CN109291075A - The mechanical arm of instrument can be moved - Google Patents
The mechanical arm of instrument can be moved Download PDFInfo
- Publication number
- CN109291075A CN109291075A CN201811482648.1A CN201811482648A CN109291075A CN 109291075 A CN109291075 A CN 109291075A CN 201811482648 A CN201811482648 A CN 201811482648A CN 109291075 A CN109291075 A CN 109291075A
- Authority
- CN
- China
- Prior art keywords
- feed screw
- screw nut
- moving track
- mechanical arm
- rotation seat
- 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- Withdrawn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
-
- 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
- B25J9/126—Rotary actuators
Abstract
The invention discloses the mechanical arms that can move instrument, including the rotation seat on the upside of moving track and installation moving track, one end of the moving track is provided with mobile motor, shifting chute is offered on the upside of the moving track, screw rod is provided on the inside of the shifting chute, the screw rod and moving track are rotatablely connected by bearing, one end of the screw rod is connected through the output end of moving track and mobile motor, the outer sheath of the screw rod is equipped with feed screw nut, is provided with abrasionproof idler wheel on the outside of the feed screw nut；Screw rod and feed screw nut by design, screw rod rotation can be driven to be axially moveable feed screw nut in shifting chute by mobile motor when carrying using mechanical arm to instrument, and keep feed screw nut more stable when mobile by swallow-tailed feed screw nut and shifting chute, and the frictional force of feed screw nut when moving is reduced by the abrasionproof idler wheel on the outside of feed screw nut, keep mechanical arm more stable when moving.
Description
Technical field
The invention belongs to mechanical arm technical fields, and in particular to can move the mechanical arm of instrument.
Background technique
Mechanical arm is a complication system, and there is the uncertainties such as Parameter Perturbation, external interference and Unmarried pregnancy.Cause
And there is also uncertainties for the modeler model of mechanical arm, for different tasks, need to plan the fortune in joint of mechanical arm space
Dynamic rail mark constitutes end pose to cascade.
The existing mechanical arm for moving instrument when in use, will appear asking for mobile shakiness when carrying instrument movement
Topic, thus it is proposed that the mechanical arm of instrument can be moved.
Summary of the invention
The purpose of the present invention is to provide the mechanical arms that can move instrument, mentioned above in the background art existing to solve
The mechanical arm for moving instrument when in use, carry instrument it is mobile when will appear the problem of mobile shakiness.
To achieve the above object, the invention provides the following technical scheme: the mechanical arm of instrument, including moving track can be moved
With the rotation seat on the upside of installation moving track, one end of the moving track is provided with mobile motor, the moving track it is upper
Side offers shifting chute, and screw rod, the screw rod and moving track are provided on the inside of the shifting chute and is rotatablely connected by bearing,
One end of the screw rod is connected through the output end of moving track and mobile motor, and the outer sheath of the screw rod is equipped with screw rod spiral shell
Mother is provided with abrasionproof idler wheel on the outside of the feed screw nut, and the side of the abrasionproof idler wheel is contacted with the inner wall of shifting chute, described
Feed screw nut is fixedly connected with rotation seat.
Preferably, the upper end of the rotation seat is provided with rotating disc, and motor driven bar is provided on the inside of the rotation seat,
And rotation seat is rotatablely connected with rotating disc by motor driven bar, the end surface of the moving track is provided with lower position block,
The side of the motor driven bar is provided with positioning column, and the position that the surface of the rotating disc corresponds to positioning column is provided with positioning
The position of slot, the marginal surface corresponding lower limit position block of the rotating disc is provided with upper limit position block.
Preferably, the first cradle head of rotation seat is provided on the upside of the rotating disc, the rotation of rotation seat first is closed
One end of section is provided with the second cradle head, the rotating disc and the first cradle head of the first cradle head of rotation seat and rotation seat
It is rotatablely connected by shaft with the second cradle head, one end of second cradle head is provided with clamp hand.
Preferably, the shifting chute and the cross sectional shape of feed screw nut are dovetail shaped, and shifting chute and feed screw nut's is big
It is small to match.
Preferably, sliding protective case, one end of the sliding protective case and screw rod spiral shell are provided on the upside of the shifting chute
Female side connection, the other end are fixedly connected with one end of shifting chute.
Preferably, one end of the positioning column is provided with ball, and ball engages with locating slot.
