CN111055269A

CN111055269A - Multi-degree-of-freedom plane joint mechanical arm

Info

Publication number: CN111055269A
Application number: CN201911424755.3A
Authority: CN
Inventors: 尹浩
Original assignee: Suzhou Haozhibo Intelligent Technology Co Ltd
Current assignee: Suzhou Haozhibo Intelligent Technology Co Ltd
Priority date: 2019-12-31
Filing date: 2019-12-31
Publication date: 2020-04-24

Abstract

The invention discloses a multi-degree-of-freedom plane joint mechanical arm which comprises a base, a mounting piece and a bottom plate, wherein the bottom of the base is fixedly connected with the top of the bottom plate, one side of the base is fixedly connected with a clamping plate, the bottom of the clamping plate is fixedly connected with a first magnet, the top of the inner wall of the mounting piece is fixedly connected with a second magnet, one side of the base is provided with a fixed groove, a sliding plate is connected between the top and the bottom of the inner wall of the fixed groove in a sliding mode, and the top and the bottom of one side of the sliding plate are both fixedly connected with elastic pieces. This multi freedom level joint arm can realize carrying out the installation of lateral wall formula to this joint arm, and the installation of lateral wall formula and base formula can be operated according to particular case, satisfies different user demands, has established the basis for the normal use of follow-up joint arm, has improved the practicality of this joint arm greatly.

Description

Multi-degree-of-freedom plane joint mechanical arm

Technical Field

The invention relates to the technical field of industrial robots, in particular to a multi-degree-of-freedom plane joint mechanical arm.

Background

The articulated robot is also called an articulated arm robot or an articulated mechanical arm, is one of the most common forms of industrial robots in the industrial field at present, is suitable for mechanical automation operation in various industrial fields, such as automatic assembly, painting, transportation, welding and the like, and has different classifications according to the structure, the planar articulated robot has three rotating shafts and one linear shaft which are parallel to each other, and the application fields include loading, unloading, welding, packaging, fixing, coating, painting, bonding, packaging, special transportation operation, assembly and the like, and in addition, the articulated robot can be classified into various types according to the working properties of the articulated robot, such as: a transfer robot, a spot welding robot, an arc welding robot, a painting robot, a laser cutting robot, and the like.

The plane joint arm has all had the wide use in industrial field, and current plane joint arm is installed fixedly through bottom screw and contact surface, and the mounting means is comparatively single, has also reduced the application range of arm, has certain limitation, can not realize multiple mounting means, greatly reduced the practicality of this plane joint arm, is not conform to actual user demand.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention provides a multi-degree-of-freedom plane joint mechanical arm, which solves the problems that the existing plane joint mechanical arm is single in installation mode, the application range of the mechanical arm is reduced, certain limitation exists, and the practicability of the plane joint mechanical arm is greatly reduced.

Technical scheme

In order to achieve the purpose, the invention is realized by the following technical scheme: a multi-degree-of-freedom plane joint mechanical arm comprises a base, a mounting piece and a bottom plate, wherein the bottom of the base is fixedly connected with the top of the bottom plate, a clamping plate is fixedly connected to one side of the base, a first magnet is fixedly connected to the bottom of the clamping plate, a second magnet is fixedly connected to the top of the inner wall of the mounting piece, a fixed groove is formed in one side of the base, a sliding plate is slidably connected between the top and the bottom of the inner wall of the fixed groove, elastic pieces are fixedly connected to the top and the bottom of one side of the sliding plate, one side of each elastic piece is fixedly connected with one side of the inner wall of the fixed groove, a movable rod is fixedly connected to one side of the sliding plate and between the two opposite sides of the two elastic pieces, buffer springs are fixedly connected to the top and the bottom of one side, the top and the bottom of the other side of the sliding plate are fixedly connected with clamping blocks, one side, far away from the sliding plate, of each clamping block sequentially penetrates through the fixed groove, the mounting piece and the clamping plate and extends to the inside of the clamping plate, clamping grooves matched with the clamping blocks are formed in the clamping plate and the mounting piece, the poking rod is fixedly connected to the front side of the sliding plate, and the front side of the poking rod sequentially penetrates through the fixed groove and the base and extends to the front side of the base.

