CN214418820U - Light transmission swing arm mechanism - Google Patents
Light transmission swing arm mechanism Download PDFInfo
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- CN214418820U CN214418820U CN202120117739.6U CN202120117739U CN214418820U CN 214418820 U CN214418820 U CN 214418820U CN 202120117739 U CN202120117739 U CN 202120117739U CN 214418820 U CN214418820 U CN 214418820U
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Abstract
The utility model discloses a light-duty transmission swing arm mechanism, it includes: the first swing arm assembly comprises a rotating seat, a first arm body, a first connecting rod and a first connecting block, the second swing arm assembly comprises a second arm body, a second connecting rod and a second connecting block, the first arm body on the first swing arm assembly, the first connecting rod and the first connecting block form a parallelogram structure with the rotating seat, and the second arm body on the second swing arm assembly, the second connecting rod, the second connecting block and the first connecting block also form a parallelogram structure, so that the rigidity and the load capacity of the robot are ensured. The utility model is suitable for a heavy load operation of robot.
Description
Technical Field
The utility model relates to an engineering machine tool's field, in particular to light-duty transmission swing arm mechanism.
Background
The heavy-duty robot is widely applied to the fields of welding, carrying, stacking, spraying and the like as high-end automatic equipment, and along with continuous upgrading of the automation industry, the application requirement of the heavy-duty robot is also continuously improved, especially for large-span and large-load operation. Present heavy-duty robot generally includes transmission swing arm mechanism, swing drive assembly and install the end effector on transmission swing arm mechanism end, transmission swing arm mechanism includes two sections articulated driving arms, swing drive assembly can drive two sections driving arm swings, drive end effector through two sections driving arms and carry out different heavy-duty operation, and current driving arm generally is the casting, traditional casting exposes its limitation gradually, the operating range of robot has been retrained to non-reconfigurable characteristic, lead to it can't carry out the large-span operation, the dead weight of casting is big simultaneously, the load dead weight ratio of robot is difficult to obtain further improvement. Therefore, in order to realize the light weight and reconfigurable arm length of the robot so as to adapt to the heavy load operation with larger span, a transmission swing arm mechanism with simple structure, good force transmission characteristic and high use value is needed urgently. In addition, the existing transmission swing arm mechanism is difficult to ensure the translation of the end effector, namely the horizontal attitude motion is kept.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a light-duty transmission swing arm mechanism to solve one or more technical problem that exist among the prior art, provide a profitable selection or create the condition at least.
The technical scheme adopted for solving the technical problems is as follows:
a lightweight, drive swing arm mechanism comprising: the first swing arm assembly comprises a rotating seat, a first arm body, a first connecting rod and a first connecting block, the first hinged end and the second hinged end of the rotating seat are arranged on a vertical surface at intervals, the first connecting block is provided with a third hinged end, a fourth hinged end and a fifth hinged end, the third hinged end, the fourth hinged end and the fifth hinged end are sequentially arranged on the vertical surface in a triangular mode, one end of the first arm body is hinged to the first hinged end, the other end of the first arm body is hinged to the third hinged end, one end of the first connecting rod is hinged to the second hinged end, and the other end of the first connecting rod is hinged to the fourth hinged end; the second swing arm assembly comprises a second arm body, a second connecting rod and a second connecting block, wherein the second connecting block is provided with a sixth hinged end and a seventh hinged end, the sixth hinged end and the seventh hinged end are arranged on a vertical surface at intervals, one end of the second arm body is hinged to the third hinged end, the other end of the second arm body is hinged to the sixth hinged end, one end of the second connecting rod is hinged to the fifth hinged end, and the other end of the second connecting rod is hinged to the seventh hinged end.
The utility model has the advantages that: the first arm body, the first connecting rod, the first connecting block and the rotating seat on the first swing arm assembly form a parallelogram structure, and the second arm body, the second connecting rod, the second connecting block and the first connecting block on the second swing arm assembly also form a parallelogram structure, so that the rigidity and the load capacity of the transmission swing arm mechanism are ensured, and meanwhile, according to the motion characteristics of a parallelogram, in the process that an external swing driving assembly drives the first arm body to swing around the hinge axis of the first hinge end and drives the second arm body to swing around the hinge axis of the third hinge end, the first connecting rod and the second connecting rod can be simultaneously driven to be linked, so that the two parallelogram structures can flexibly move, and the second connecting block can always keep translational motion.
