CN111452087A - Synchronous telescoping device of multisection arm - Google Patents
Synchronous telescoping device of multisection arm Download PDFInfo
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- CN111452087A CN111452087A CN202010461655.4A CN202010461655A CN111452087A CN 111452087 A CN111452087 A CN 111452087A CN 202010461655 A CN202010461655 A CN 202010461655A CN 111452087 A CN111452087 A CN 111452087A
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 40
- 238000000034 method Methods 0.000 claims abstract description 9
- 230000007246 mechanism Effects 0.000 claims description 15
- 229910000831 Steel Inorganic materials 0.000 claims description 11
- 239000010959 steel Substances 0.000 claims description 11
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 abstract description 9
- 238000005452 bending Methods 0.000 abstract description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 230000002035 prolonged effect Effects 0.000 abstract description 2
- 238000005422 blasting Methods 0.000 abstract 1
- 238000005488 sandblasting Methods 0.000 description 13
- 241001123248 Arma Species 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 238000007789 sealing Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 4
- 239000000428 dust Substances 0.000 description 4
- 230000005484 gravity Effects 0.000 description 4
- 238000005299 abrasion Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C9/00—Appurtenances of abrasive blasting machines or devices, e.g. working chambers, arrangements for handling used abrasive material
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
A multi-section mechanical arm synchronous telescopic device comprises a driving device, a fixed arm and a telescopic arm; the telescopic arms are provided with a plurality of fixed arms, and the fixed arms and the telescopic arms are sequentially nested in a sliding manner to form a telescopic device; the lower end parts of the fixed arm and the telescopic arm are provided with sliding seal guide structures; the driving device and the fixing arm are flexibly connected; when the multi-section mechanical arm synchronous telescopic device moves, the driving device drives the outermost telescopic arm
Arm of extension and contraction
Other telescopic arms are driven by a movable chain wheel and a chain to realize telescopic motion; the multi-section mechanical arm synchronous telescopic device adopts a sliding seal guide structure, and solves the problem of the density of a driving device, a chain wheel and a chainSealing problems, thus preventing wear and seizure problems in a grit blasting production environment; the flexible connection method between the driving device and the fixed arm is adopted, so that the problem of bending moment damage at the joint of the lead screw and the fixed arm is solved, and the service life of the driving device is greatly prolonged.
Description
Technical Field
The invention relates to the technical field of telescopic mechanical arms for sand blasting of large-scale equipment parts, in particular to a synchronous telescopic device of a multi-section mechanical arm.
Background
In the existing sand blasting process, the sand blasting for large equipment parts currently adopts a mode that two hydraulic cylinders are connected in series to drive so as to realize the extension and retraction of a mechanical structure, and the extension and retraction stroke of the structure is limited due to the size of the hydraulic cylinders, so that the structure cannot be applied to certain large equipment parts with large height difference; meanwhile, the problem of leakage of hydraulic oil still exists in the existing mechanical telescopic structure with two sections of hydraulic cylinders connected in series and in use, and oil supplement maintenance needs to be carried out regularly.
A national utility model patent with the application number of CN 207497942U discloses a crane jib telescopic mechanism; the technical scheme disclosed in the utility model relates to two sets of driving mechanisms which are respectively driven by a motor and a piston rod and are driven by a pulley block, but in the scheme, the motion of a telescopic arm can be realized only by controlling the two sets of driving mechanisms simultaneously, and the transmission of power is realized by the complex winding of a steel wire rope in the middle driving mechanism; in the scheme, the final transmission precision is reduced due to the elasticity of the steel wire rope at the moment of starting and stopping, and the steel wire rope cannot be well used for the requirement of a sand blasting process.
The national invention patent with the application number of CN 107445080A discloses a steel wire pulley rope group synchronous telescopic device with large telescopic ratio, wherein the device mainly drives a scissor mechanism to realize the formed amplification through the characteristic of linear motion of a screw rod, and each section of telescopic arm piece realizes the motion of the mechanism through the arrangement of the pulley steel wire rope group; however, the mechanism has the defects that the scissor mechanism needs higher precision in the processing and assembling process, cannot be well suitable for the environment of heavy dust, and the scissor structure is formed by connecting a plurality of scissor forks in series, so that a great accumulated error is caused, and the mechanism cannot be well applied to the requirement of the sand blasting process.