Preferably, the front of the base is provided with a sliding chute matched with the poking rod, and the front and the back of the two sides of the top of the bottom plate are both provided with threaded holes.

Preferably, the other side of the base is provided with a movable groove.

Preferably, the bottom of the inner wall of the movable groove is rotatably connected with a two-shaft arm.

Preferably, one side of the top of the two-axis arm is rotatably connected with a three-axis arm, and the top of the three-axis arm is fixedly connected with a shell.

Preferably, one side of the top of the shell is fixedly connected with a corrugated pipe, and one end of the corrugated pipe is communicated with the top of the base.

Preferably, one side of the top of the base is fixedly connected with an indicator light, and the other side of the top of the shell is connected with a ball screw in a turning mode.

Preferably, one side fixedly connected with safety cover of triaxial arm bottom, shell and safety cover are run through in proper order and extend to the bottom of safety cover to ball screw's bottom.

(III) advantageous effects

The invention provides a multi-degree-of-freedom plane joint mechanical arm. The method has the following beneficial effects:

(1) the multi-degree-of-freedom plane joint mechanical arm comprises a base, a clamping plate fixedly connected to the bottom of the base and the top of a bottom plate, a first magnet fixedly connected to the bottom of the clamping plate, a second magnet fixedly connected to the top of the inner wall of an installation part, a fixing groove formed in one side of the base, a sliding plate slidably connected between the top and the bottom of the inner wall of the fixing groove, elastic parts fixedly connected to the top and the bottom of one side of the sliding plate, one side of each elastic part fixedly connected to one side of the inner wall of the fixing groove, a movable rod fixedly connected to one side of the sliding plate and located between the two opposite sides of the elastic parts, a buffer spring fixedly connected to the top and the bottom of one side of the surface of the movable rod, one end of the buffer spring fixedly connected to one side of the inner wall of the fixing groove, clamping blocks fixedly, Installed part and joint board and extend to the inside of joint board, the draw-in groove with fixture block looks adaptation is all seted up to the inside of joint board and installed part, the positive fixedly connected with poker rod of sliding plate, the front of poker rod runs through fixed slot and base in proper order and extends to the front of base, the spout with poker rod looks adaptation is seted up in the front of base, the screw hole is all seted up at the front and the back of bottom plate top both sides, can realize carrying out the installation of lateral wall formula to this joint arm, lateral wall formula installation and base formula installation can be operated according to particular case, satisfy different user demands, the basis has been established for the normal use of follow-up joint arm, the practicality of this joint arm has been improved greatly.

(2) This multi freedom plane joint arm, the activity groove has been seted up through the opposite side of base, the bottom of activity inslot wall is rotated and is connected with the biaxial arm, one side at biaxial arm top is rotated and is connected with the triaxial arm, the top fixedly connected with shell of triaxial arm, one side fixedly connected with bellows at shell top, and the one end of bellows is linked together with the top of base, one side fixedly connected with pilot lamp at base top, the opposite side at shell top turns to and is connected with ball screw, one side fixedly connected with safety cover of triaxial arm bottom, ball screw's bottom runs through shell and safety cover in proper order and extends to the bottom of safety cover, can realize carrying out multi freedom operation to this joint arm, response speed is fast, the location is accurate, operate steadily, the flexibility is strong, the structure is ingenious, easily realize.

Drawings

FIG. 1 is a cross-sectional view of a structure of the present invention;

FIG. 2 is a schematic view of the chute and tap lever arrangement of the present invention;

fig. 3 is a partial enlarged view of the invention at a in fig. 1.

