CN218747828U - Mechanical arm with two branched chain structures - Google Patents
Mechanical arm with two branched chain structures Download PDFInfo
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- CN218747828U CN218747828U CN202221609038.5U CN202221609038U CN218747828U CN 218747828 U CN218747828 U CN 218747828U CN 202221609038 U CN202221609038 U CN 202221609038U CN 218747828 U CN218747828 U CN 218747828U
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- arm
- platform
- support arm
- servo motor
- arms
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Abstract
The utility model discloses a two branched chain structure arms, including frame, rotary platform, move platform and two and go up the support arm, rotary platform rotates and locates in the frame, and relative arrangement about two last support arms, upper end and rotary platform both sides normal running fit. Each upper support arm is provided with a first driving mechanism, and the first driving mechanism drives the corresponding upper support arm to rotate around the joint of the upper support arm and the rotating platform. The movable platform is positioned below the rotating platform, and the two upper support arms are respectively connected with the two sides of the movable platform in a rotating way through one lower support arm. And a second driving mechanism is arranged on the rotating platform and drives one of the lower support arms to rotate relative to the upper support arm connected with the lower support arm through a transmission mechanism. The utility model discloses a double knuckle arm structure, two go up support arm independent control respectively, simultaneously, to one of them lower support arm independent control realization to manipulator angle modulation, realize snatching spare part from specific inclination, manipulator gesture transform is abundant, can satisfy multiple complicacy and grab and put the operating mode.
Description
Technical Field
The utility model relates to an industrial robot technical field, concretely relates to two branch chain structure arms.
Background
A manipulator is an automatic operating device that can simulate some motion functions of a human hand and an arm to grab, carry objects or operate tools according to a fixed program. The parallel manipulator has the advantages of high precision and high rigidity, particularly the quick positioning and grabbing capacity of the parallel manipulator is suitable for a flow production line, and the parallel manipulator is widely applied to the industrial field, but the prior manipulator can only work in a single posture in the process of grabbing and placing an object and cannot be suitable for complex grabbing and placing working conditions, particularly certain special-shaped parts need to be grabbed from a specific inclination angle or placed from the specific inclination angle after being moved. Thus, further improvements and enhancements are needed in the art.
SUMMERY OF THE UTILITY MODEL
The utility model provides a be not enough to above-mentioned prior art, the utility model aims to provide a two branch chain structure arms, the in-process of putting the object is grabbed to the current manipulator of problem of solution can only work with single gesture, can't be applicable to the problem of grabbing the operating mode of putting complicacy.
In order to solve the technical problem, the utility model discloses the technical scheme who adopts is:
the utility model provides a two branched chain structure arms, includes frame, rotary platform, moves platform and two and goes up the support arm, and rotary platform rotates to locate in the frame, and relative arrangement about two go up the support arm, and upper end and rotary platform both sides normal running fit.
Two upper supporting arms are respectively provided with a first driving mechanism, and the first driving mechanism drives the corresponding upper supporting arms to rotate around the connecting part of the corresponding upper supporting arms and the rotating platform.
The movable platform is positioned below the rotating platform, and the two upper support arms are respectively connected with the two sides of the movable platform in a rotating way through one lower support arm.
And a second driving mechanism is arranged on the rotating platform and drives one of the lower support arms to rotate relative to the upper support arm connected with the lower support arm through a transmission mechanism.
Furthermore, a vertical shaft is fixed in the middle of the rotating platform, the upper end of the vertical shaft penetrates through a cross beam of the rack and is fixedly connected with an output shaft of a third servo motor, the third servo motor is installed on the rack, and the vertical shaft is in running fit with the rack.
Further, first actuating mechanism includes first servo motor, and first servo motor passes through first support fixed mounting on rotary platform.
One end of each of the two upper support arms is fixedly connected with an output shaft of the corresponding first servo motor, and the first servo motor drives the upper support arms to swing around the output shafts of the upper support arms.
Furthermore, the two upper supporting arms are respectively an upper left supporting arm and an upper right supporting arm, the lower ends of the two upper supporting arms are respectively hinged with the upper ends of the corresponding lower supporting arms through first rotating shafts, and the lower ends of the lower supporting arms are hinged with the corresponding sides of the movable platform through second rotating shafts.
