CN106426279A - Telescopic mechanical arm - Google Patents
Telescopic mechanical arm Download PDFInfo
- Publication number
- CN106426279A CN106426279A CN201611003702.0A CN201611003702A CN106426279A CN 106426279 A CN106426279 A CN 106426279A CN 201611003702 A CN201611003702 A CN 201611003702A CN 106426279 A CN106426279 A CN 106426279A
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- China
- Prior art keywords
- chain
- mechanical arm
- worm
- stretching
- chain link
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a telescopic mechanical arm which is a mechanical arm. The mechanical arm comprises a telescopic chain, a synchronous belt, an end executor, a supporting turntable, a supporting nozzle, a worm and a motor; the telescopic chain is composed of a series of mutually hinged chain links and has bending unidirection property; and the synchronous belt is located at the upper part of the telescopic chain, the head end of the synchronous belt is fixedly arranged on the head of the chain, the synchronous belt is meshed with dentate grooves at the upper parts of the chain links, so that the two adjacent chain links are in tight contact, and the extending chain links sequentially form the length-variable mechanical arm. The lower part of each chain link is provided with a worm gear tooth meshed with the worm, the lower parts of the chain links which are in tight contact form a continuous worm gear tooth profile, and the mechanical arm axially extends or withdraws along the worm through the rotation of the worm, driven by the motor. The synchronous belt and the telescopic chain are stored in a vertical cylinder after being forcedly separated by a scraping plate, and the mechanical arm can rotate in a horizontal plane around the center line of the cylinder along with the supporting turntable. By using the telescopic mechanical arm, the problem that the mechanical arm cannot be telescopic within a constrained space at a long distance is solved.
Description
Technical field
The present invention relates to a kind of mechanical arm, specifically, it is related to a kind of telescopic mechanical arm.
Background technology
Mechanical arm is the multi-joint manipulator or multivariant installations towards industrial circle, and it can execute work automatically
Make, be a kind of machinery equipment to realize various functions by self power and control ability.The mechanical arms such as industrial robot are certainly
Extensively apply in dynamic metaplasia producing line, mechanical arm is typically made up of multiple cradle heads, joint easily clamps article etc., industrial class
Mechanical arm is difficult to apply in the service robot field co-melting with people.Serve the mankind robotic arm need to meet safe,
Take up room requirement little, that operating space is big, and take up room little, distance of stretch out and draw back of the telescopic mechanical arm of the present invention is big, and not
There is cradle head, safe when working around the mankind.
Content of the invention
It is an object of the invention to provide a kind of section is little, distance of stretch out and draw back length telescopic mechanical arm, to solve above-mentioned asking
Topic.
A kind of telescopic mechanical arm is it is characterised in that including stretching chain, Timing Belt, end device, supporting turntable, support
Mouth, worm screw and motor, stretching chain is made up of a series of chain links；Timing Belt is located at the top of stretching chain, the head end of Timing Belt
Be fixed on first-in-chain(FIC), Timing Belt is engaged with the profile of tooth groove on chain link top, promote two adjacent link be in close contact, the chain link stretching out according to
The adjustable length mechanical arm of secondary formation.The both ends of the surface of chain link are evenly distributed with profile of tooth parallel and perpendicular to bottom surface, the top surface of chain link
Groove, the bottom surface of chain link is evenly distributed with worm-gear toothing；
Support mouth to include scraper plate, support coverboard, contact roller, support wheel and guide plate, above guide plate, be provided with scraper plate, synchronous
, through supporting mouth to stretch out, support wheel supports the stretching chain that stretches out and end device for band and stretching chain, contact roller forced synchronism band with
The profile of tooth groove cooperation of chain link, and guarantee not producing relative displacement between Timing Belt and chain link.It is in straight supporting the chain link at mouth
Line arranges, and the worm-gear toothing of chain link bottom surface forms continuous worm-gear toothing group, worm-gear toothing group and worm engaging, and motor is through one-stage gear even
Connect worm screw.
Further, stretching chain is formed by a series of specification identical chain links are alternately hinged, contains two in the bottom of chain link
Individual through hole, all chain links are connected as one by bearing pin through through hole；Chain link adopts hollow structure.
