CN106712383A - Mechanical swing arm with force applying mechanism - Google Patents
Mechanical swing arm with force applying mechanism Download PDFInfo
- Publication number
- CN106712383A CN106712383A CN201710019254.1A CN201710019254A CN106712383A CN 106712383 A CN106712383 A CN 106712383A CN 201710019254 A CN201710019254 A CN 201710019254A CN 106712383 A CN106712383 A CN 106712383A
- Authority
- CN
- China
- Prior art keywords
- stepper motor
- swing arm
- plate
- output shaft
- swing
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/08—Structural association with bearings
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transmission Devices (AREA)
- Moving Of Heads (AREA)
Abstract
The present invention discloses a mechanical swing arm with a force applying mechanism. The mechanical swing arm comprises a positioning plate and a swing plate. The middle part of the positioning plate is provided with a central stepping motor. The positioning plate is circumferentially provided with a plurality of circumferential stepping motors. The output shaft of each circumferential stepping motor is fixedly connected with a threaded sleeve. Each threaded sleeve is in threaded connection with a screw rod. The outer end of each screw rod is provided with a ball head. The swing plate is provided with a plurality of swing seats corresponding to the plurality of screw rods. Each swing seat is rotatably connected with the swing plate through a first bearing and is internally provided with a circumferential spherical swing cavity with an opening on the inner end thereof. Each ball head is embedded into the corresponding circumferential spherical swing cavity. The middle part of the swing plate is also provided with a central spherical swing cavity with an opening on the inner end thereof. The outer end portion of the output shaft of the central stepping motor is provided with a ball block embedded into the central spherical swing cavity. The mechanical swing arm of the present invention has the advantages of low cost, high precision and the like, and the driving force of the swing arm is large.
Description
Technical field
The invention belongs to mechanical swing arm structure field, more particularly to a kind of mechanical swing arm with boosting mechanism.
Background technology
Mechanical swing arm as a kind of swing mechanism, using relatively broad in the fields such as lathe, jack machinism, it is general and
Speech, traditional high accuracy swing arm realizes universal swing generally by the cooperation of several linear stepping motors and universal drive shaft, so
And the load capacity of this kind of structure is influenceed larger by linear stepping motor, the linear stepping motor purchasing price of heavy load also compared with
It is high；Another hydraulic pressure swing arm, its swaying direction limitation is higher, and the precision of hydraulic control can not show a candle to the machines such as linear stepping motor
Structure, therefore a low cost how is designed, the big mechanical swing arm of load capacity is just into problem.
The content of the invention
It is an object of the invention to overcoming tradition machinery swing arm in the prior art or being more expensive to manufacture or precision is inadequate
Technical problem, there is provided a kind of mechanical swing arm with boosting mechanism.
The present invention is achieved by the following technical solutions：
A kind of mechanical swing arm with boosting mechanism, including the positioning disk and wobble-plate be arrangeding in parallel, in the positioning disk
Portion is provided with a center stepper motor, and some circumferences are additionally provided with circumferentially around the center stepper motor in the positioning disk
The output shaft of stepper motor, the center stepper motor and some circumferential stepper motors is perpendicular with the positioning disk, described
A swivel nut is fixedly connected with the output shaft of circumferential stepper motor, a screw rod has been connected through a screw thread on the swivel nut,
The outer end of the screw rod is provided with a bulb；Some swings corresponding with some screw rods are disposed with the wobble-plate
Seat, the swing seat is connected by the rotation of clutch shaft bearing and wobble-plate, and the swing seat is internally provided with interior end opening
Circumferential spherical swing cavity, the bulb is embedded into the corresponding spherical swing cavity of circumference；At the middle part of the wobble-plate also
It is provided with a central spherical for interior end opening and swings cavity, the output shaft outer end of the center stepper motor is provided with one
It is embedded into the ball block during the central spherical swings cavity.
As the further innovation of patent of the present invention, a compression for cylindricality is additionally provided with the middle part of the wobble-plate outer end
Cavity, the outer end that the compression cavity swings cavity with the central spherical is connected, and screw thread is passed through in the compression cavity inner wall
A compact heap is connected with, the inner of the compact heap is tight against the ball block.
