CN111730576A - Movable mechanical arm and using method thereof - Google Patents
Movable mechanical arm and using method thereof Download PDFInfo
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- CN111730576A CN111730576A CN202010701547.XA CN202010701547A CN111730576A CN 111730576 A CN111730576 A CN 111730576A CN 202010701547 A CN202010701547 A CN 202010701547A CN 111730576 A CN111730576 A CN 111730576A
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- adjustable
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- rotating shaft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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Abstract
The invention discloses a movable mechanical arm and a use method thereof, the mechanical arm comprises a movable trolley, the top of the movable trolley is provided with a mounting groove, the inner side of the mounting groove is transversely provided with a first rotating shaft, the first rotating shaft is fixedly provided with two overturning support rods, the end parts of output rods of two overturning cylinders are respectively hinged with one side surfaces of the two overturning support rods, an adjustable outer support frame is movably arranged between the two overturning support rods, the inner side of the adjustable outer support frame is movably provided with an adjustable inner support frame along the vertical direction, one side of the adjustable inner support frame is hinged with two connecting arms, one end of each connecting arm is hinged with an adjustable mounting plate, and one side of each adjustable mounting plate; this arm is convenient for fold, holds the mechanism and can take in the mounting groove, and whole portable arm is small after folding, is convenient for transport, and intensity is high, can centre gripping article weight upper limit height, just adjusts fixture's angle.
Description
Technical Field
The invention relates to a mechanical arm, in particular to a movable mechanical arm and a using method thereof.
Background
The mechanical arm is widely applied to modern industry, the use of the mechanical arm can be seen in large-scale machines such as a tower crane, a crane and an excavator, and parts assembly production lines in a small workshop, the mechanical arm realizes rotation, translation and lifting in space under manual or automatic control, completes clamping, pushing, releasing and other actions, and can replace hands to complete monotonous, heavy and repetitive labor or dangerous work so as to reduce labor intensity, reduce accidental injury and improve work efficiency; traditional arm is not convenient for fold, and is bulky, loading in-process, does not have the space to install, is not convenient for transport, and some arms are directly connected the cylinder as the mobile jib, and the cylinder is cracked easily, and traditional arm angle modulation is got up also comparatively inconveniently.
Disclosure of Invention
The invention aims to provide a movable mechanical arm and a using method thereof, wherein a telescopic inner rod of a telescopic cylinder is contracted to enter a telescopic outer rod, a connecting arm is driven by an adjusting motor to overturn downwards for contraction, an adjustable outer support frame is driven to descend by an adjusting motor, an adjustable inner support frame is driven to descend by an adjusting motor III, so that a clamping mechanism is driven to descend, the top end of the overturning support rod is driven by an overturning cylinder to overturn downwards, so that the clamping mechanism overturns to enter a mounting groove, the movable mechanical arm is convenient to fold, the clamping mechanism can be retracted into the mounting groove when not in use, and the technical problems of inconvenience in folding, large size and inconvenience in transferring of the traditional movable mechanical arm are solved;
according to the movable mechanical arm, the adjustable inner support frame and the adjustable mounting plate are connected through the high-strength telescopic outer rod and the high-strength telescopic inner rod, the telescopic outer rod and the telescopic inner rod are controlled to stretch through the telescopic cylinder, the movable mechanical arm is connected through the high-strength connecting arm, the telescopic cylinder drives the connecting arm to stretch, the movable mechanical arm is high in strength and can clamp the upper limit of the weight of an article, and the technical problem that the cylinder is easy to break when the traditional mechanical arm is directly connected through the cylinder is solved;
according to the movable mechanical arm, the connecting arms are driven to rotate through the second adjusting motor, the angle of the connecting arms is adjusted, the telescopic cylinder drives the adjustable mounting plate to rotate by starting the telescopic cylinder on any one connecting arm, the angle of the adjustable mounting plate is adjusted, the angles of the connecting arm and the adjustable mounting plate of the movable mechanical arm can be adjusted, the angle of the clamping mechanism is conveniently adjusted, and the technical problem that the angle of a traditional mechanical arm is inconvenient to adjust is solved.
The purpose of the invention can be realized by the following technical scheme:
a movable mechanical arm comprises a movable trolley, wherein the top of the movable trolley is provided with a mounting groove, the inner side of the mounting groove is transversely provided with a first rotating shaft, two ends of the first rotating shaft are respectively and rotatably connected with two side walls of the mounting groove through bearings, two overturning support rods are fixedly mounted on the first rotating shaft, two overturning cylinders are hinged on the inner wall of one side of the mounting groove, the end parts of output rods of the two overturning cylinders are respectively hinged with one side surfaces of the two overturning support rods, an adjustable outer support frame is movably mounted between the two overturning support rods along the vertical direction, an adjustable inner support frame is movably mounted on the inner side of the adjustable outer support frame along the vertical direction, one side of the adjustable inner support frame is hinged with two connecting arms which are vertically distributed, and one end of each connecting arm is hinged with an adjustable, and one side of the adjustable mounting plate is fixedly provided with a clamping mechanism.