In the figure: 1-base, 2-mounting piece, 3-bottom plate, 4-clamping plate, 5-first magnet, 6-second magnet, 7-fixed groove, 8-sliding plate, 9-elastic piece, 10-movable rod, 11-buffer spring, 12-clamping block, 13-clamping groove, 14-poking rod, 15-sliding groove, 16-threaded hole, 17-movable groove, 18-biaxial arm, 19-triaxial arm, 20-shell, 21-corrugated pipe, 22-indicator light, 23-ball screw rod and 24-protective cover.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious 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. 1-3, an embodiment of the present invention provides a technical solution: a multi-degree-of-freedom plane joint mechanical arm can realize side wall type installation of the joint mechanical arm, the side wall type installation and base type installation can be operated according to specific conditions, different use requirements are met, a foundation is laid for normal use of a subsequent joint mechanical arm, and the practicability of the joint mechanical arm is greatly improved, the multi-degree-of-freedom plane joint mechanical arm comprises a base 1, an installation part 2 and a bottom plate 3, one side of the installation part 2 is fixed with a contact surface, one side of the top of the base 1 is fixedly connected with an indicator lamp 22, the other side of the top of a shell 20 is connected with a ball screw 23 in a turning mode, one side of the bottom of a three-axis arm 19 is fixedly connected with a protective cover 24, the bottom end of the ball screw 23 sequentially penetrates through the shell 20 and the protective cover 24 and extends to the bottom of the protective cover 24, the other side of the base 1 is provided with a movable, the top of the three-axis arm 19 is fixedly connected with a shell 20, the inside of the shell 20 is mainly provided with a planetary reducer, a displacement sensor, a cylinder and other structures, one side of the top of the shell 20 is fixedly connected with a corrugated pipe 21, one end of the corrugated pipe 21 is communicated with the top of the base 1, the corrugated pipe 21 is a tubular elastic sensitive element formed by connecting foldable corrugated sheets along the folding and stretching direction, the corrugated pipe 21 is widely applied in instruments and meters, the corrugated pipe 21 is mainly used as a measuring element of a pressure measuring instrument and used for converting pressure into displacement or force, the pipe wall of the corrugated pipe 21 is thin, the sensitivity is high, the measuring range is from dozens of pascals to dozens of megapascals, the opening end of the corrugated pipe is fixed, the sealing end is in a free state, the elasticity is increased by using an auxiliary spiral spring or a reed, and the corrugated pipe extends, the movable end drives the pointer to directly indicate the pressure, the corrugated pipe 21 is often combined with a displacement sensor to form a pressure sensor outputting electric quantity, and sometimes used as an isolation element, the corrugated pipe 21 is suitable for measuring low pressure, the bottom of the base 1 is fixedly connected with the top of the bottom plate 3, the front of the base 1 is provided with a chute 15 matched with the poking rod 14, the front and the back of the two sides of the top of the bottom plate 3 are both provided with a threaded hole 16, one side of the base 1 is fixedly connected with a clamping plate 4, the bottom of the clamping plate 4 is fixedly connected with a first magnet 5, the top of the inner wall of the mounting part 2 is fixedly connected with a second magnet 6, one side of the base 1 is provided with a fixed groove 7, a sliding plate 8 is slidably connected between the top and the bottom of the inner wall of the fixed groove 7, the top and the bottom of one side of the sliding plate 8, a movable rod 10 is fixedly connected between one side of the sliding plate 8 opposite to the two elastic pieces 9, the top and the bottom of one side of the surface of the movable rod 10 are fixedly connected with a buffer spring 11, one end of the buffer spring 11 is fixedly connected with one side of the inner wall of the fixed groove 7, the top and the bottom of the other side of the sliding plate 8 are fixedly connected with a clamping block 12, one side of the clamping block 12 far away from the sliding plate 8 sequentially penetrates through the fixed groove 7, the mounting piece 2 and the clamping plate 4 and extends to the inside of the clamping plate 4, the clamping grooves 13 matched with the clamping block 12 are respectively arranged inside the clamping plate 4 and the mounting piece 2, the front of the sliding plate 8 is fixedly connected with a poking rod 14, the poking rod 14 can be conveniently operated by personnel, the front of the poking rod 14 sequentially penetrates through the fixed groove 7 and the base 1 and extends, the device has the advantages of high response speed, accurate positioning, stable operation, strong flexibility, ingenious structure and easy realization.