Used as the further innovation of patent of the present invention, the output shaft of some circumferential stepper motors is with the center stepping
Circular array distribution centered on the output shaft of motor.
A support plate, institute have also been fixedly and coaxially connected as the further innovation of patent of the present invention, on the positioning disk
State support plate to be located between the positioning disk and the wobble-plate, if being provided with what is passed through for some swivel nuts in the support plate
Dry rotation hole, rotates connection between the swivel nut and rotation hole, a confession center step is additionally provided with the middle part of positioning disk
The sliding eye that the output shaft of stepper motor is passed through, is slidably connected between the output shaft and the sliding eye of the center stepper motor.
As the further innovation of patent of the present invention, several relative positioning disks are passed through between the support plate and positioning disk
The connecting rod of center of circle circular array arrangement is fixedly connected.
Rotated by second bearing as the further innovation of patent of the present invention, between the rotation hole and swivel nut and connected.
Used as the further innovation of patent of the present invention, the inwall of the sliding eye is fixed with a graphite sliding sleeve, it is described in
It is slidably connected between the output shaft and graphite sliding sleeve of heart stepper motor.
Used as the further innovation of patent of the present invention, the center stepper motor is linear stepping motor, the circumferential step
Stepper motor is rotary stepped machine.
The present invention has advantages below compared to existing technology：
1st, a kind of mechanical swing arm with boosting mechanism that the present invention is provided, it is circumferentially coordinated axially by screw rod, swivel nut
The structure of control simultaneously adds the more cheap rotary stepped machine of relative cost, realizes small cost, high accuracy, large driving force
Swing arm design；Simultaneously in a centrally disposed linear stepping motor, it is possible to achieve the control to swing arm entire length, for
The relatively low rotary stepped machine of some locking magnetic resistance, the linear stepping motor that the present invention is added can be locked to length,
And the load force that the linear stepping motor positioned at middle part is subject to is relatively low, will not be since it is desired that purchasing powerful straight line step
Stepper motor and improve cost.
2nd, a kind of mechanical swing arm with boosting mechanism that the present invention is provided, its support plate reduces each motor output shaft
Radial load power, it is ensured that the steady operation of each rotating stepper motor and linear stepping motor, reduce each motor output
The possibility of shaft distortion.
3rd, a kind of mechanical swing arm with boosting mechanism that the present invention is provided, its compact heap can be realized swinging middle part and hindered
The adjustment of Buddhist nun, so as to provide wobble-plate certain locking damping, improves the stability of positioning, wobble-plate when preventing motor jerk
Shake.
Brief description of the drawings
Fig. 1 is partial schematic sectional view of the invention；
Fig. 2 is the right view of Fig. 1.
Label in figure：1st, positioning disk；2nd, support plate；3rd, wobble-plate；4th, connecting rod；5th, circumferential stepper motor；6th, center step
Stepper motor；7th, swivel nut；8th, screw rod；9th, bulb；10th, ball block；11st, compact heap；12nd, clutch shaft bearing；13rd, second bearing.
Specific embodiment
Embodiments of the invention are elaborated below, the present embodiment is carried out under premised on technical solution of the present invention
Implement, give detailed implementation method and specific operating process, but protection scope of the present invention is not limited to following implementations
Example.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", D score, "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outward ", " up time
The orientation or position relationship of the instruction such as pin ", " counterclockwise " are, based on orientation shown in the drawings or position relationship, to be for only for ease of
The description present invention is described with simplified, must have specific orientation, Yi Te rather than the device or element for indicating or imply meaning
Fixed azimuth configuration and operation, therefore be not considered as limiting the invention.
Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or implying relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or
Implicitly include one or more this feature.In the description of the invention, " multiple " is meant that two or more,
Unless otherwise expressly limited specifically.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be being fixedly connected, or being detachably connected, or be integrally connected；It can be machine
Tool is connected, or electrically connected；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, can be two units
Connection inside part.For the ordinary skill in the art, can as the case may be understand above-mentioned term in this hair
Concrete meaning in bright.