Further, fixture includes connection substrate, bolt and adjustable mounting panel fixed connection are passed through to one side of connection substrate, one side fixed mounting of connection substrate has the link, the link is provided with two sets of axis of rotation three, and is two sets of the axis of rotation three is upper and lower distribution, and the quantity of every group axis of rotation three is two, three rotations of axis of rotation are installed on the pivot mounting panel, pivot mounting panel fixed mounting is on the link, it has four centre gripping cylinders to articulate on the link, the output lever tip of centre gripping cylinder all articulates there is the articulated slab, the one end and the three fixed connection of axis of rotation of articulated slab, the equal fixed mounting in both ends of axis of rotation three has the supporting rod, two fixed mounting has same grip block on the supporting rod, fixed mounting has a plurality of to collude the claw on the grip block.
Furthermore, two first fixing plates are fixedly arranged at the bottom of one side surface of the adjustable outer support frame through welding, a first adjusting motor is fixedly arranged on one side surface corresponding to the two first fixing plates, two second gears are rotatably arranged on the other side surface of the first fixing plates, an output shaft end of the first adjusting motor penetrates through the first fixing plates and is fixedly provided with a first gear, the two second gears are meshed with each other, the first gear is meshed with one of the second gears, racks are fixedly arranged on one sides of the two turnover support rods and are meshed with the other second gear, two adjusting belt wheels are rotatably arranged on the adjustable outer support frame and are respectively positioned in the middle of the inner lower wall of the adjustable outer support frame and in the middle of the inner upper wall of the adjustable outer support frame, and the two adjusting belt wheels are in transmission connection through adjusting belts, one side of the adjusting belt is fixedly connected with the adjustable inner support frame, the inner bottom surface of the adjustable outer support frame is fixedly provided with a third adjusting motor, and the output shaft end of the third adjusting motor is fixedly connected with the adjusting belt pulley on the inner bottom surface of the adjustable outer support frame.
Further, the connecting arm comprises a connecting telescopic outer rod and a telescopic inner rod, one end of the telescopic inner rod is telescopically mounted on the inner side of the telescopic outer rod, the other end of the telescopic inner rod extends to the outer side of the telescopic outer rod, one side of the telescopic outer rod is hinged with a telescopic cylinder, the end part of an output rod of the telescopic cylinder is hinged with one side of the telescopic inner rod, two ends of the telescopic outer rod, far away from the telescopic inner rod, are fixedly connected with a second rotating shaft, the second rotating shaft penetrates through the telescopic outer rod and extends to the two sides of the telescopic outer rod, second fixing plates are fixedly mounted on the inner walls of the two sides of the adjustable inner support frame, two third fixing plates are fixedly mounted on one side of each second fixing plate, the two ends of each rotating shaft are respectively rotatably mounted on the two second fixing plates, fourth gears are fixedly mounted on the two sides of the second rotating shaft, and two fifth gears are, and one side of the third fixing plate is fixedly provided with a second adjusting motor, an output shaft end of the second adjusting motor is fixedly provided with a third gear, the third gear is meshed with a fifth gear, the fifth gear is meshed with a corresponding fourth gear, and one ends of the two telescopic inner rods, which are far away from the telescopic outer rod, are respectively hinged with the upper end and the lower end of the adjustable mounting plate.
Furthermore, the top ends of the two turnover support rods are fixedly provided with first roller seats, one side of each first roller seat is rotatably provided with two first rollers, and the two first rollers are respectively connected with the two sides of the adjustable outer support frame in a sliding manner.
Furthermore, second roller seats are fixedly mounted at two ends of the upper surface and two ends of the bottom surface of the adjustable inner support frame, two second rollers are rotatably mounted on one side of each second roller seat, and the two second rollers are respectively connected with two sides of the adjustable outer support frame in a sliding mode.
Furthermore, two one side surface of upset vaulting pole keeps away from the one end of axis of rotation one and has same fixed stop through bolt fixed mounting, fixed stop is located the top of first fixed plate.
Further, the one end that axis of rotation two was kept away from on the both sides surface of flexible outer pole all has a limiting plate, two bolt fixed mounting is provided with two installation axles between the limiting plate perpendicularly, two the installation axle is located the both sides of pole in stretching out and drawing back respectively, the both ends of installing the axle rotate with two limiting plates respectively and are connected, install epaxial fixed mounting have two spacing wheels, two a side surface sliding fit of spacing wheel and pole in stretching out and drawing back.