The national invention patent with the application number of CN 108098750A discloses a telescopic robot arm which is realized by using a joint arm structure which sequentially slides and nests step by step, two adjacent joint arms drive a chain to slide through a chain wheel, the motion is stable, the strength is higher, and a screw rod and a screw seat are matched to provide power for the telescopic arm of the robot; but the chain wheel, the chain, the guide wheel, the lead screw and the nut which are arranged on the telescopic arm are all exposed structures, and when the telescopic arm is applied to sand blasting production, the chain wheel, the chain, the guide wheel, the lead screw and the nut are easy to wear and block due to large dust in the production environment; in addition, a lead screw of the driving mechanism is fixedly arranged on the fixed arm, when the telescopic arm of the robot extends to a larger length, the swinging of the arm of the robot can cause the connection part of the lead screw and the fixed arm to generate bending moment damage, so that the service life of the telescopic arm of the robot is influenced, and the telescopic arm of the robot can not be well applied to a sand blasting process environment.
Disclosure of Invention
In order to overcome the defects in the background technology, the invention discloses a multi-section mechanical arm synchronous telescopic device; comprises a driving device, a fixed arm and a telescopic arm; the telescopic arms are provided with a plurality of fixed arms, and the fixed arms and the telescopic arms are sequentially nested in a sliding manner to form a telescopic device; the lower end parts of the fixed arm and the telescopic arm are provided with sliding seal guide structures; the driving device and the fixing arm are flexibly connected; when the multi-section mechanical arm synchronous telescopic device moves, the driving device drives the outermost telescopic arm
Arm of extension and contraction
The other telescopic arms are driven by the movable chain wheel and the chain to realize telescopic motion.
In order to realize the purpose, the invention adopts the following technical scheme: a multi-section mechanical arm synchronous telescopic device comprises a driving device, a fixed arm and a telescopic arm; the telescopic arms are provided with a plurality of fixed arms, and the fixed arms and the telescopic arms are sequentially nested in a sliding manner to form a telescopic device; the driving device and the fixed arm are flexibly connected, when the multi-section mechanical arm synchronous telescopic device extends to a larger position, the swinging of the telescopic arm cannot be transmitted to the driving device due to the flexible connection between the driving device and the fixed arm, and the problem of damage to the driving device caused by the swinging of the telescopic arm is solved; when the multi-section mechanical arm synchronous telescopic device actsWhen the telescopic boom is used, the driving device drives the outermost telescopic boom of a plurality of telescopic booms which are sequentially nested in a sliding manner, and the outermost telescopic boom is the telescopic boom
(ii) a The upper parts of the telescopic arms outside the telescopic arms at the innermost layer are provided with movable chain wheels, the movable chain wheels are provided with chains, one ends of the chains are fixedly connected with the fixed arms at the outer sides of the telescopic arms connected with the movable chain wheels or the lower ends of the telescopic arms, and the other ends of the chains are fixedly connected with the upper ends of the telescopic arms at the inner sides of the telescopic arms connected with the movable chain wheels; the movable chain wheel and the chain form a driving mechanism which sequentially slides and nests the telescopic arm, when the movable chain wheel moves along with the telescopic arm connected with the movable chain wheel, the movement stroke of the telescopic arm at the inner side of the telescopic arm connected with the movable chain wheel can be amplified by one time, so that the multi-section mechanical arm synchronous telescopic device has a great stroke range and can fully meet the requirement of sand blasting on large equipment parts with large height difference; the lower end part of the telescopic arm outside the telescopic arm at the innermost layer is provided with a sliding seal guide structure, when the telescopic arm sequentially slides and nests to perform telescopic motion, the sliding seal guide structure plays a role in guiding and sealing, the connection rigidity between the telescopic arms is improved, external dust is prevented from entering an inner side cavity of the telescopic arm, and the problems of abrasion and blocking caused by dust entering of a chain wheel, a chain and a driving device are solved.
