CN113146671A - Multi-degree-of-freedom mechanical arm for machine tool - Google Patents
Multi-degree-of-freedom mechanical arm for machine tool Download PDFInfo
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- CN113146671A CN113146671A CN202110380794.9A CN202110380794A CN113146671A CN 113146671 A CN113146671 A CN 113146671A CN 202110380794 A CN202110380794 A CN 202110380794A CN 113146671 A CN113146671 A CN 113146671A
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- 238000010168 coupling process Methods 0.000 claims abstract description 4
- 238000005859 coupling reaction Methods 0.000 claims abstract description 4
- 238000003466 welding Methods 0.000 claims description 5
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- 230000003247 decreasing effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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Classifications
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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
- B25J15/08—Gripping heads and other end effectors having finger members
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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
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- Engineering & Computer Science (AREA)
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Abstract
The invention discloses a multi-degree-of-freedom mechanical arm for a machine tool, which comprises a second arm, a fourth arm, a bottom counterweight frame and a power support box, wherein two counterweights are arranged in the bottom counterweight frame in a sliding manner, the top of the bottom counterweight frame is welded with the power support box, the top of the power support box is movably provided with a fifth arm, one side of the bottom of the fifth arm is fixedly provided with a fifth motor through a screw, one end of the fifth motor is connected with a second gear through a coupling, the second gear is arranged in the power support box, one side of the second gear is meshed with a first gear, the invention starts a sixth motor, the sixth motor can enable a worm to rotate, the worm can drive the fifth gear to rotate, the fifth gear can enable a first connecting rod to move, and the first connecting rod can enable clamping jaws to mutually clamp, thereby clamping the object and realizing the purpose of good clamping effect.
Description
Technical Field
The invention relates to the technical field of mechanical arms, in particular to a multi-degree-of-freedom mechanical arm for a machine tool.
Background
The mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Because of its unique operating flexibility, have obtained extensive application in fields such as industry assembly, safe explosion-proof, can get the arm in machining technical field to replace the manual work to work, however, current arm has many problems or defects:
firstly, the existing mechanical arm is generally large, so that the center of the mechanical arm is unstable, and the mechanical arm can topple over;
secondly, the existing mechanical arm has low degree of freedom and low practicability;
thirdly, the clamping effect of the existing mechanical arm is not good, and the practicability is not strong.
Disclosure of Invention
The invention aims to provide a mechanical arm to solve the problems of no counterweight function, low degree of freedom and poor clamping effect in the background art.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a multi freedom formula arm for lathe, includes second arm, fourth arm, bottom counterweight frame and power supporting box, the inside of bottom counterweight frame slides and is provided with the balancing weight, and the balancing weight is provided with two in the inside of bottom counterweight frame, the top welding of bottom counterweight frame has power supporting box, the top activity of power supporting box is provided with the fifth arm, and has a fifth motor through screw fixed mounting in one side of fifth arm bottom, the one end of fifth motor is connected with the second gear through the shaft joint, and the second gear setting is in the inside of power supporting box, the meshing of one side of second gear has first gear, and first gear passes through the axle setting in the inside of power supporting box, the bottom interconnect of axle and fifth arm has been passed through at the top of first gear, and first gear has played driven purpose.
Preferably, the one end at fifth arm top has the fourth arm through the hub connection, and there is the fourth motor outside at fifth arm top through screw fixed mounting, the output of fourth motor and the axle interconnect in the fifth arm, and the fourth motor has played the purpose that provides power.
Preferably, the one end at fourth arm top has the third arm through the hub connection, and there is the third motor one side at fourth arm top through screw fixed mounting, the output of third motor and the hub connection at fourth arm top, and the third motor has played the purpose that provides power.
Preferably, a second motor is embedded in the third arm, an external gear ring is movably arranged at one end of the inside of the third arm through a bearing, one end of the external gear ring is connected with the second arm, and the second motor provides power.
Preferably, the external gear ring is internally meshed with a fourth gear, the fourth gear is internally meshed with a third gear, the number of the fourth gears is three, the output end of the second motor is connected with the third gear through a shaft, and the fourth motor achieves the purpose of transmission.
Preferably, there is first motor side of second arm one end through screw fixed mounting, and there is first arm second arm one end near first motor through the hub connection, the output of first motor and the inside hub connection of second arm right-hand member, first motor has played the purpose that provides power.
Preferably, one side welding of first arm has the support frame, and the inside of support frame is inlayed and is had the sixth motor, and the sixth motor output is connected with the worm, and the right-hand member welding of support frame has the support shell, and the sixth motor has played the purpose that provides power.