Further, end device is arranged on mechanical arm tail end, and end device is connected with first-in-chain(FIC) and is relatively fixed, and end device contains two
Individual cradle head and handgrip.
Further, mechanical arm is arranged on support turntable, can support the axis rotation around turntable.
Power is transferred to worm screw through primary gear speed reducing by motor, and worm drive stretching chain stretches out along worm axis direction
And withdrawal；
When worm drive stretching chain axially withdraws along worm screw, scraper plate is forced to peel off Timing Belt and stretching chain, machine
Chain link in tool arm is state freely with each other by end face state transformation intimate contact with one another, and stretching chain can be bent downwardly；
In the presence of gravity and worm drive power, Timing Belt separated from one another and stretching chain move downward.
Further, stretching chain is formed by a series of specification identical chain links are alternately hinged, contains two in the bottom of chain link
Individual through hole, all chain links are connected as one by bearing pin through through hole；The both ends of the surface of chain link are parallel and perpendicular to bottom surface, the top of chain link
Face is evenly distributed with profile of tooth groove, and the bottom surface of chain link is evenly distributed with worm-gear toothing.
Further, mouth is supported to comprise three contact rollers and two support wheels, Timing Belt and stretching chain stretch out through support mouth,
Support wheel supports the stretching chain stretching out and end device, and contact roller forced synchronism band is coordinated with the profile of tooth groove of chain link, and guarantees
Relative displacement is not produced between Timing Belt and chain link.
Further, after Timing Belt is engaged with the chain link stretching out, adjacent two chain link tops are strained by Timing Belt, and that stretches out is adjacent
Two chain links keep being in close contact, and therefore, the chain link of close contact forms the mechanical arm with certain rigidity, and mechanical arm is by supporting mouth
Contact roller and support wheel jointly support.
Further, mechanical arm tail end installed by end device, and end device is connected with flexible chain and is relatively fixed, and end device contains two
Individual cradle head and handgrip.
Further, the chain link at mouth is being supported to be arranged in a linear, the worm-gear toothing of chain link bottom surface forms continuous worm-gear toothing group,
Worm-gear toothing group and worm engaging, power is transferred to worm screw through primary gear speed reducing by motor, and worm drive stretching chain is along worm screw
Axis direction stretches out and withdraws.
Further, when worm drive stretching chain axially withdraws along worm screw, scraper plate is forced Timing Belt and stretching chain
Peel off, the chain link in mechanical arm is state freely with each other by end face state transformation intimate contact with one another, and stretching chain can be downward
Bending.
Compared with prior art the invention has the beneficial effects as follows：This telescopic mechanical arm have retraction take up room little, peace
Quan Xinggao, the advantage of distance of stretch out and draw back length, and the mechanical arm section that stretching chain is formed is little；Using Worm Wheel System mode,
Mechanical arm stretches out steady with recovery movement speed.Meanwhile, the mechanical arm being formed can bear the active force of any direction, is suitable for
In telescopic service robot field.
Brief description
Fig. 1 is a kind of axis side view of telescopic mechanical arm of the present invention；
Fig. 2 is a kind of sectional view of telescopic mechanical arm of the present invention；
Fig. 3 is a kind of maximum extension state of telescopic mechanical arm of the present invention；
Fig. 4 is the Timing Belt of the present invention and the axis side view of stretching chain；
Fig. 5 is that the worm and gear of the present invention drives schematic diagram.
Specific embodiment
The present invention is described in detail for shown each embodiment below in conjunction with the accompanying drawings, but it should explanation, these
Embodiment not limitation of the present invention, those of ordinary skill in the art according to these embodiment institute work energy, method,
Or the equivalent transformation in structure or replacement, belong within protection scope of the present invention.