During the use, when needs are installed this joint arm, the screw hole 16 of the 3 bottoms of optional bottom plate is installed, when carrying out the installation of lateral wall formula, with poker rod 14 along spout 15 left removal, carry out spacing fixed with first magnet 5 on the joint board 4 and the second magnet 6 on the installed part 2, then loosen poker rod 14, sliding plate 8 on poker rod 14 can make fixture block 12 card go into in the draw-in groove 13 through buffer spring 11's buffer force, make fixture block 12 carry out spacing fixed to joint board 4 and installed part 2, just so accomplished whole work.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a multi freedom level joint arm, includes base (1), installed part (2) and bottom plate (3), the top fixed connection of the bottom of base (1) and bottom plate (3), its characterized in that: one side of the base (1) is fixedly connected with a clamping plate (4), the bottom of the clamping plate (4) is fixedly connected with a first magnet (5), the top of the inner wall of the mounting piece (2) is fixedly connected with a second magnet (6), one side of the base (1) is provided with a fixed groove (7), a sliding plate (8) is connected between the top and the bottom of the inner wall of the fixed groove (7) in a sliding manner, the top and the bottom of one side of the sliding plate (8) are both fixedly connected with elastic pieces (9), one side of each elastic piece (9) is fixedly connected with one side of the inner wall of the fixed groove (7), one side of the sliding plate (8) is positioned between the two opposite sides of the two elastic pieces (9) and is fixedly connected with a movable rod (10), the top and the bottom of one side of the surface of the movable rod (10) are both fixedly connected with a buffer spring (11), one end of the buffer spring, the top and the bottom of sliding plate (8) opposite side all fixedly connected with fixture block (12), one side that sliding plate (8) was kept away from in fixture block (12) runs through fixed slot (7), installed part (2) and joint board (4) in proper order and extends to the inside of joint board (4), draw-in groove (13) with fixture block (12) looks adaptation are all seted up to the inside of joint board (4) and installed part (2), the positive fixedly connected with poker rod (14) of sliding plate (8), the front of poker rod (14) runs through fixed slot (7) and base (1) in proper order and extends to the front of base (1).

2. The multi-degree-of-freedom planar joint mechanical arm according to claim 1, wherein: the front of base (1) is seted up with spout (15) of poker pole (14) looks adaptation, screw hole (16) are all seted up to the front and the back of bottom plate (3) top both sides.

3. The multi-degree-of-freedom planar joint mechanical arm according to claim 1, wherein: the other side of the base (1) is provided with a movable groove (17).

4. The multi-degree-of-freedom planar joint mechanical arm according to claim 3, wherein: the bottom of the inner wall of the movable groove (17) is rotatably connected with a two-shaft arm (18).

5. The multi-degree-of-freedom planar joint mechanical arm according to claim 4, wherein: one side of the top of the two-axis arm (18) is rotatably connected with a three-axis arm (19), and the top of the three-axis arm (19) is fixedly connected with a shell (20).

6. The multi-degree-of-freedom planar joint mechanical arm according to claim 5, wherein: one side fixedly connected with bellows (21) at shell (20) top, and the one end of bellows (21) is linked together with the top of base (1).

7. The multi-degree-of-freedom planar joint mechanical arm according to claim 5, wherein: one side fixedly connected with pilot lamp (22) at base (1) top, the opposite side turn-to-direction connection at shell (20) top has ball screw (23).

8. The multi-degree-of-freedom planar joint mechanical arm according to claim 7, wherein: one side fixedly connected with safety cover (24) of triaxial arm (19) bottom, shell (20) and safety cover (24) are run through in proper order and extend to the bottom of safety cover (24) to the bottom of ball screw (23).