CN219854580U

CN219854580U - Rotary mechanical arm

Info

Publication number: CN219854580U
Application number: CN202321702984.9U
Authority: CN
Inventors: 李江玲; 王佩; 黄雅迪; 李凤; 吕宇; 刘小棠; 舒服; 舒可欣
Original assignee: Chengdu Technician College Chengdu Industry And Trade Vocational And Technical College Chengdu Senior Technical School Chengdu Railway Engineering School
Current assignee: Chengdu Technician College Chengdu Industry And Trade Vocational And Technical College Chengdu Senior Technical School Chengdu Railway Engineering School
Priority date: 2023-07-01
Filing date: 2023-07-01
Publication date: 2023-10-20
Anticipated expiration: 2033-07-01

Abstract

The utility model aims to provide a rotary mechanical arm, and relates to the field of mechanical arms. The stability and the vibration resistance of the mechanical arm during rotation can be improved through the rigid design of the worm and gear arranged in the base, so that the shake generated by the mechanical arm during rotation is reduced, the steering limiting assembly can further lock the mechanical arm during rotation of the mechanical arm in place, the shake is prevented, and the positioning error of the mechanical arm is reduced; the stability and the vibration resistance of the cross arm during ascending and descending can be improved through the rigid design of the first screw rod arranged in the supporting arm, and the height limiting assembly can further lock the position of the cross arm, so that the shake generated during ascending and descending of the cross arm is reduced; the second screw rod arranged in the cross arm is used for controlling the advancing and retreating of the clamping assembly and controlling the opening and closing of the clamping assembly through the bolt, so that the shake of the clamping assembly during clamping and positioning is well reduced, and the problem of shake in the prior art when the clamping assembly is controlled through air pressure is solved.

Description

Rotary mechanical arm

Technical Field

The utility model relates to the technical field of manipulators, in particular to a rotary manipulator.

Background

The mechanical arm is an automatic mechanical device which is most widely and practically applied in the technical field of robots, and can see the figure in the fields of industrial manufacture, medical treatment, entertainment service, military, semiconductor manufacture, space exploration and the like. Although they differ in their morphology, they share a common feature of being able to receive instructions to accurately locate a point in three-dimensional (or two-dimensional) space for a job.

The utility model patent with the publication number of CN113084786A discloses a mechanical arm capable of rotating with multiple degrees of freedom, which can enable a turntable to rotate more stably in a sliding connection mode of a sliding block and a sliding chute, and facilitates the disassembly and assembly of a transverse plate in a mode of extending an output shaft of a third driving motor to the outside through a mounting groove to be connected with a threaded sleeve.

In the prior art, although the structure is simple, the disassembly, assembly and maintenance are convenient, the following technical problems still exist:

1. the original function of the rotary mechanical arm is that the rotary mechanical arm can grasp a left workpiece and then put on a right swinging table, but in the process of realizing left and right rotation, the arm is dithered when rotating left and right in place due to mechanical pneumatic reasons, so that positioning deviation is caused;

2. when the mechanical arm is used in the initial stage, the mechanical arm is flexible and accurate in positioning, but after long-time use, the positioning effect of the rotating mechanism is gradually deteriorated, position deviation is generated, the workpiece is placed incorrectly, the next procedure operation is affected, the position for taking and placing cannot be accurately positioned, the electric automation industry has smaller elements, the requirements on the position are strict, under more serious conditions, the normal work use can be affected, the problem that the workpiece cannot be taken and placed in the correct position occurs, the procedure is interrupted, and inconvenience is brought to the use of people.