Further, the second driving mechanism comprises a second servo motor, the second servo motor is arranged opposite to the first servo motor above the left upper supporting arm, and the second servo motor is installed on the rotating platform through a second support.
The transmission mechanism comprises a belt transmission assembly and a gear set, the belt transmission assembly comprises a first belt wheel and a second belt wheel, the first belt wheel is installed on an output shaft of the second servo motor, and the second belt wheel is arranged on the upper left support arm and is connected with the first belt wheel through a synchronous belt.
Further, the gear train includes driving gear, transition gear and driven gear, the driving gear sets up on the shaft of second band pulley, and driven gear sets up on the lower support arm that links to each other with upper left support arm.
The transition gear is arranged on a first rotating shaft at the lower end of the upper left supporting arm, the driving gear and the driven gear are both meshed with the transition gear, and the driving gear drives the lower supporting arm connected with the upper left supporting arm to rotate around the first rotating shaft through the driven gear.
Furthermore, two hinged supports are symmetrically arranged on two sides of the top of the movable platform, the hinged supports are hinged with the lower end of the lower support arm through a second rotating shaft, and a manipulator clamping jaw can be mounted at the bottom of the movable platform.
Furthermore, rotary platform is the rectangle flat board, and it sets up two rectangular holes that correspond with last arm, goes up the arm and passes the rectangular hole that corresponds and fixed the linking to each other with first servo motor's output shaft.
By adopting the technical scheme, the beneficial effects of the utility model are that: the utility model discloses a dual actuating arm structure, two upper support arm independent control respectively realize the lift of manipulator, simultaneously, to one of them lower support arm independent control realization to manipulator angle modulation, realize snatching spare part from specific inclination, the action process is succinct, accurate, and manipulator gesture transform is abundant, can satisfy multiple complicacy and grab and put the operating mode.
Drawings
Fig. 1 is a schematic perspective view of the two-branched chain mechanical arm of the present invention.
Fig. 2 is a schematic structural diagram of fig. 1 with the frame and the third servo motor removed.
FIG. 3 is a schematic view of a portion of FIG. 1 showing the combination of the rotary platform, upper and lower arms, moving platform and associated components.
The reference numbers in the figures illustrate: 1. a frame; 11. a third servo motor; 2. rotating the platform; 21. a vertical axis; 22. a strip hole; 23. a first servo motor; 24. a first bracket; 25. a second servo motor; 26. a second bracket; 3. a movable platform; 41. a left upper support arm; 42. a right upper support arm; 43. a first rotating shaft; 51. a left lower support arm; 52. a lower right arm; 53. a second rotating shaft; 61. a first pulley; 62. a second pulley; 63. a synchronous belt; 71. a driving gear; 72. a transition gear; 73. a driven gear.
Detailed Description
The present invention is described in detail below with reference to the attached drawings:
the embodiment is combined with fig. 1 to 3, and a two-branched-chain structure mechanical arm comprises a rack 1, a rotary platform 2, a movable platform 3 and two upper support arms, wherein the rotary platform 2 is rotatably arranged on the rack 1, the rotary platform 2 is a rectangular flat plate, and a vertical shaft 21 is fixed in the middle of the rotary platform 2.
Specifically, the lower end of the vertical shaft 21 is fixedly welded with the middle part of the rotary platform 2, the upper end of the vertical shaft passes through the cross beam of the frame 1 and is in running fit with the frame 1, the third servo motor 11 is installed on the cross beam of the frame 1, the output shaft of the third servo motor 11 is coaxially and fixedly connected with the upper end of the vertical shaft 21, and the third servo motor 11 drives the rotary platform 2 to horizontally rotate through the vertical shaft 21.
Preferably, two rectangular holes 22 are symmetrically opened at the left and right sides of the vertical shaft 21 of the rotating platform 2, the two upper supporting arms are oppositely arranged at the inner sides of the two rectangular holes 22 at the left and right sides, and the upper ends of the two upper supporting arms are in running fit with the two sides of the rotating platform 2.
