CN108297128A - A kind of folding retractable mechanical arm - Google Patents
A kind of folding retractable mechanical arm Download PDFInfo
- Publication number
- CN108297128A CN108297128A CN201711473724.8A CN201711473724A CN108297128A CN 108297128 A CN108297128 A CN 108297128A CN 201711473724 A CN201711473724 A CN 201711473724A CN 108297128 A CN108297128 A CN 108297128A
- Authority
- CN
- China
- Prior art keywords
- support column
- mounting groove
- mounting
- wall
- driving motor
- Prior art date
- 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.)
- Withdrawn
Links
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
Abstract
The invention discloses a kind of folding retractable mechanical arms, including transversal stretching mechanism and longitudinal extension mechanism, one end of two transversal stretching mechanisms close to each other is mounted on connecting seat, in two connecting seats one end mounting cylinder close to each other, it is threaded with bolt on the outer wall of mounting cylinder, the threaded one end of bolt is connected in the inner wall of connecting seat, the bottom of the mounting cylinder is welded with support column, the transversal stretching mechanism includes the first support column, second support column and third support column, first support column is equipped with first through hole and the first mounting groove, the both ends of second support column are respectively equipped with third mounting groove and the 4th mounting groove, third mounting groove is located remotely from the side of the first support column, third support column is equipped with the 5th mounting groove close to the side of the second support column, it is equipped with screw thread on the inner wall of 4th mounting groove and the 5th mounting groove.Structure of the invention is unique, ingenious in design, reasonable for structure, is suitble to promote.
Description
Technical field
The present invention relates to mechanical arm technical field more particularly to a kind of folding retractable mechanical arms.
Background technology
Mechanical arm refer to high-precision, high speed glue dispensing machine hand, mechanical arm be a multiple-input and multiple-output, nonlinearity,
The complication system of close coupling.Because of its unique operating flexibility, in industry assembling, the fields such as safety anti-explosive are answered extensively
With.Mechanical arm is a complication system, and there is the uncertainties such as Parameter Perturbation, external interference and Unmarried pregnancy.Thus machine
There is also uncertainties for the modeler model of tool arm, for different tasks, need the movement rail for planning joint of mechanical arm space
Mark constitutes end pose to cascade.
In recent years, with the development of robot technology, using high speed, high-precision, high load conducts oneself with dignity the robot architecture of ratio
It is paid close attention to by industry and aerospace field.Due to the increase in joint in motion process and the flexible effect of connecting rod, make structure
Deform to make the precision of task execution to reduce.So robot arm structural flexibility feature must pay attention to, it is real
Existing flexible mechanical arm high-precision effectively control also must be considered that system dynamics.Flexible mechanical arm is one extremely complex
Dynamic system, kinetics equation have the features such as non-linear, close coupling, consolidation.And carry out flexible arm dynamics problem
Research, the foundation of model is extremely important.Flexible mechanical arm is not only the nonlinear system of a Coupled Rigid-flexible, and
The nonlinear system for i.e. mechanical-electric coupling that be system dynamics intercouple with control characteristic.The purpose of Dynamic Modeling be for
Control system describes and controller design provides foundation.General control systems description (including the state space description of time domain and
The transmission function of frequency domain describes) positioning with sensor/actuator, the information from actuator to sensor is transmitted and mechanical arm
Kinetic characteristics it is closely related.
Existing mechanical arm is check configuration, can only be operated by a manipulator, and operating efficiency is low, for this purpose,
The present invention proposes a kind of folding retractable mechanical arm.
Invention content
The purpose of the present invention is to solve disadvantages existing in the prior art, and a kind of folding retractable machinery proposed
Arm.