Disclosure of Invention

Aiming at the defects of the prior art, the utility model provides the following technical scheme:

the rotary mechanical arm comprises a supporting device, a transmission device and a clamping device, wherein the supporting device comprises a supporting arm, a cross arm and a base, the base is connected with the supporting arm through a worm gear and a rotary table, the rotary table is limited through a steering limiting component positioned above the base, the steering limiting component comprises a limiting block in contact fit with the rotary table, and the limiting block is connected with a pneumatic pump through a first telescopic block;

the inner side of the supporting arm is provided with a slot, two sides of the slot are provided with limiting holes, the cross arm can slide up and down along the first screw rod through threaded connection and matching of the first connecting block and the first screw rod in the supporting arm, a contact part of the cross arm and the supporting arm is provided with a height limiting assembly, the height limiting assembly comprises a second telescopic block, the front end of the second telescopic block is provided with a limiting shaft, and the limiting shaft is matched with the limiting holes on the surface of the supporting arm to realize the height locking of the cross arm;

the lower side of the cross arm is provided with a slot, the lower side of the cross arm is provided with a clamping assembly, the clamping assembly can slide back and forth along the second screw rod through threaded connection and matching of the second connecting block and the second screw rod in the cross arm, and the clamping assembly controls opening and closing through bolts.

Furthermore, the edge of the rotary table is meshed with the limiting block in a sawtooth manner, and a dust-proof plate is arranged at the inner side slotting position of the supporting arm.

Further, the second screw rod is fixed on the inner wall of the cross arm through a bearing, and one end of the second screw rod is connected with the motor.

Further, the first screw rod is fixed on the inner wall of the supporting arm through a bearing, and one end of the first screw rod is connected with the motor.

Further, the worm gear is fixed in the base through a bearing, and one end of the worm gear is connected with the motor.

Further, a pneumatic pump is arranged above the cross arm and is connected with the height limiting assembly through an air pipe.

Compared with the prior art, the technical scheme of the utility model has the following beneficial effects:

1. according to the rotary mechanical arm, the mechanical arm is rotated through the worm and gear, the supporting arm is connected with the base through the gear-shaped turntable, the steering limiting component is arranged, when the mechanical arm rotates to a designated position, the first telescopic block is controlled through the pneumatic pump, and the limiting block is contacted with the turntable, so that the mechanical arm is locked. The rigidity design of the worm gear can improve the stability and vibration resistance of the mechanical arm during rotation, so that the shake generated by the mechanical arm during rotation is reduced, the steering limiting assembly can further lock the mechanical arm during rotation of the mechanical arm in place, the shake is prevented, and the positioning error of the mechanical arm is reduced;

2. according to the rotary mechanical arm, the cross arm and the supporting arm are connected together through threaded connection cooperation of the first connecting block and the first screw rod, and the first connecting block can be lifted or lowered through rotating the first screw rod, so that the cross arm can be lifted and lowered. Through setting up high spacing subassembly, when the xarm reached the assigned position, the spacing hole cooperation realization locking on messenger spacing axle and the support lever arm was reached through pneumatic pump control second flexible piece to the shake when reducing the xarm and rising and descending. The rigidity design of the first screw rod can improve the stability and vibration resistance of the cross arm during ascending and descending, so that the shake generated by the cross arm during ascending and descending is reduced;

3. according to the rotary mechanical arm, the second screw rod is arranged in the cross arm to control the forward and backward movement of the clamping assembly, and the opening and closing of the clamping assembly are controlled through the bolts, so that the shake of the clamping assembly during clamping and positioning can be well reduced, and the problem of shake in the prior art when the clamping assembly is controlled through air pressure is solved.

Drawings

FIG. 1 is a schematic perspective view of the present utility model;

FIG. 2 is a cross-sectional view of the internal structure of the present utility model;

FIG. 3 is a front view of the present utility model;

FIG. 4 is a side view of the present utility model;

FIG. 5 is a schematic illustration of the operation of the steering limiter of the present utility model;

FIG. 6 is a schematic view of the connection of the base and the support arm of the present utility model;

fig. 7 is a schematic diagram of the connection of the cross arm and the support arm according to the present utility model.