Compared with prior art, the beneficial effects of the present invention are:
(1) screw rod by design and feed screw nut, can pass through movement when carrying using mechanical arm to instrument
The rotation of motor driven screw rod is axially moveable feed screw nut in shifting chute, and passes through swallow-tailed feed screw nut and shifting chute
Keep feed screw nut more stable when mobile, and feed screw nut is reduced in movement by the abrasionproof idler wheel on the outside of feed screw nut
When frictional force, keep mechanical arm more stable when moving；
(2) it is rotated in the locating slot and positioning column of rotation seat and rotating disc junction by motor driven by design
Disk can be fastened in locating slot when rotating by the ball of positioning column one end, and the angle that can be rotated to mechanical arm is determined
Position, keeps mechanical arm more stable after rotating over-angle.
Detailed description of the invention
Fig. 1 is mechanical arm structural schematic diagram of the invention；
Fig. 2 is mechanical arm moving structure schematic diagram of the invention；
Fig. 3 is moving track schematic cross-sectional view of the invention；
Fig. 4 is rotating disc structural schematic diagram of the invention；
Fig. 5 is rotating base structural schematic diagram of the invention；
In figure: 1, moving track；2, mobile motor；3, rotation seat；4, the first cradle head；5, the second cradle head；6,
Clamp hand；7, screw rod；8, shifting chute；9, feed screw nut；10, abrasionproof idler wheel；11, motor driven bar；12, rotating disc；13, upper limit
Block；14, locating slot；15, lower position block；16, positioning column.
Specific embodiment
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 description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-5 is please referred to, the present invention provides a kind of technical solution: the mechanical arm of instrument, including 1 He of moving track can be moved
The rotation seat 3 of 1 upside of moving track is installed, one end of moving track 1 is provided with mobile motor 2, and the upside of moving track 1 opens up
There is shifting chute 8, the inside of shifting chute 8 is provided with screw rod 7, screw rod 7 and moving track 1 and is rotatablely connected by bearing, and the one of screw rod 7
End is connect through moving track 1 with the output end of mobile motor 2, and the outer sheath of screw rod 7 is equipped with feed screw nut 9, feed screw nut's 9
Outside is provided with abrasionproof idler wheel 10, and the side of abrasionproof idler wheel 10 is contacted with the inner wall of shifting chute 8, and feed screw nut 9 and rotation seat 3 are solid
Fixed connection, keeps mechanical arm more stable at shift position.
In the present embodiment, it is preferred that the upper end of rotation seat 3 is provided with rotating disc 12, and the inside of rotation seat 3 is provided with motor
Drive rod 11, and rotation seat 3 and rotating disc 12 are rotatablely connected by motor driven bar 11, the end surface setting of moving track 1
There is lower position block 15, the side of motor driven bar 11 is provided with positioning column 16, and the surface of rotating disc 12 corresponds to the position of positioning column 16
It installs and is equipped with locating slot 14, the position of the marginal surface corresponding lower limit position block 15 of rotating disc 12 is provided with upper limit position block 13, makes machine
Tool arm angular turn is more stable.
In the present embodiment, it is preferred that the upside of rotating disc 12 is provided with the first cradle head of rotation seat 4, rotation seat first
One end of cradle head 4 is provided with the second cradle head 5, rotating disc 12 and the first cradle head of rotation seat 4 and rotation seat first
Cradle head 4 and the second cradle head 5 are rotatablely connected by shaft, and one end of the second cradle head 5 is provided with clamp hand 6, makes
Mechanical arm is easy to use.
In the present embodiment, it is preferred that the cross sectional shape of shifting chute 8 and feed screw nut 9 are dovetail shaped, and shifting chute 8 and silk
The size of stem nut 9 matches, and feed screw nut 9 is made to slide convenient and stablize.
5. the mechanical arm according to claim 1 for moving instrument, it is characterised in that: the upside of shifting chute 8 is provided with cunning
Dynamic protective case, the one end for sliding protective case are connect with the side of feed screw nut 9, and the other end is fixedly connected with one end of shifting chute 8,
There is foreign matter to fall in shifting chute 8 in order to prevent.
In the present embodiment, it is preferred that one end of positioning column 16 is provided with ball, and ball engages with locating slot 14, in order to
It is more stable after rotating rotating disc 12.