Furthermore, a driving head is arranged on the driving device, and the driving head moves along the axis of the driving device to provide driving force; the driving device and the fixed arm are connected through a fixed frame, wherein the driving device is connected with the fixed frame through a flexible connecting structure, and the fixed arm is fixedly connected with the fixed frame through a bolt; the upper part of the fixed arm is provided with a fixed chain wheel, the fixed chain wheel is provided with a fixed chain wheel chain, one end of the fixed chain wheel chain is fixedly connected with the lower end part of the driving head, and the other end of the fixed chain wheel chain is fixedly connected with the telescopic arm
The upper ends of the two are fixedly connected; when the driving head moves downwards, the driving head drives one end of the fixed chain wheel chain to move downwards, and the fixed chain wheel chain bypasses the fixed chain wheel of the fixed arm and is additionally arrangedOne end pulls flexible arm
Moving upwards; swinging of telescopic boom, especially telescopic boom, when multi-section mechanical arm synchronous telescopic device is extended to large position
The swing of (2) can be eliminated through the fixed chain wheel chain in flexible connection, even when the swing is transmitted to the driving device through the fixed chain wheel chain, the driving device is connected with the fixed frame through the flexible connection structure, so that the influence of bending moment damage caused by the swing of the telescopic arm is completely eliminated on the driving device.
Preferably, the driving device is provided with a driving head; the driving device and the fixed arm are fixedly connected through a fixed frame; the upper part of the fixed arm is provided with a fixed chain wheel, the fixed chain wheel is provided with a fixed chain wheel chain, one end of the fixed chain wheel chain is connected with the lower end part of the driving head through a flexible connecting structure, and the other end of the fixed chain wheel chain is connected with the telescopic arm
The upper ends of the two are fixedly connected; when the driving head moves downwards, the driving head drives one end of the fixed chain wheel chain to move downwards, and after the fixed chain wheel chain bypasses the fixed arm and the fixed chain wheel, the other end of the fixed chain wheel chain pulls the telescopic arm
Moving upwards; swinging of telescopic boom, especially telescopic boom, when multi-section mechanical arm synchronous telescopic device is extended to large position
The swing of the telescopic boom can be eliminated through the fixed chain wheel chain in flexible connection, and even if the swing is transmitted to the driving device through the fixed chain wheel chain, the fixed chain wheel chain is connected with the lower end part of the driving head through the flexible connection structure, so that the influence of bending moment damage caused by the swing of the telescopic boom is completely eliminated on the driving device.
Preferably, theThe driving device is provided with a driving head; the driving device and the fixed arm are connected through a fixed frame, wherein the driving device is connected with the fixed frame through a flexible connecting structure, and the fixed arm is fixedly connected with the fixed frame through a bolt; the lower end part of the driving head and the telescopic arm
Fixedly connecting; when the driving head moves downwards, the driving head directly drives the telescopic arm
Moving downwards; swinging of telescopic boom, especially telescopic boom, when multi-section mechanical arm synchronous telescopic device is extended to large position
When the swing is transmitted to the driving device through the driving head, the driving device is connected with the fixed frame through the flexible connecting structure, so that the influence of bending moment damage caused by the swing of the telescopic arm is completely eliminated on the driving device.
Preferably, the driving device is provided with a driving head; the driving head and the fixed arm are connected through a fixed frame, wherein the driving head is connected with the fixed frame through a flexible connecting structure, and the fixed arm is fixedly connected with the fixed frame through a bolt; the driving device and the telescopic arm
Fixedly connecting; when the driving device moves downwards, the driving device directly drives the telescopic arm
Moving downwards; swinging of telescopic boom, especially telescopic boom, when multi-section mechanical arm synchronous telescopic device is extended to large position
When the swing is transmitted to the driving head through the driving device, the driving head is connected with the fixed frame through the flexible connecting structure, so that the driving deviceThe influence of bending moment damage caused by the swing of the telescopic boom is completely eliminated.
Preferably, the flexible connection structure is a hinge, or a universal connector, or a universal coupling.