Referring to Fig. 1, Fig. 2, present embodiment discloses a kind of mechanical swing arm with boosting mechanism, including determining of be arrangeding in parallel
Position disk 1 and wobble-plate 3, the middle part of positioning disk 1 are provided with a center stepper motor 6, and center stepper motor 6 is using straight line stepping electricity
Machine, some circumferential stepper motors 5 are additionally provided with positioning disk 1 circumferentially around center stepper motor 6, and circumferential stepper motor 5 is used
Rotary stepped machine.The output shaft of center stepper motor 6 and some circumferential stepper motors 5 is perpendicular with positioning disk 1, some
The circular array distribution centered on the output shaft of center stepper motor 6 of the output shaft of circumferential stepper motor 5.
A swivel nut 7 is fixedly connected with the output shaft of circumferential stepper motor 5, one has been connected through a screw thread on swivel nut 7
Individual screw rod 8, a bulb 9 is provided with the outer end of screw rod 8；Some pendulum corresponding with some screw rods 8 are disposed with wobble-plate 3
Dynamic seat, swing seat is rotated with wobble-plate 3 by clutch shaft bearing 12 and is connected, and swing seat is internally provided with a circumference for interior end opening
Spherical swing cavity, bulb 9 is embedded into the corresponding spherical swing cavity of circumference；One is additionally provided with the middle part of wobble-plate 3
The central spherical of interior end opening swings cavity, and the output shaft outer end of center stepper motor 6 is provided with one and is embedded into astrosphere
Shape swings the ball block 10 in cavity.A compression cavity for cylindricality is additionally provided with the middle part of the outer end of wobble-plate 3, compression cavity is with
Bulbus cordis shape swings the outer end connection of cavity, and a compact heap 11 has been connected through a screw thread cavity inner wall is compressed, compact heap 11
The inner is tight against ball block 10.
Wherein, a support plate 2 has also been fixedly and coaxially connected on positioning disk 1, support plate 2 is located at positioning disk 1 and wobble-plate 3
Between, the connecting rod 4 arranged by several center of circle circular arrays of relative positioning disk 1 between support plate 2 and positioning disk 1 is fixed
Connection.Connecting rod 4 can select different length according to actual condition, while mechanical pendulum arm swing scope is ensured, it is ensured that
The stability of motor output shaft.The some rotation holes passed through for some swivel nuts 7, swivel nut 7 and rotation hole are provided with support plate 2
Between by second bearing 13 rotate connection, be additionally provided with the output shaft of a Ge Gong centers stepper motor 6 at the middle part of positioning disk 1
The sliding eye for passing through, is slidably connected between the output shaft and sliding eye of center stepper motor 6, and the inwall of sliding eye is fixed with one
Graphite sliding sleeve, is slidably connected between the output shaft and graphite sliding sleeve of center stepper motor 6.
When using, the electric rotating machine of corresponding grasping mechanism or cutting can be installed on the outer face of wobble-plate 3；
Start the linear stepping motor at center first so that the output elongate axis of linear stepping motor, while the rotary stepping of periphery
Motor rotates also by swivel nut 7 is rotarily driven, and then drives screw rod 8 for linear motion so that whole wobble-plate 3 occurs positioning and moves
It is dynamic, the adjustment that arm lengths are swung to the adjustment of the distance of the relative positioning disk 1 of wobble-plate 3 is achieved that after the completion of movement.
During driving, the drive circuit of linear stepping motor is closed, start rotary stepped machine, swivel nut 7 is rotatably being walked
Rotated under the promotion of stepper motor so that relative displacement occurs by screw thread between screw rod 8 and swivel nut 7, by a part
Screw rod 8 extends, and another part screw rod 8 shortens, it is possible to realize that the positioning of wobble-plate 3 swings, and now linear stepping motor is not
Participate in driving.
