CN107378929A - A kind of portable material folding mechanical arm - Google Patents
A kind of portable material folding mechanical arm Download PDFInfo
- Publication number
- CN107378929A CN107378929A CN201710867808.3A CN201710867808A CN107378929A CN 107378929 A CN107378929 A CN 107378929A CN 201710867808 A CN201710867808 A CN 201710867808A CN 107378929 A CN107378929 A CN 107378929A
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- CN
- China
- Prior art keywords
- mechanical arm
- material folding
- arc clip
- support
- telescopic cylinders
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/045—Polar coordinate type
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Invalid Beds And Related Equipment (AREA)
Abstract
The invention discloses a kind of portable material folding mechanical arm, including base, support platform, rotating disc, mounting bracket, lifting slider, installing plate, support beam, sleeve and arc clip tooth, the bottom right side surface of support beam offers slide rail, the T-shaped structure of slide rail, slided in slide rail and be provided with translator slider, the lower surface of translator slider is installed with connector, the bottom fixed mount of connector is provided with No. two telescopic cylinders, the sleeve of opening down setting is installed on the lower end outer wall of No. two telescopic cylinders, the output shaft bottom of No. two telescopic cylinders is provided with jointed shaft, two symmetrical arc clip tooths are movably hinged with jointed shaft, extension spring is connected between two arc clip tooths.Simple in construction, reasonable in design, using flexible of the invention, can realize the fast clamp to material, and it is convenient clamped by material in spatial displacement, use manpower and material resources sparingly, substantially increase operating efficiency, be adapted to promote the use of.
Description
Technical field
The present invention relates to mechanical arm technical field, specifically a kind of portable material folding mechanical arm.
Background technology
Mechanical arm is the automated machine device that most broad practice is obtained in robot technical field, is made in industry
Make, therapeutic treatment, entertainment service, military affairs, the field such as semiconductor manufacturing and space probation can see its figure.Although it
Form have nothing in common with each other, but they have one it is common the characteristics of, can exactly receive instruction, be precisely positioned to three-dimensional
（Or two dimension）Certain point spatially carries out operation.
At present, the mechanical arm that in the market uses, it is complicated, cost is improved, work is become heavier, is increased
The time of work, operating efficiency is set to become low, it is impossible to effectively to complete task, produce a desired effect, spend a large amount of
Unnecessary energy.Therefore, existing mechanical arm is complicated, and using underaction, clamping effect is poor, and practicality is not strong.
The content of the invention
It is an object of the invention to provide a kind of portable material folding mechanical arm, to solve what is proposed in above-mentioned background technology
Problem.
To achieve the above object, the present invention provides following technical scheme：
A kind of portable material folding mechanical arm, including base, support platform, rotating disc, mounting bracket, lifting slider, installing plate, branch
Crossbeam, sleeve and arc clip tooth are supportted, the both ends upper surface of the base symmetrically fixes weld holder and is provided with support post；The support
Platform fixes the top for being erected at support post；The upper surface of the support platform, which rotates to slide, is provided with rotating disc；The rotation
The middle lower surface of disk is installed with rotating bar, and the bottom of rotating bar is rotatably arranged in base by bearing connected mode
Portion upper surface；The bottom outer peripheral surface of the rotating bar is installed with ring gear；It is installed with the support post
No.1 telescopic cylinder, the end of No.1 telescopic cylinder are fixedly installed tooth plate；Welding is fixed in the middle part upper surface of the rotating disc
Erection has mounting bracket；Weld holder is fixed on the upper outside wall of the mounting bracket respectively and is provided with upper backup pad and lower support；It is described
Screw mandrel is provided with by bearing connected mode rotating turret between lower support and upper backup pad；The lifting slider side of being connected through a screw thread
Formula is set on screw mandrel；The outer end of the lifting slider is installed with installing plate；The over top of the upper backup pad is fixed
The motor rotated for drive screw is installed；It is in level side that weld holder is fixed on the top outer wall of the installing plate and is provided with
To the support beam of setting；The bottom right side surface of the support beam offers slide rail, the T-shaped structure of slide rail；The slide rail
Interior slip is provided with translator slider, is provided with multiple arcs groove with the slide rail of the lower surface joint of translator slider, and arc is recessed
The circular arc angle of groove is more than No. two telescopic cylinder 180 degrees, and a ball is correspondingly provided with each arc groove；The translation is slided
The lower surface of block is installed with connector；The bottom fixed mount of the connector is provided with No. two telescopic cylinders；The installing plate
Bottom outer wall on No. three telescopic cylinders are installed, the end of No. three telescopic cylinders is connected with No. two telescopic cylinders；Described two
The sleeve of opening down setting is installed on the lower end outer wall of number telescopic cylinder；The output shaft bottom of No. two telescopic cylinders is set
There is jointed shaft, two symmetrical arc clip tooths are movably hinged with jointed shaft, arc clip tooth is in arc-shaped structure and two arcs
The rubber blanket of anti-skidding effect has been provided with the inwall of clip tooth, extension spring is connected between two arc clip tooths；The support is horizontal
The end of beam is also bolted mode and is provided with the limiting plate to be come off for placing connector.