Preferably, the driving device is an electric telescopic cylinder, a hydraulic cylinder or a screw and nut driving mechanism.
Furthermore, a movable chain wheel and a chain which are driven reversely are arranged on the telescopic arm so as to realize bidirectional power driving of the multi-section mechanical arm synchronous telescopic device.
Preferably, the movable chain wheel and the fixed chain wheel of the fixed arm are pulleys, belt pulleys, synchronous toothed wheels or chain guide wheels; the chain and the fixed chain wheel chain are steel wire ropes, belts, synchronous toothed belts or iron chains.
Due to the adoption of the technical scheme, the invention discloses a multi-section mechanical arm synchronous telescopic device; comprises a driving device, a fixed arm and a telescopic arm; the telescopic arms are provided with a plurality of fixed arms, and the fixed arms and the telescopic arms are sequentially nested in a sliding manner to form a telescopic device; the lower end parts of the fixed arm and the telescopic arm are provided with sliding seal guide structures; the driving device and the fixing arm are flexibly connected; when the multi-section mechanical arm synchronous telescopic device moves, the driving device drives the outermost telescopic arm
Arm of extension and contraction
Other telescopic arms are driven by a movable chain wheel and a chain to realize telescopic motion; the multi-section mechanical arm synchronous telescopic device adopts a sliding seal guide structure, and solves the sealing problem of a driving device, a chain wheel and a chain, so that the problems of abrasion and blocking in a sand blasting production environment are prevented; the flexible connection method between the driving device and the fixed arm is adopted, so that the problem of bending moment damage at the joint of the driving device and the fixed arm is solved, and the service life of the driving device is greatly prolonged; the multi-section mechanical arm synchronous telescopic device has the advantages of large stroke range,The sand blasting machine has the advantages of reliable work and long service life under the condition of sand blasting and dustiness, can be well applied to the sand blasting process environment, and meets the sand blasting requirement of large equipment parts with large height difference.
Drawings
FIG. 1 is a schematic structural view of a multi-section mechanical arm synchronous telescopic device;
FIG. 2 is a top view of the embodiment;
FIG. 3 is a sectional view of the first embodiment along the line A-A;
FIG. 4 is a cross-sectional view of the first embodiment along the line B-B;
FIG. 5 is an enlarged view of part A;
FIG. 6 is an enlarged view of part B;
FIG. 7 is an enlarged view of a portion C;
FIG. 8 is an enlarged view of a portion D;
FIG. 9 is a schematic structural view according to the second embodiment;
FIG. 10 is a schematic view of a third structure of the embodiment;
FIG. 11 is a diagram illustrating a fourth exemplary embodiment.
In the figure: 1. a drive device; 1.1, a driving head; 2. a fixed arm; 2.1, fixing the fixed chain wheel; 2.1.1, a fixed chain wheel and a fixed chain wheel; 3. telescopic arm
(ii) a 3.1, Telescopic arm
A movable chain wheel; 3.1.1, chain
(ii) a 4. Telescopic arm
(ii) a 4.1, Telescopic arm
A movable chain wheel; 4.1.1, chain
(ii) a 5. Telescopic arm
(ii) a 6. A flexible connection mechanism; 7. a telescopic fixing frame; 8. and a sliding seal guide structure.
Detailed Description
The present invention will be explained in detail by the following examples, which are disclosed for the purpose of protecting all technical improvements within the scope of the present invention.