A use method of a mobile mechanical arm comprises the following steps:
the method comprises the following steps that firstly, two overturning cylinders are started, the overturning cylinders drive two overturning support rods to rotate around a rotating shaft I, the overturning support rods are overturned to be in a vertical state, two adjusting motors I are started, output shafts of the adjusting motors I rotate and drive first gears to rotate, the first gears drive one of second gears to rotate and drive the other second gear to rotate, the other second gear is matched with a rack to be used to drive an adjustable outer support frame to ascend, an adjusting motor III is started, output shafts of the adjusting motors III rotate and drive adjusting belt wheels to rotate, the adjusting belt wheels drive adjusting belts to rotate, the adjusting belts drive adjustable inner support frames to ascend, and the adjustable inner support frames drive connecting arms to ascend and drive a clamping mechanism to ascend;
step two, starting two adjusting motors II, wherein the adjusting motors II drive a third gear to rotate, the third gear drives a fifth gear meshed with the third gear to rotate, the fifth gear drives a fourth gear to rotate and drives a second rotating shaft to rotate, the second rotating shaft drives a connecting arm to rotate so as to expand the connecting arm, and simultaneously starting two telescopic cylinders, the two telescopic cylinders respectively drive an inner telescopic rod to extend out from a corresponding outer telescopic rod, the height of the clamping mechanism is adjusted, a telescopic cylinder on any one connecting arm is started, the telescopic cylinder drives the inner telescopic rod to extend and retract and drives an adjustable mounting plate to rotate, the angle of the clamping mechanism is adjusted, and the clamping mechanism is enabled to move to an article to be clamped;
and step three, starting the clamping cylinder, driving the hinged plate to rotate by the clamping cylinder, driving the rotating shaft three to rotate by the hinged plate, and driving the clamping rods to rotate, so that the two groups of clamping plates on the upper side and the lower side move oppositely, and clamp the articles.
The invention has the beneficial effects that:
the invention respectively drives the telescopic inner rod to contract into the corresponding telescopic outer rod through the two telescopic cylinders, drives the third gear to rotate through the adjusting motor II, and drives the rotating shaft II to rotate by matching with the fifth gear and the fourth gear, thereby driving the connecting arm to overturn downwards for contraction, drives the adjustable outer support frame to descend by starting the adjusting motor I and matching with the first gear, the second gear and the rack, drives the adjusting belt pulley to rotate through the adjusting motor III, drives the adjusting belt pulley to rotate, drives the adjustable inner support frame to descend, drives the connecting arm to descend by the adjustable inner support frame, thereby driving the clamping mechanism to descend, drives the top end of the overturning support rod to overturn downwards through the overturning cylinder, so that the clamping mechanism overturns into the mounting groove, the movable mechanical arm is convenient to fold, and the clamping mechanism can be taken in the mounting groove when not used, the whole movable mechanical arm is small in size and convenient to transport after being folded;
the adjustable inner support frame and the adjustable mounting plate are connected through the high-strength telescopic outer rod and the telescopic inner rod, the telescopic outer rod and the telescopic inner rod are controlled to stretch through the telescopic air cylinder, the limiting plates are arranged on two sides of the telescopic outer rod, two mounting shafts are arranged between the two limiting plates, two limiting wheels are mounted on the mounting shafts, the limiting wheels are respectively in sliding fit with two sides of the telescopic inner rod, the telescopic inner rod is guaranteed to be stable when extending and contracting, the movable mechanical arm is connected through the high-strength connecting arm, the connecting arm is driven to stretch through the telescopic air cylinder, the strength of the movable mechanical arm is high, the upper limit of the weight of an object can be clamped, and the possibility that the air cylinder is broken when the traditional mechanical arm is directly connected through;
according to the adjustable clamping mechanism, the second adjusting motor drives the third gear to rotate, the third gear drives the fifth gear meshed with the third gear to rotate, the fifth gear drives the fourth gear to rotate and drives the second rotating shaft to rotate, the second rotating shaft drives the connecting arm to rotate, the angle of the connecting arm is adjusted, the telescopic cylinder drives the telescopic inner rod to stretch and retract by starting the telescopic cylinder on any connecting arm and drives the adjustable mounting plate to rotate, the angle of the adjustable mounting plate is adjusted, the angles of the connecting arm and the adjustable mounting plate of the movable machine can be adjusted, and the angle of the clamping mechanism is conveniently adjusted.
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 perspective view of a mobile robotic arm according to the present invention;
FIG. 2 is a partial block diagram of a mobile robotic arm according to the present invention;
FIG. 3 is a perspective view of the clamping mechanism of the present invention;
FIG. 4 is a perspective view of the clamping mechanism of the present invention at another angle;
FIG. 5 is an assembly view of the adjustable outer bracket and its surface structure of the present invention;
FIG. 6 is an assembly view of a connecting arm and its surface structure according to the present invention.