In the figure: the device comprises a base-1, a supporting arm-2, a cross arm-3, a clamping component-4, a turntable-5, a steering limiting component-6, a height limiting component-7, a pneumatic pump-8, a motor-9, a first screw rod-10, a second screw rod-11, a worm gear-12, a first connecting block-13, a second connecting block-14 and a bearing-15;

the device comprises a control panel-101, a limiting hole-201, a dust-proof plate-202, a limiting block-601, a first telescopic block-602, a second telescopic block-701 and a limiting shaft-702.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Example 1:

referring to fig. 1-7, the rotary mechanical arm of the present utility model comprises a support device, wherein the support device comprises a support arm 2, a cross arm 3 and a base 1. The base 1 is connected with the supporting arm 2 through the worm gear 12 and the turntable 5. The worm gear 12 is fixed in the base 1 through a bearing 15, and one end of the worm gear 12 is connected with the motor 9. The worm wheel of the worm gear 12 is connected with the rotary table 5, and the rotary table 5 is fixedly connected with the supporting arm 2. The motor 9 operates to drive the worm gear 12 to rotate, so that the support arm 2 rotates;

in this embodiment, the turntable 5 performs limiting through a steering limiting component 6 located above the base 1, the steering limiting component 6 includes a limiting block 601 in contact with and matched with the turntable 5, and the limiting block 601 is connected with the pneumatic pump 8 through a first telescopic block 602. The edge of the turntable 5 is in sawtooth engagement with the limiting block 601, the steering limiting component 6 is fixed on the base 1, and the first telescopic block 602 is controlled to stretch out and draw back through the pneumatic pump 8, so that the limiting block 601 is in sawtooth engagement with the edge of the turntable 5, and the steering limiting of the supporting arm 2 is realized. Positioning errors caused by shaking of the support arm 2 during rotation can be prevented.

Example 2:

based on embodiment 1, the rotary mechanical arm of the utility model comprises a supporting device, wherein the supporting device comprises a supporting arm 2, a cross arm 3 and a base 1. The inside of the supporting arm 2 is fixedly connected with a first screw rod 10 through a bearing 15, and the top end of the first screw rod 10 is connected with a motor 9. One end of the cross arm 3 is connected with the support arm 2 through a first connecting block 13 fixedly connected, and the first connecting block 13 penetrates through a groove on the support arm 2 to be in threaded connection and matched with a first screw rod 10 in the support arm 2. A dust guard 202 is provided at the slot of the support arm 2 to prevent dust from falling onto the first screw 10. The first screw rod 10 is driven to rotate by the operation motor 9, so that the first connecting block 13 in threaded connection slides upwards or downwards along the first screw rod 10, and the cross arm 3 is operated upwards or downwards;

in this embodiment, a height limiting assembly 7 is fixedly connected to a connection part between the lower part of the cross arm 3 and the support arm 2, the height limiting assembly 7 includes a second telescopic block 701, and a limiting shaft 702 is disposed at the front end of the second telescopic block 701. The expansion and contraction of the second expansion block 701 are controlled through the pneumatic pump 8 positioned above the cross arm 3, so that the limiting shaft 702 is matched with the limiting hole 201 on the surface of the supporting arm 2, and the locking height is realized when the cross arm 3 moves to a designated position. The positioning error caused by shaking generated when the cross arm 3 moves can be prevented.

Example 3:

based on embodiment 2, the rotary mechanical arm of the utility model comprises a supporting device, wherein the supporting device comprises a supporting arm 2, a cross arm 3 and a base 1. The lower side of the cross arm 3 is provided with a slot, the lower part of the cross arm is provided with a clamping assembly 4, the clamping assembly 4 is in threaded connection and matched with a second screw rod 11 in the cross arm 3 through a second connecting block 14, the second screw rod 11 is fixed on the inner wall of the cross arm 3 through a bearing 15, and one end of the second screw rod 11 is connected with a motor 9. The second screw rod 11 is controlled to rotate through the operation of the motor 9, so that the second connecting block 14 moves forwards or backwards along the second screw rod 11, and the clamping assembly 4 moves forwards and backwards to reach a designated position;

the clamping assembly 4 in this embodiment is a prior art, and the motor 9 at the clamping end operates to control the rotation of the bolt connected with the clamping assembly, so as to push the mechanical element in the clamping assembly 4 to enable the chuck to clamp or loosen the workpiece.