The first embodiment is as follows: a multi-section mechanical arm synchronous telescopic device comprises a driving device 1, a fixed arm 2 and a telescopic arm; the driving device 1 is an electric telescopic cylinder, and the lower part of the driving device is provided with a driving head 1.1 in a sliding way; the number of the telescopic arms is three, and the telescopic arms are respectively telescopic arms
3. Telescopic arm
4. Telescopic arm
5 fixed arm 2 and telescopic arm
3. Telescopic arm
4. Telescopic arm
5, sequentially sliding and nesting to form a telescopic device; the electric telescopic cylinder, the fixed arm 2 and the fixed frame 7 are fixedly connected through bolts; the upper part of the fixed arm 2 is provided with a fixed chain wheel 2.1, the fixed chain wheel 2.1 is provided with a fixed chain wheel chain 2.1.1, one end of the fixed chain wheel chain 2.1.1 is connected with the lower end part of the driving head 1.1 through a hinge seat, and the other end is connected with the telescopic arm
3, the upper ends are fixedly connected; the telescopic arm
3 a telescopic arm is arranged at the upper part
Moving sprocket 3.1, telescopic arm
A chain is arranged on the movable chain wheel 3.1
3.1.1, chain
3.1.1 one end is fixed at the lower end of the fixed arm 2, and the other end is fixed at the telescopic arm
4, upper end; the telescopic arm
4 a telescopic arm is arranged at the upper part
Moving chain 4.1, telescopic arm
The movable chain wheel 4.1 is provided with a chain
4.1.1, chain
4.1.1 one end is fixed on the telescopic arm
3 the lower end and the other end are fixed on a telescopic arm
5, the upper end; the fixed arm 2 and the telescopic arm
3. Telescopic arm
4, sliding sealing guide structures 8 are arranged at the lower ends of the guide rods; when the drive head 1.1 moves upwards, the telescopic arm
3. Telescopic arm
4. Telescopic arm
5, moving downwards under the action of self gravity; when the driving head 1.1 moves downwards, the chain passes through the fixed chain wheel 2.1.1 and the chain
3.1.1, chain
4.1.1 pulling the telescopic arms respectively
3. Telescopic arm
4. Telescopic arm
5 move synchronously upwards.
Example two: a multi-section mechanical arm synchronous telescopic device comprises a driving device 1, a fixed arm 2 and a telescopic arm; the driving device 1 is a hydraulic cylinder, and a piston rod is arranged at the lower part of the hydraulic cylinder in a sliding way; the number of the telescopic arms is three, and the telescopic arms are respectively telescopic arms
3. Telescopic arm
4. Telescopic arm
5 fixed arm 2 and telescopic arm
3. Telescopic arm
4. Telescopic arm
5, sequentially sliding and nesting to form a telescopic device; the hydraulic cylinder is connected with the fixed frame 7 through a hinge; the fixed arm 2 is fixedly connected with the fixed frame 7 through bolts; the upper part of the fixed arm 2 is provided with a fixed chain wheel 2.1, the fixed chain wheel 2.1 is provided with a fixed chain wheel chain 2.1.1, one end of the fixed chain wheel chain 2.1.1 is fixedly connected with the lower end part of the driving head 1.1, and the other end is fixedly connected with the telescopic arm
3, the upper ends are fixedly connected; the telescopic arm
3 a telescopic arm is arranged at the upper part
Moving sprocket 3.1, telescopic arm
A chain is arranged on the movable chain wheel 3.1
3.1.1, chain
3.1.1 one end is fixed at the lower end of the fixed arm 2, and the other end is fixed at the telescopic arm
4, upper end; the telescopic arm
4 a telescopic arm is arranged at the upper part
Moving chain 4.1, telescopic arm
The movable chain wheel 4.1 is provided with a chain
4.1.1, chain
4.1.1 one end is fixed on the telescopic arm
3 the lower end and the other end are fixed on a telescopic arm
5, the upper end; the fixed arm 2 and the telescopic arm
3. Telescopic arm
4, sliding sealing guide structures 8 are arranged at the lower ends of the guide rods; when the drive head 1.1 moves upwards, the telescopic arm
3. Telescopic arm
4. Telescopic arm
5, moving downwards under the action of self gravity; when the driving head 1.1 moves downwards, the chain passes through the fixed chain wheel 2.1.1 and the chain
3.1.1, chain
4.1.1 pulling the telescopic arms respectively
3. Telescopic arm
4. Telescopic arm
5 move synchronously upwards.