The movable platform 3 is positioned below the rotary platform 2, and the two upper support arms are respectively connected with the two sides of the movable platform 3 in a rotating way through one lower support arm. Specifically, the two upper support arms are a left upper support arm 41 and a right upper support arm 42, respectively, a left lower support arm 51 is disposed below the left upper support arm 41, and a right lower support arm 52 is disposed below the right upper support arm 42.
The lower ends of the left upper support arm 41 and the right upper support arm 42 are respectively hinged with the upper end of the corresponding lower support arm through a first rotating shaft 43, and the lower end of each lower support arm is hinged with the corresponding side of the movable platform 3 through a second rotating shaft 53. Two hinged supports 31 are symmetrically arranged on the left side and the right side of the top of the movable platform 3, each hinged support 31 is hinged with the lower end of the lower support arm on the same side through a second rotating shaft 53, and a manipulator clamping jaw can be installed at the bottom of the movable platform 3.
Two upper supporting arms are respectively provided with a first driving mechanism, and the first driving mechanism drives the corresponding upper supporting arms to rotate around the connection part of the corresponding upper supporting arms and the rotating platform 2.
Further, the first driving mechanism includes a first servo motor 23, and the first servo motor 23 is fixedly mounted on the upper surface of the rotary platform 2 through a first bracket 24. One end of each of the two upper support arms is fixedly connected with an output shaft of the corresponding first servo motor 23, and the left upper support arm 41 and the right upper support arm 42 are fixedly connected with the output shaft of the corresponding first servo motor 23 through the strip-shaped holes 22 on the same side. In the working state, the output end of each first servo motor 23 drives the corresponding upper supporting arm to swing back and forth around the output end.
The rotary platform 2 is provided with a second driving mechanism which drives the left lower arm 51 to rotate relative to the left upper arm 41 through a transmission mechanism.
Specifically, the second drive mechanism includes a second servomotor 25, and the second servomotor 25 is disposed opposite to the first servomotor 23 above the left upper arm, and is mounted on the rotary platform 2 via a second bracket 26.
The transmission mechanism comprises a belt transmission assembly and a gear set, the belt transmission assembly comprises a first belt wheel 61 and a second belt wheel 62, the first belt wheel 61 is installed on an output shaft of the second servo motor 25, and the second belt wheel 62 is arranged on the upper left support arm and is connected with the first belt wheel 61 through a synchronous belt 63.
The gear set comprises a driving gear 71, a transition gear 72 and a driven gear 73, wherein the driving gear 71 is arranged on the axle of the second belt pulley 62, and the driven gear 73 is arranged on the left lower support arm 51 connected with the left upper support arm 41. The transition gear 72 is rotatably mounted on the first rotating shaft 43 at the lower end of the upper left support arm, the driving gear 71 and the driven gear 73 are both meshed with the transition gear 72, and the driving gear 71 drives the lower support arm connected with the upper left support arm to rotate around the first rotating shaft 43 through the driven gear 73.
The utility model relates to an industrial robot arm's main part, but its below installation manipulator that moves the platform realizes snatching and assembling the automation of industrial assembly line spare part. The general working process is as follows, corresponding action processes are executed according to preset programs aiming at different working conditions, the first servo motor receives an instruction of the robot control system, the corresponding upper arm is driven to rotate to realize the height adjustment of the movable platform 3, the height change of the mechanical arm is realized, and the grabbing and placing functions of the mechanical arm are combined to realize the grabbing and placing of parts.
The high lift of left and right upper support arm is removed to rotate through first servo motor drive and is realized, and simultaneously, second servo motor 25 passes through hold-in range 63 drive driving gear 71 and rotates, driving gear 71 with install the meshing of transition gear 72 on first pivot 43, transition gear 72 with rotate the driven gear 73 meshing of installing on left lower support arm 51, realize that left lower support arm 51 rotates around the first pivot 43 of installing transition gear 72, realize moving the regulation of platform 3 angle, realize that the manipulator presss from both sides with the inclination of difference clamp or place the part.
The parts not mentioned in the utility model can be realized by adopting or using the prior art for reference.
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.
In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", and the like indicate orientations or positional relationships based on 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.
Of course, the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and the changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present invention should also belong to the protection scope of the present invention.
