CN212287706U

CN212287706U - Multi-angle mechanical arm

Info

Publication number: CN212287706U
Application number: CN202020482379.5U
Authority: CN
Inventors: 徐青青; 赵海芳; 宋安然; 秦运栋
Original assignee: Suqian College
Current assignee: Suqian College
Priority date: 2020-04-06
Filing date: 2020-04-06
Publication date: 2021-01-05
Anticipated expiration: 2030-04-06

Abstract

The utility model discloses a multi-angle robotic arm, the on-line screen storage device comprises a base, the downside of base is equipped with the wheel of a plurality of liftable, open the inside of base has the mounting groove, the inside of mounting groove is equipped with control motor and oil pump, the notch department of mounting groove installs the apron, it is connected with the postbrachium to rotate on the apron, and the postbrachium is driven by control motor, the upper end of postbrachium is rotated and is connected with the forearm, the outer end of middle-arm is rotated and is connected with the forearm, postbrachium and middle-arm, all be connected with adjusting cylinder between middle-arm and the forearm, and the front end of forearm rotates and is connected with the tongs, the work piece is cliied that this device can be stable, and put the work.

Description

Multi-angle mechanical arm

Technical Field

The utility model relates to the technical field of machining, specifically be a multi-angle robotic arm.

Background

Along with the development of scientific technology mill generally can adopt CNC machining center to carry out machine parts's manufacturing now, all need carry out the clamping with the work piece according to specific angle of putting before machining center processes, it carries out the clamping to all generally be the manual work piece of holding of workman now, just need adopt the driving to hoist if need the great work piece of some bulk weights of clamping, but generally all use the iron chain to hoist during hoist and mount, rock more easily in the clamping, lead to difficult clamping, if can have that equipment can be stable place the work piece in the position of clamping, just can let the very convenient clamping of carrying out the work piece of workman, therefore the utility model provides a multi-angle robotic arm.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a multi-angle robotic arm to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a multi-angle robotic arm, includes the base, the downside of base is equipped with the wheel of a plurality of liftable, and open the inside of base has the mounting groove, the inside of mounting groove is equipped with control motor and oil pump, the notch department of mounting groove installs the apron, it is connected with the postbrachium to rotate on the apron, and the postbrachium is by control motor drive, the upper end of postbrachium is rotated and is connected with well arm, and the outer end of well arm is rotated and is connected with the forearm, all be connected with adjusting cylinder between postbrachium and well arm, well arm and the forearm, and the front end of forearm rotates and is connected with the tongs.

Preferably, the up end of wheel is connected with the connecting rod, the upper end of connecting rod is opened on through the base and is had the inside and the fixedly connected with slide that run through the groove and extend to the mounting groove, the slide is by the lift cylinder drive that its below was equipped with, the top of slide is equipped with the mounting panel, the inside at the mounting groove is installed through the bracing piece that its downside fixed connection has to the mounting panel, install control motor and oil pump on the mounting panel respectively.

Preferably, the tongs includes the tongs main part, the tongs main part is equipped with four clamping jaws respectively, and two clamping jaws that are located the downside and tongs bulk phase interconnect, two clamping jaws that are located the upside sliding connection open the spout that has on the tongs main part in, and be located through dead lever interconnect between two clamping jaws of upside, the dead lever is by installing the inside centre gripping hydro-cylinder drive of tongs main part.

Preferably, the clamping jaw is provided with an empty groove, and the bottom of the empty groove is connected with a clamping plate through a clamping spring.

Preferably, the inside of forearm is opened there is the inner chamber, the internally mounted of inner chamber has adjusting motor, install the commentaries on classics board on adjusting motor's the motor shaft, it has the circular slot to open on the commentaries on classics board, the circular slot is connected with the drive gear meshing of rotating the connection on the inner chamber lateral wall through the tooth that is equipped with on its inboard cell wall, drive gear and drive gear meshing are connected, drive gear passes through transmission shaft and tongs interconnect.