Preferably, the inside of supporting shell has the fifth gear through axle swing joint, has first connecting rod through the hub connection on the fifth gear, and one side and the worm intermeshing of fifth gear have the clamping jaw through axle swing joint on the sixth motor, have the second connecting rod through the hub connection on the clamping jaw, and the one end of second connecting rod is connected to the inside of supporting shell through the axle, and the clamping jaw has played the purpose of centre gripping article.
Compared with the prior art, the invention has the beneficial effects that: this arm is rational in infrastructure, has following advantage:
(1) through being provided with bottom counter weight frame, balancing weight and power supporting box and having realized that the device has the function of counter weight, current device is because the support arm overlength can lead to the device focus unstable, leads to easily empting, consequently, if the overweight object of centre gripping, the device can be emptyd, consequently, is provided with the balancing weight in bottom counter weight frame's inside during the use, and the balancing weight can increase or reduce as required to can adjust the weight of balancing weight as required, prevent that the device from empting.
(2) The purpose of high degree of freedom is realized by arranging a first motor, a third motor, a fourth motor and a fifth motor, the degree of freedom of the prior device is not high, therefore, when in use, the fifth motor drives a second gear to rotate by starting the fifth motor, the second gear drives a first gear to rotate, the first gear drives a fifth arm to rotate, the fourth motor drives a shaft to rotate by starting the fourth motor, the third motor drives a third arm to rotate by starting the third motor, the second motor drives a third gear to rotate by starting the second motor, the fourth gear drives an external gear ring to rotate, the second arm is driven to rotate by driving the fourth gear, the purpose of rotating the second arm around the center of the third arm is realized, the first motor drives the first arm to rotate up and down by starting the first motor, thereby realizing the purpose of high degree of freedom and being suitable for different conditions.
(3) Through being provided with first connecting rod, the second connecting rod, the support shell, the clamping jaw, the fifth gear, the worm, the effectual purpose of centre gripping has been realized to the sixth motor, current device centre gripping effect is not good, consequently, during the use, through starting the sixth motor, the sixth motor just can make the worm rotate, the worm will drive the fifth gear and rotate, the fifth gear just can make first connecting rod remove, first connecting rod and then can make the mutual centre gripping of clamping jaw, thereby clip the object, realized the effectual purpose of centre gripping.
Drawings
FIG. 1 is a schematic front view of the present invention;
FIG. 2 is a schematic side view of a portion of the present invention;
FIG. 3 is a schematic view of the internal structure of the power support box of the present invention;
FIG. 4 is a schematic view of the internal structure of the external ring gear of the present invention;
FIG. 5 is an enlarged schematic view of the structure at A in FIG. 1 according to the present invention;
fig. 6 is a schematic side view of the jaw of the present invention.
In the figure: 1. a first arm; 2. a first motor; 3. a second arm; 4. an outer ring gear; 5. a second motor; 6. a third arm; 7. a third motor; 8. a fourth arm; 9. a fourth motor; 10. a fifth arm; 11. a fifth motor; 12. a bottom counterweight frame; 13. a balancing weight; 14. a power support box; 15. a first link; 16. a second link; 17. a support housing; 18. a clamping jaw; 19. a first gear; 20. a second gear; 21. a third gear; 22. a fourth gear; 23. a fifth gear; 24. a worm; 25. a sixth motor; 26. a support frame.
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. 1-6, an embodiment of the present invention is shown: a multi-degree-of-freedom mechanical arm for a machine tool comprises a second arm 3, a fourth arm 8, a bottom counterweight frame 12 and a power support box 14, wherein a counterweight block 13 is arranged in the bottom counterweight frame 12 in a sliding manner, two balancing weights 13 are arranged inside the bottom counterweight housing 12, the top of the bottom counterweight housing 12 is welded with a power supporting box 14, the top of the power supporting box 14 is movably provided with a fifth arm 10, and one side of the bottom of the fifth arm 10 is fixedly provided with a fifth motor 11 through a screw, the model of the fifth motor 11 can be Y90S-2, one end of the fifth motor 11 is connected with a second gear 20 through a coupling, and a second gear 20 is provided inside the power support box 14, and one side of the second gear 20 is engaged with the first gear 19, and the first gear 19 is arranged inside the power support box 14 through a shaft, and the top of the first gear 19 is connected with the bottom of the fifth arm 10 through a shaft;
when the device is used, the balancing weight 13 is arranged in the bottom counterweight frame 12, and the balancing weight 13 can be increased or decreased according to needs, so that the weight of the balancing weight can be adjusted according to needs, and the device is prevented from toppling;
one end of the top of the fifth arm 10 is connected with a fourth arm 8 through a shaft, a fourth motor 9 is fixedly mounted outside the top of the fifth arm 10 through a screw, the type of the fourth motor 9 can be Y90L-2, and the output end of the fourth motor 9 is connected with the shaft in the fifth arm 10;
one end of the top of the fourth arm 8 is connected with a third arm 6 through a shaft, one side of the top of the fourth arm 8 is fixedly provided with a third motor 7 through a screw, the type of the third motor 7 can be Y80M1-2, and the output end of the third motor 7 is connected with the shaft at the top of the fourth arm 8;
