CN110480677B - A installation joint structure that is used for arm to rotate junction and rotates festival - Google Patents
A installation joint structure that is used for arm to rotate junction and rotates festival Download PDFInfo
- Publication number
- CN110480677B CN110480677B CN201910859187.3A CN201910859187A CN110480677B CN 110480677 B CN110480677 B CN 110480677B CN 201910859187 A CN201910859187 A CN 201910859187A CN 110480677 B CN110480677 B CN 110480677B
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- movable shaft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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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
- B25J9/10—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
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
Abstract
The invention discloses an installation clamping structure for a rotating joint at a rotating joint of a mechanical arm, which can solve the problems that the rotating amplitude of the rotating joint cannot be adjusted by using the installation clamping structure although the rotating joint can keep normal rotation on the installation clamping structure after the installation clamping structure is connected with the rotating joint when the installation clamping structure of the rotating joint of the mechanical arm is used, so that the anti-collision or excessive rotation protection of the rotating joint and the mechanical arm under certain specific conditions cannot be met, and the existing installation clamping structure lacks an installation protection structure to protect the rotating joint under emergency conditions. Including joint spare and the end cover that is located its below, joint spare top is provided with the roof, be provided with the top butt joint groove on the roof, roof edge joint has the cardboard, cardboard bottom fixed mounting has the hydraulic pump.
Description
Technical Field
The invention relates to the field of mechanical arms, in particular to an installation clamping structure for a rotating joint at a rotating joint of a mechanical arm.
Background
The rotation joint of the mechanical arm needs to adopt a rotation joint to realize the rotation of the joint of the mechanical arm, the rotation joint needs to adopt an installation clamping structure to be butted when being installed, the upper half part of the installation clamping structure is connected with the upper arm of the rotation joint, and the lower half part of the installation clamping structure is connected with the lower arm of the rotation joint. However, the existing installation clamping structure for the rotary joint at the rotary joint of the mechanical arm still has certain defects when in use, firstly, after the installation clamping structure is connected with the rotary joint, the rotary joint can keep normal rotation on the installation clamping structure, but the rotation amplitude of the rotary joint cannot be adjusted by utilizing the installation clamping structure, so that the anti-collision or excessive-rotation protection on the rotary joint and the mechanical arm under certain specific conditions cannot be met, and the existing installation clamping structure lacks an installation protection structure to protect the rotary joint under emergency conditions, such as the condition of falling between the upper arm and the lower arm of the rotary joint.
Publication No. CN208389540U discloses a take rotary filter core joint structure of rolling disc, compares with this application, and the joint structure that the comparison document provided can't solve this application and propose: the installation joint structure that current arm rotated the junction and rotated the festival when using, at first, installation joint structure with rotate between the festival be connected the back, rotate the festival though can keep normal rotation in installation joint structure, however, the rotation range of rotation festival can't utilize installation joint structure to adjust, thereby can't satisfy the anticollision or the excessive pivoted protection to rotation festival and arm under some specific conditions, and current this kind of installation joint structure lacks the problem that installation protective structure protected the rotation festival under emergency.
Disclosure of Invention
The invention aims to provide an installation clamping structure for a rotating joint at a rotating joint of a mechanical arm, which can solve the problems that when the installation clamping structure for the rotating joint at the rotating joint of the mechanical arm is used, firstly, after the installation clamping structure is connected with the rotating joint, the rotating joint can keep normal rotation on the installation clamping structure, but the rotating amplitude of the rotating joint cannot be adjusted by using the installation clamping structure, so that the anti-collision or excessive rotation protection for the rotating joint and the mechanical arm under certain specific conditions cannot be met, and the existing installation clamping structure lacks an installation protection structure to protect the rotating joint under emergency conditions.