Compared with the prior art, the beneficial effects of the utility model are that: the utility model discloses a forearm, the middle boom, cooperation between trailing arm and the adjusting cylinder, realized that this device can be put into appointed angle with the work piece from a plurality of different angles, conveniently carry out the clamping, through the cooperation between centre gripping hydro-cylinder and the dead lever, it can drive corresponding clamping jaw motion through the dead lever to have realized the centre gripping hydro-cylinder, thereby can let this device clip the work piece, and the setting of centre gripping spring and splint can be stable under the condition of avoiding damaging workpiece surface clip the work piece, this device can be stable clip the work piece, and put the work piece on anchor clamps according to stable angle, great workman's clamping has been made things convenient for.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention;

fig. 2 is a cross-sectional view of the base of the present invention;

FIG. 3 is an exploded view of the rear and middle arms of the present invention;

FIG. 4 is a schematic view of the inner structure of the inner chamber of the present invention;

fig. 5 is a cross-sectional view of the gripper of the present invention;

fig. 6 is a schematic view of the internal structure of the empty slot of the present invention.

In the figure: 1. the device comprises a base, 2, wheels, 3, a mounting groove, 4, a control motor, 5, an oil pump, 6, a cover plate, 7, a rear arm, 8, a middle arm, 9, a front arm, 10, an adjusting oil cylinder, 11, a hand grip, 111, a hand grip main body, 112, a clamping jaw, 113, a sliding groove, 114, a fixing rod, 115, a clamping oil cylinder, 116, a dead groove, 117, a clamping plate, 12, a connecting rod, 13, a through groove, 14, a sliding plate, 15, a lifting oil cylinder, 16, a mounting plate, 17, a supporting rod, 18, a connecting frame, 19, a bearing, 20, an inner cavity, 21, an adjusting motor, 22, a rotating plate, 23, a circular groove, 24, a transmission gear, 25, a driving gear, 26, a transmission shaft, 27, a rotating groove, 28, a connecting block, 29, a connecting stud, 30, a rotating sleeve, 31, a pedal rod, 32, a communicating groove, 33.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-6, the present invention provides a technical solution: a multi-angle mechanical arm comprises a base 1, wherein a plurality of liftable wheels 2 are arranged on the lower side surface of the base 1, three wheels 2 are arranged in total, the three wheels 2 are arranged in a triangular shape, the position of the device can be conveniently adjusted through the arrangement of the wheels 2, when the wheels 2 rise, the base 1 can be in contact with the ground, the position of the device is fixed, when the wheels 2 fall, the wheel 2 can support the device, the position of the device can be adjusted at the moment, the device is convenient to be applied to different machining centers, a mounting groove 3 is formed in the base 1, a control motor 4 and an oil pump 5 are arranged in the mounting groove 3, a cover plate 6 is arranged at the notch of the mounting groove 3, the cover plate 6 is connected with the base 1 through bolts, a rear arm 7 is rotatably connected to the cover plate 6, and a connecting frame 18 is fixedly connected to the lower side surface of the rear arm 7, a bearing 19 is connected between the connecting frame 18 and the cover plate 6, the upper side wall of the bearing 19 is fixedly connected with the connecting frame 18, the lower side wall is fixedly connected with the cover plate 6, the bearing 19 is arranged to enable the rear arm 7 to rotate more smoothly and stably, the rear arm 7 is driven by the control motor 4, a motor shaft of the control motor 4 penetrates through the cover plate 6 and is fixedly connected with the connecting frame 18, the control motor 4 rotates to drive the connecting frame 18 to rotate, so as to drive the rear arm 7 to rotate, the upper end of the rear arm 7 is rotatably connected with the middle arm 8, the upper end of the rear arm 7 is provided with a rotating groove 27, the middle arm 8 is fixedly connected with a connecting block 28, the connecting block 28 is rotatably connected inside the rotating groove 27 through a connecting stud 29, the outer side of the connecting stud 29 is sleeved with a rotating sleeve 30, a ball is connected between the connecting stud 29 and the rotating sleeve 30, the rotating sleeve 30 is connected with the middle arm 8, and the, the outer end of the middle arm 8 is rotatably connected with a front arm 9, the connection form of the front arm 9 and the middle arm 8 is completely the same as that of the rear arm 7 and the middle arm 8, and the connection form of the front arm 9 and the middle arm 8 is completely the same as that of the rear arm 7 and the middle arm 8, the adjusting oil cylinders 10 are connected between the rear arm 7 and the middle arm 8, two ends of the adjusting oil cylinder 10 between the rear arm 7 and the middle arm 8 are respectively rotatably connected with the rear arm 7 and the middle arm 8, two ends of the adjusting oil cylinder 10 between the middle arm 8 and the front arm 9 are respectively rotatably connected with the middle arm 8 and the front arm 9, the adjusting oil cylinder 10 can control the rotation angle between the rear arm 7 and the middle arm 8, and the rotation angle between the middle arm 8 and the front arm 9, the adjusting oil cylinder 10 is connected with the oil pump 5 through an oil path, the front end of the front arm 9 is rotatably connected with.