Claims (8)
1. A mechanical arm with a two-branched-chain structure is characterized by comprising a rack, a rotary platform, a movable platform and two upper support arms, wherein the rotary platform is rotatably arranged on the rack;
the two upper supporting arms are respectively provided with a first driving mechanism, and the first driving mechanisms drive the corresponding upper supporting arms to rotate around the connecting parts of the upper supporting arms and the rotating platform;
the movable platform is positioned below the rotary platform, and the two upper support arms are respectively connected with the two sides of the movable platform in a rotating way through one lower support arm;
and a second driving mechanism is arranged on the rotating platform and drives one of the lower support arms to rotate relative to the upper support arm connected with the lower support arm through a transmission mechanism.
2. The mechanical arm with the two branched chains as claimed in claim 1, wherein a vertical shaft is fixed in the middle of the rotary platform, the upper end of the vertical shaft passes through the cross beam of the frame and is fixedly connected with the output shaft of a third servo motor, the third servo motor is mounted on the frame, and the vertical shaft is in running fit with the frame.
3. The robot arm with the two branched chain structures as claimed in claim 1 or 2, wherein the first driving mechanism comprises a first servo motor, and the first servo motor is fixedly mounted on the rotating platform through a first bracket;
one end of each of the two upper support arms is fixedly connected with an output shaft of the corresponding first servo motor, and the first servo motor drives the upper support arms to swing around the output shafts of the upper support arms.
4. The mechanical arm with a two-branched chain structure as claimed in claim 3, wherein the two upper arms are a left upper arm and a right upper arm, the lower ends of the two upper arms are hinged to the upper ends of the corresponding lower arms through a first rotating shaft, and the lower ends of the two lower arms are hinged to the corresponding sides of the movable platform through a second rotating shaft.
5. The robot arm with a double branched chain structure as claimed in claim 4, wherein the second driving mechanism comprises a second servo motor, the second servo motor is arranged opposite to the first servo motor above the left upper arm and is mounted on the rotary platform through a second bracket;
the transmission mechanism comprises a belt transmission assembly and a gear set, the belt transmission assembly comprises a first belt wheel and a second belt wheel, the first belt wheel is installed on an output shaft of the second servo motor, and the second belt wheel is arranged on the upper left support arm and connected with the first belt wheel through a synchronous belt.
6. The mechanical arm with a two-branched chain structure as claimed in claim 5, wherein the gear set comprises a driving gear, a transition gear and a driven gear, the driving gear is arranged on the wheel shaft of the second belt wheel, and the driven gear is arranged on the lower arm connected with the upper left arm;
the transition gear is arranged on a first rotating shaft at the lower end of the upper left supporting arm, the driving gear and the driven gear are both meshed with the transition gear, and the driving gear drives the lower supporting arm connected with the upper left supporting arm to rotate around the first rotating shaft through the driven gear.
7. The mechanical arm with the two branch chain structures as claimed in claim 4, wherein two hinged supports are symmetrically arranged on two sides of the top of the movable platform, the hinged supports are hinged with the lower end of the lower support arm through a second rotating shaft, and a manipulator clamping jaw can be mounted at the bottom of the movable platform.
8. The mechanical arm with the two branched chains structure as claimed in claim 3, wherein the rotating platform is a rectangular plate, and is provided with two elongated holes corresponding to the upper arm, and the upper arm passes through the corresponding elongated holes and is fixedly connected to the output shaft of the first servo motor.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN202221609038.5U CN218747828U (en) | 2022-06-24 | 2022-06-24 | Mechanical arm with two branched chain structures |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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CN202221609038.5U CN218747828U (en) | 2022-06-24 | 2022-06-24 | Mechanical arm with two branched chain structures |
Publications (1)
Publication Number | Publication Date |
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CN218747828U true CN218747828U (en) | 2023-03-28 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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CN202221609038.5U Active CN218747828U (en) | 2022-06-24 | 2022-06-24 | Mechanical arm with two branched chain structures |
Country Status (1)
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CN (1) | CN218747828U (en) |
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2022
- 2022-06-24 CN CN202221609038.5U patent/CN218747828U/en active Active
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