As a further improvement of the above technical solution, the rotary base is provided with a counterweight structure, the counterweight structure is provided with a connecting end and a free end, the connecting end is connected with the first hinged end, and the counterweight structure is arranged on the back side of the first arm body.
The bearing capacity of the first arm body can be improved through the counterweight structure, so that the length of the first arm body can be prolonged, and the range of the operation span can be enlarged.
As a further improvement of the above technical solution, the first arm and the second arm are both reconfigurable rod structures that can be freely telescopically spliced and fixed. Therefore, the first arm body and the second arm body can change the arm length according to application requirements, and the robot is suitable for heavy-load operation with different spans.
As a further improvement of the above technical solution, the first arm body and the second arm body each include a plurality of splicing pieces, and the splicing pieces are sequentially spliced. The splicing pieces with different quantities can be selected according to different requirements for splicing, two adjacent splicing pieces are locked and fixed through the locking member, and the locking member can be a locking bolt.
As a further improvement of the above technical scheme, the first arm body comprises a first end splicing piece, at least one middle splicing piece and a second end splicing piece, wherein one end of the middle splicing piece is provided with a splicing slot, the other end of the middle splicing piece is provided with a splicing insertion block, one end of the first end splicing piece is provided with the splicing slot, one end of the second end splicing piece is provided with the splicing insertion block, the splicing insertion block can be mutually spliced with the splicing slot, at least one middle splicing piece is sequentially spliced to form a middle splicing structure, the splicing insertion block on the second end splicing piece is spliced with the splicing slot on the middle splicing piece at one end of the middle splicing structure, and the splicing slot on the first end splicing piece is spliced with the splicing insertion block on the middle splicing piece at the other end of the middle splicing structure.
When the length adjusting device is used, the length of the first arm body can be adjusted by adding or reducing the middle splicing pieces, and the first end splicing pieces, the middle splicing pieces and the second end splicing pieces are connected through splicing insertion blocks and splicing insertion grooves in a splicing and matching structure, so that the length adjusting device is convenient to disassemble and assemble, and has high structural strength.
The second arm body comprises a first end splicing piece and a second end splicing piece, and the splicing insertion block on the second end splicing piece is spliced with the splicing insertion slot on the first end splicing piece.
As a further improvement of the above technical solution, the light transmission swing arm mechanism further includes a terminal executing assembly, the terminal executing assembly includes an executing motor installed on the second connecting block, and an executing member in transmission connection with the executing motor, and the executing member is disposed at the bottom of the second connecting block. In the process of driving the swing arm mechanism to move, the executing part can be guaranteed to be always in translation, the executing part can move through the executing motor to realize different executing actions, and the executing part can select structures such as a sucker and a clamp according to different functions.
Drawings
The present invention will be further explained with reference to the drawings and examples;
fig. 1 is a schematic structural diagram of a parallel-driven heavy-duty robot according to an embodiment of the present invention, in which a second swing driving assembly is a telescopic rod driving structure;
fig. 2 is a schematic structural diagram of a parallel-driven heavy-duty robot according to an embodiment of the present invention, in which the second swing driving assembly is a telescopic rod driving structure;
fig. 3 is a schematic structural diagram of a parallel-driven heavy-duty robot according to an embodiment of the present invention, in which a second swing driving assembly of the parallel-driven heavy-duty robot employs a second swing motor and a second swing transmission structure;
fig. 4 is a schematic structural diagram of a parallel-driven heavy-duty robot according to an embodiment of the present invention, in which a second swing driving assembly of the parallel-driven heavy-duty robot adopts a second swing motor and a second swing transmission structure;
fig. 5 is a schematic structural diagram illustrating an installation of an end effector and a second connecting block of an embodiment of a parallel-driven heavy-duty robot according to the present invention;
fig. 6 is a schematic structural view of an embodiment of a driving swing arm mechanism provided in the present invention;
fig. 7 is an exploded view of the first arm of an embodiment of the swing arm drive mechanism provided by the present invention;
fig. 8 is an exploded view of the second arm of the embodiment of the swing arm driving mechanism according to the present invention.