Specifically, the upper end surface of the wheel 2 is connected with a connecting rod 12, one wheel 2 of the three wheels 2 is rotatably connected with the connecting rod 12, the other two wheels 2 are fixedly connected with the connecting rod 12, so as to achieve the effect of steering, the upper end of the connecting rod 12 extends to the inside of the mounting groove 3 through a through groove 13 formed in the base 1 and is fixedly connected with a sliding plate 14, the wheel 2 can move to the inside of the mounting groove 3 through the through groove 13 or move out from the inside of the mounting groove 3, the sliding plate 14 is driven by a lifting cylinder 15 arranged below the sliding plate 14, the lifting cylinder 15 can be driven by a pedal rod 31 arranged on one side surface of the lifting cylinder (the structure and the working principle of the lifting cylinder are not repeated and the working principle of the lifting cylinder is not the technical characteristics of the present invention), the pedal rod 31 penetrates through the base 1 and extends to the outside of the base 1, be connected with supporting spring between the tank bottom of foot bar 31 and mounting groove 3, supporting spring can upwards push up foot bar 31 and go, and the user can control the lift of 15 output poles of lift cylinder through continuous stepping on foot bar 31, and lift cylinder 15 can drive slide 14 at the inside up-and-down motion of mounting groove 3 to drive wheel 2 up-and-down motion through connecting rod 12, the top of slide 14 is equipped with mounting panel 16, mounting panel 16 installs in the inside of mounting groove 3 through the bracing piece 17 that its downside fixed connection has, and bracing piece 17 runs through the tank bottom fixed connection of slide 14 with mounting groove 3, and bracing piece 17 both can play the supporting role to mounting panel 16, also can play limiting displacement to slide 14, makes its stable inside at mounting groove 3 slide, install control motor 4 and oil pump 5 on the mounting panel 16 respectively.

Specifically, the hand grip 11 includes a hand grip main body 111, the hand grip main body 111 is respectively provided with four clamping jaws 112, the four clamping jaws 112 are respectively located at four corners of the hand grip main body 111, two clamping jaws 112 located at the lower side are connected with the hand grip main body 111, two clamping jaws 112 located at the upper side are slidably connected in sliding grooves 113 formed in the hand grip main body 111, the two sliding grooves 113 are communicated with each other through a communication groove 32, the two clamping jaws 112 located at the upper side are connected with each other through a fixing rod 114, the fixing rod 114 is slidably connected in the communication groove 32, the fixing rod 114 is driven by a clamping cylinder 115 installed in the hand grip main body 111, the clamping cylinder 115 is fixedly connected in the hand grip main body 111, an output rod of the clamping cylinder 115 extends to the inside of the communication groove 32 and is fixedly connected with the fixing rod 114, and the, so that it cooperates with the fixed jaw 112 to grip the workpiece, and the gripper cylinder 115 is also interconnected with the oil pump 5.

Specifically, the clamping jaw 112 is provided with a hollow groove 116, a clamping plate 117 is connected to the bottom of the hollow groove 116 through a clamping spring, when the clamping jaw 112 clamps the workpiece, the clamping spring pushes the clamping plate 117 to the outside of the hollow groove 116, so that the workpiece is stably clamped, and the clamping plate 117 is arranged to prevent the surface of the workpiece from being damaged.

Particularly, the inside of forearm 9 is opened there is inner chamber 20, the internally mounted of inner chamber 20 has adjusting motor 21, install on adjusting motor 21's the motor shaft and change board 22, it has circular slot 23 to open on changing board 22, and it has circular slot 23 to open on a side that adjusting motor 21 was kept away from to change board 22, and adjusting motor 21 rotates and can drive and change board 22 and rotate, circular slot 23 is connected with the drive gear 24 meshing of rotating to be connected on the inner chamber 20 lateral wall through the tooth that is equipped with on its inboard cell wall, changes board 22 and rotates and can drive gear 24 through the tooth and rotate, and the size of drive gear 24 is less than the size of circular slot 23, can play the effect of slowing down, drive gear 24 and drive gear 25 meshing are connected, and drive gear 24 rotates and can drive gear 25 and rotate, and drive gear 25's size is less than drive gear 24, can further play, thereby can be more accurate the adjustment tongs 11 the rotation angle, then the accurate rotation angle of adjustment work piece, drive gear 25 passes through transmission shaft 26 and tongs 11 interconnect, and transmission shaft 26 comprises axle and connecting plate fixed connection, axle and drive gear 25 fixed connection, connecting plate and axle interconnect, also fixedly connected with connecting plate on the tongs 11, through bolt interconnect between two connecting plates.

