CN118769232B - Multi-azimuth adjustable mechanical arm for electric automation - Google Patents
Multi-azimuth adjustable mechanical arm for electric automation Download PDFInfo
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- CN118769232B CN118769232B CN202411287215.6A CN202411287215A CN118769232B CN 118769232 B CN118769232 B CN 118769232B CN 202411287215 A CN202411287215 A CN 202411287215A CN 118769232 B CN118769232 B CN 118769232B
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- 230000033001 locomotion Effects 0.000 description 19
- 230000001360 synchronised effect Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 244000309464 bull Species 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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- Engineering & Computer Science (AREA)
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Abstract
本发明涉及机械臂技术领域，尤其是一种电气自动化多方位可调式机械臂，包括底板和支撑腿，所述底板的下端对称固定相连有支撑腿，所述底板上端右侧设有高度调节装置，所述底板上端固定相连有两个支撑板，所述底板的上端设有角度定位装置，一侧所述支撑板的前端固定相连有两个支板，通过角度调节装置、第一齿轮、第二齿轮、第一转轴、第三转轴、电机的配合，当第一齿轮转动到指定的角度后，停止电机，启动第二气缸的伸缩端伸长，使转板再次与凹槽轮表面的凹槽卡接，使第一转杆的角度固定，通过可以对转动一定角度后，使转板与凹槽轮进行卡接，使电机停止转动后，可以进一步固定机械臂的角度，提高运送效果。
The present invention relates to the field of mechanical arm technology, and in particular to an electrically automated multi-directionally adjustable mechanical arm, comprising a base plate and support legs, wherein the lower end of the base plate is symmetrically fixedly connected to the support legs, a height adjustment device is provided on the right side of the upper end of the base plate, the upper end of the base plate is fixedly connected to two support plates, the upper end of the base plate is provided with an angle positioning device, and the front end of the support plate on one side is fixedly connected to two support plates, through the cooperation of the angle adjustment device, the first gear, the second gear, the first rotating shaft, the third rotating shaft, and the motor, when the first gear rotates to a specified angle, the motor is stopped, the telescopic end of the second cylinder is started to extend, so that the rotating plate is again engaged with the groove on the surface of the groove wheel, so that the angle of the first rotating rod is fixed, and after rotating a certain angle, the rotating plate is engaged with the groove wheel, and after the motor stops rotating, the angle of the mechanical arm can be further fixed to improve the transportation effect.
Description
Technical Field
The invention relates to the technical field of mechanical arms, in particular to an electric automatic multidirectional adjustable mechanical arm.
Background
The mechanical arm is an automatic mechanical device which is most widely and practically applied in the technical field of robots, and can see the figure in the fields of industrial manufacture, medical treatment, entertainment service, military, semiconductor manufacture, space exploration and the like. Although they differ in their morphology, they share a common feature of being able to receive instructions to accurately locate a point in three-dimensional (or two-dimensional) space for a job.
Firstly, in the existing pneumatic mechanical arm, the quick and accurate positioning of the rotating angle is inconvenient, when the existing mechanical arm rotates, the inertia of the mechanical arm can be improved after the mechanical arm clamps an object, when the mechanical arm rotates, the rotating angle can not be positioned, and the effect of the mechanical arm when the mechanical arm conveys the object is poor.
Secondly, in the existing pneumatic mechanical arm, when the height of the mechanical arm is adjusted, the platform on which the mechanical arm is installed is required to be lifted synchronously, so that the motor driving the mechanical arm to rotate can follow synchronous motion, a power line and the like of the motor can be bent repeatedly when the motor moves, and the service life of the motor is reduced.
Meanwhile, in the existing pneumatic mechanical arm, various adjustment of the angle of the mechanical arm is inconvenient, when the mechanical arm is used for carrying, different adjustment of the angle of the mechanical arm is needed, but when the angle of the mechanical arm is adjusted, the angle is inconvenient to adjust and position, so that the mechanical arm is inconvenient to use.
Disclosure of Invention
The invention aims to solve the problems that the rotation angle lacks positioning to influence the conveying effect, the service life is low, the angle of the mechanical arm is inconvenient to adjust, and the mechanical arm is inconvenient to use.
In order to achieve the above purpose, the present invention provides the following technical solutions:
The utility model provides an diversified arm with adjustable electric automatization, includes bottom plate and supporting leg, the lower extreme symmetry of bottom plate is fixed to be linked to each other has the supporting leg, bottom plate upper end right side is equipped with height adjusting device, two backup pads have been linked to bottom plate upper end fixedly, the upper end of bottom plate is equipped with angle positioning device, one side the front end of backup pad has linked to each other two extension boards, both sides the backup pad links to each other with the both ends of frame are fixed respectively, the lower extreme of frame is equipped with connecting device, the bottom plate upper end rotates with first pivot through the bearing and links to each other, both sides the lower extreme of supporting leg is all fixed to be connected with the plectane.
Preferably, the connecting device comprises a first circular ring, a second rotating shaft, a first cylinder, a sleeve and a rotating column;
The first cylinder is fixedly connected with the lower end of the frame, the telescopic end of the first cylinder is fixedly connected with the protruding portion of the first circular ring, the first circular ring is rotationally connected with the sleeve through the bearing, the inner wall of the sleeve is slidably connected with the second rotating shaft, the upper end of the second rotating shaft is fixedly connected with the rotating column, and the outer wall of the rotating column is rotationally connected with the frame through the bearing.