Detailed Description
This section will describe in detail the embodiments of the present invention, preferred embodiments of the present invention are shown in the attached drawings, which are used to supplement the description of the text part of the specification with figures, so that one can intuitively and vividly understand each technical feature and the whole technical solution of the present invention, but they cannot be understood as the limitation of the protection scope of the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship indicated with respect to the orientation description, such as up, down, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does 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.
In the description of the present invention, if words such as "a plurality" are used, the meaning is one or more, the meaning of a plurality of words is two or more, and the meaning of more than, less than, more than, etc. is understood as not including the number, and the meaning of more than, less than, more than, etc. is understood as including the number.
In the description of the present invention, unless there is an explicit limitation, the words such as setting, installation, connection, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in combination with the specific contents of the technical solution.
Referring to fig. 5 to 8, the light transmission swing arm mechanism of the present invention is made as follows:
as shown in fig. 6, the light transmission swing arm mechanism of the present embodiment includes a first swing arm assembly 300 and a second swing arm assembly 400, wherein the first swing arm assembly 300 includes a rotating base 200, a first arm body 310, a first connecting rod 320, and a first connecting block 330, the rotating base 200 includes a first hinge end 210 and a second hinge end 220, the first hinge end 210 and the second hinge end 220 are disposed on a vertical plane at intervals, the first connecting block 330 is provided with a third hinge end 331, a fourth hinge end 332, and a fifth hinge end 333, the third hinge end 331, the fourth hinge end 332, and the fifth hinge end 333 are sequentially disposed on a triangular vertical plane, one end of the first arm body 310 is hinged to the first hinge end 210, the other end of the first arm body 310 is hinged to the third hinge end 331, one end of the first connecting rod 320 is hinged to the second hinge end 220, the other end of the first connecting rod 320 is hinged to the fourth hinge end 332, the second swing arm assembly 400 comprises a second arm body 410, a second connecting rod 420 and a second connecting block 430, wherein the second connecting block 430 is provided with a sixth hinged end 431 and a seventh hinged end 432, the sixth hinged end 431 and the seventh hinged end 432 are arranged on a vertical surface at intervals, one end of the second arm body 410 is hinged to the third hinged end 331, the other end of the second arm body 410 is hinged to the sixth hinged end 431, one end of the second connecting rod 420 is hinged to the fifth hinged end 333, and the other end of the second connecting rod 420 is hinged to the seventh hinged end 432.
In this embodiment, the first arm 310, the first link 320, the first connection block 330 and the rotation base 200 on the first swing arm assembly 300 form a parallelogram structure, and the second arm 410, the second link 420, the second connection block 430 and the first connection block 330 on the second swing arm assembly 400 also form a parallelogram structure, so as to achieve light weight, and ensure the rigidity and load capacity of the transmission swing arm mechanism, and meanwhile, according to the motion characteristics of the parallelogram, when the external swing driving assembly drives the first arm 310 to swing around the hinge axis of the first hinge end 210 and drives the second arm 410 to swing around the hinge axis of the third hinge end 331, the first link 320 and the second link 420 can be simultaneously driven to link, so that the two parallelogram structures can move telescopically, and the second connection block 430 can always maintain translational motion.
Meanwhile, as shown in fig. 5, the light transmission swing arm mechanism further includes an end executing assembly 500, the end executing assembly 500 includes an executing motor 510 installed on the second connecting block 430, and an executing member 520 in transmission connection with the executing motor 510, the executing member 520 is disposed at the bottom of the second connecting block 430, the executing member 520 can select structures such as a suction cup and a clamp according to different functions, and in addition, the executing member 520 can move by the executing motor 510 to realize different executing actions.