In the figure: 1. moving the trolley; 101. mounting grooves; 2. rotating a first shaft; 3. turning over the support rod; 4. turning over the air cylinder; 5. an adjustable outer support frame; 6. an adjustable inner support frame; 7. a connecting arm; 71. a telescopic outer rod; 72. a telescopic inner rod; 73. a limiting plate; 74. installing a shaft; 75. a limiting wheel; 8. a telescopic cylinder; 9. a clamping mechanism; 91. connecting the substrates; 92. a connecting frame; 93. a clamping cylinder; 94. a third rotating shaft; 95. a clamping rod; 96. a clamping plate; 97. hooking claws; 98. a rotating shaft mounting plate; 99. a hinge plate; 10. fixing a baffle plate; 12. a first fixing plate; 13. adjusting a first motor; 14. a first gear; 15. a second gear; 16. a rack; 17. adjusting the belt pulley; 18. adjusting the belt; 19. a second rotating shaft; 20. a second fixing plate; 21. a third fixing plate; 22. a second adjusting motor; 23. a third gear; 24. a fourth gear; 26. a first roller seat; 27. a first roller; 28. a second roller seat; 29. a second roller; 30. adjusting a motor III; 31. a fifth gear; 32. an adjustable mounting plate.
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.
As shown in fig. 1-6, a movable mechanical arm comprises a movable trolley 1, wherein a mounting groove 101 is formed in the top of the movable trolley 1, a first rotating shaft 2 is transversely arranged on the inner side of the mounting groove 101, two ends of the first rotating shaft 2 are respectively rotatably connected with two side walls of the mounting groove 101 through bearings, two turning support rods 3 are fixedly mounted on the first rotating shaft 2, two turning cylinders 4 are hinged to the inner wall of one side of the mounting groove 101, the end portions of output rods of the two turning cylinders 4 are respectively hinged to one side surface of the two turning support rods 3, an adjustable outer support frame 5 is movably mounted between the two turning support rods 3 along the vertical direction, an adjustable inner support frame 6 is movably mounted on the inner side of the adjustable outer support frame 5 along the vertical direction, two connecting arms 7 are hinged to one side of the adjustable inner support frame 6, and the two connecting arms 7, The lower distribution, the one end of linking arm 7 articulates there is adjustable mounting panel 32, one side fixed mounting of adjustable mounting panel 32 has fixture 9.
The clamping mechanism 9 comprises a connecting base plate 91, one side of the connecting base plate 91 is fixedly connected with the adjustable mounting plate 32 through a bolt, a connecting frame 92 is fixedly installed on one side of the connecting substrate 91, the connecting frame 92 is provided with two groups of three rotating shafts 94, the two groups of three rotating shafts 94 are distributed up and down, the number of the three rotating shafts 94 in each group is two, the third rotating shaft 94 is rotatably mounted on a rotating shaft mounting plate 98, the rotating shaft mounting plate 98 is fixedly mounted on the connecting frame 92, four clamping cylinders 93 are hinged on the connecting frame 92, hinged plates 99 are hinged at the end parts of output rods of the clamping cylinders 93, one end of the hinged plate 99 is fixedly connected with the third rotating shaft 94, clamping rods 95 are fixedly mounted at two ends of the third rotating shaft 94, the two clamping rods 95 are fixedly mounted with the same clamping plate 96, and the clamping plate 96 is fixedly mounted with a plurality of hook claws 97.
Two first fixing plates 12 are fixedly installed at the bottom of one side surface of the adjustable outer support frame 5 through welding, adjusting motors 13 are fixedly installed on one side surfaces corresponding to the two first fixing plates 12, two second gears 15 are rotatably installed on the other side surface of the first fixing plate 12, an output shaft end of each adjusting motor 13 penetrates through the first fixing plate 12 and is fixedly installed with a first gear 14, the two second gears 15 are meshed, the first gear 14 is meshed with one of the second gears 15, racks 16 are fixedly installed on one sides of the two turnover support rods 3, the racks 16 are meshed with the other second gear 15, two adjusting belt pulleys 17 are rotatably installed on the adjustable outer support frame 5, and the two adjusting belt pulleys 17 are respectively located in the middle of the inner lower wall of the adjustable outer support frame 5 and in the middle of the inner upper wall of the adjustable outer support frame 5, two adjust the belt pulley 17 between the transmission connection through adjusting belt 18, one side and the adjustable inner strut 6 fixed connection of adjusting belt 18, the inboard bottom surface fixed mounting of adjustable outer strut 5 has adjusting motor three 30, adjusting motor three 30's output shaft end and the adjusting belt pulley 17 fixed connection on the inboard bottom surface of adjustable outer strut 5.