Compact heap 11 can realize the adjustment to middle part damping of oscillations, so as to provide wobble-plate 3 certain locking damping,
The stability of positioning is improved, wobble-plate 3 is shaken when preventing motor jerk.The clutch shaft bearing 12 added in swing seat can drop
The heating when abrasion and rotation of low ball first 9, improves the durability of bulb 9.
The present embodiment coordinates the axially structure of control by screw rod 8, swivel nut 7 and to add relative cost more cheap
Rotary stepped machine, realizes small cost, high accuracy, the design of the swing arm of large driving force.
These are only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all it is of the invention spirit and
Any modification, equivalent and improvement for being made within principle etc., should be included within the scope of the present invention.
Claims (8)
1. a kind of mechanical swing arm with boosting mechanism, it is characterised in that:It is described including the positioning disk and wobble-plate that be arranged in parallel
Positioning disk middle part is provided with a center stepper motor, is additionally provided with circumferentially around the center stepper motor in the positioning disk
The output shaft of some circumferential stepper motors, the center stepper motor and some circumferential stepper motors mutually hangs down with the positioning disk
Directly, a swivel nut is fixedly connected with the output shaft of the circumferential stepper motor, one has been connected through a screw thread on the swivel nut
Individual screw rod, a bulb is provided with the outer end of the screw rod；If being disposed with the wobble-plate corresponding with some screw rods
Dry swing seat, the swing seat is rotated with wobble-plate by clutch shaft bearing and is connected, and the swing seat is internally provided with a inner
The spherical swing cavity of circumference of opening, the bulb is embedded into the corresponding spherical swing cavity of circumference；In the wobble-plate
Middle part is additionally provided with a central spherical for interior end opening and swings cavity, and the output shaft outer end of the center stepper motor is set
There is a ball block being embedded into during the central spherical swings cavity.
2. a kind of mechanical swing arm with boosting mechanism as claimed in claim 1, it is characterised in that:In the wobble-plate outer end
Middle part is additionally provided with a compression cavity for cylindricality, and the outer end that the compression cavity swings cavity with the central spherical connects,
A compact heap is connected through a screw thread in the compression cavity inner wall, the inner of the compact heap is tight against the ball block.
3. a kind of mechanical swing arm with boosting mechanism as claimed in claim 1, it is characterised in that:Some circumferential steppings
The circular array distribution centered on the output shaft of the center stepper motor of the output shaft of motor.
4. a kind of mechanical swing arm with boosting mechanism as claimed in claim 1, it is characterised in that:It is also same on the positioning disk
Axle is fixedly connected with a support plate, and the support plate is located between the positioning disk and the wobble-plate, in the support plate
On be provided with some rotation holes passed through for some swivel nuts, between the swivel nut and rotation hole rotate connection, in positioning disk
Portion is additionally provided with the sliding eye that the output shaft of a confession center stepper motor is passed through, the output shaft of the center stepper motor
It is slidably connected between the sliding eye.
5. a kind of mechanical swing arm with boosting mechanism as claimed in claim 4, it is characterised in that:The support plate and positioning
The connecting rod arranged by several relative positioning disk center of circle circular arrays between disk is fixedly connected.
6. a kind of mechanical swing arm with boosting mechanism as claimed in claim 4, it is characterised in that:The rotation hole and swivel nut
Between by second bearing rotate connect.
7. a kind of mechanical swing arm with boosting mechanism as claimed in claim 4, it is characterised in that:The inwall of the sliding eye
A graphite sliding sleeve is fixed with, is slidably connected between the output shaft and graphite sliding sleeve of the center stepper motor.