Further, in order to improve the bearing capacity of the first arm 310, the rotating base 200 is provided with a counterweight structure 600, the counterweight structure 600 is provided with a connecting end 610 and a free end 620, the connecting end 610 is connected with the first hinged end 210, and the counterweight structure 600 is arranged on the back side of the first arm 310, so that the length of the first arm 310 can be extended, and the working span range of the end effector 500 can be expanded.
Furthermore, the first arm 310 and the second arm 410 are both reconfigurable rod structures which can be freely telescopically spliced and fixed, so that the arm lengths of the first arm 310 and the second arm 410 can be changed according to application requirements, and the robot is suitable for heavy-load operation with different spans. Specifically, the method comprises the following steps: the first arm body 310 and the second arm body 410 each include a plurality of splicing members, the splicing members are connected in sequence, in some embodiments, two adjacent splicing members may be locked and fixed by a locking bolt, and different numbers of splicing members may be selected for splicing according to different requirements.
More specifically, as shown in FIG. 7, the first arm 310 in this embodiment includes a first end splice 1100, at least one middle splice 1200, a second end splice 1300, one end of the middle splicing member 1200 is provided with a splicing slot 1400, the other end of the middle splicing member 1200 is provided with a splicing insertion block 1500, one end of the first end splicing member 1100 is provided with the splicing insertion groove 1400, one end of the second end splicing member 1300 is provided with the splicing insertion block 1500, the splicing insertion block 1500 and the splicing insertion groove 1400 can be inserted into each other, at least one middle splicing piece 1200 is inserted into each other in sequence to form a middle splicing structure, the splicing insert 1500 on the second end splicing element 1300 is inserted into the splicing slot 1400 on the middle splicing element 1200 at one end of the middle splicing structure, the splicing slot 1400 on the first end splicing element 1100 is spliced with the splicing insertion block 1500 on the middle splicing element 1200 at the other end of the middle splicing structure. When the arm is used, the length of the first arm body 310 can be adjusted by adding or reducing the middle splicing piece 1200, and the first end splicing piece 1100, the middle splicing piece 1200 and the second end splicing piece 1300 are connected through the splicing insertion block 1500 and the splicing insertion groove 1400 in a splicing and matching structure, so that the arm is convenient to disassemble and assemble, and has high structural strength.
As shown in FIG. 8, the second arm 410 of this embodiment includes a first end splice 1100 and a second end splice 1300, and the splice insert 1500 on the second end splice 1300 is plugged into the splice slot 1400 on the first end splice 1100.
As shown in fig. 1 to 4, the embodiment further provides a parallel-driven heavy-duty robot, which includes the above-mentioned transmission swing arm mechanism, and further includes a fixed base 100, a rotation driving assembly, a first swing driving assembly, and a second swing driving assembly.
Wherein the rotary base 200 is rotatably mounted on the fixed base 100, the rotary base 200 is provided with a rotation axis extending vertically, and the rotary driving assembly is used for driving the rotary base 200 to rotate around the rotation axis, specifically: the rotation driving assembly includes a rotation driving motor 700 fixed on the rotary base 200, the rotation driving motor 700 is in transmission connection with the fixed base 100 through a rotation transmission structure, the rotation transmission structure in this embodiment is a gear transmission structure, a driving gear connected to an output shaft of the rotation driving motor, a fixed gear ring is fixed on the fixed base 100, and the driving gear is meshed with the fixed gear ring. In other embodiments, the rotational transmission structure may be other transmission structures.
And the first swing driving assembly is used for driving the first arm body 310 to swing around the hinge axis of the first hinge end 210, specifically: the first swing driving assembly includes a first swing motor 800 fixed on the rotary base 200, the first swing motor 800 is in transmission connection with the first arm 310 through a first swing transmission structure, and in this embodiment, the first arm 310 is driven to swing through the first swing motor 800, wherein the first swing transmission structure may be a swing driving shaft, a gear transmission structure, or the like.
The second swing driving assembly is used for driving the second arm body 410 to swing around the hinge axis of the third hinge end 331. The second swing driving assembly may be a variety of driving devices.