Preferably, the upper surface of the support platform offers annular groove；The lower surface of the rotating disc offer with
The ring slider that annular groove is slidably matched, wherein ring slider are slided in annular groove.
Preferably, it is connected between the tooth plate and ring gear by gear engagement system.
Preferably, internal thread through hole is offered on the lifting slider, screw mandrel is connected through a screw thread mode through interior spiral shell
In line through hole.
Preferably, guide chute is offered on the upper outside wall of the mounting bracket, inner slide of lifting slider is located at
In guide chute.
Preferably, the motor uses rotating servomotor, the output shaft of motor and the top of screw mandrel it
Between pass through shaft coupling drive connection.
Preferably, the diameter of the sleeve is less than ultimate range when two arc clip tooths close.
Compared with prior art, the beneficial effects of the invention are as follows：
The present invention realizes the action of tooth plate in the horizontal direction using the flexible of No.1 telescopic cylinder, can drive annular
The certain angle of pinion rotation, and then drive mounting bracket to rotate certain angle, it is clamped in two arc clip tooths so as to realize
The motion of material in the horizontal direction；When screw mandrel rotates forward or rotates backward, screw mandrel in the vertical direction can be driven
Motion, and then realize the motion of clamped material in the vertical direction in two arc clip tooths；Further, No. three are controlled to stretch
Stretching for cylinder, promotes No. two telescopic cylinders to move in the horizontal direction, and then drives clamped material in two arc clip tooths
Motion in the horizontal direction.In summary, the present invention is simple in construction, reasonable in design, using flexible, can realize to material
Fast clamp, and it is convenient clamped by material in spatial displacement, use manpower and material resources sparingly, substantially increase operating efficiency, fit
Conjunction is promoted the use of.
Brief description of the drawings
Fig. 1 is the structural representation of portable material folding mechanical arm.
Fig. 2 is the structural representation of tooth plate transmission mechanism in portable material folding mechanical arm.
Fig. 3 is the top view of lifting slider in portable material folding mechanical arm.
Fig. 4 is the sectional view in support beam section in portable material folding mechanical arm.
In figure：1- bases, 2- support platforms, 3- support posts, 4- tooth plates, 5- rotating bars, 6- ring gears, 7- No.1s are stretched
Contracting cylinder, 8- rotating discs, 9- mounting brackets, 10- lower supporting plates, 11- lower supporting plates, 12- lifting sliders, 13- guide chutes, 14-
Screw mandrel, 15- installing plates, 16- support beams, 17- sleeves, No. bis- telescopic cylinders of 18-, No. tri- telescopic cylinders of 19-, 20- slide rails,
21- limiting plates, 22- arc clip tooths, 23- jointed shafts, 24- extension springs, 25- motors, 26- connectors, 27- balls, 28- translations
Sliding block, 29- ring sliders, 30- annular grooves, 31- internal thread through hole.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Refer to Fig. 1-4, in the embodiment of the present invention, a kind of portable material folding mechanical arm, including base 1, support platform
2nd, rotating disc 8, mounting bracket 9, lifting slider 12, installing plate 15, support beam 16, sleeve 17 and arc clip tooth 22, the base 1
Both ends upper surface symmetrically fix weld holder be provided with support post 3；The support platform 2 fixes the top for being erected at support post 3
End；The upper surface of the support platform 2, which rotates to slide, is provided with rotating disc 8；The middle lower surface of the rotating disc 8 is installed with
Rotating bar 5, the bottom of rotating bar 5 are rotatably arranged on the middle part upper surface of base 1 by bearing connected mode；The rotating bar 5
Bottom outer peripheral surface be installed with ring gear 6；No.1 telescopic cylinder 7, No.1 are installed with the support post 3
The end of telescopic cylinder 7 is fixedly installed tooth plate 4；It is driven and is connected by gear engagement system between the tooth plate 4 and ring gear 6
Connect；The upper surface of the support platform 2 offers annular groove 30；The lower surface of the rotating disc 8 offers and annular groove
30 ring sliders 29 being slidably matched, wherein ring slider 29 are slided in annular groove 30.
