arranged on the top beam, and the first movable block is connected with the first sliding rail in a sliding manner;
and one end of the first belt is connected with the output shaft of the first drive, and the other end of the first belt is connected with the first movable block.
As a preferred scheme of the mechanical arm, the number of the first slide rails is two, and the two first slide rails are arranged in parallel.
As a preferred scheme of the mechanical arm, the first shaft traveling mechanism further comprises a first mounting plate, a first strip hole is formed in the first mounting plate, and the first driving position is adjustably connected with the first strip hole to adjust the tensioning degree of the first belt.
As a preferred scheme of the mechanical arm, a first sliding chute slidably connected with the first sliding rail and a first open slot connected with the first belt are arranged on the first movable block, and a locking hole is further arranged in the first open slot to connect the first belt and the first open slot.
As a preferable aspect of the robot arm, the second shaft traveling mechanism includes:
the second sliding rail is arranged on the first movable block and extends out of the top beam along the included angle;
and one end of the second belt is connected with the output shaft of the second drive, and the other end of the second belt is connected with the second movable block.
As a preferred scheme of the mechanical arm, the second sliding rail is arranged on the vertical side wall of the first sliding groove, and the first movable block is further provided with a U-shaped groove for accommodating the second belt.
As a preferable scheme of the mechanical arm, a second strip hole is formed in a side wall of the U-shaped groove, and the second driving position is adjustably connected with the second strip hole to adjust the tension degree of the second belt.
As a preferable embodiment of the robot arm, the included angle is 90 °.
The utility model has the advantages that: the first shaft travelling mechanism is supported through the portal frame, so that the first shaft travelling mechanism is more stable and firm; the second drive is arranged on the first movable block, so that the number of parts for supporting the second shaft travelling mechanism is reduced, the structure of the mechanical arm is simpler, meanwhile, the number of parts is less, the interference of the parts to the operation of an operator can be reduced, the operation space of the operator is enlarged, and the operation of the operator is more convenient; an included angle is formed between the second shaft travelling mechanism and the top beam, so that the mechanical arm can move in two directions, and the universality of the mechanical arm is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.
FIG. 1 is a schematic view of a robotic arm provided in accordance with an embodiment of the present invention;
fig. 2 is a schematic view of a first axle traveling mechanism according to an embodiment of the present invention;
fig. 3 is a schematic view of a second shaft traveling mechanism and a first movable block according to an embodiment of the present invention;
fig. 4 is an enlarged schematic view at a in fig. 3.
In the figure:
1-a portal frame; 11-side plate; 111-lightening holes; 112-a first transfer plate; 12-a top beam;
2-a first shaft travelling mechanism; 21-first driving; 22-a first movable block; 221-a first chute; 222-a first open slot; 223-U-shaped groove; 224-a second elongated hole; 225-a first platen; 23-a first slide rail; 24-a first belt; 25-a first mounting plate; 26-a belt mounting block; 27-a change gear; 28-a second adapter plate;
3-a second shaft travelling mechanism; 31-second drive; 32-a second movable block; 321-a second chute; 322-belt press plate; 33-a second slide rail; 34-a second belt;
4-a flexible cable;
5-third axle running gear.
Detailed Description
In order to make the technical problems, technical solutions and technical effects achieved by the present invention more clear, the embodiments of the present invention will be described in further detail with reference to the accompanying drawings, and obviously, the described embodiments are only some embodiments, not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the protection scope of the present invention.
As shown in fig. 1 to 4, the present embodiment provides a robot arm, the robot arm includes a gantry 1, a first shaft traveling mechanism 2 and a second shaft traveling mechanism 3, the gantry 1 includes two side plates 11 arranged at intervals, and a top beam 12 arranged between the two side plates 11; the first shaft travelling mechanism 2 is arranged on the top beam 12 and comprises a first drive 21 positioned at one end of the top beam 12 and a first movable block 22 which moves back and forth along the top beam 12; the second shaft traveling mechanism 3 is arranged at an angle with the top beam 12, and includes a second driving block 31 on the first movable block 22 and a second movable block 32 reciprocating along the angle.
The first shaft travelling mechanism 2 is supported through the portal frame 1, so that the support is more stable and firm; the second drive 31 is arranged on the first movable block 22, so that the number of parts for supporting the second shaft travelling mechanism 3 is reduced, the structure of the mechanical arm is simpler, meanwhile, the interference of the parts to the operation of an operator can be reduced due to fewer parts, the operation space of the operator is enlarged, and the operation of the operator is more convenient; an included angle is formed between the second shaft travelling mechanism 3 and the top beam 12, so that the mechanical arm can move in two directions, and the universality of the mechanical arm is improved.