Shown in ginseng Fig. 1 to Fig. 5, Fig. 1 is a kind of axis side view of telescopic mechanical arm of the present invention, and Fig. 2 is that the present invention is a kind of
The sectional view of telescopic mechanical arm, Fig. 3 is a kind of maximum extension state of telescopic mechanical arm of the present invention, and Fig. 4 is the present invention
Timing Belt and the axis side view of stretching chain, Fig. 5 is that the worm and gear of the present invention drives schematic diagram
Present embodiments provide a kind of telescopic mechanical arm, this this mechanical arm includes stretching chain 100, Timing Belt 2, end
Device 4, support turntable 6, support mouth, worm screw 16 and motor 19, described stretching chain 100 is made up of a series of chain links 1；Described synchronization
With 2 tops being located at described stretching chain, the head end of described Timing Belt 2 is fixed on first-in-chain(FIC) 3, described Timing Belt 2 and described chain link 1
The profile of tooth groove engagement on top, promotes two adjacent link to be in close contact, the described chain link 1 stretching out sequentially forms adjustable length machine
Tool arm 21.
In the present embodiment, shown in ginseng Fig. 2 and Fig. 4, a series of described stretching chain 100 chain link described in specification identicals
1 alternately hinged form, contain two through holes in the bottom of described chain link 1, all described chain links 1 are connected by bearing pin 11 through through hole
It is integrated, the described chain link 1 of described stretching chain 100 can mutually rotate each other within the specific limits.The both ends of the surface of described chain link 1
Parallel and perpendicular to bottom surface, the top surface of described chain link 1 is evenly distributed with profile of tooth groove, and the bottom surface of described chain link 1 is evenly distributed with
Worm-gear toothing, described chain link 1 adopts hollow structure, to mitigate the weight of described stretching chain 100 and described mechanical arm 21.
In the present embodiment, the support mouth of the present invention includes supporting coverboard 5, contact roller 8, support wheel 9 and guide plate 10, institute
State contact roller 8 and described support wheel 9 is arranged on described support coverboard 5, three described contact rollers 8 compress described Timing Belt jointly
2 and described stretching chain 100, two support wheels 9 support described stretching chain 100 jointly.When described Timing Belt 2 and described flexible
When chain 100 is through supporting mouth to stretch out, described support wheel 9 supports the stretching chain stretching out and described end device 4, described contact roller 8
Force the profile of tooth groove cooperation of described Timing Belt 2 and described chain link 1, and guarantee not produce between described Timing Belt 2 and described chain link 1
Raw relative displacement.Described guide plate 10 is used for described stretching chain 100 is guided, and is easy to described stretching chain 100 and steadily enters
Support mouth.
In the present embodiment, after described Timing Belt 2 is engaged with the described chain link 1 stretching out, adjacent two chain link tops are described
Timing Belt 2 is strained, and adjacent two chain links stretching out keep being in close contact and having stronger rigidity, therefore, the described chain link 1 that stretches out
Form the described mechanical arm 21 with certain rigidity.The section morphology of described mechanical arm 21 is determined by described chain link 1, described machinery
Arm 21 protrudes horizontally up rear linearly form, and the length of described mechanical arm 21 can arbitrarily change.Described contact roller 8 and described support
Take turns the described mechanical arm 21 of 9 common supports, during described stretching chain 100 stretches out, described mechanical arm 21 and supporting between mouth
For rolling friction, in terms of mechanics of materials angle, described mechanical arm 21 is cantilever beam structure.Fig. 5 is the maximum of described mechanical arm 21
Extended configuration, all described chain link 1 of described stretching chain 100 keeps approximately rigid chain link each other, and described Timing Belt 2 is located at institute
State the top of mechanical arm 21, described Timing Belt 2 one end is fixed on described first-in-chain(FIC) 3, and the other end is compressed by described contact roller 8, described
Timing Belt 2 strains all described chain links 1, to keep described mechanical arm 21 to have enough rigidity.
In the present embodiment, described mechanical arm 21 end installed by described end device 4, and described end device 4 is connected simultaneously with first-in-chain(FIC) 2
It is relatively fixed, described chain link 1 foremost is connected and fixing described first-in-chain(FIC) 2 with described mechanical arm 21.Described end device 4 comprises one
Level 12, two grades of joint joint 13 and handgrip 14, three is in series arrangement, described handgrip 14 can in partial sphere optional position
Up to the described mechanical arm 21 of auxiliary completes accurate operation.