Example three: a multi-section mechanical arm synchronous telescopic device comprises a driving device 1, a fixed arm 2 and a telescopic arm; the driving device 1 is a hydraulic cylinder, and a piston rod is arranged at the lower part of the hydraulic cylinder in a sliding way; the telescopic arms are provided with two telescopic arms respectively
3. Telescopic arm
4, fixed arm 2 and telescopic arm
3. Telescopic arm
4, sequentially sliding and nesting to form a telescopic device; the lower end part of the piston rod and the telescopic arm
3, fixedly connecting; the hydraulic cylinder is connected with the fixed frame 7 through a universal connector; the fixed arm 2 is fixedly connected with the fixed frame 7 through bolts; the telescopic arm
3 a telescopic arm is arranged at the upper part
Moving sprocket 3.1, telescopic arm
A chain is arranged on the movable chain wheel 3.1
3.1.1, chain
3.1.1 one end is fixed at the lower end of the fixed arm 2, and the other end is fixed at the telescopic arm
4, upper end; the fixed arm 2 and the telescopic arm
The lower ends of the two sliding plates 3 are provided with sliding sealing guide structures 8; when the piston rod moves downwards, the telescopic arm
3. Telescopic arm
4, moving downwards under the action of self gravity; when the piston rod moves upwards, the piston rod passes through the chain
3.1.1 pulling Telescopic arm
4 and telescopic arm
3 move synchronously upwards.
Example four: a multi-section mechanical arm synchronous telescopic device comprises a driving device 1, a fixed arm 2 and a telescopic arm; the driving device 1 is a screw nut driving mechanism; the telescopic arms are provided with two telescopic arms respectively
3. Telescopic arm
4, fixed arm 2 and telescopic arm
3. Telescopic arm
4, sequentially sliding and nesting to form a telescopic device; the lead screw is connected with a motor reducer on the fixing frame 7 through a universal coupling, and the nut is fixedly connected with the telescopic arm
3; the fixed arm 2 is fixedly connected with the fixed frame 7 through bolts; the telescopic arm
3 a telescopic arm is arranged at the upper part
Pulley, telescopic arm
A steel wire rope is arranged on the pulley, one end of the steel wire rope is fixed at the lower end of the fixed arm 2, and the other end of the steel wire rope is fixed at the telescopic arm
4, upper end; the fixed arm 2 and the telescopic arm
The lower ends of the two sliding plates 3 are provided with sliding sealing guide structures 8; when the screw rod rotates to make the nut move downwards, the telescopic arm
3. Telescopic arm
4, moving downwards under the action of self gravity; when the screw rod rotates to enable the nut to move upwards, the telescopic arm is pulled through the steel wire rope
4 and telescopic arm
3 move synchronously upwards.
The present invention is not described in detail in the prior art.
Claims (9)
1. A multi-section mechanical arm synchronous telescopic device comprises a driving device (1), a fixed arm (2) and a telescopic arm; the number of the telescopic arms is multiple, and the fixed arm (2) and the number of the telescopic arms are sequentially nested in a sliding manner to form a telescopic device;
the method is characterized in that: the driving device (1) and the fixing arm (2) are in flexible connection; the driving device (1) drives the outermost telescopic arm of the plurality of telescopic arms which slide and nest in sequence, and the outermost telescopic arm is a telescopic arm
(3) (ii) a The upper parts of the telescopic arms outside the telescopic arms at the innermost layer are provided with movable chain wheels, the movable chain wheels are provided with chains, one ends of the chains are fixedly connected with the fixed arms (2) at the outer sides of the telescopic arms connected with the movable chain wheels or the lower ends of the telescopic arms, and the other ends of the chains are fixedly connected with the upper ends of the telescopic arms at the inner sides of the telescopic arms connected with the movable chain wheels; the lower end parts of the telescopic arms outside the telescopic arms at the innermost layer are provided withAnd a sliding seal guide structure.
2. The multi-section mechanical arm synchronous telescoping device of claim 1, wherein: the driving device (1) is provided with a driving head (1.1); the driving device (1) and the fixed arm (2) are connected through a fixed frame (7), wherein the driving device (1) is connected with the fixed frame (7) through a flexible connecting structure (6), and the fixed arm (2) is fixedly connected with the fixed frame (7) through a bolt; fixed arm (2) upper portion is provided with fixed arm fixed sprocket (2.1), is provided with fixed sprocket chain (2.1.1) on fixed arm fixed sprocket (2.1), and fixed sprocket chain (2.1.1) one end and drive head (1.1) lower tip fixed connection, the other end and flexible arm
(3) The upper ends of the two are fixedly connected.