The connecting arm 7 comprises a connecting telescopic outer rod 71 and a telescopic inner rod 72, one end of the telescopic inner rod 72 is telescopically mounted on the inner side of the telescopic outer rod 71, the other end of the telescopic inner rod 72 extends to the outer side of the telescopic outer rod 71, one side of the telescopic outer rod 71 is hinged with a telescopic cylinder 8, the end part of an output rod of the telescopic cylinder 8 is hinged with one side of the telescopic inner rod 72, two ends, far away from the telescopic inner rod 72, of the telescopic outer rod 71 are fixedly connected with a second rotating shaft 19, the second rotating shaft 19 penetrates through the telescopic outer rod 71 and extends to two sides of the telescopic outer rod 71, the inner walls of two sides of the adjustable inner support frame 6 are fixedly mounted with second fixing plates 20, one side of each second fixing plate 20 is fixedly mounted with two third fixing plates 21, two ends of the second rotating shaft 19 are respectively rotatably mounted on the two second fixing plates 20, and both sides of the second rotating shaft 19 are, two fifth gears 31 are rotatably mounted on the second fixing plate 20, a second adjusting motor 22 is fixedly mounted on one side of the third fixing plate 21, a third gear 23 is fixedly mounted at an output shaft end of the second adjusting motor 22, the third gear 23 is meshed with the fifth gear 31, the fifth gear 31 is meshed with a corresponding fourth gear 24, and two ends, far away from the telescopic outer rod 71, of the telescopic inner rods 72 are hinged to the upper end and the lower end of the adjustable mounting plate 32 respectively.
Two equal fixed mounting in top of upset vaulting pole 3 has first gyro wheel seat 26, one side of first gyro wheel seat 26 is rotated and is installed two first gyro wheels 27, two first gyro wheel 27 respectively with the both sides sliding connection of adjustable outer strut 5.
And the two ends of the upper surface and the two ends of the bottom surface of the adjustable inner support frame 6 are respectively and fixedly provided with a second roller seat 28, one side of each second roller seat 28 is respectively and rotatably provided with two second rollers 29, and the two second rollers 29 are respectively and slidably connected with the two sides of the adjustable outer support frame 5.
Two the one end that axis of rotation 2 was kept away from to one side surface of upset vaulting pole 3 has same fixed stop 10 through bolt fixed mounting, fixed stop 10 is located the top of first fixed plate 12.
Two 19 one ends of axis of rotation are kept away from to flexible outer pole 71's both sides surface all have limiting plate 73, two be provided with two installation axles 74, two perpendicularly between the limiting plate 73 install axle 74 and be located the both sides of pole 72 in stretching out and drawing back respectively, the both ends of installing axle 74 rotate with two limiting plates 73 respectively and are connected, fixed mounting has two spacing wheels 75 on the installation axle 74, two a side surface sliding fit of spacing wheel 75 and pole 72 in stretching out and drawing back.
A use method of a mobile mechanical arm comprises the following steps:
step one, two turning cylinders 4 are started, the turning cylinders 4 drive two turning support rods 3 to rotate around a first rotating shaft 2 and enable the turning support rods 3 to turn to be in a vertical state, two first adjusting motors 13 are started, output shafts of the first adjusting motors 13 rotate and drive first gears 14 to rotate, the first gears 14 drive one second gear 15 to rotate and drive the other second gear 15 to rotate, the other second gear 15 is matched with a rack 16 to be used for driving an adjustable outer support frame 5 to ascend, an adjusting motor three 30 is started, output shafts of the adjusting motors three 30 rotate and drive adjusting belt wheels 17 to rotate, the adjusting belt wheels 17 drive adjusting belts 18 to rotate, the adjusting belts 18 drive the adjustable inner support frame 6 to ascend, and the adjustable inner support frame 6 drives a connecting arm 7 to ascend and drives a clamping mechanism 9 to ascend;
step two, starting two adjusting motors two 22, wherein the adjusting motors two 22 drive a third gear 23 to rotate, the third gear 23 drives a fifth gear 31 meshed with the third gear to rotate, the fifth gear 31 drives a fourth gear 24 to rotate and drives a rotating shaft two 19 to rotate, the rotating shaft two 19 drives a connecting arm 7 to rotate, so that the connecting arm 7 is unfolded, simultaneously starting two telescopic cylinders 8, the two telescopic cylinders 8 respectively drive a telescopic inner rod 72 to extend out of corresponding telescopic outer rods 71, adjusting the height of the clamping mechanism 9, starting the telescopic cylinder 8 on any connecting arm 7, the telescopic cylinder 8 drives the telescopic inner rod 72 to extend and retract and drives an adjustable mounting plate 32 to rotate, adjusting the angle of the clamping mechanism 9, and enabling the clamping mechanism 9 to move to an object to be clamped;
and step three, starting the clamping cylinder 93, driving the hinged plate 99 to rotate by the clamping cylinder 93, driving the third rotating shaft 94 to rotate by the hinged plate 99, and driving the clamping rod 95 to rotate, so that the two groups of clamping plates 96 on the upper side and the lower side move oppositely, and clamp the articles.