The control motor 4, the oil pump 5 and the adjusting motor 21 are all interconnected with an external power source through cables.

The working principle is as follows: the device is moved to a machining center to be used, when the device is used, the control motor 4, the oil pump 5 and the adjusting motor 21 are connected with an external power supply, then the gripper 11 can be rotated to a workpiece to be clamped by the control motor 4, then the angles among the rear arm 7, the middle arm 8 and the front arm 9 can be adjusted by controlling the adjusting oil cylinder 10, the angle of the gripper 11 can be adjusted by adjusting the motor 21 so as to clamp the workpiece, after the position of the gripper 11 is adjusted, the gripping jaw 112 can be controlled by the gripping oil cylinder 115 so as to clamp the workpiece, then the gripper 11 can be controlled by controlling the motor 4 and the adjusting oil cylinder 10 so as to move the workpiece above the clamp, finally the angle of the workpiece can be controlled by adjusting the motor 21 so as to rotate to the clamping angle, and clamping can be carried out, after clamping is finished, the gripper 11 is not used for clamping the workpiece, then the gripper 11 can be far away from the workpiece through the control motor 4 and the adjusting oil cylinder 10, and then the workpiece can be machined.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a multi-angle robotic arm, includes base (1), its characterized in that: the downside of base (1) is equipped with wheel (2) of a plurality of liftable, and open the inside of base (1) has mounting groove (3), the inside of mounting groove (3) is equipped with control motor (4) and oil pump (5), the notch department of mounting groove (3) installs apron (6), it is connected with postbrachium (7) to rotate on apron (6), and postbrachium (7) are driven by control motor (4), the upper end of postbrachium (7) is rotated and is connected with well arm (8), and the outer end of well arm (8) is rotated and is connected with forearm (9), all be connected with between postbrachium (7) and well arm (8), well arm (8) and forearm (9) and adjust hydro-cylinder (10), and the front end rotation of forearm (9) is connected with tongs (11).

2. The multi-angle robot of claim 1, wherein: the up end of wheel (2) is connected with connecting rod (12), the upper end of connecting rod (12) is gone up through base (1) and is opened the inside and fixedly connected with slide (14) that have that run through groove (13) and extend to mounting groove (3), slide (14) are by lift cylinder (15) drive that its below was equipped with, the top of slide (14) is equipped with mounting panel (16), the inside in mounting groove (3) is installed through bracing piece (17) that its downside fixed connection has in mounting panel (16), install control motor (4) and oil pump (5) on mounting panel (16) respectively.

3. The multi-angle robot of claim 1, wherein: the gripper (11) comprises a gripper body (111), the gripper body (111) is provided with four clamping jaws (112) respectively, the two clamping jaws (112) located on the lower side are connected with the gripper body (111) mutually, the two clamping jaws (112) located on the upper side are connected in sliding grooves (113) formed in the gripper body (111) in a sliding mode, the two clamping jaws (112) located on the upper side are connected with each other through fixing rods (114), and the fixing rods (114) are driven by clamping oil cylinders (115) installed inside the gripper body (111).

4. The multi-angle robot of claim 3, wherein: an empty groove (116) is formed in the clamping jaw (112), and a clamping plate (117) is connected to the bottom of the empty groove (116) through a clamping spring.

5. The multi-angle robot of claim 1, wherein: the inside of forearm (9) is opened there is inner chamber (20), the internally mounted of inner chamber (20) has adjusting motor (21), install on the motor shaft of adjusting motor (21) and change board (22), it has circular slot (23) to change to open on board (22), circular slot (23) are connected with the drive gear (24) meshing of rotating the connection on inner chamber (20) lateral wall through the tooth that is equipped with on its inboard cell wall, drive gear (24) are connected with drive gear (25) meshing, drive gear (25) are through transmission shaft (26) and tongs (11) interconnect.