To achieve the goals above, present invention employs following technical solutions：
A kind of folding retractable mechanical arm, including transversal stretching mechanism and longitudinal extension mechanism, two transverse directions close to each other
One end of telescoping mechanism is mounted on connecting seat, in two connecting seats one end mounting cylinder close to each other, on the outer wall of mounting cylinder
It is threaded with bolt, the threaded one end of bolt is connected in the inner wall of connecting seat, and the bottom of the mounting cylinder is welded with support
Column, the transversal stretching mechanism include the first support column, the second support column and third support column, and first support column is equipped with
The both ends of first through hole and the first mounting groove, the second support column are respectively equipped with third mounting groove and the 4th mounting groove, third installation
Slot is located remotely from the side of the first support column, and third support column is equipped with the 5th mounting groove close to the side of the second support column, and the 4th
Screw thread is equipped on the inner wall of mounting groove and the 5th mounting groove, the second support column is socketed in the inside of the first support column, the first peace
Tankage is internally provided with the first driving motor, and the output shaft of the first driving motor is equipped with the first rotating seat, the first rotating seat with
Second support column is threadedly coupled, and third support column is socketed in the second support column, and third mounting groove is internally provided with the second driving
The output shaft of motor, the second driving motor is equipped with the second rotating seat, and the second rotating seat is threadedly coupled with third support column, connects
Seat is equipped with the second mounting groove, and the bottom end of connecting seat is equipped with third driving motor and retarder, the output shaft of third driving motor
With the input axis connection of retarder, shaft is connected on the output shaft of retarder, and shaft is located in the second mounting groove, solid in shaft
Surely it is connected with the first support column, the described one end of third support column far from the second support column is equipped with longitudinal extension mechanism, Zong Xiangshen
Contracting mechanism includes fixed seat and telescoping hydraulic cylinder, and the bottom end of fixed seat is provided with fixing groove, and the bottom end of fixed seat is equipped with telescopic
The top of hydraulic cylinder, telescoping hydraulic cylinder is equipped with telescopic mast, and telescopic mast is embedded in fixing groove, on telescopic hydraulic cylinder piston rod
Equipped with handgrip.
Preferably, the both ends of the shaft are installed on connecting seat, and the junction of shaft and connecting seat is equipped with bearing.
Preferably, it is provided with the second through-hole in the telescopic mast and fixed seat, the second through-hole is equipped with fixing axle, in fixing axle
Equipped with clamp spring.
Preferably, the outer wall of the inner wall and the second support column of first support column is slidably connected, the second support column it is interior
The outer wall of wall and third support column is slidably connected.
Preferably, the lower end of the support column is fixed with mounting plate, and the top of the mounting plate is equipped with mounting hole, facilitate by
Mounting plate fixes on the ground.
Beneficial effects of the present invention：
1, it is mounted on connecting seat by one end of two transversal stretching mechanisms close to each other, two connecting seats mutually lean on
In close one end mounting cylinder, bolt is threaded on the outer wall of mounting cylinder, the threaded one end of bolt is connected to the interior of connecting seat
In wall, the bottom of mounting cylinder is welded with support column, and there are two mechanical arms for installation on support column, and the end of two mechanical arms is also installed
There is longitudinal extension mechanism, the convenient crawl to thing, very convenient, two connecting seats can be dismantled, very convenient to install and use；
2, by first driving motor that is internally provided with of the first mounting groove, the output shaft of the first driving motor is equipped with first
Rotating seat, the first rotating seat are threadedly coupled with the second support column, and third support column is socketed in the second support column, third mounting groove
Be internally provided with the second driving motor, the output shaft of the second driving motor is equipped with the second rotating seat, the second rotating seat and third
Support column is threadedly coupled, and transmission is convenient, and stability is good；
Structure of the invention is unique, ingenious in design, reasonable for structure, is suitble to promote.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of folding retractable mechanical arm proposed by the present invention；
Fig. 2 is a kind of partial structurtes sectional view of folding retractable mechanical arm proposed by the present invention.