The working principle of the invention and process for using: it after the present invention installs, first checks for installation of the invention and fixes
And security protection, it then can use, instrument is clamped by clamp hand 6, then drives 7 turns of screw rod by mobile motor 2
It is dynamic, move feed screw nut 9 along screw rod 7, and roll when feed screw nut 9 is mobile by the abrasionproof in 9 outside of feed screw nut
Wheel 10 is in rolling contact with shifting chute 8, is reduced the frictional force between shifting chute 8 and feed screw nut 9, is made the machinery on feed screw nut 9
Arm more stable convenience when moving drives rotating disc 12 to rotate when being moved to instrument placement location by motor driven bar 11,
So that the angle of mechanical arm is reached instrument placement location, and passes through 16 one end ball of positioning column and positioning in one angle of every rotation
Slot 14 carries out engaging positioning, makes more stable after mechanical arm rotational angle, and is carried out by upper limit position block 13 and lower position block 15
Limit, this completes to use process of the invention, the configuration of the present invention is simple is safe and convenient to use.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (6)
1. the mechanical arm of instrument can be moved, it is special including the rotation seat (3) on the upside of moving track (1) and installation moving track (1)
Sign is: one end of the moving track (1) is provided with mobile motor (2), offers movement on the upside of the moving track (1)
Slot (8) is provided with screw rod (7) on the inside of the shifting chute (8), and the screw rod (7) and moving track (1) pass through bearing rotation company
It connects, one end of the screw rod (7) is connect through moving track (1) with the output end of mobile motor (2), outside the screw rod (7)
Side is arranged with feed screw nut (9), is provided with abrasionproof idler wheel (10) on the outside of the feed screw nut (9), the abrasionproof idler wheel (10)
Side contacted with the inner wall of shifting chute (8), the feed screw nut (9) is fixedly connected with rotation seat (3).
2. the mechanical arm according to claim 1 for moving instrument, it is characterised in that: the upper end of the rotation seat (3) is set
It is equipped with rotating disc (12), is provided with motor driven bar (11) on the inside of the rotation seat (3), and rotation seat (3) and rotating disc
(12) it is rotatablely connected by motor driven bar (11), the end surface of the moving track (1) is provided with lower position block (15), institute
The side for stating motor driven bar (11) is provided with positioning column (16), and the surface of the rotating disc (12) corresponds to the position of positioning column (16)
It installs and is equipped with locating slot (14), the position of the marginal surface corresponding lower limit position block (15) of the rotating disc (12) is provided with upper limit
Block (13).
3. the mechanical arm according to claim 1 for moving instrument, it is characterised in that: set on the upside of the rotating disc (12)
It is equipped with the first cradle head of rotation seat (4), one end of first cradle head of rotation seat (4) is provided with the second cradle head
(5), the rotating disc (12) and the first cradle head of rotation seat (4) and the first cradle head of rotation seat (4) are closed with the second rotation
It saves (5) to be rotatablely connected by shaft, one end of second cradle head (5) is provided with clamp hand (6).
4. the mechanical arm according to claim 1 for moving instrument, it is characterised in that: the shifting chute (8) and screw rod spiral shell
The cross sectional shape of female (9) is dovetail shaped, and shifting chute (8) and the size of feed screw nut (9) match.
5. the mechanical arm according to claim 1 for moving instrument, it is characterised in that: set on the upside of the shifting chute (8)
It is equipped with sliding protective case, one end of the sliding protective case is connect with the side of feed screw nut (9), the other end and shifting chute (8)
One end be fixedly connected.
6. the mechanical arm according to claim 2 for moving instrument, it is characterised in that: one end of the positioning column (16) is set
It is equipped with ball, and ball engages with locating slot (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811482648.1A CN109291075A (en) | 2018-12-05 | 2018-12-05 | The mechanical arm of instrument can be moved |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811482648.1A CN109291075A (en) | 2018-12-05 | 2018-12-05 | The mechanical arm of instrument can be moved |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109291075A true CN109291075A (en) | 2019-02-01 |
Family
ID=65142168
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811482648.1A Withdrawn CN109291075A (en) | 2018-12-05 | 2018-12-05 | The mechanical arm of instrument can be moved |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109291075A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112223249A (en) * | 2020-08-28 | 2021-01-15 | 南京蹑波物联网科技有限公司 | Guide rail for industrial robot and use method thereof |
-
2018
- 2018-12-05 CN CN201811482648.1A patent/CN109291075A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112223249A (en) * | 2020-08-28 | 2021-01-15 | 南京蹑波物联网科技有限公司 | Guide rail for industrial robot and use method thereof |
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| 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 | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190201 |