CN108453711A - A kind of movable type mechanical arm pedestal - Google Patents
A kind of movable type mechanical arm pedestal Download PDFInfo
- Publication number
- CN108453711A CN108453711A CN201810537050.1A CN201810537050A CN108453711A CN 108453711 A CN108453711 A CN 108453711A CN 201810537050 A CN201810537050 A CN 201810537050A CN 108453711 A CN108453711 A CN 108453711A
- Authority
- CN
- China
- Prior art keywords
- screw rod
- mechanical arm
- fixed plate
- race
- movable type
- 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- Withdrawn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
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Abstract
The invention discloses a kind of movable type mechanical arm pedestals, including base shell and moving assembly, the race of at least three indents is equipped with below base shell, the stabilization of pedestal when ensureing to be supported by moving assembly, fixed plate is equipped in base shell above race, moving assembly is mounted in fixed plate and stretches out race, moving assembly includes drive module and flexible module, flexible module includes the screw rod across fixed plate, it is fixed in fixed plate and is sleeved on the feed screw nut on screw rod and drive the telescope motor of screw rod, one end that screw rod stretches out fixed plate is fixed with turntable, turntable is rotatablely connected with drive module, telescope motor only drives screw rod to rotate, drive module is set to stretch out or take in race.
Description
Technical field
The present invention relates to manipulator technical fields, and in particular to a kind of manipulator base easy to remove.
Background technology
Mechanical arm is the automated machine device that most broad practice is obtained in field of mechanical technique, is made in industry
It makes, therapeutic treatment, entertainment service, military affairs, the fields such as semiconductor manufacturing and space probation can see its figure.Although it
Form have nothing in common with each other, but they are to receive instruction, are precisely positioned to three-dimensional space all there are one common feature
Between on certain point carry out operation.
Generally all by rotary joint connect base, the stability of pedestal is extremely closed in the large arm pitching joint of existing mechanical arm
Important, mechanical arm pedestal generally can be divided into two types in the prior art：One is pedestal be fixed on it is fixed on basal plane；Separately
One is the unfixed movable types of pedestal.For fixed pedestal, pedestal fixes on the ground generally by bolt, therefore
The position for being inconvenient to change mechanical arm brings inconvenience to the adjustment etc. of production line；For mobile pedestal, usually in machinery
Arm pedestal directly increases movable pulley, although facilitating the movement of mechanical arm, so that mechanical arm is in ground and detaches shape
State, since mechanical arm and ground are not fixed, is easy to happen mechanical arm when movable type mechanical arm is in a fixed position work
The case where centre-of gravity shift, mechanical arm are tumbled, reduces reliability.Therefore, it is necessary to design a kind of not only easy to remove but also machine can be made
Mechanical arm pedestal of the tool arm in fixed position steady operation.
Invention content
The technical problem to be solved in the present invention is to provide a kind of simple in structure and can not only move freely can also be in fixation
The mechanical arm pedestal of position steady operation, it is easy to operate, improve the reliability of movable type mechanical arm.
In order to solve the above technical problem, the present invention provides a kind of movable type mechanical arm pedestal, including base shell and
Moving assembly, the base shell lower section are equipped with the race of at least three indents, and pedestal is steady when ensureing to be supported by moving assembly
It is fixed, fixed plate is equipped in the base shell above the race, the moving assembly is mounted in the fixed plate and stretches out institute
Race is stated, the moving assembly includes drive module and flexible module, and the flexible module includes the spiral shell across the fixed plate
Bar, the feed screw nut for being fixed in the fixed plate and being sleeved on the screw rod and the telescope motor for driving the screw rod, it is described
Screw rod stretches out one end of the fixed plate and turntable is fixed, and the turntable is rotatablely connected with the drive module, works as drive module
When being contacted with ground, since drive module compression force effect keeps it larger with the frictional force on ground, telescope motor drives spiral shell at this time
Bar rotates, and screw rod is moved to chassis interior, and the screw rod drives the turntable to be rotated relative to the drive module, and the driving
Module is fixed, and the movement abrasion that is more smooth and avoiding drive module of screw rod, drive module is made gradually to take in race
It is detached from ground, the lower surface of pedestal completely attaches to ground at this time, and drive module is avoided still to contact to earth so that position base is unstable.
Further, the outer surface of the feed screw nut is gear type, and master is equipped on the output shaft of the telescope motor
Moving gear, the feed screw nut and driving gear pass through the first toothed belt transmission so that the screw rod under the driving of motor on
Lower movement drives drive module income or stretches out the race.
Further, the screw rod stretch into the fixed plate one end fixing sleeve be equipped with limited block, when screw rod moves down
To limited block, telescope motor is stopped, and drive module is in the state that pedestal can be driven to move.