The purpose of the invention can be realized by the following technical scheme:
an installation clamping structure for a rotating joint of an mechanical arm comprises a clamping piece and a bottom sleeve positioned below the clamping piece, wherein a top plate is arranged at the top of the clamping piece, a top butt joint groove is formed in the top plate, a clamping plate is clamped at the edge of the top plate, a hydraulic pump is fixedly arranged at the bottom of the clamping plate, a hydraulic telescopic rod is connected to the bottom of the hydraulic pump, a connecting plate is connected to the bottom end of the hydraulic telescopic rod, two fixing plates are fixedly arranged on the side wall, close to the hydraulic pump, of the clamping piece, a frame is fixedly welded between the two fixing plates, the connecting plate penetrates through the frame, the bottom of the connecting plate is fixedly connected with a pneumatic drive, a power supply is fixedly arranged on the side wall of the pneumatic drive, a single hanging ring is welded on the side wall, the clamping piece comprises a driving shaft, a fixed rod, a movable shaft, a rotating wheel, a clamping piece and a clamping piece, wherein one end of the driving shaft and one end of the fixed rod are both connected with the movable shaft, the connecting part between the fixed rod and the movable shaft is provided with the rotating wheel, the fixed rod is connected with the movable shaft through the rotating wheel, the outer walls of two sides of the movable shaft are both provided with inclined planes, two ends of the movable shaft are both connected with the rotating disc, the rotating discs are arranged on the outer walls of movable grooves on the;
be close to pneumatically driven baffle bottom is connected with two connecting rods, two the chassis is connected jointly to the connecting rod bottom, fixed mounting has a driving motor on the chassis, driving motor's transmission shaft runs through the chassis and is connected rather than the pivot of bottom, welded fastening has a end cover on the pivot lateral wall, the inside bottom butt joint groove that is provided with of end cover, just the welding has two links, two on the lateral wall of end cover top all be connected with a protection spring between two links and the single link.
Preferably, a triangular structure is formed between the two baffles, and a notch is arranged at the middle part of the baffle close to the pneumatic drive.
Preferably, the pneumatic drive is connected with the movable shaft, the chassis and the bottom sleeve through a hydraulic telescopic rod and is movably connected with the clamping piece, and the pneumatic drive, the movable shaft, the chassis and the bottom sleeve move along the direction of the movable groove.
Preferably, the movable shaft is connected with the chassis and the bottom sleeve through the driving shaft and is in rotary connection with the inner wall of the movable groove.
Preferably, the bottom sleeve is rotatably connected with the outer wall of the bottom of the chassis through a driving motor and a rotating shaft.
Preferably, the power supply is electrically connected with the hydraulic pump, the pneumatic drive and the drive motor through a plurality of wires.
Preferably, the clamping piece is movably connected with the bottom sleeve through the movable shaft, the smaller the distance from the movable shaft to the inner wall of the top of the movable groove is, and the smaller the movement amplitude between the clamping piece and the bottom sleeve is.
Preferably, the use method of the installation clamping structure comprises the following specific steps:
the method comprises the following steps: assembling the rotating joint and the mounting and clamping structure, wherein the upper arm of the rotating joint is fixedly mounted inside the top butt joint groove, and the lower arm of the rotating joint is fixedly mounted inside the bottom butt joint groove;
step two: when the rotation amplitude of the rotating joint does not need to be adjusted, the driving shaft is driven to stretch through pneumatic driving, so that the driving shaft is utilized to push the movable shaft to rotate under the jacking action of the driving shaft, the movable shaft drives the two baffles to rotate together in the rotating process and drives the chassis to rotate, the rotation of the chassis drives the bottom sleeve to rotate along with the movable shaft in one rotating direction, the rotating function of the rotating joint is realized, meanwhile, the mechanical arm swinging arm is assisted, and the two baffles limit the swinging amplitude through collision with the bottom of the clamping piece in the swinging process;
step three: when the direction of the lower arm of the rotating joint needs to be adjusted, the rotating shaft is driven to rotate by the driving motor, and the rotating direction of the rotating shaft is adjusted by driving the bottom sleeve to rotate below the chassis;
step four: when the rotation range of rotating the festival needs the adjustment, it is flexible through hydraulic pump drive hydraulic telescopic rod, utilize hydraulic telescopic rod's flexible to drive pneumatic drive and loose axle and move about from top to bottom along the direction of movable groove, when hydraulic pump drive hydraulic telescopic rod shrink, pneumatic drive and loose axle rise along the direction of movable groove, at this moment, baffle central line reduces to the interval between the joint spare bottom, the rotation range of rotating the festival reduces, when hydraulic pump drive hydraulic telescopic rod extends, pneumatic drive and loose axle descend along the direction of movable groove, at this moment, baffle central line to the interval increase between the joint spare bottom, the rotation range of rotating the festival increases.