Through the embodiment, the rotary mechanical arm has the following beneficial effects:

1. the rotating mechanical arm realizes the rotation of the mechanical arm through the worm gear 12, is connected with the base 1 through the gear-shaped turntable 5, is provided with the steering limiting component 6, and controls the first telescopic block 602 through the pneumatic pump 8 when the mechanical arm rotates to a designated position, so that the limiting block 601 is contacted with the turntable 5, and the mechanical arm is locked. The rigidity design of the worm gear 12 can improve the stability and vibration resistance of the mechanical arm during rotation, so that the shake generated by the mechanical arm during rotation is reduced, and the steering limiting component 6 can further lock the mechanical arm during rotation of the mechanical arm in place, so that the shake is prevented, and the positioning error of the mechanical arm is reduced;

2. the rotary mechanical arm of the utility model connects the cross arm 3 and the support arm 2 together through the threaded connection cooperation of the first connecting block 13 and the first screw rod 10, and the lifting and the lowering of the cross arm 3 can be realized by rotating the first screw rod 10 to realize the lifting or the lowering of the first connecting block 13. Through setting up high spacing subassembly 7, when xarm 3 reached the assigned position, control second telescopic block 701 through pneumatic pump 8, make spacing axle 702 and the spacing hole 201 cooperation on the support arm 2 realize locking to the shake when reducing xarm 3 and rising and descending. The rigidity design of the first screw rod 10 can improve the stability and vibration resistance of the cross arm 3 during ascending and descending, so that the shake generated by the cross arm 3 during ascending and descending is reduced;

3. according to the rotary mechanical arm, the second screw rod 11 is arranged in the cross arm 3 to control the forward and backward movement of the clamping assembly 4, and the opening and closing of the clamping assembly 4 are controlled through the bolts, so that the shake of the clamping assembly 4 during clamping and positioning can be well reduced, and the problem of shake generated when the clamping assembly 4 is controlled through air pressure in the prior art is solved.

The preferred embodiments of the utility model disclosed above are intended only to assist in the explanation of the utility model. The preferred embodiments are not exhaustive or to limit the utility model to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the utility model and the practical application, to thereby enable others skilled in the art to best understand and utilize the utility model. The utility model is limited only by the claims and the full scope and equivalents thereof.

Claims

1. The rotary mechanical arm comprises a supporting device, a transmission device and a clamping device, and is characterized in that the supporting device comprises a supporting arm, a cross arm and a base, the base is connected with the supporting arm through a worm gear and a rotary table, the rotary table is limited through a steering limiting component positioned above the base, the steering limiting component comprises a limiting block in contact fit with the rotary table, and the limiting block is connected with a pneumatic pump through a first telescopic block;

the inner side of the supporting arm is provided with a slot, two sides of the slot are provided with limiting holes, the cross arm is in threaded connection and matched with a first screw rod in the supporting arm through a first connecting block and can slide up and down along the first screw rod, a contact part of the cross arm and the supporting arm is provided with a height limiting assembly, the height limiting assembly comprises a second telescopic block, the front end of the second telescopic block is provided with a limiting shaft, and the limiting shaft is matched with the limiting holes on the surface of the supporting arm to realize the height locking of the cross arm;

2. The rotary mechanical arm according to claim 1, wherein the edge of the turntable is meshed with the limiting block in a sawtooth manner, and a dust-proof plate is arranged at a groove on the inner side of the supporting arm.

3. The rotary mechanical arm according to claim 1, wherein the second screw rod is fixed on the inner wall of the cross arm through a bearing, and one end of the second screw rod is connected with the motor; the first screw rod is fixed on the inner wall of the supporting arm through a bearing, and one end of the first screw rod is connected with the motor.

4. The rotary mechanical arm according to claim 1, wherein the worm gear is fixed in the base through a bearing, and one end of the worm gear is connected with the motor.

5. The rotary mechanical arm according to claim 1, wherein a pneumatic pump is arranged above the cross arm and is connected with the height limiting assembly through an air pipe.