The invention respectively drives an inner telescopic rod 72 to contract into a corresponding outer telescopic rod 71 through two telescopic cylinders 8, drives a third gear 23 to rotate through an adjusting motor II 22, and drives a rotating shaft II 19 to rotate by matching with a fifth gear 31 and a fourth gear 24, thereby driving a connecting arm 7 to overturn downwards for contraction, drives an adjustable outer support frame 5 to descend by starting an adjusting motor I13 and matching with a first gear 14, a second gear 15 and a rack 16, drives an adjusting belt pulley 17 to rotate through an adjusting motor III 30, drives an adjusting belt 18 to rotate by the adjusting belt pulley 17, and drives an adjustable inner support frame 6 to descend, and drives the adjustable inner support frame 6 to drive the connecting arm 7 to descend, thereby driving a clamping mechanism 9 to descend, and drives the top end of an overturning support rod 3 to overturn downwards through an overturning cylinder 4, so that the clamping mechanism 9 overturns into a mounting groove 101, and the mechanical arm is movable and convenient to fold, the clamping mechanism 9 can be put into the mounting groove 101 when not in use, and the whole movable mechanical arm is small in size and convenient to transport after being folded;
the adjustable inner support frame 6 and the adjustable mounting plate 32 are connected through a high-strength telescopic outer rod 71 and a telescopic inner rod 72, the telescopic of the telescopic outer rod 71 and the telescopic inner rod 72 is controlled through a telescopic cylinder 8, limiting plates 73 are arranged on two sides of the telescopic outer rod 71, two mounting shafts 74 are arranged between the two limiting plates 73, two limiting wheels 75 are arranged on the mounting shafts 74, the limiting wheels 75 are respectively matched with two sides of the telescopic inner rod 72 in a sliding mode, the telescopic inner rod 72 is guaranteed to be stable when extending and contracting, the movable mechanical arm is connected through a high-strength connecting arm 7, the connecting arm 7 is driven to stretch through the telescopic cylinder 8, the strength of the movable mechanical arm is high, the upper limit on the weight of an object can be clamped, and the possibility that the cylinder is broken when the traditional mechanical arm is directly connected through the;
according to the invention, the second adjusting motor 22 drives the third gear 23 to rotate, the third gear 23 drives the fifth gear 31 meshed with the third gear to rotate, the fifth gear 31 drives the fourth gear 24 to rotate and drives the second rotating shaft 19 to rotate, the second rotating shaft 19 drives the connecting arm 7 to rotate, the angle of the connecting arm 7 is adjusted, by starting the telescopic cylinder 8 on any one connecting arm 7, the telescopic cylinder 8 drives the telescopic inner rod 72 to extend and retract and drives the adjustable mounting plate 32 to rotate, the angle of the adjustable mounting plate 32 is adjusted, the angles of the connecting arm 7 and the adjustable mounting plate 32 of the mobile machine can be adjusted, and the angle of the clamping mechanism 9 can be conveniently adjusted.
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 embodiments 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 (9)
1. The movable mechanical arm is characterized by comprising a movable trolley (1), wherein a mounting groove (101) is formed in the top of the movable trolley (1), a first rotating shaft (2) is transversely arranged on the inner side of the mounting groove (101), two ends of the first rotating shaft (2) are respectively and rotatably connected with two side walls of the mounting groove (101) through bearings, two overturning support rods (3) are fixedly mounted on the first rotating shaft (2), two overturning cylinders (4) are hinged to the inner wall of one side of the mounting groove (101), the end parts of output rods of the two overturning cylinders (4) are respectively hinged to one side surface of the two overturning support rods (3), an adjustable outer support frame (5) is movably mounted between the two overturning support rods (3) in the vertical direction, and an adjustable inner support frame (6) is movably mounted on the inner side of the adjustable outer support frame (5) in the vertical direction, one side of adjustable inner strut (6) articulates there are two linking arms (7), two linking arm (7) are upper and lower distribution, the one end of linking arm (7) articulates there is adjustable mounting panel (32), one side fixed mounting of adjustable mounting panel (32) has fixture (9).