As shown in fig. 1 and 2, the second swing driving assembly includes a telescopic rod driving structure 1000, one end of the telescopic rod driving structure 1000 is hinged to the first hinged end 210, the other end of the telescopic rod driving structure 1000 is hinged to the second arm 410, and the hinged portion between the telescopic rod driving structure 1000 and the second arm 410 is disposed between the two ends of the second arm 410, so that the telescopic rod driving structure 1000 is driven by the telescopic motion to swing the second arm 410.
As shown in fig. 3 and 4, the second swing driving assembly includes a second swing motor 900 fixed on the rotary base 200, and a second swing transmission structure, the second swing transmission structure includes a first transmission link 910 and a second transmission link 920, one end of the first transmission link 910 is hinged to one end of the second transmission link 920, the other end of the first transmission link 910 is connected to an output shaft of the second swing motor 900 in a transmission manner, the other end of the second transmission link 920 is hinged to the second arm 410, a hinged portion between the second transmission link 920 and the second arm 410 is disposed between two ends of the second arm 410, an output shaft of the second swing motor 900 is disposed coaxially with the first hinged end 210, the first transmission link 910 is driven by the second swing motor 900 to swing, and the first transmission link 910 drives the second arm 410 to move by the second transmission link 920, the swing of the second arm 410 is achieved.
Meanwhile, according to the motion characteristics of the parallelogram, in the process that the first swing driving component drives the first arm body 310 to swing around the hinge axis of the first hinge end 210, the second swing driving component drives the second arm body 410 to swing around the hinge axis of the third hinge end 331, and the rotary driving component drives the rotary seat 200 to rotate around the rotary axis, the first connecting rod 320 and the second connecting rod 420 can be simultaneously driven to be linked, so that the two parallelogram structures can stretch and move, and the tail end executing component 500 on the second connecting block 430 always keeps translational motion; in addition, the rotary driving assembly, the first swing driving assembly and the second swing driving assembly are all installed on the rotary base 200, and the adverse effect caused by the unbalanced moment due to the self weight of the motor is effectively reduced.
The hinge axes of the hinge parts are arranged in parallel and transversely extend.
The embodiment can ensure that the executing component 520 can always keep translational motion in the moving process of the robot.
While the preferred embodiments of the present invention have been described in detail, it will be understood by those skilled in the art that the invention is not limited to the details of the embodiments shown, but is capable of various modifications and substitutions without departing from the spirit of the invention.
Claims (8)
1. The utility model provides a light-duty transmission swing arm mechanism which characterized in that: it includes:
the first swing arm assembly (300) comprises a rotating seat (200), a first arm body (310), a first connecting rod (320) and a first connecting block (330), wherein the first hinged end (210) and the second hinged end (220) of the rotating seat (200) are arranged on a vertical surface at intervals, the first connecting block (330) is provided with a third hinged end (331), a fourth hinged end (332) and a fifth hinged end (333), the third hinged end (331), the fourth hinged end (332) and the fifth hinged end (333) are sequentially arranged on a triangular vertical surface, one end of the first arm body (310) is hinged to the first hinged end (210), the other end of the first arm body (310) is hinged to the third hinged end (331), one end of the first connecting rod (320) is hinged to the second hinged end (220), the other end of the first connecting rod (320) is hinged with the fourth hinged end (332);
the second swing arm assembly (400) comprises a second arm body (410), a second connecting rod (420) and a second connecting block (430), wherein the second connecting block (430) is provided with a sixth hinged end (431) and a seventh hinged end (432), the sixth hinged end (431) and the seventh hinged end (432) are arranged on a vertical surface at intervals, one end of the second arm body (410) is hinged to the third hinged end (331), the other end of the second arm body (410) is hinged to the sixth hinged end (431), one end of the second connecting rod (420) is hinged to the fifth hinged end (333), and the other end of the second connecting rod (420) is hinged to the seventh hinged end (432).