The invention has the beneficial effects that: due to the existence of the pneumatic drive and the drive shaft, when the clamping structure is matched with the rotating joint for use, the drive shaft can be driven to stretch through the pneumatic drive, so that the movable shaft is pushed by the drive shaft, the rotating wheel is arranged between the movable shaft and the fixed rod, the two sides of the movable shaft are inclined planes, and the movable shaft is of a triangular structure, so that the movable shaft can rotate under the jacking action of the drive shaft, the movable shaft drives the two baffles to rotate together in the rotating process and drives the chassis to rotate, the rotation of the chassis drives the bottom sleeve to rotate along with the rotating direction of the movable shaft, the rotating function of the rotating joint is realized, the swing arm function of the auxiliary mechanical arm can be realized, and in the swing arm process, the two baffles limit the swing amplitude through the collision between the two baffles and the bottom of the;
because the existence of driving motor and pivot to the end cover setting is on the pivot lateral wall, thereby makes the end cover rotate through driving motor drive pivot and realizes rotating the adjustment direction, makes the lower arm of rotation festival can realize rotatory angle, direction, and is more nimble.
Due to the existence of the hydraulic pump and the hydraulic telescopic rod, when the rotation amplitude of the rotating joint needs to be adjusted, the hydraulic telescopic rod can be driven to stretch by the hydraulic pump, the pneumatic drive and the movable shaft can be driven to move up and down along the direction of the movable groove by the stretching of the hydraulic telescopic rod, when the hydraulic pump drives the hydraulic telescopic rod to contract, the pneumatic drive and the movable shaft ascend along the direction of the movable groove, at the moment, the distance between the central line of the baffle plate and the bottom of the clamping piece is reduced, the rotating amplitude of the rotating joint is reduced, when the hydraulic pump drives the hydraulic telescopic rod to extend, the pneumatic drive and the movable shaft descend along the direction of the movable groove, at the moment, the distance between the central line of the baffle plate and the bottom of the clamping piece is increased, the rotating amplitude of the rotating joint is increased, so that the rotating amplitude of the rotating joint is controllable, therefore, the conditions that the rotating joint and the mechanical arm are too large in rotating amplitude and are collided and excessively rotated under specific conditions can be avoided.
Because the existence of two protection springs for when appearing droing between the first half of revolute joint and the latter half, can protect through drawing of two protection springs, avoid droing and break down.
Drawings
In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic side view of the present invention;
FIG. 3 is a side view of the present invention;
FIG. 4 is a front view of the present invention;
FIG. 5 is a schematic view of the backside structure of the present invention;
FIG. 6 is a top view of the present invention;
FIG. 7 is a schematic view of the pneumatic drive configuration of the present invention;
FIG. 8 is a schematic view of a pneumatic drive plan of the present invention;
FIG. 9 is a sectional view of the movable shaft of the present invention;
in the figure: 1. a clamping piece; 2. a hydraulic pump; 3. a hydraulic telescopic rod; 4. a frame; 5. pneumatically driving; 6. a movable groove; 7. a turntable; 8. a baffle plate; 9. a connecting rod; 10. a chassis; 11. a drive motor; 12. a rotating shaft; 13. a bottom cover; 14. a bottom docking bay; 15. a single suspension loop; 16. a guard spring; 17. a power source; 18. a connecting plate; 19. a fixing plate; 20. a top docking bay; 21. double suspension loops; 22. clamping a plate; 23. a top plate; 24. a notch; 25. a drive shaft; 26. a movable shaft; 27. a bevel; 28. fixing the rod; 29. a rotating wheel.