The middle part upper surface of the rotating disc 8 fixes weld holder and is provided with the mounting bracket 9 set in vertical direction；The installation
Weld holder is fixed on the upper outside wall of frame 9 respectively and is provided with the upper backup pad 11 set in horizontal direction and lower support 10, wherein
Upper backup pad 11 is positioned at the top of lower support 10；Rotated between the lower support 10 and upper backup pad 11 by bearing connected mode
Erection has screw mandrel 14；Internal thread through hole 31 is offered on the lifting slider 12；The side of being connected through a screw thread of lifting slider 12
Formula is set on screw mandrel 14, and wherein screw mandrel 14 is connected through a screw thread mode through setting in internal thread through hole 31；The installation
Guide chute 13 is offered on the upper outside wall of frame 9；The inner of the lifting slider 12 is slided in guide chute 13；Institute
The outer end for stating lifting slider 12 is installed with installing plate 15；The over top of the upper backup pad 11 is installed with for driving
The motor 25 that dynamic screw mandrel 14 rotates, motor 25 use rotating servomotor, the output shaft and silk of motor 25
Pass through shaft coupling drive connection between the top of bar 14.
Weld holder is fixed on the top outer wall of the installing plate 15 and is provided with the support beam 16 set in horizontal direction；It is described
The bottom right side surface of support beam 16 offers slide rail 20,20 T-shaped structure of slide rail；Slided in the slide rail 20 and be provided with translation
Sliding block 28, multiple arcs groove, and the circular arc of arc groove are provided with the slide rail 20 of the lower surface joint of translator slider 28
Angle is more than No. two telescopic cylinder 180 degrees, and a ball 27 is correspondingly provided with each arc groove；The translator slider 28
Lower surface is installed with connector 26；The bottom fixed mount of the connector 26 is provided with No. two telescopic cylinders 18；The installation
No. three telescopic cylinders 19 are installed, the end of No. three telescopic cylinders 19 is connected with No. two telescopic cylinders 18 on the bottom outer wall of plate 15
Connect；The sleeve 17 of opening down setting is installed on the lower end outer wall of No. two telescopic cylinders 18；No. two telescopic cylinders
18 output shaft bottom is provided with jointed shaft 23, and two symmetrical arc clip tooths 22, arc clip tooth are movably hinged with jointed shaft 23
22 in the rubber blanket that anti-skidding effect has been provided with arc-shaped structure and the inwall of two arc clip tooths 22, two arc clip tooths
Extension spring 24 is connected between 22, extension spring 24 is used to support two arc clip tooths 22；The diameter of the sleeve 17 is less than two arcs
Ultimate range when clip tooth 22 closes, flexible by No. two telescopic cylinders 18 realize folder of two arc clip tooths 22 to material
Hold；The end of the support beam 16 is also bolted mode and is provided with the limiting plate to be come off for placing connector 26
21。
The present invention operation principle be：In use, the flexible of control No.1 telescopic cylinder 7 realizes tooth plate 4 in level side
Upward action, due to being connected between tooth plate 4 and ring gear 6 by gear engagement system, when tooth plate 4 to the left or
A segment distance is moved right, ring gear 6 can be driven to rotate certain angle, and then drive mounting bracket 9 to rotate certain angle
Degree, so as to realize the motion of clamped material in the horizontal direction in two arc clip tooths 22；In addition, control motor 25 is defeated
Shaft rotating forward or rotating backward, and then drives screw mandrel 14 to be rotated forward or rotated backward, because lifting is slided
Block 12 is connected through a screw thread mode and is set on screw mandrel 14, when screw mandrel 14 is rotated forward or rotated backward, can drive silk
The in the vertical direction of bar 14 moves, and then realizes the motion of clamped material in the vertical direction in two arc clip tooths 22；Enter
One step, stretching for No. three telescopic cylinders 19 of control, promote No. two telescopic cylinders 18 to move in the horizontal direction, and then drive two
The motion of clamped material in the horizontal direction in individual arc clip tooth 22.
The present invention is simple in construction, reasonable in design, easy to use, can realize the fast clamp to material, and folded by convenience
Material is held in spatial displacement, uses manpower and material resources sparingly, substantially increases operating efficiency, be adapted to promote the use of.
Finally it should be noted that：The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention,
Although the present invention is described in detail with reference to the foregoing embodiments, for those skilled in the art, it still may be used
To be modified to the technical scheme described in foregoing embodiments, or equivalent substitution is carried out to which part technical characteristic,
Within the spirit and principles of the invention, any modification, equivalent substitution and improvements made etc., it should be included in the present invention's
Within protection domain.