In figure：1 handgrip, 2 telescoping hydraulic cylinders, 3 fixing axles, 4 telescopic masts, 5 fixed seats, 6 third support columns, 7 second rotations
Swivel base, 8 third mounting grooves, 9 second driving motors, 10 second support columns, 11 the 4th mounting grooves, 12 first rotating seats, 13 first
Driving motor, 14 first support columns, 15 shafts, 16 bearings, 17 retarders, 18 third driving motors, 19 connecting seats, 20 installations
Cylinder, 21 bolts, 22 support columns, 23 mounting plates.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Referring to Fig.1-2, a kind of folding retractable mechanical arm, including transversal stretching mechanism and longitudinal extension mechanism, two mutually
One end of close transversal stretching mechanism is mounted on connecting seat 19, two connecting seats 19 one end mounting cylinder 20 close to each other
In, bolt 21 is threaded on the outer wall of mounting cylinder 20, the threaded one end of bolt 21 is connected in the inner wall of connecting seat 19, peace
The bottom of fitted tube 20 is welded with support column 22, and transversal stretching mechanism includes the first support column 14, the second support column 10 and third branch
Dagger 6, the first support column 14 are equipped with first through hole and the first mounting groove, and the both ends of the second support column 10 are respectively equipped with third peace
Tankage 8 and the 4th mounting groove 11, third mounting groove 8 are located remotely from the side of the first support column 14, and third support column 6 is close to second
The side of support column 10 is equipped with the 5th mounting groove, and screw thread is equipped on the inner wall of the 4th mounting groove 11 and the 5th mounting groove, and second
Support column 10 is socketed in the inside of the first support column 14, and the first mounting groove is internally provided with the first driving motor 13, the first driving
The output shaft of motor 13 is equipped with the first rotating seat 12, and the first rotating seat 12 is threadedly coupled with the second support column 10, third support
Column 6 is socketed in the second support column 10, and third mounting groove 8 is internally provided with the second driving motor 9, the second driving motor 9 it is defeated
Shaft is equipped with the second rotating seat 7, and the second rotating seat 7 is threadedly coupled with third support column 6, and connecting seat 19 is equipped with the second installation
The bottom end of slot, connecting seat 19 is equipped with third driving motor 18 and retarder 17, the output shaft and retarder of third driving motor 18
17 input axis connection is connected with shaft 15 on the output shaft of retarder 17, and shaft 15 is located in the second mounting groove, in shaft 15
It is fixedly connected with the first support column 14, the one end of third support column 6 far from the second support column 10 is equipped with longitudinal extension mechanism, longitudinal
Telescoping mechanism includes fixed seat 5 and telescoping hydraulic cylinder 2, and the bottom end of fixed seat 5 is provided with fixing groove, and the bottom end of fixed seat 5 is equipped with
The top of telescoping hydraulic cylinder 2, telescoping hydraulic cylinder 2 is equipped with telescopic mast 4, and telescopic mast 4 is embedded in fixing groove, telescopic hydraulic
2 piston rod of cylinder is equipped with handgrip 1, and the both ends of shaft 15 are installed on connecting seat 19, and the connection of shaft 15 and connecting seat 19
Place is equipped with bearing 16, and the second through-hole is provided on telescopic mast 4 and fixed seat 5, and the second through-hole is equipped with fixing axle 3, is set in fixing axle 3
There are clamp spring, the inner wall of the first support column 14 and the outer wall of the second support column 10 to be slidably connected, the inner wall of the second support column 10 and
The outer wall of three support columns 6 is slidably connected, and the lower end of support column 22 is fixed with mounting plate 23, and the top of mounting plate 23 is equipped with installation
Hole facilitates and fixes mounting plate 23 on the ground.
Operation principle：It is mounted on connecting seat 19 by one end of two transversal stretching mechanisms close to each other, two companies
In one end mounting cylinder 20 close to each other of joint chair 19, bolt 21, one end of bolt 21 are threaded on the outer wall of mounting cylinder 20
It is threaded in the inner wall of connecting seat 19, the bottom of mounting cylinder 20 is welded with support column 22, on support column 22 there are two installations
The end of mechanical arm, two mechanical arms is also equipped with longitudinal extension mechanism, the convenient crawl to thing, very convenient, two companies
Joint chair 19 can be dismantled, very convenient to install and use, and be driven by first driving motor 13 that is internally provided with of the first mounting groove, first
The output shaft of dynamic motor 13 is equipped with the first rotating seat 12, and the first rotating seat 12 is threadedly coupled with the second support column 10, third branch
Dagger 6 is socketed in the second support column 10, and third mounting groove 8 is internally provided with the second driving motor 9, the second driving motor 9
Output shaft is equipped with the second rotating seat 7, and the second rotating seat 7 is threadedly coupled with third support column 6, and transmission is convenient, and stability is good, this
Inventive structure is unique, ingenious in design, reasonable for structure, is suitble to promote.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (5)
1. a kind of folding retractable mechanical arm, including transversal stretching mechanism and longitudinal extension mechanism, two transverse directions close to each other are stretched