In the present embodiment, shown in ginseng Fig. 1 and Fig. 2, described mechanical arm 21, described support coverboard 5, described end device 4 are pacified
It is contained on described support turntable 6, described support turntable 6 has single rotational freedom, three can be around the described axle supporting turntable 6
Line rotates.A kind of telescopic mechanical arm of the present invention can by described support turntable 6 be arranged on wheelchair, multifunctional hospital bed etc. on,
Assist and service the mankind co-meltingly with people.
In the present embodiment, shown in ginseng Fig. 5, the worm-gear toothing axially arranging along described worm screw 16 is contained in described chain link 1 bottom surface,
The described chain link 1 at mouth is being supported to be arranged in a linear, the worm-gear toothing of described chain link 1 forms continuous worm-gear toothing group, this worm-gear toothing
Group is engaged with described worm screw 16, and described motor 19 slows down through one-stage gear 18 and secondary gear 17, described secondary gear 17 and institute
State worm screw 16 to connect as one, the power of described motor 19 is passed to described worm screw 16, described worm screw 16 drives described flexible
Chain 100 stretches out and withdraws along the axis direction of described worm screw 16, and Fig. 5 is this mechanical arm maximum extension state.
In the present embodiment, shown in ginseng Fig. 5, when described worm screw 16 drives described stretching chain 100 along described worm screw 16 axle
To when withdrawing, scraper plate 15 is forced to peel off described Timing Belt 2 and described stretching chain 100, and described chain link 1 is tight each other by end face
Contact condition is transformed to state freely with each other, and described stretching chain 100 can be bent downwardly.Work in gravity and worm drive power
With under, described Timing Belt 2 separated from one another and described stretching chain 100 move downward, described Timing Belt 2 and described stretching chain
100 are stored in vertical described cylinder 7.
The present invention provides a kind of telescopic mechanical arm, has the advantages that：
1) this telescopic mechanical arm have the advantages that to retract take up room little, safe, distance of stretch out and draw back is long, and flexible chain
The mechanical arm section that bar is formed is little.
2) adopt Worm Wheel System mode, mechanical arm stretches out steady with recovery movement speed.
3) mechanical arm being formed can bear the active force of any direction it is adaptable to telescopic service robot field.
The a series of detailed description of those listed above is only for the feasibility embodiment of the present invention specifically
Bright, they simultaneously are not used to limit the scope of the invention, all equivalent implementations made without departing from skill spirit of the present invention
Or change should be included within the scope of the present invention.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of the spirit or essential attributes of the present invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit requires rather than described above limits, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.
Claims (5)
1. a kind of telescopic mechanical arm it is characterised in that include stretching chain, Timing Belt, end device, support turntable, support mouth,
Worm screw and motor, stretching chain is made up of a series of chain links；Timing Belt is located at the top of stretching chain, and the head end of Timing Belt is fixed
In first-in-chain(FIC), Timing Belt is engaged with the profile of tooth groove on chain link top, promotes two adjacent link to be in close contact, the chain link stretching out shape successively
Become adjustable length mechanical arm；The both ends of the surface of chain link are evenly distributed with profile of tooth groove parallel and perpendicular to bottom surface, the top surface of chain link,
The bottom surface of chain link is evenly distributed with worm-gear toothing；
Support mouth to include scraper plate, support coverboard, contact roller, support wheel and guide plate, above guide plate, be provided with scraper plate, Timing Belt and
Through supporting mouth to stretch out, support wheel supports the stretching chain stretching out and end device, contact roller forced synchronism band and chain link to stretching chain
The cooperation of profile of tooth groove, and guarantee not producing relative displacement between Timing Belt and chain link；Linearly arrange supporting the chain link at mouth
Row, the worm-gear toothing of chain link bottom surface forms continuous worm-gear toothing group, worm-gear toothing group and worm engaging, and motor connects snail through one-stage gear
Bar.
2. a kind of telescopic mechanical arm according to claim 1 is it is characterised in that stretching chain is identical by a series of specifications
Chain link replace hinged form, contain two through holes in the bottom of chain link, all chain links are connected as one by bearing pin through through hole；
Chain link adopts hollow structure.