8. a kind of mechanical swing arm with boosting mechanism as claimed in claim 1, it is characterised in that:The center stepper motor
It is linear stepping motor, the circumferential stepper motor is rotary stepped machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710019254.1A CN106712383B (en) | 2017-01-11 | 2017-01-11 | Mechanical swing arm with stress application mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710019254.1A CN106712383B (en) | 2017-01-11 | 2017-01-11 | Mechanical swing arm with stress application mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106712383A true CN106712383A (en) | 2017-05-24 |
| CN106712383B CN106712383B (en) | 2023-09-26 |
Family
ID=58907239
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710019254.1A Active CN106712383B (en) | 2017-01-11 | 2017-01-11 | Mechanical swing arm with stress application mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106712383B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109333191A (en) * | 2018-11-30 | 2019-02-15 | 卓弢机器人盐城有限公司 | A kind of multidirectional machining production line of crankshaft and its processing technology |
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|---|---|---|---|---|
| US20030101838A1 (en) * | 2001-11-30 | 2003-06-05 | Junichiro Shinozaki | Manipulation unit |
| JP2003311667A (en) * | 2002-04-19 | 2003-11-05 | Osaka Industrial Promotion Organization | Robot arm, and robot arm operation system |
| CN201036686Y (en) * | 2007-06-29 | 2008-03-19 | 黎洁玲 | Dual electric motor ball outputting direction control device |
| CN101255943A (en) * | 2008-04-08 | 2008-09-03 | 天津大学 | Saddle type parallel tracking station |
| CN202490934U (en) * | 2012-03-28 | 2012-10-17 | 青岛理工大学 | Rapid manufacturing equipment for high-melting-point metal arc spraying mold |
| CN102954173A (en) * | 2011-08-24 | 2013-03-06 | 财团法人金属工业研究发展中心 | Bearing platform and flexible element applied to bearing platform |
| US20140107837A1 (en) * | 2012-10-15 | 2014-04-17 | Delta Electronics, Inc. | Robot joint and robot arm using the same |
| CN104564129A (en) * | 2014-12-25 | 2015-04-29 | 中国科学院合肥物质科学研究院 | Mine disaster environment detecting rescue robot with tunneling function and control method thereof |
| CN104986240A (en) * | 2015-06-15 | 2015-10-21 | 上海交通大学 | Linear driving walking robot leg structure and parallel four-footed walking robot |
| CN206364652U (en) * | 2017-01-11 | 2017-07-28 | 中国科学院合肥物质科学研究院 | A kind of mechanical swing arm with boosting mechanism |
-
2017
- 2017-01-11 CN CN201710019254.1A patent/CN106712383B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030101838A1 (en) * | 2001-11-30 | 2003-06-05 | Junichiro Shinozaki | Manipulation unit |
| JP2003311667A (en) * | 2002-04-19 | 2003-11-05 | Osaka Industrial Promotion Organization | Robot arm, and robot arm operation system |
| CN201036686Y (en) * | 2007-06-29 | 2008-03-19 | 黎洁玲 | Dual electric motor ball outputting direction control device |
| CN101255943A (en) * | 2008-04-08 | 2008-09-03 | 天津大学 | Saddle type parallel tracking station |
| CN102954173A (en) * | 2011-08-24 | 2013-03-06 | 财团法人金属工业研究发展中心 | Bearing platform and flexible element applied to bearing platform |
| CN202490934U (en) * | 2012-03-28 | 2012-10-17 | 青岛理工大学 | Rapid manufacturing equipment for high-melting-point metal arc spraying mold |
| US20140107837A1 (en) * | 2012-10-15 | 2014-04-17 | Delta Electronics, Inc. | Robot joint and robot arm using the same |
| CN104564129A (en) * | 2014-12-25 | 2015-04-29 | 中国科学院合肥物质科学研究院 | Mine disaster environment detecting rescue robot with tunneling function and control method thereof |
| CN104986240A (en) * | 2015-06-15 | 2015-10-21 | 上海交通大学 | Linear driving walking robot leg structure and parallel four-footed walking robot |
| CN206364652U (en) * | 2017-01-11 | 2017-07-28 | 中国科学院合肥物质科学研究院 | A kind of mechanical swing arm with boosting mechanism |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109333191A (en) * | 2018-11-30 | 2019-02-15 | 卓弢机器人盐城有限公司 | A kind of multidirectional machining production line of crankshaft and its processing technology |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106712383B (en) | 2023-09-26 |
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