Further, it is equipped with pressure sensor in the base shell of the screw tip, is passed when screw rod end compresses pressure
Sensor, telescope motor are stopped, and drive module is taken in completely in the race.
Further, the drive module includes two driving wheels, and the driving wheel is arranged at the both ends of wheel shaft block, described
Wheel shaft block is rotatablely connected with the turntable, and each driving wheel is driven by corresponding driving motor, beside the driving motor
Motor driver is installed, two driving wheel self-movements drive pedestal movement, while can drive pedestal in minimum space
It turns to.
Further, the first synchronous pulley is installed on the output shaft of the driving motor, the second synchronous pulley with it is described
Driving wheel is coaxially fixed, and first synchronous pulley and the second synchronous pulley are connected by the second synchronous belt, make drive module
It is laid out compacter.
Further, the race is equipped with 4, and the race is located at the quadrangle of the base shell, and pedestal is made to move
More stablize when dynamic.
A kind of movable type mechanical arm pedestal of the present invention, advantageous effect compared with prior art is can to move freely
And it can be in fixed position steady operation.
Description of the drawings
Fig. 1 is overall structure diagram of the embodiment of the present invention；
Fig. 2 is drive module schematic diagram of the embodiment of the present invention.
Specific implementation mode
The invention will be further described in the following with reference to the drawings and specific embodiments, so that those skilled in the art can be with
It more fully understands the present invention and can be practiced, but illustrated embodiment is not as a limitation of the invention.
As shown in Figure 1, a kind of movable type mechanical arm pedestal, including base shell 1 and moving assembly, the base shell 1
Lower section is equipped with the race 2 of at least three indents, and the stabilization of pedestal is preferably provided with that there are four wheels when in the present embodiment to ensure mobile
Slot 2, the race 2 are located at the quadrangle of the base shell 1, on the one hand ensure the stabilization of pedestal, on the other hand so that bottom
Seat can turn in minimum space；Fixed plate 3, the moving assembly peace are equipped in the base shell 1 of 2 top of the race
In the fixed plate 3 and the race 2 is stretched out, the moving assembly includes drive module 4 and flexible module 5, the drive
Dynamic model block 4 drives pedestal movement, turns to, and the flexible module 5 controls the drive module 4 and stretches out or receive out of the race 2
Enter in the race 2, when the flexible module 5, which controls the drive module 4, stretches out the race 2, the drive module 4 is touched
Ground, the drive module 4 drive pedestal is mobile, turns to etc., institute are collapsed into when the flexible module 5 controls the drive module 4
When stating in race 2, the base lower surface is contacted with ground, since 2 cross section of race only occupies the portion of pedestal cross section very little
Point, therefore base lower surface is largely contacted with ground, stabilization of the guarantee pedestal in fixed position；The flexible module 5 includes
Across the screw rod 51 of the fixed plate 3, the feed screw nut 52 that is fixed in the fixed plate 3 and is sleeved on the screw rod 51 and drive
The telescope motor 53 of the screw rod 51 is moved, the screw rod 51 stretches out one end of the fixed plate 3 and turntable 54 is fixed, the turntable
54 with the drive module 4 be rotatablely connected, when drive module 4 when being contacted with ground, since 4 compression force effect of drive module makes it
Larger with the frictional force on ground, telescope motor 53 drives screw rod 51 to rotate at this time, and screw rod 51 is moved to chassis interior, the screw rod
51 drive the turntable 54 to be rotated relative to the drive module 4, and the drive module 4 is fixed, makes the movement of screw rod 51
Abrasion that is more smooth and avoiding drive module 4, drive module 4 are gradually taken in and are detached from ground in race 2, at this time the following table of pedestal
Face completely attaches to ground, and drive module 4 is avoided still to contact to earth so that position base is unstable.
As the preferred technical solution of the present embodiment, the outer surface of the feed screw nut 52 is gear type, the flexible electricity
Driving gear 55, the feed screw nut 52 and driving gear 55 are installed to pass by the first synchronous belt 56 on the output shaft of machine 53
It is dynamic so that the screw rod 51 moves up and down under the driving of motor, drives the income of drive module 4 or stretches out the race 2.
As the preferred technical solution of the present embodiment, one end fixing sleeve that the screw rod 51 stretches into the fixed plate 3 is equipped with
Limited block 57, when screw rod 51 is moved downward at limited block 57, telescope motor 53 is stopped, and drive module 4 is in can band
The state of dynamic pedestal movement.