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-9, an installation clamping structure for a rotating joint of a mechanical arm comprises a clamping member 1 and a bottom sleeve 13 located below the clamping member 1, wherein a top plate 23 is arranged at the top of the clamping member 1, a top butt-joint groove 20 is arranged on the top plate 23, a clamping plate 22 is clamped at the edge of the top plate 23, a hydraulic pump 2 is fixedly installed at the bottom of the clamping plate 22, a hydraulic telescopic rod 3 is connected at the bottom of the hydraulic pump 2, a connecting plate 18 is connected at the bottom end of the hydraulic telescopic rod 3, two fixing plates 19 are fixedly installed on the side wall of the clamping member 1 close to the hydraulic pump 2, a frame 4 is fixedly welded between the two fixing plates 19, the connecting plate 18 penetrates through the frame 4, a pneumatic drive 5 is fixedly connected at the bottom of the connecting plate 18, a power supply 17 is fixedly installed on the side wall of the pneumatic drive 5, a single suspension loop, one end of each of the driving shaft 25 and the fixed rod 28 is connected with the movable shaft 26, a rotating wheel 29 is arranged at the joint between the fixed rod 28 and the movable shaft 26, the fixed rod 28 and the movable shaft 26 are connected through the rotating wheel 29, the outer walls of two sides of the movable shaft 26 are respectively provided with an inclined surface 27, two ends of the movable shaft 26 are respectively connected with a rotating disc 7, the rotating discs 7 are arranged on the outer walls of the movable grooves 6 on the outer walls of two sides of the clamping piece 1, and two baffles 8 which are obliquely arranged are arranged at the bottoms of the two rotating discs 7;
be connected with two connecting rods 9 near 8 bottoms of baffle of pneumatic drive 5, chassis 10 is connected jointly to two connecting rods 9 bottoms, fixed mounting has a driving motor 11 on the chassis 10, driving motor 11's transmission shaft runs through chassis 10 and is connected rather than the pivot 12 of bottom, welded fastening has a end cover 13 on the 12 lateral walls of pivot, the inside bottom butt joint groove 14 that is provided with of end cover 13, and the welding has two couples of links 21 on the 13 top lateral walls of end cover, all be connected with a protection spring 16 between two couples of links 21 and the single link 15.
A triangular structure is formed between the two baffle plates 8, and a gap 24 is arranged in the middle of the baffle plate 8 close to the pneumatic drive 5, so that the baffle plate 8 is prevented from contacting with the pneumatic drive 5 in the rotating process along with the movable shaft 26.
The pneumatic drive 5 is connected with the movable shaft 26, the chassis 10 and the bottom sleeve 13 are movably connected with the clamping piece 1 through the hydraulic telescopic rod 3, the pneumatic drive 5, the movable shaft 26, the chassis 10 and the bottom sleeve 13 move along the direction of the movable groove 6 during movement, due to the existence of the hydraulic pump 2 and the hydraulic telescopic rod 3, when the rotation amplitude of the rotating joint needs to be adjusted, the hydraulic telescopic rod 3 can be driven to stretch through the hydraulic pump 2, the pneumatic drive 5 and the movable shaft 26 are driven to move up and down along the direction of the movable groove 6 by the stretching of the hydraulic telescopic rod 3, when the hydraulic pump 2 drives the hydraulic telescopic rod 3 to shrink, the pneumatic drive 5 and the movable shaft 26 rise along the direction of the movable groove 6, at the moment, the distance between the central line of the baffle 8 and the bottom of the clamping piece 1 is reduced, the rotation amplitude of the rotating joint is reduced, when the hydraulic telescopic rod 3 is driven by the hydraulic, pneumatic drive 5 and loose axle 26 descend along the direction of activity groove 6, and at this moment, baffle 8 central line increases to the interval between joint spare 1 bottom, and the rotation range of rotating the festival increases for the rotation range of rotating the festival is controllable, thereby can satisfy under the specific conditions avoid rotating festival and arm rotation range too big and appear colliding and excessive pivoted condition emergence.
The movable shaft 26 is connected with the chassis 10, the bottom sleeve 13 is connected with the inner wall of the movable groove 6 through the driving shaft 25 in a rotating mode, the movable shaft 26 can rotate under the pushing of the driving shaft 25, the movable shaft 26 drives the two baffle plates 8 to rotate together in the rotating process, the chassis 10 is driven to rotate, the rotation of the chassis 10 drives the bottom sleeve 13 to rotate along the rotating direction of the movable shaft 26, the rotating function of a rotating joint is achieved, meanwhile, the swing arm function of an auxiliary mechanical arm can be achieved, and in the swing arm process, the swing amplitude of the two baffle plates 8 is limited through collision between the bottoms of the two baffle plates and the bottom of the clamping piece 1.