a second motor 5 is embedded in the third arm 6, an external gear ring 4 is movably arranged at one end in the third arm 6 through a bearing, and one end of the external gear ring 4 is connected with the second arm 3;
a fourth gear 22 is meshed inside the external gear ring 4, a third gear 21 is meshed inside the fourth gear 22, three fourth gears 22 are arranged inside the external gear ring 4, the output end of the second motor 5 is connected with the third gear 21 through a shaft, and the model of the second motor 5 can be Y80M 2-2;
the side surface of one end of the second arm 3 is fixedly provided with a first motor 2 through a screw, one end of the second arm 3 close to the first motor 2 is connected with a first arm 1 through a shaft, the model of the first motor 2 can be MR-J2S-10A, and the output end of the first motor 2 is connected with the shaft inside the right end of the second arm 3;
when the device is used, the fifth motor 11 is started, the fifth motor 11 drives the second gear 20 to rotate, the second gear 20 drives the first gear 19 to rotate, the first gear 19 drives the fifth arm 10 to rotate, the fourth motor 9 is started, the fourth motor 9 drives the shaft to further drive the fourth arm 8 to rotate, the third motor 7 drives the third arm 6 to rotate by starting the third motor 7, the second motor 5 drives the third gear 21 to further drive the fourth gear 22 to further drive the external gear ring 4 to rotate, the second arm 3 is further driven to rotate by starting the second motor 5, the purpose that the second arm 3 rotates around the center of the third arm 6 is achieved, the first motor 2 drives the first arm 1 to rotate up and down by starting the first motor 2, and therefore the purpose that the degree of freedom is high is achieved, and the device is suitable for different situations;
a support frame 26 is welded on one side of the first arm 1, a sixth motor 25 is embedded in the support frame 26, the model of the sixth motor 25 can be ASD-A2, the output end of the sixth motor 25 is connected with a worm 24, and a support shell 17 is welded on the right end of the support frame 26;
a fifth gear 23 is movably connected inside the supporting shell 17 through a shaft, a first connecting rod 15 is connected to the fifth gear 23 through a shaft, one side of the fifth gear 23 is meshed with the worm 24, a clamping jaw 18 is movably connected to a sixth motor 25 through a shaft, a second connecting rod 16 is connected to the clamping jaw 18 through a shaft, and one end of the second connecting rod 16 is connected to the inside of the supporting shell 17 through a shaft;
when the clamping device is used, the sixth motor 25 is started, the sixth motor 25 enables the worm 24 to rotate, the worm 24 drives the fifth gear 23 to rotate, the fifth gear 23 enables the first connecting rod 15 to move, the first connecting rod 15 enables the clamping jaws 18 to clamp each other, and therefore objects are clamped, and the purpose of good clamping effect is achieved.
The working principle is as follows: when the device is used, the device is put in a proper position to work, the gravity center of the device is unstable and easy to topple due to the overlong supporting arm of the existing device, so that the device can topple if an overweight object is clamped, when the device is used, the counterweight block 13 is arranged inside the bottom counterweight frame 12, the counterweight block 13 can be increased or decreased as required, the weight of the counterweight can be adjusted as required, the device is prevented from toppling, the fifth motor 11 drives the second gear 20 to rotate by starting the fifth motor 11, the second gear 20 drives the first gear 19 to rotate, the first gear 19 drives the fifth arm 10 to rotate, the fourth motor 9 drives the shaft to drive the fourth arm 8 to rotate by starting the fourth motor 9, and the third motor 7 drives the third arm 6 to rotate by starting the third motor 7, by starting the second motor 5, the second motor 5 will drive the third gear 21, and further drive the fourth gear 22 to drive the external gear ring 4 to rotate, and further drive the second arm 3 to rotate, thereby achieving the purpose that the second arm 3 rotates around the center of the third arm 6, by starting the first motor 2, the first motor 2 will drive the first arm 1 to rotate up and down, thereby achieving the purpose of high degree of freedom, which is applicable to different situations, by starting the sixth motor 25, the sixth motor 25 will make the worm 24 rotate, the worm 24 will drive the fifth gear 23 to rotate, the fifth gear 23 will make the first link 15 move, the first link 15 will then make the clamping jaws 18 clamp each other, thereby clamping the object, and achieving the purpose of good clamping effect.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (8)
1. The utility model provides a multi freedom formula arm for lathe, includes second arm (3), fourth arm (8), bottom counter weight frame (12) and power supporting box (14), its characterized in that: the interior of the bottom counterweight frame (12) is provided with two counterweight blocks (13) in a sliding way, and the number of the counterweight blocks (13) is two in the interior of the bottom counterweight frame (12), the top of the bottom counterweight frame (12) is welded with a power supporting box (14), the top of the power supporting box (14) is movably provided with a fifth arm (10), and one side of the bottom of the fifth arm (10) is fixedly provided with a fifth motor (11) through a screw, one end of the fifth motor (11) is connected with a second gear (20) through a coupling, and a second gear (20) is arranged inside the power supporting box (14), one side of the second gear (20) is engaged with a first gear (19), and the first gear (19) is arranged inside the power supporting box (14) through a shaft, the top of the first gear (19) is interconnected to the bottom of the fifth arm (10) by a shaft.