3. a kind of telescopic mechanical arm according to claim 1 is it is characterised in that end device is arranged on mechanical arm tail end,
End device is connected with first-in-chain(FIC) and is relatively fixed, and end device contains two cradle heads and handgrip.
4. a kind of telescopic mechanical arm according to claim 1 it is characterised in that mechanical arm be arranged on support turntable on,
The axis rotation around turntable can be supported.
5. the method for a kind of telescopic mechanical arm as described in claim 1-4 any one for the application is it is characterised in that motor warp
Power is transferred to worm screw by primary gear speed reducing, and worm drive stretching chain stretches out along worm axis direction and withdraws；
When worm drive stretching chain axially withdraws along worm screw, scraper plate is forced to peel off Timing Belt and stretching chain, mechanical arm
In chain link be state freely with each other by end face state transformation intimate contact with one another, stretching chain can be bent downwardly；
In the presence of gravity and worm drive power, Timing Belt separated from one another and stretching chain move downward.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611003702.0A CN106426279A (en) | 2016-11-15 | 2016-11-15 | Telescopic mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611003702.0A CN106426279A (en) | 2016-11-15 | 2016-11-15 | Telescopic mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106426279A true CN106426279A (en) | 2017-02-22 |
Family
ID=58207073
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611003702.0A Pending CN106426279A (en) | 2016-11-15 | 2016-11-15 | Telescopic mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106426279A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108890656A (en) * | 2018-07-11 | 2018-11-27 | 北京工业大学 | A kind of telescopic service robot of the wheel drive containing friction |
| CN110977960A (en) * | 2019-11-01 | 2020-04-10 | 北京工业大学 | Visual following system of three drive arms |
| CN111131679A (en) * | 2020-01-02 | 2020-05-08 | 福州米鱼信息科技有限公司 | Camera device |
| CN111620275A (en) * | 2020-06-08 | 2020-09-04 | 湖南翰坤实业有限公司 | Vertical floor operation mechanical arm and aerial work platform |
| CN113026685A (en) * | 2021-03-24 | 2021-06-25 | 中国长江电力股份有限公司 | Double-range rigid telescopic arm suitable for vertically lifting gate slot for cleaning |
| CN113103890A (en) * | 2021-05-17 | 2021-07-13 | 青岛特来电新能源科技有限公司 | Telescopic arm, charging manipulator and charging device |
| CN113580060A (en) * | 2021-07-30 | 2021-11-02 | 西安热工研究院有限公司 | Photovoltaic module installs arm |
| CN114745948A (en) * | 2019-10-02 | 2022-07-12 | 农场改良有限公司 | Nebulizer with articulated arm and sensor system |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108890656A (en) * | 2018-07-11 | 2018-11-27 | 北京工业大学 | A kind of telescopic service robot of the wheel drive containing friction |
| CN114745948A (en) * | 2019-10-02 | 2022-07-12 | 农场改良有限公司 | Nebulizer with articulated arm and sensor system |
| US11997981B2 (en) | 2019-10-02 | 2024-06-04 | Farm Improvements Limited | Sprayer with articulated arm and sensor system |
| CN110977960A (en) * | 2019-11-01 | 2020-04-10 | 北京工业大学 | Visual following system of three drive arms |
| CN111131679A (en) * | 2020-01-02 | 2020-05-08 | 福州米鱼信息科技有限公司 | Camera device |
| CN111620275A (en) * | 2020-06-08 | 2020-09-04 | 湖南翰坤实业有限公司 | Vertical floor operation mechanical arm and aerial work platform |
| CN113026685A (en) * | 2021-03-24 | 2021-06-25 | 中国长江电力股份有限公司 | Double-range rigid telescopic arm suitable for vertically lifting gate slot for cleaning |
| CN113026685B (en) * | 2021-03-24 | 2022-03-15 | 中国长江电力股份有限公司 | Double-range rigid telescopic arm suitable for vertically lifting gate slot for cleaning |
| CN113103890A (en) * | 2021-05-17 | 2021-07-13 | 青岛特来电新能源科技有限公司 | Telescopic arm, charging manipulator and charging device |
| CN113580060A (en) * | 2021-07-30 | 2021-11-02 | 西安热工研究院有限公司 | Photovoltaic module installs arm |
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