The bottom sleeve 13 is rotatably connected with the outer wall of the bottom of the chassis 10 through the driving motor 11 and the rotating shaft 12, so that the bottom sleeve 13 can rotate to adjust the rotating direction through the driving motor 11 driving the rotating shaft 12, and the lower arm of the rotating joint can adjust the rotating angle and the rotating direction in a rotating mode, and the rotating joint is more flexible.
The power supply 17 is electrically connected with the hydraulic pump 2, the pneumatic drive 5 and the drive motor 11 through a plurality of wires.
The clamping piece 1 is movably connected with the bottom sleeve 13 through the movable shaft 26, the smaller the distance from the movable shaft 26 to the inner wall of the top of the movable groove 6 is, and the smaller the moving amplitude between the clamping piece 1 and the bottom sleeve 13 is.
The use method of the installation clamping structure comprises the following specific steps:
the method comprises the following steps: assembling the rotary joint and the installation clamping structure, wherein the upper arm of the rotary joint is fixedly installed inside the top butt joint groove 20, and the lower arm of the rotary joint is fixedly installed inside the bottom butt joint groove 14;
step two: when the rotation amplitude of the rotating joint does not need to be adjusted, the driving shaft 25 is driven to stretch by the pneumatic drive 5, so that the driving shaft 25 is utilized to push the movable shaft 26, the movable shaft 26 rotates under the jacking action of the driving shaft 25, the movable shaft 26 drives the two baffles 8 to rotate together in the rotating process and drives the chassis 10 to rotate, the rotation of the chassis 10 drives the bottom sleeve 13 to rotate along with the movable shaft 26 in one rotation direction, the rotating function of the rotating joint is realized, meanwhile, the swing arm of the mechanical arm is assisted, and the swing amplitude is limited by the collision between the two baffles 8 and the bottom of the clamping piece 1 in the swing arm process;
step three: when the direction of the lower arm of the rotating joint needs to be adjusted, the rotating shaft 12 is driven to rotate through the driving motor 11, and the rotating shaft 12 drives the bottom sleeve 13 to rotate below the chassis 10 to adjust the direction;
step four: when the rotation range of the rotation section needs to be adjusted, it is flexible to drive hydraulic telescopic rod 3 through hydraulic pump 2, utilize the flexible of hydraulic telescopic rod 3 to drive pneumatic drive 5 and loose axle 26 and move about from top to bottom along the direction of movable groove 6, when hydraulic pump 2 drives hydraulic telescopic rod 3 to shrink, pneumatic drive 5 and loose axle 26 rise along the direction of movable groove 6, at this moment, 8 central lines of baffle reduce to the interval between 1 bottom of joint spare, the rotation range of rotation section reduces, when hydraulic pump 2 drives hydraulic telescopic rod 3 to extend, pneumatic drive 5 and loose axle 26 descend along the direction of movable groove 6, at this moment, 8 central lines of baffle increase to the interval between 1 bottom of joint spare, the rotation range of rotation section increases.
The invention has the beneficial effects that: due to the existence of the pneumatic drive 5 and the drive shaft 25, when the clamping structure is matched with the rotating joint for use, the drive shaft 25 can be driven to stretch by the pneumatic drive 5, thereby, the movable shaft 26 is pushed by the driving shaft 25, and since the runner 29 is installed between the movable shaft 26 and the fixed rod 28, and both sides of the movable shaft 26 are the inclined surfaces 27, the movable shaft 26 has a triangular structure, so that the movable shaft 26 can rotate under the action of the driving shaft 25, the movable shaft 26 drives the two baffle plates 8 to rotate together during the rotation, and drives the chassis 10 to rotate, the rotation of the chassis 10 drives the bottom sleeve 13 and the movable shaft 26 to rotate in one rotation direction, therefore, the rotating function of the rotating joint is realized, the swing arm function of the auxiliary mechanical arm can be realized, and the swing amplitude is limited by the collision between the two baffle plates 8 and the bottom of the clamping piece 1 in the swing arm process;
because the existence of driving motor 11 and pivot 12 to end cover 13 sets up on 12 lateral walls of pivot, thereby makes end cover 13 can realize rotating adjustment direction through driving motor 11 drive pivot 12 rotations, makes the lower arm of rotation festival can realize rotatory angle, direction of adjustment, and is more nimble.