2. A lightweight, drive pendulum mechanism as recited in claim 1, further comprising:
the roating seat (200) is provided with counter weight structure (600), counter weight structure (600) are provided with link (610) and free end (620), link (610) are connected with first articulated end (210), counter weight structure (600) set up in the dorsal side of first arm body (310).
3. A lightweight, drive pendulum mechanism as recited in claim 1, further comprising:
the first arm body (310) and the second arm body (410) are both reconfigurable rod piece structures which can be freely telescopically spliced and fixed.
4. A lightweight, drive pendulum mechanism as recited in claim 3, further comprising:
the first arm body (310) and the second arm body (410) comprise a plurality of splicing pieces which are spliced in sequence.
5. A lightweight drive arm swing mechanism according to claim 4 further comprising:
and two adjacent splicing pieces are locked and fixed by a locking component.
6. A lightweight drive arm swing mechanism according to claim 4 further comprising:
the first arm body (310) comprises a first end splicing piece (1100), at least one middle splicing piece (1200) and a second end splicing piece (1300), wherein a splicing slot (1400) is arranged at one end of the middle splicing piece (1200), splicing insertion blocks (1500) are arranged at the other end of the middle splicing piece (1200), the splicing slot (1400) is arranged at one end of the first end splicing piece (1100), the splicing insertion blocks (1500) are arranged at one end of the second end splicing piece (1300), the splicing insertion blocks (1500) and the splicing slots (1400) can be mutually spliced, at least one middle splicing piece (1200) is sequentially spliced to form a middle splicing structure, the splicing insertion blocks (1500) on the second end splicing piece (1300) and the splicing slots (1400) on the middle splicing piece (1200) at one end of the middle splicing structure are spliced, and the splicing slots (1400) on the first end splicing piece (1100) and the middle splicing slots at the other end of the middle splicing structure are spliced to form a middle splicing structure Splicing insertion blocks (1500) on the splicing pieces (1200) are inserted.
7. A lightweight drive arm swing mechanism according to claim 6 further comprising:
the second arm body (410) comprises a first end splicing piece (1100) and a second end splicing piece (1300), and a splicing insertion block (1500) on the second end splicing piece (1300) is inserted into a splicing insertion groove (1400) on the first end splicing piece (1100).
8. A lightweight, drive pendulum mechanism as recited in claim 1, further comprising:
the light transmission swing arm mechanism further comprises a tail end executing assembly (500), the tail end executing assembly (500) comprises an executing motor (510) arranged on the second connecting block (430) and an executing piece (520) in transmission connection with the executing motor (510), and the executing piece (520) is arranged at the bottom of the second connecting block (430).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120117739.6U CN214418820U (en) | 2021-01-15 | 2021-01-15 | Light transmission swing arm mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120117739.6U CN214418820U (en) | 2021-01-15 | 2021-01-15 | Light transmission swing arm mechanism |
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| CN214418820U true CN214418820U (en) | 2021-10-19 |
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| CN202120117739.6U Active CN214418820U (en) | 2021-01-15 | 2021-01-15 | Light transmission swing arm mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114750128A (en) * | 2022-06-16 | 2022-07-15 | 中铁工程服务有限公司 | Robot and duct piece assembling system |
| CN117864762A (en) * | 2024-03-11 | 2024-04-12 | 常州湖南大学机械装备研究院 | Testing device for switch outside door |
-
2021
- 2021-01-15 CN CN202120117739.6U patent/CN214418820U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114750128A (en) * | 2022-06-16 | 2022-07-15 | 中铁工程服务有限公司 | Robot and duct piece assembling system |
| CN117864762A (en) * | 2024-03-11 | 2024-04-12 | 常州湖南大学机械装备研究院 | Testing device for switch outside door |
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Effective date of registration: 20220624 Address after: 528000 Room 301, floor 3, building A6, Guangdong new light source industrial base, Luocun, Shishan town, Nanhai District, Foshan City, Guangdong Province Patentee after: Guangdong Zhixing Robot Technology Co.,Ltd. Address before: 515063 Room 601, block A13, No. 243, University Road, Fujiang street, Jinping District, Shantou City, Guangdong Province Patentee before: Zhao Yongjie |