One end of contracting mechanism is mounted on connecting seat (19), which is characterized in that two connecting seats (19) one end mounting cylinder close to each other
(20) in, bolt (21) is threaded on the outer wall of mounting cylinder (20), the threaded one end of bolt (21) is connected to connecting seat
(19) in inner wall, the bottom of the mounting cylinder (20) is welded with support column (22), and the transversal stretching mechanism includes first
Dagger (14), the second support column (10) and third support column (6), first support column (14) are equipped with first through hole and first
The both ends of mounting groove, the second support column (10) are respectively equipped with third mounting groove (8) and the 4th mounting groove (11), third mounting groove
(8) it is located remotely from the side of the first support column (14), third support column (6) is equipped with the 5th close to the side of the second support column (10)
Screw thread is equipped on the inner wall of mounting groove, the 4th mounting groove (11) and the 5th mounting groove, the second support column (10) is socketed in first
The inside of support column (14), the first mounting groove are internally provided with the first driving motor (13), the output of the first driving motor (13)
Axis is equipped with the first rotating seat (12), and the first rotating seat (12) is threadedly coupled with the second support column (10), third support column (6) set
It is connected in the second support column (10), third mounting groove (8) is internally provided with the second driving motor (9), the second driving motor (9)
Output shaft is equipped with the second rotating seat (7), and the second rotating seat (7) is threadedly coupled with third support column (6), and connecting seat is set on (19)
There are the second mounting groove, the bottom end of connecting seat (19) to be equipped with third driving motor (18) and retarder (17), third driving motor
(18) the input axis connection of output shaft and retarder (17) is connected with shaft (15), shaft on the output shaft of retarder (17)
(15) it is located in the second mounting groove, the first support column (14) is fixedly connected in shaft (15), the third support column (6) is separate
One end of second support column (10) is equipped with longitudinal extension mechanism, and longitudinal extension mechanism includes fixed seat (5) and telescoping hydraulic cylinder
(2), the bottom end of fixed seat (5) is provided with fixing groove, and the bottom end of fixed seat (5) is equipped with telescoping hydraulic cylinder (2), telescoping hydraulic cylinder
(2) top is equipped with telescopic mast (4), and telescopic mast (4) is embedded in fixing groove, and telescoping hydraulic cylinder (2) piston rod is equipped with and grabs
Hand (1).
2. a kind of folding retractable mechanical arm according to claim 1, which is characterized in that pacify at the both ends of the shaft (15)
On connecting seat (19), and shaft (15) and the junction of connecting seat (19) are equipped with bearing (16).
3. a kind of folding retractable mechanical arm according to claim 1, which is characterized in that the telescopic mast (4) and fixed seat
(5) the second through-hole is provided on, the second through-hole is equipped with fixing axle (3), and fixing axle (3) is equipped with clamp spring.
4. a kind of folding retractable mechanical arm according to claim 1, which is characterized in that first support column (14) it is interior
Wall and the outer wall of the second support column (10) are slidably connected, and the inner wall of the second support column (10) is slided with the outer wall of third support column (6)
Dynamic connection.
5. a kind of folding retractable mechanical arm according to claim 1, which is characterized in that the lower end of the support column (22) is solid
There are mounting plate (23), the top of the mounting plate (23) to be equipped with mounting hole, facilitate and fix mounting plate (23) on the ground surely.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711473724.8A CN108297128A (en) | 2017-12-29 | 2017-12-29 | A kind of folding retractable mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711473724.8A CN108297128A (en) | 2017-12-29 | 2017-12-29 | A kind of folding retractable mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108297128A true CN108297128A (en) | 2018-07-20 |
Family
ID=62867671
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711473724.8A Withdrawn CN108297128A (en) | 2017-12-29 | 2017-12-29 | A kind of folding retractable mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108297128A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109533919A (en) * | 2018-11-20 | 2019-03-29 | 东台市海邦电气有限公司 | One kind wirelessly driving transporter convenient for operation light load-carrying |
| CN109533920A (en) * | 2018-11-20 | 2019-03-29 | 东台市海邦电气有限公司 | Transportation robot support carries assembly of devices |
| CN109809250A (en) * | 2019-01-10 | 2019-05-28 | 中原工学院 | A kind of cylinder stand of warping machine intelligence creeling robot |
| CN111823268A (en) * | 2019-04-23 | 2020-10-27 | 精工爱普生株式会社 | Horizontal multi-joint robot |
-
2017
- 2017-12-29 CN CN201711473724.8A patent/CN108297128A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109533919A (en) * | 2018-11-20 | 2019-03-29 | 东台市海邦电气有限公司 | One kind wirelessly driving transporter convenient for operation light load-carrying |
| CN109533920A (en) * | 2018-11-20 | 2019-03-29 | 东台市海邦电气有限公司 | Transportation robot support carries assembly of devices |
| CN109809250A (en) * | 2019-01-10 | 2019-05-28 | 中原工学院 | A kind of cylinder stand of warping machine intelligence creeling robot |
| CN111823268A (en) * | 2019-04-23 | 2020-10-27 | 精工爱普生株式会社 | Horizontal multi-joint robot |
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|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180720 |
|
| WW01 | Invention patent application withdrawn after publication |