Because the hydraulic pump 2, the existence of hydraulic telescoping rod 3, make when the rotation range of revolute joint needs the adjustment, can drive hydraulic telescopic rod 3 flexible through hydraulic pump 2, utilize the flexible of hydraulic telescoping rod 3 to drive pneumatic drive 5 and loose axle 26 and move about from top to bottom along the direction of activity groove 6, when hydraulic pump 2 drives hydraulic telescopic rod 3 shrink, pneumatic drive 5 and loose axle 26 rise along the direction of activity groove 6, at this moment, the interval between 8 central lines of baffle to joint spare 1 bottom reduces, the rotation range of revolute joint reduces, when hydraulic pump 2 drives hydraulic telescopic rod 3 extension, pneumatic drive 5 and loose axle 26 descend along the direction of activity groove 6, at this moment, the interval between 8 central lines of baffle to joint spare 1 bottom increases, the rotation range of revolute joint increases, make the rotation range of revolute joint controllable, thereby can satisfy under the specific circumstances avoid revolute joint and arm rotation range too big and appear collision and arm and collision and an over-rotation condition occurs.
Due to the existence of the two protection springs 16, when the upper half part and the lower half part of the rotating joint fall off, the two protection springs 16 can be pulled to protect the rotating joint, so that the rotating joint is prevented from falling off and being damaged.
When the invention is used, firstly, the whole installation clamping structure is assembled, a hydraulic pump 2 is clamped and fixed on a top plate 23 through a clamping plate 22, the bottom end of a hydraulic telescopic rod 3 at the bottom of the hydraulic pump 2 is connected with a connecting plate 18, a movable shaft 26 is arranged between two movable grooves 6, rotary tables 7 at two ends of the movable shaft 26 are positioned on the outer walls of the movable grooves 6, two baffle plates 8 forming a triangular structure are fixedly arranged at the bottom of the rotary tables 7, a chassis 10 is fixedly connected with the bottom of the baffle plates 8 through two connecting rods 9, a driving motor 11 is arranged on the chassis 10, a transmission shaft of the driving motor 11 penetrates through the chassis 10 and is connected with a rotary shaft 12, then a bottom sleeve 13 is welded and fixed on the outer wall of the rotary shaft 12, the bottom of the connecting plate 18 is fixedly connected with a pneumatic drive 5, and after the assembly of the installation clamping structure is completed, the upper arm of the swivel is fixedly mounted inside the top docking bay 20 and the lower arm of the swivel is fixedly mounted inside the bottom docking bay 14. When the clamping structure is used in cooperation with a rotating joint, when the rotation amplitude of the rotating joint does not need to be adjusted, the driving shaft 25 is driven to stretch by the pneumatic drive 5, so that the driving shaft 25 is utilized to push the movable shaft 26, because the rotating wheel 29 is installed between the movable shaft 26 and the fixed rod 28, and both sides of the movable shaft 26 are inclined planes 27, the movable shaft 26 is in a triangular structure, so that the movable shaft 26 can rotate under the jacking action of the driving shaft 25, the movable shaft 26 drives the two baffle plates 8 to rotate together in the rotating process and drives the chassis 10 to rotate, the rotation of the chassis 10 drives the bottom sleeve 13 and the movable shaft 26 to rotate in one rotation direction, so that the rotating function of the rotating joint is realized, the swing arm function of an auxiliary mechanical arm can be realized, the swing amplitude is limited by the collision between the two baffle plates 8 and the bottom of the clamping part 1 in the swing arm process, and because the driving motor, and the bottom cover 13 is arranged on the side wall of the rotating shaft 12, so that the bottom cover 13 can drive the rotating shaft 12 to rotate through the driving motor 11 to realize rotation adjustment direction, and the lower arm of the rotating joint can realize rotation adjustment angle and direction, and is more flexible. When the rotation amplitude of the rotating joint needs to be adjusted, the hydraulic telescopic rod 3 is driven to stretch by the hydraulic pump 2, the pneumatic drive 5 and the movable shaft 26 are driven to move up and down along the direction of the movable groove 6 by the stretching of the hydraulic telescopic rod 3, when the hydraulic pump 2 drives the hydraulic telescopic rod 3 to contract, the pneumatic drive 5 and the movable shaft 26 ascend along the direction of the movable groove 6, at the moment, the distance between the central line of the baffle 8 and the bottom of the clamping piece 1 is reduced, the rotating amplitude