Specifically, the first axle traveling mechanism 2 includes a first slide rail 23 and a first belt 24, the first slide rail 23 is disposed on the top beam 12, and the first movable block 22 is slidably connected to the first slide rail 23; one end of the first belt 24 is connected to the output shaft of the first drive 21, and the other end is connected to the first movable block 22. The first driving unit 21 drives the first belt 24 to move, and further drives the first movable block 22 to move along the first slide rail 23.
Preferably, the first slide rail 23 is provided with two, and the two first slide rails 23 are arranged in parallel, which is beneficial to ensuring the smoothness of the movement of the first movable block 22. The distance span of the first shaft traveling mechanism 2 can be increased by adopting the arrangement of the two first sliding rails 23, and the first movable block 22 can move more smoothly and stably on the first sliding rails 23.
The end of the top beam 12 not provided with the first driver 21 is provided with a belt mounting block 26, one side of the belt mounting block 26 away from the first driver 21 is provided with a semicircular groove, a change gear 27 is rotatably arranged in the semicircular groove through a bearing, the change gear 27 is sleeved with the first belt 24, and when the first driver 21 works, the change gear 27 enables the first belt 24 to rotate more stably and smoothly.
Further, the first shaft traveling mechanism 2 further comprises a first mounting plate 25, a first strip hole is formed in the first mounting plate 25, the position of the first driving 21 is adjustably connected with the first strip hole, and the position of the first driving 21 is adjusted to adjust the tensioning degree of the first belt 24, so that the first belt 24 is guaranteed to have better power transmission capacity, and the first movable block 22 is enabled to move more stably.
In order to realize the connection between the first movable block 22 and the first slide rail 23, a first slide groove 221 connected with the first slide rail 23 in a sliding manner is arranged on the first movable block 22, the first slide groove 221 is connected with the first slide rail 23 in a sliding manner, and correspondingly, two first slide grooves 221 are also arranged; the first movable block 22 is further provided with a first opening groove 222 connected with the first belt 24, and the first opening groove 222 is further provided with a locking hole. When the first movable block 22 is used, the first belt 24 is placed in the first opening groove 222, then the locking screw penetrates into the locking hole, and the locking screw is screwed to tightly push the first belt 24, so that the first movable block 22 is connected with the first opening groove 222. Preferably, a first pressing plate 225 is further disposed between the locking screw and the first belt 24, when the locking screw is screwed, the first pressing plate 225 contacts with the first belt 24 to press the first belt 24, and the arrangement of the first pressing plate 225 can ensure that the first belt 24 is pressed more uniformly, thereby effectively avoiding damage to the structure of the first belt 24.
Specifically, the second shaft traveling mechanism 3 includes a second slide rail 33 and a second belt 34, one end of the second belt 34 is connected to the output shaft of the second drive 31, and the other end is connected to the second movable block 32. The second drive 31 drives the second belt 34 to move, and further drives the second movable block 32 to move along the second slide rail 33; the second movable block 32 is provided with a second sliding groove 321, the second belt 34 is arranged in the second sliding groove 321, the second movable block 32 is further provided with a belt pressing plate 322 detachably connected with the second sliding groove 321 for realizing the connection between the second movable block 32 and the second belt 34, and when the belt pressing plate 322 is connected with the second sliding groove 321, the second belt 34 is connected with the second movable block 32.
The second slide rail 33 is disposed on the first movable block 22, and the top beam 12 extends along the included angle, that is, the second slide rail 33 is disposed on the first movable block 22 in a cantilever structure, so as to provide more operating space for an operator, reduce interference of parts to the operation of the operator, and make the operation of the operator more convenient.
Further, in order to reduce the overall size of the robot arm, the second slide rail 33 is disposed on the vertical sidewall of the first slide groove 221, and the first movable block 22 is further provided with a U-shaped groove 223 for accommodating the second belt 34. It is worth mentioning that the second axle running gear 3 is arranged at an angle to the top beam 12, where the angle is preferably arranged at a right angle, i.e. the first axle running gear 2 and the second axle running gear 3 are arranged vertically.
Preferably, the side wall of the U-shaped groove 223 is provided with a second elongated hole 224, the second driver 31 is connected with the second elongated hole 224 in a position-adjustable manner, and the position of the second driver 31 is adjusted, so that the tensioning degree of the second belt 34 is adjusted, the second belt 34 is ensured to have better power transmission capacity, and the movement of the second movable block 32 is more stable.
A flexible cable 4 is also arranged between the top beam 12 and the first movable block 22 and is used for communicating with other parts and components through the first movable block 22 when the first movable block 22 moves. Specifically, a first adapter plate 112 is arranged on the top beam 12, a second adapter plate 28 is arranged on one side of the first movable block 22, and one end of the flexible cable 4 is connected with the first adapter plate 112, and the other end is connected with the second adapter plate 28. Correspondingly, an electrified communication line is also arranged between the second movable block 32 and the first movable block 22, and the electrified communication line can adopt a flexible cable 4 or a towline cable. Compared with a drag chain cable, the flexible cable 4 has better flexibility, does not need a drag chain, is simple to install, low in cost, long in service life and the like, and overcomes the defects of thick cable, difficult drag chain threading, high cost and the like.