Claims (7)
1. a kind of portable material folding mechanical arm, including base（1）, support platform（2）, rotating disc（8）, mounting bracket（9）, lifting
Sliding block（12）, installing plate（15）, support beam（16）, sleeve（17）With arc clip tooth（22）, it is characterized in that, the base（1）
Both ends upper surface symmetrically fix weld holder be provided with support post（3）, the support platform（2）Fixation is erected at support post
（3）Top, the support platform（2）Upper surface rotate slide be provided with rotating disc（8）, the rotating disc（8）Middle part under
Surface is installed with rotating bar（5）, rotating bar（5）Bottom base is rotatably arranged on by bearing connected mode（1）In
Portion upper surface, the rotating bar（5）Bottom outer peripheral surface be installed with ring gear（6）, the support post（3）It is upper solid
Dingan County is equipped with No.1 telescopic cylinder（7）, No.1 telescopic cylinder（7）End be fixedly installed tooth plate（4）, the rotating disc（8）
Middle part upper surface fix weld holder be provided with mounting bracket（9）, the mounting bracket（9）Upper outside wall on respectively fix weld holder
Provided with upper backup pad（11）With lower support（10）, the lower support（10）With upper backup pad（11）Between pass through bearing connected mode
Rotating turret is provided with screw mandrel（14）, the lifting slider（12）The mode of being connected through a screw thread is set in screw mandrel（14）On, the lifting
Sliding block（12）Outer end be installed with installing plate（15）, the upper backup pad（11）Over top be installed with for driving
Dynamic screw mandrel（14）The motor of rotation（25）, the installing plate（15）Top outer wall on fix weld holder be provided be in level side
To the support beam of setting（16）, the support beam（16）Bottom right side surface offer slide rail（20）, slide rail（20）In T
Type structure, the slide rail（20）Interior slip is provided with translator slider（28）, with translator slider（28）Lower surface joint slide rail
（20）Multiple arcs groove is provided with, and the circular arc angle of arc groove is more than No. two telescopic cylinder 180 degrees, each arc is recessed
A ball is correspondingly provided with groove（27）, the translator slider（28）Lower surface be installed with connector（26）, the company
Fitting（26）Bottom fixed mount be provided with No. two telescopic cylinders（18）, the installing plate（15）Bottom outer wall on be provided with No. three
Telescopic cylinder（19）, No. three telescopic cylinders（19）End and No. two telescopic cylinders（18）It is connected, No. two telescopic cylinders
（18）Lower end outer wall on the sleeve of opening down setting is installed（17）, No. two telescopic cylinders（18）Output shaft bottom
Provided with jointed shaft（23）, jointed shaft（23）On be movably hinged with two symmetrical arc clip tooths（22）, arc clip tooth（22）In circle
Arcuate structure and two arc clip tooths（22）Inwall on be provided with the rubber blanket of anti-skidding effect, two arc clip tooths（22）
Between be connected with extension spring（24）, the support beam（16）End be also bolted mode be provided with for place connection
Part（26）The limiting plate to come off（21）.
2. a kind of portable material folding mechanical arm according to claim 1, it is characterized in that, the support platform（2）It is upper
Surface offers annular groove（30）, the rotating disc（8）Lower surface offer and annular groove（30）The ring being slidably matched
Shape sliding block（29）, wherein ring slider（29）Slip is located at annular groove（30）It is interior.
3. a kind of portable material folding mechanical arm according to claim 1, it is characterized in that, the tooth plate（4）With annular tooth
Wheel（6）Between be connected by gear engagement system.
4. a kind of portable material folding mechanical arm according to claim 1, it is characterized in that, the lifting slider（12）On open
Provided with internal thread through hole（31）, screw mandrel（14）Mode is connected through a screw thread through internal thread through hole（31）It is interior.
5. a kind of portable material folding mechanical arm according to claim 1, it is characterized in that, the mounting bracket（9）Top
Guide chute is offered on lateral wall（13）, lifting slider（12）Inner slide be located at guide chute（13）It is interior.
6. a kind of portable material folding mechanical arm according to claim 1, it is characterized in that, the motor（25）Using
Rotating servomotor, motor（25）Output shaft and screw mandrel（14）Top between pass through shaft coupling drive connection.
7. a kind of portable material folding mechanical arm according to claim 1, it is characterized in that, the sleeve（17）Diameter it is small
In two arc clip tooths（22）Ultimate range during closure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710867808.3A CN107378929A (en) | 2017-09-22 | 2017-09-22 | A kind of portable material folding mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710867808.3A CN107378929A (en) | 2017-09-22 | 2017-09-22 | A kind of portable material folding mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107378929A true CN107378929A (en) | 2017-11-24 |
Family
ID=60350009
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710867808.3A Withdrawn CN107378929A (en) | 2017-09-22 | 2017-09-22 | A kind of portable material folding mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107378929A (en) |
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| CN113997273A (en) * | 2021-11-29 | 2022-02-01 | 中国人民解放军空军工程大学 | Automatic control manipulator |
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Application publication date: 20171124 |