of the rotating joint is reduced, when the hydraulic pump 2 drives the hydraulic telescopic rod 3 to extend, the pneumatic drive 5 and the movable shaft 26 descend along the direction of the movable groove 6, at the moment, the distance between the central line of the baffle 8 and the bottom of the clamping piece 1 is increased, the rotating amplitude of the rotating joint is increased, so that the rotating amplitude of the rotating joint is controllable, therefore, the conditions that the rotating joint and the mechanical arm are too large in rotating amplitude and are collided and excessively rotated under specific conditions can be avoided. Due to the existence of the two protection springs 16, when the upper half part and the lower half part of the rotating joint drop off, the two protection springs 16 can be pulled to protect the rotating joint.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (4)
1. The utility model provides an installation joint structure that is used for arm to rotate junction and rotates festival, includes joint spare (1) and is located end cover (13) of its below, its characterized in that, joint spare (1) top is provided with roof (23), be provided with top butt joint groove (20) on roof (23), roof (23) edge joint has cardboard (22), cardboard (22) bottom fixed mounting has hydraulic pump (2), hydraulic pump (2) bottom is connected with a hydraulic telescoping rod (3), hydraulic telescoping rod (3) bottom is connected with connecting plate (18), fixed mounting has two fixed plates (19) on the lateral wall that joint spare (1) is close to hydraulic pump (2), two welded fastening has a frame (4) between fixed plate (19), connecting plate (18) pass frame (4) and connecting plate (18) bottom fixed connection pneumatic drive (5), the pneumatic driving device is characterized in that a power supply (17) is fixedly mounted on the side wall of the pneumatic driving device (5), a single hanging ring (15) is welded on the side wall of the bottom of the pneumatic driving device (5), the side wall of the pneumatic driving device (5) close to the joint piece (1) is connected with a driving shaft (25) and a fixed rod (28), one end of the driving shaft (25) and one end of the fixed rod (28) are connected with a movable shaft (26), a rotating wheel (29) is mounted at the joint between the fixed rod (28) and the movable shaft (26), the fixed rod (28) and the movable shaft (26) are connected through the rotating wheel (29), inclined planes (27) are arranged on the outer walls of two sides of the movable shaft (26), two ends of the movable shaft (26) are connected with a rotating disc (7), the rotating disc (7) is arranged on the outer walls of movable grooves (6) on the, two baffles (8) which are obliquely arranged are arranged at the bottoms of the two turntables (7);
the bottom of a baffle (8) close to the pneumatic drive (5) is connected with two connecting rods (9), the bottom ends of the two connecting rods (9) are connected with a chassis (10) together, a drive motor (11) is fixedly mounted on the chassis (10), a transmission shaft of the drive motor (11) penetrates through the chassis (10) and is connected with a rotating shaft (12) at the bottom of the chassis, a bottom sleeve (13) is fixedly welded on the side wall of the rotating shaft (12), a bottom butt joint groove (14) is formed in the bottom sleeve (13), two double hanging rings (21) are welded on the side wall of the top of the bottom sleeve (13), and a protective spring (16) is connected between each double hanging ring (21) and each single hanging ring (15); a triangular structure is formed between the two baffles (8), and a notch (24) is arranged in the middle of the baffle (8) close to the pneumatic drive (5); the movable shaft (26) is connected with the chassis (10) and the bottom sleeve (13) in a rotating way through the driving shaft (25) and the inner wall of the movable groove (6); the bottom sleeve (13) is rotatably connected with the outer wall of the bottom of the chassis (10) through a driving motor (11) and a rotating shaft (12); the clamping piece (1) is movably connected with the bottom sleeve (13) through the movable shaft (26), the smaller the distance from the movable shaft (26) to the inner wall of the top of the movable groove (6), the smaller the movement amplitude between the clamping piece (1) and the bottom sleeve (13).
2. The mounting and clamping structure for the rotating joint at the rotating joint of the mechanical arm as claimed in claim 1, wherein the pneumatic drive (5) is connected with the movable shaft (26), the chassis (10) and the bottom sleeve (13) through a hydraulic telescopic rod (3) and is movably connected with the clamping member (1), and the pneumatic drive (5), the movable shaft (26), the chassis (10) and the bottom sleeve (13) are along the direction of the movable groove (6) during movement.