The mechanical arm provided by the embodiment can be used in an in vitro diagnostic apparatus, and in order to reduce the weight of the mechanical arm, weight reducing holes 111 are formed in two side walls of the portal frame 1. Further, in order to increase the degree of freedom of the mechanical arm, the second movable block 32 may further be provided with a third axis traveling mechanism 5, and a specific form of the third axis traveling mechanism 5 may be set according to actual needs by those skilled in the art, which is not specifically limited herein.
When the first drive 21 works, the first drive 21 drives the first belt 24 to rotate, and further drives the first movable block 22 and the second shaft travelling mechanism 3 arranged on the first movable block 22 to move along the first slide rail 23; when the second drive 31 works, the second drive 31 drives the second belt 34 to rotate, and further drives the second movable block 32 and the third axis traveling mechanism 5 on the second movable block 32 to move along the second slide rail 33; the second movable block 32 and the third axis running gear 5 on the second movable block 32 are moved in the direction of the first slide rail 23 and in the direction of the second slide rail 33 as a whole.
It should be noted that the foregoing is only a preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Claims (10)
1. A robot arm, comprising:
the portal frame (1) comprises two side plates (11) arranged at intervals and a top beam (12) arranged between the two side plates (11);
the first shaft travelling mechanism (2) is arranged on the top beam (12) and comprises a first drive (21) positioned at one end of the top beam (12) and a first movable block (22) which moves back and forth along the top beam (12);
and the second shaft travelling mechanism (3) is arranged at an included angle with the top beam (12) and comprises a second drive (31) positioned on the first movable block (22) and a second movable block (32) which moves to and fro along the direction of the included angle.
2. The robot arm according to claim 1, characterized in that a flexible cable (4) is further arranged between the top beam (12) and the first movable block (22).
3. A robot arm according to claim 1, characterized in that the first axle running gear (2) comprises:
the first sliding rail (23) is arranged on the top beam (12), and the first movable block (22) is connected with the first sliding rail (23) in a sliding manner;
and one end of the first belt (24) is connected with an output shaft of the first drive (21), and the other end of the first belt is connected with the first movable block (22).
4. A robot arm as claimed in claim 3, characterized in that said first slide rails (23) are provided in two, said first slide rails (23) being arranged in parallel.
5. A robot arm according to claim 3, characterized in that the first axle running gear (2) further comprises a first mounting plate (25), the first mounting plate (25) being provided with a first elongated hole, the first drive (21) being position-adjustably connected to the first elongated hole for adjusting the degree of tensioning of the first belt (24).
6. The mechanical arm according to claim 3, wherein the first movable block (22) is provided with a first sliding groove (221) slidably connected with the first sliding rail (23) and a first opening groove (222) connected with the first belt (24), and the first opening groove (222) is further provided with a locking hole for connecting the first belt (24) and the first opening groove (222).
7. A robot arm according to claim 6, characterized in that the second axle walking mechanism (3) comprises:
the second sliding rail (33) is arranged on the first movable block (22) and extends out of the top beam (12) along the included angle;
and one end of the second belt (34) is connected with an output shaft of the second drive (31), and the other end of the second belt is connected with the second movable block (32).
8. A robot arm as claimed in claim 7, characterized in that said second slide rail (33) is arranged on a side wall perpendicular to said first runner (221), and said first movable block (22) is further provided with a U-shaped groove (223) for accommodating said second belt (34).
9. A robot arm as claimed in claim 8, characterized in that a second elongated hole (224) is provided in the side wall of the U-shaped groove (223), and the second drive (31) is connected to the second elongated hole (224) in a position-adjustable manner for adjusting the tension of the second belt (34).
10. A robotic arm as claimed in any one of claims 1 to 9, in which the included angle is 90 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020441544.2U CN211940916U (en) | 2020-03-31 | 2020-03-31 | Mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020441544.2U CN211940916U (en) | 2020-03-31 | 2020-03-31 | Mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211940916U true CN211940916U (en) | 2020-11-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020441544.2U Active CN211940916U (en) | 2020-03-31 | 2020-03-31 | Mechanical arm |
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| Country | Link |
|---|---|
| CN (1) | CN211940916U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111283655A (en) * | 2020-03-31 | 2020-06-16 | 北京众驰伟业科技发展有限公司 | Mechanical arm |
-
2020
- 2020-03-31 CN CN202020441544.2U patent/CN211940916U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111283655A (en) * | 2020-03-31 | 2020-06-16 | 北京众驰伟业科技发展有限公司 | Mechanical arm |
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