2. The mobile mechanical arm as claimed in claim 1, wherein the clamping mechanism (9) comprises a connecting base plate (91), one side of the connecting base plate (91) is fixedly connected with the adjustable mounting plate (32) through a bolt, a connecting frame (92) is fixedly mounted on one side of the connecting base plate (91), the connecting frame (92) is provided with two sets of three rotating shafts (94), the two sets of three rotating shafts (94) are distributed up and down, the number of the three rotating shafts (94) in each set is two, the three rotating shafts (94) are rotatably mounted on the rotating shaft mounting plate (98), the rotating shaft mounting plate (98) is fixedly mounted on the connecting frame (92), the connecting frame (92) is hinged with four clamping cylinders (93), the end parts of output rods of the clamping cylinders (93) are hinged with hinged plates (99), and one end of the hinged plates (99) is fixedly connected with the three rotating shafts (94), the equal fixed mounting in both ends of axis of rotation three (94) has supporting rod (95), two fixed mounting has same grip block (96) on supporting rod (95), fixed mounting has a plurality of to collude claw (97) on grip block (96).
3. The mobile mechanical arm as claimed in claim 1, wherein two first fixing plates (12) are fixedly installed at the bottom of one side surface of the adjustable outer support frame (5) through welding, a first adjusting motor (13) is fixedly installed on each of two corresponding side surfaces of the first fixing plates (12), two second gears (15) are rotatably installed on each of the other side surfaces of the first fixing plates (12), an output shaft end of the first adjusting motor (13) penetrates through the first fixing plates (12) and is fixedly installed with a first gear (14), the two second gears (15) are meshed with each other, the first gear (14) is meshed with one of the second gears (15), a rack (16) is fixedly installed on each of two turning support rods (3), and the rack (16) is meshed with the other second gear (15), rotate on adjustable outer strut (5) and install two regulation belt pulleys (17), two adjust belt pulley (17) and be located the inboard lower wall middle part of adjustable outer strut (5), the inboard upper wall middle part of adjustable outer strut (5) respectively, two adjust and connect through adjusting belt (18) transmission between belt pulley (17), one side and adjustable inner strut (6) fixed connection of adjusting belt (18), the inboard bottom surface fixed mounting of adjustable outer strut (5) has adjusting motor three (30), adjusting belt pulley (17) fixed connection on the output shaft end of adjusting motor three (30) and the inboard bottom surface of adjustable outer strut (5).
4. The mobile mechanical arm as claimed in claim 1, wherein the connecting arm (7) comprises a connecting outer telescopic rod (71) and an inner telescopic rod (72), one end of the inner telescopic rod (72) is telescopically mounted inside the outer telescopic rod (71), the other end of the inner telescopic rod (72) extends to the outside of the outer telescopic rod (71), one side of the outer telescopic rod (71) is hinged with a telescopic cylinder (8), the end of an output rod of the telescopic cylinder (8) is hinged with one side of the inner telescopic rod (72), one ends of the two outer telescopic rods (71) far away from the inner telescopic rod (72) are fixedly connected with a second rotating shaft (19), the second rotating shaft (19) penetrates through the outer telescopic rod (71) and extends to the two sides of the outer telescopic rod (71), and second fixing plates (20) are fixedly mounted on the inner walls of the two sides of the adjustable inner strut (6), one side of the second fixing plate (20) is fixedly provided with two third fixing plates (21), two ends of the second rotating shaft (19) are respectively and rotatably arranged on the two second fixing plates (20), both sides of the second rotating shaft (19) are fixedly provided with fourth gears (24), the second fixing plate (20) is rotatably provided with two fifth gears (31), a second adjusting motor (22) is fixedly arranged on one side of the third fixing plate (21), a third gear (23) is fixedly arranged at the output shaft end of the second adjusting motor (22), the third gear (23) is meshed with the fifth gear (31), the fifth gear (31) is meshed with the corresponding fourth gear (24), and two ends, far away from the telescopic outer rod (71), of the telescopic inner rods (72) are hinged to the upper end and the lower end of the adjustable mounting plate (32) respectively.
5. The mobile mechanical arm as claimed in claim 1, wherein a first roller seat (26) is fixedly mounted at the top end of each of the two turning support rods (3), two first rollers (27) are rotatably mounted at one side of the first roller seat (26), and the two first rollers (27) are respectively connected with two sides of the adjustable outer support frame (5) in a sliding manner.
6. The mobile mechanical arm as claimed in claim 1, wherein the two ends of the upper surface and the two ends of the bottom surface of the adjustable inner support frame (6) are fixedly provided with second roller seats (28), one side of each second roller seat (28) is rotatably provided with two second rollers (29), and the two second rollers (29) are respectively connected with the two sides of the adjustable outer support frame (5) in a sliding manner.