3. The mounting and clamping structure for the rotating joint at the rotating joint of the mechanical arm as claimed in claim 1, wherein the power supply (17) is electrically connected with the hydraulic pump (2), the pneumatic drive (5) and the driving motor (11) through a plurality of wires.
4. The mounting and clamping structure for the rotating joint at the rotating joint of the mechanical arm as claimed in claim 1, wherein the using method of the mounting and clamping structure comprises the following specific steps:
the method comprises the following steps: assembling the rotary joint and the mounting clamping structure, wherein the upper arm of the rotary joint is fixedly mounted inside the top butt joint groove (20), and the lower arm of the rotary joint is fixedly mounted inside the bottom butt joint groove (14);
step two: when the rotation amplitude of the rotating joint does not need to be adjusted, the driving shaft (25) is driven to stretch through the pneumatic drive (5), so that the driving shaft (25) is utilized to push the movable shaft (26), the movable shaft (26) rotates under the jacking action of the driving shaft (25), the movable shaft (26) drives the two baffles (8) to rotate together in the rotating process and drives the chassis (10) to rotate, the rotation of the chassis (10) drives the bottom sleeve (13) to rotate in one rotation direction with the movable shaft (26), the rotation function of the rotating joint is realized, meanwhile, the swing arm is assisted, and the swing amplitude is limited by the collision between the two baffles (8) and the bottom of the clamping piece (1) in the swing arm process;
step three: when the direction of a lower arm of the rotating joint needs to be adjusted, the rotating shaft (12) is driven to rotate through the driving motor (11), and the rotating shaft (12) is used for driving the bottom sleeve (13) to rotate below the chassis (10) to adjust the direction;
step four: when the rotation amplitude of the rotating joint needs to be adjusted, the hydraulic telescopic rod (3) is driven to stretch by the hydraulic pump (2), the pneumatic drive (5) and the movable shaft (26) are driven to move up and down along the direction of the movable groove (6) by the stretching of the hydraulic telescopic rod (3), when the hydraulic pump (2) drives the hydraulic telescopic rod (3) to contract, the pneumatic drive (5) and the movable shaft (26) rise along the direction of the movable groove (6), at the moment, the distance between the central line of the baffle (8) and the bottom of the clamping piece (1) is reduced, the rotating amplitude of the rotating joint is reduced, when hydraulic pump (2) drive hydraulic stretching pole (3) were elongated, pneumatic drive (5) and loose axle (26) descend along the direction of activity groove (6), and at this moment, baffle (8) central line to the interval increase between joint spare (1) bottom, the rotation range of rotating the festival increases.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910859187.3A CN110480677B (en) | 2019-09-11 | 2019-09-11 | A installation joint structure that is used for arm to rotate junction and rotates festival |
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| CN201910859187.3A CN110480677B (en) | 2019-09-11 | 2019-09-11 | A installation joint structure that is used for arm to rotate junction and rotates festival |
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| CN110480677A CN110480677A (en) | 2019-11-22 |
| CN110480677B true CN110480677B (en) | 2020-06-09 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE3423432C2 (en) * | 1984-06-26 | 1986-06-12 | Deutsche Forschungs- und Versuchsanstalt für Luft- und Raumfahrt e.V., 5000 Köln | Device for positioning a sample |
| KR20130024159A (en) * | 2011-08-30 | 2013-03-08 | 엘지전자 주식회사 | Distance detecting apparatus for mobile robot and method thereof |
| CN102672727B (en) * | 2012-04-01 | 2014-07-30 | 北京航空航天大学 | Robot monomer capable of realizing deformable robot |
| CN102658546B (en) * | 2012-04-28 | 2014-09-10 | 刘朝龙 | Industrial robot |
| CN106142128B (en) * | 2016-07-28 | 2019-09-03 | 上海交通大学 | Turn round rocking type mechanical arm joint module |
| JP6729855B2 (en) * | 2016-11-14 | 2020-07-29 | Ｎｅｃエンベデッドプロダクツ株式会社 | Multi-directional driving device, robot joint mechanism, and multi-directional driving method |
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