3. The multi-section mechanical arm synchronous telescoping device of claim 1, wherein: the driving device (1) is provided with a driving head (1.1); the driving device (1) and the fixed arm (2) are fixedly connected through a fixed frame (7); fixed arm (2) upper portion is provided with fixed arm fixed sprocket (2.1), is provided with fixed sprocket chain (2.1.1) on fixed arm fixed sprocket (2.1), and fixed sprocket chain (2.1.1) one end passes through hinge structure fixed connection with drive head (1.1) lower tip, and the other end and flexible arm
(3) The upper ends of the two are fixedly connected.
4. The multi-section mechanical arm synchronous telescoping device of claim 1, wherein: the driving device (1) is provided with a driving head (1.1); the driving device (1) and the fixed arm (2) are connected through a fixed frame (7), wherein the driving device (1) is connected with the fixed frame (7) through a flexible connecting structure (6), and the fixed arm (2) is connected with the fixed frame (7)7) Fixedly connected through bolts; the lower end part of the driving head (1.1) and the telescopic arm
(3) And (4) fixedly connecting.
5. The multi-section mechanical arm synchronous telescoping device of claim 1, wherein: the driving device (1) is provided with a driving head (1.1); the driving head (1.1) and the fixed arm (2) are connected through a fixed frame (7), wherein the driving head (1.1) is connected with the fixed frame (7) through a flexible connecting structure (6), and the fixed arm (2) is fixedly connected with the fixed frame (7) through a bolt; the driving device (1) and the telescopic arm
(3) And (4) fixedly connecting.
6. The multi-joint mechanical arm synchronous telescopic device as claimed in claim 2, 3, 4 or 5, wherein: the flexible connecting structure (6) is a hinge, or a universal connector, or a universal coupling.
7. The multi-section mechanical arm synchronous telescoping device of claim 1, wherein: the driving device (1) is an electric telescopic cylinder, or a hydraulic cylinder, or a screw and nut driving mechanism.
8. The multi-section mechanical arm synchronous telescoping device of claim 1, wherein: and the telescopic arm is provided with a movable chain wheel and a chain which are driven reversely.
9. The multi-joint mechanical arm synchronous telescoping device of claim 1, 2 or 3, wherein: the movable chain wheel and the fixed chain wheel (2.1) are pulleys, belt pulleys, synchronous toothed wheels or chain guide wheels; the chain and the fixed chain wheel chain (2.1.1) are steel wire ropes, belts, synchronous toothed belts or iron chains.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010461655.4A CN111452087A (en) | 2020-05-27 | 2020-05-27 | Synchronous telescoping device of multisection arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010461655.4A CN111452087A (en) | 2020-05-27 | 2020-05-27 | Synchronous telescoping device of multisection arm |
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| CN202010461655.4A Pending CN111452087A (en) | 2020-05-27 | 2020-05-27 | Synchronous telescoping device of multisection arm |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112123376A (en) * | 2020-08-28 | 2020-12-25 | 天津大学 | Expandable structure formed by rigid-flexible composite material |
| CN113679287A (en) * | 2021-09-01 | 2021-11-23 | 上海景吾智能科技有限公司 | Speed-multiplying motion telescopic mechanical arm and cleaning robot |
| CN114366305A (en) * | 2022-01-11 | 2022-04-19 | 上海市胸科医院 | Telescoping device and medical robot |
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| CN112123376B (en) * | 2020-08-28 | 2022-02-22 | 天津大学 | Expandable structure formed by rigid-flexible composite material |
| CN113679287A (en) * | 2021-09-01 | 2021-11-23 | 上海景吾智能科技有限公司 | Speed-multiplying motion telescopic mechanical arm and cleaning robot |
| CN114366305A (en) * | 2022-01-11 | 2022-04-19 | 上海市胸科医院 | Telescoping device and medical robot |
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