As the preferred technical solution of the present embodiment, pressure sensor is equipped in the base shell 1 on 51 top of the screw rod
58, when 51 end of screw rod compresses pressure sensor 58, telescope motor 53 is stopped, and drive module 4 takes in the race 2 completely
It is interior.
As shown in Fig. 2, the drive module 4 includes two driving wheels 41, the driving wheel 41 is arranged in wheel shaft block 42
Both ends, the wheel shaft block 42 are rotatablely connected with the turntable 54, and each driving wheel 41 is driven by corresponding driving motor 43,
43 side of the driving motor is equipped with motor driver 44, and two 41 self-movements of driving wheel drive pedestal movement, while energy
Pedestal is driven to turn in minimum space；First synchronous pulley 45 is installed on the output shaft of the driving motor 43, second
Synchronous pulley 46 is coaxial fixed with the driving wheel 41, and first synchronous pulley, 45 and second synchronous pulley 46 is same by second
It walks band 47 to be connected, keeps the layout of drive module 4 compacter.
Embodiment described above is only to absolutely prove preferred embodiment that is of the invention and being lifted, protection model of the invention
It encloses without being limited thereto.Those skilled in the art on the basis of the present invention made by equivalent substitute or transformation, in the present invention
Protection domain within.Protection scope of the present invention is subject to claims.
Claims (7)
1. a kind of movable type mechanical arm pedestal, which is characterized in that including base shell and moving assembly, below the base shell
Race equipped at least three indents is equipped with fixed plate in the base shell above the race, and the moving assembly is mounted on
In the fixed plate and the race is stretched out, the moving assembly includes drive module and flexible module, the flexible module packet
It includes described in the screw rod across the fixed plate, the feed screw nut for being fixed in the fixed plate and being sleeved on the screw rod and driving
The telescope motor of screw rod, the screw rod stretches out one end of the fixed plate and turntable is fixed, the turntable and the drive module
Rotation connection.
2. a kind of movable type mechanical arm pedestal as described in claim 1, which is characterized in that the outer surface of the feed screw nut is
It is same by first to be equipped with driving gear, the feed screw nut and driving gear on the output shaft of the telescope motor for gear type
Walk V belt translation.
3. a kind of movable type mechanical arm pedestal as described in claim 1, which is characterized in that the screw rod stretches into the fixed plate
One end fixing sleeve be equipped with limited block.
4. a kind of movable type mechanical arm pedestal as described in claim 1, which is characterized in that the base shell of the screw tip
It is interior to be equipped with pressure sensor.
5. a kind of movable type mechanical arm pedestal as described in claim 1, which is characterized in that the drive module includes two drives
Driving wheel, the driving wheel are arranged at the both ends of wheel shaft block, and the wheel shaft block is rotatablely connected with the turntable, each driving wheel
It is driven by corresponding driving motor, motor driver is installed beside the driving motor.
6. a kind of movable type mechanical arm pedestal as claimed in claim 5, which is characterized in that on the output shaft of the driving motor
First synchronous pulley is installed, the second synchronous pulley is coaxially fixed with the driving wheel, and first synchronous pulley and second is together
Belt wheel is walked by the second synchronous belt to be connected.
7. a kind of movable type mechanical arm pedestal as described in claim 1, which is characterized in that the race is equipped with 4, the wheel
Slot is located at the quadrangle of the base shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810537050.1A CN108453711A (en) | 2018-05-30 | 2018-05-30 | A kind of movable type mechanical arm pedestal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810537050.1A CN108453711A (en) | 2018-05-30 | 2018-05-30 | A kind of movable type mechanical arm pedestal |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108453711A true CN108453711A (en) | 2018-08-28 |
Family
ID=63215982
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810537050.1A Withdrawn CN108453711A (en) | 2018-05-30 | 2018-05-30 | A kind of movable type mechanical arm pedestal |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108453711A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111558928A (en) * | 2020-07-14 | 2020-08-21 | 广东电网有限责任公司东莞供电局 | Guide rail support of electric power overhaul robot |
| WO2023236970A1 (en) * | 2022-06-10 | 2023-12-14 | 深圳市安卫普科技有限公司 | Lifting and moving mechanism, support base, liftable translation device, and security inspection gate |
-
2018
- 2018-05-30 CN CN201810537050.1A patent/CN108453711A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111558928A (en) * | 2020-07-14 | 2020-08-21 | 广东电网有限责任公司东莞供电局 | Guide rail support of electric power overhaul robot |
| WO2023236970A1 (en) * | 2022-06-10 | 2023-12-14 | 深圳市安卫普科技有限公司 | Lifting and moving mechanism, support base, liftable translation device, and security inspection gate |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20180828 |
|
| WW01 | Invention patent application withdrawn after publication |