2. The multi-degree-of-freedom robot arm for a machine tool according to claim 1, wherein: one end at the top of the fifth arm (10) is connected with a fourth arm (8) through a shaft, a fourth motor (9) is fixedly mounted outside the top of the fifth arm (10) through a screw, and the output end of the fourth motor (9) is connected with the shaft in the fifth arm (10) mutually.
3. The multi-degree-of-freedom robot arm for a machine tool according to claim 2, wherein: one end at fourth arm (8) top has third arm (6) through the hub connection, and there is third motor (7) one side at fourth arm (8) top through screw fixed mounting, the output of third motor (7) and the axle interconnect at fourth arm (8) top.
4. The multi-degree-of-freedom robot arm for a machine tool according to claim 3, wherein: a second motor (5) is embedded in the third arm (6), an external gear ring (4) is movably arranged at one end of the interior of the third arm (6) through a bearing, and one end of the external gear ring (4) is connected with the second arm (3).
5. The multi-degree-of-freedom robot arm for a machine tool according to claim 4, wherein: the motor is characterized in that a fourth gear (22) is meshed inside the external gear ring (4), a third gear (21) is meshed inside the fourth gear (22), the number of the fourth gears (22) is three in the external gear ring (4), and the output end of the second motor (5) is connected with the third gear (21) through a shaft.
6. The multi-degree-of-freedom robot arm for a machine tool according to claim 4, wherein: the side of second arm (3) one end has first motor (2) through screw fixed mounting, and there is first arm (1) second arm (3) one end near first motor (2) through the hub connection, the output of first motor (2) and the inside axle interconnect of second arm (3) right-hand member.
7. The multi-degree-of-freedom robot arm for a machine tool according to claim 6, wherein: one side welding of first arm (1) has support frame (26), and the inside of support frame (26) is inlayed and is had sixth motor (25), and sixth motor (25) output is connected with worm (24), and the right-hand member welding of support frame (26) has support shell (17).
8. The multi-degree-of-freedom robot arm for a machine tool according to claim 7, wherein: the novel worm gear supporting mechanism is characterized in that a fifth gear (23) is movably connected inside the supporting shell (17) through a shaft, a first connecting rod (15) is connected to the fifth gear (23) through the shaft, one side of the fifth gear (23) is meshed with the worm (24), a clamping jaw (18) is movably connected to the sixth motor (25) through the shaft, a second connecting rod (16) is connected to the clamping jaw (18) through the shaft, and one end of the second connecting rod (16) is connected to the inside of the supporting shell (17) through the shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110380794.9A CN113146671B (en) | 2021-04-09 | 2021-04-09 | Multi-degree-of-freedom mechanical arm for machine tool |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110380794.9A CN113146671B (en) | 2021-04-09 | 2021-04-09 | Multi-degree-of-freedom mechanical arm for machine tool |
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| CN113146671A true CN113146671A (en) | 2021-07-23 |
| CN113146671B CN113146671B (en) | 2024-05-17 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114714252A (en) * | 2022-06-06 | 2022-07-08 | 苏州虞创智能仪表科技有限公司 | Clamping equipment is used in processing of feedback type valve limit switch |
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| CN212825451U (en) * | 2020-05-14 | 2021-03-30 | 宿迁学院 | Manipulator with parallel opening and closing of claws |
| CN214561039U (en) * | 2021-04-09 | 2021-11-02 | 深圳鑫宏力精密工业有限公司 | Multi-degree-of-freedom mechanical arm for machine tool |
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- 2021-04-09 CN CN202110380794.9A patent/CN113146671B/en active Active
Patent Citations (9)
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| CN108381587A (en) * | 2018-02-13 | 2018-08-10 | 饶榕琦 | A kind of automatic power construction robot |
| CN210500271U (en) * | 2019-08-29 | 2020-05-12 | 浙江树人学院（浙江树人大学） | Multi-joint mechanical arm |
| CN110900633A (en) * | 2019-12-23 | 2020-03-24 | 萍乡学院 | Cupping robot |
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| CN113146671B (en) | 2024-05-17 |
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