7. A mobile robotic arm as claimed in claim 1, characterised in that the ends of the side surfaces of the two turning struts (3) remote from the first axis of rotation (2) are fixedly mounted by bolts with the same fixed stop (10), the fixed stop (10) being located above the first fixed plate (12).
8. The mobile mechanical arm as claimed in claim 4, wherein one end of each side surface of the outer telescopic rod (71), which is far away from the second rotating shaft (19), is fixedly provided with a limiting plate (73) through a bolt, two mounting shafts (74) are vertically arranged between the two limiting plates (73), the two mounting shafts (74) are respectively located at two sides of the inner telescopic rod (72), two ends of each mounting shaft (74) are respectively rotatably connected with the two limiting plates (73), two limiting wheels (75) are fixedly mounted on the mounting shafts (74), and the two limiting wheels (75) are in sliding fit with one side surface of the inner telescopic rod (72).
9. A method of using a mobile robotic arm as claimed in any one of claims 1 to 8, the method comprising the steps of:
step one, two turning cylinders (4) are started, the turning cylinders (4) drive two turning support rods (3) to rotate around a rotating shaft I (2) and turn the turning support rods (3) to be in a vertical state, two adjusting motors I (13) are started, output shafts of the adjusting motors I (13) rotate and drive first gears (14) to rotate, the first gears (14) drive one of second gears (15) to rotate and drive the other second gear (15) to rotate, the other second gear (15) is matched with a rack (16) to drive an adjustable outer support frame (5) to ascend, an adjusting motor III (30) is started, output shafts of the adjusting motors III (30) rotate and drive an adjusting belt pulley (17) to rotate, the adjusting belt pulley (17) drives an adjusting belt (18) to rotate, the adjusting belt (18) drives an adjustable inner support frame (6) to ascend, the adjustable inner support frame (6) drives a connecting arm (7) to ascend, and drives the clamping mechanism (9) to ascend;
step two, starting two adjusting motors two (22), wherein the adjusting motors two (22) drive a third gear (23) to rotate, the third gear (23) drives a fifth gear (31) meshed with the third gear to rotate, the fifth gear (31) drives a fourth gear (24) to rotate and drives a second rotating shaft (19) to rotate, the second rotating shaft (19) drives a connecting arm (7) to rotate, so that the connecting arm (7) is unfolded, simultaneously starting two telescopic cylinders (8), the two telescopic cylinders (8) respectively drive a telescopic inner rod (72) to extend out from corresponding telescopic outer rods (71), adjusting the height of a clamping mechanism (9), starting the telescopic cylinder (8) on any connecting arm (7), the telescopic cylinder (8) drives the telescopic inner rod (72) to extend and retract, and drives an adjustable mounting plate (32) to rotate, and adjusting the angle of the clamping mechanism (9), moving the clamping mechanism (9) to the position of the object to be clamped;
and step three, starting the clamping cylinder (93), wherein the clamping cylinder (93) drives the hinged plate (99) to rotate, the hinged plate (99) drives the rotating shaft III (94) to rotate and drives the clamping rods (95) to rotate, so that the two groups of clamping plates (96) on the upper side and the lower side move oppositely and clamp articles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010701547.XA CN111730576A (en) | 2020-07-20 | 2020-07-20 | Movable mechanical arm and using method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010701547.XA CN111730576A (en) | 2020-07-20 | 2020-07-20 | Movable mechanical arm and using method thereof |
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| Publication Number | Publication Date |
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| CN111730576A true CN111730576A (en) | 2020-10-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010701547.XA Withdrawn CN111730576A (en) | 2020-07-20 | 2020-07-20 | Movable mechanical arm and using method thereof |
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| Country | Link |
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| CN (1) | CN111730576A (en) |
Cited By (5)
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| CN112873816A (en) * | 2020-12-29 | 2021-06-01 | 苏州凯尔博精密机械有限公司 | Three-dimensional extension mechanism of epidermis |
| CN113102174A (en) * | 2021-03-16 | 2021-07-13 | 烟台凯博机械自动化设备有限公司 | Short pipe gluing device for infusion apparatus and using method thereof |
| CN114505293A (en) * | 2022-03-24 | 2022-05-17 | 山东第一医科大学(山东省医学科学院) | Automatic change slide glass belt cleaning device |
| CN114954711A (en) * | 2022-06-19 | 2022-08-30 | 郜光亮 | Wire tower climbing robot |
| CN115230835A (en) * | 2022-06-27 | 2022-10-25 | 深圳市高捷力科技有限公司 | Movable type walking part dismounting device |
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| CN115230835A (en) * | 2022-06-27 | 2022-10-25 | 深圳市高捷力科技有限公司 | Movable type walking part dismounting device |
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Application publication date: 20201002 |