Preferably, the circular plate is symmetrically provided with threaded through holes on the surface and connected with the screw threads, the lower end of the bottom plate is fixedly connected with the motor through the motor frame, and the output shaft of the motor is fixedly connected with one end of the third rotating shaft through a bearing.
Preferably, the outer wall of the third rotating shaft is rotationally connected with the bottom plate through a bearing, one end of the third rotating shaft penetrates through the bottom plate, the outer wall of the third rotating shaft is sleeved with the first gear, and teeth of the first gear are meshed with tooth grooves of the second gear.
Preferably, the angle positioning device comprises a shaft sleeve, a rotating plate, a push block, a second cylinder, a transverse plate, a groove wheel and a round rod;
The lower extreme of axle sleeve links to each other with the base is fixed, the axle sleeve inner wall rotates with the round bar and links to each other, the lower extreme of round bar rotates with the bottom plate through the bearing and links to each other, the outer wall of round bar links to each other with the commentaries on classics board activity, the recess looks joint that one end and the groove wheel outer wall of commentaries on classics board were seted up, the other end of commentaries on classics board links to each other with the ejector pad activity through the round pin axle, the ejector pad links to each other with the flexible end of second cylinder is fixed, the second cylinder links to each other with the one end of diaphragm is fixed, the other end of diaphragm links to each other with the extension board activity of both sides through the round pin axle.
Preferably, the outer wall of the first rotating shaft is sleeved with the groove wheel, the upper end of the groove wheel is abutted against the second gear, and the lower end of the groove wheel is abutted against the protruding part of the first rotating shaft.
Preferably, the height adjusting device comprises a push plate, a second circular ring, a cylindrical block, a third cylinder, a slide bar, a vertical rod and a rotary table;
The third cylinder is fixedly connected with the bottom plate, the telescopic end of the third cylinder is fixedly connected with the push plate, the left side of the upper end of the push plate is fixedly connected with the cylindrical block, the outer wall of the cylindrical block is fixedly connected with the second circular ring, the second circular ring is rotationally connected with the rotary table through a bearing, the upper end of the rotary table is fixedly connected with a vertical rod, the rotary table is slidably connected with a plurality of sliding rods through a plurality of through holes formed in the surface, and the lower ends of the sliding rods are fixedly connected with the upper end of the rotary column.
Preferably, the upper end of the vertical rod is fixedly connected with a top plate, the surface of the top plate is fixedly connected with a base, the upper end of the base is fixedly connected with a first section of the mechanical arm, one end of the first end of the mechanical arm is movably connected with one end of a second section of the mechanical arm through a pin shaft, the other end of the second section of the mechanical arm is movably connected with a third section of the mechanical arm through a pin shaft, and the other end of the third end of the mechanical arm is movably connected with the clamping jaw through a pin shaft.
The electric automatic multidirectional adjustable mechanical arm has the beneficial effects that through the cooperation of the angle adjusting device, the first gear, the second gear, the first rotating shaft, the third rotating shaft and the motor, the telescopic end of the second cylinder shortens and pulls the rotating plate to move by taking the round rod as the center through the pushing block, one end of the rotating plate is not clamped with the groove on the surface of the grooved pulley, meanwhile, the motor is controlled to work, the motor can drive the first gear to rotate through the third rotating shaft, the first rotating shaft can drive the grooved pulley and the sleeve to synchronously rotate, after the first gear rotates to a specified angle, the motor is stopped, and meanwhile, the telescopic end of the second cylinder is started to extend, so that the rotating plate is clamped with the groove on the surface of the grooved pulley again, the angle of the first rotating rod is fixed, after the rotating for a certain angle, the rotating plate is clamped with the grooved pulley, the angle of the mechanical arm can be further fixed after the motor stops rotating, and the conveying effect is improved.
Through the cooperation of high adjusting device and roof, control third cylinder carries out work, the extension of the flexible end of start third cylinder drives the cylinder piece upward movement through the push pedal, make the cylinder piece can drive the second ring and carry out synchronous motion, make the second ring can drive the carousel and carry out upward movement, make the carousel drive the roof upward movement through the montant, make arm first section, arm second section and arm third section can drive the clamping jaw and transport the work piece to the eminence, through can carrying out independent height adjustment to three groups of arms, do not need to drive the motor and carry out synchronous motion, effectually avoided the power cord to be pulled repeatedly, lead to the problem that life reduces.
Through the cooperation of connecting device, first gear, the second gear, first pivot and third pivot, control first cylinder simultaneously and work, the flexible end of start first cylinder shortens and drives first ring upward movement, make first ring can drive sleeve synchronous upward movement, make the sleeve no longer support tightly with the upper end of second gear, make the sleeve no longer cup joint with first pivot, operating personnel pull out first gear and second gear from the surface of third pivot and first pivot respectively, take down the groove wheel simultaneously, change second gear and groove wheel, change the groove wheel that the interval accords with the demand between the recess and change the second gear into incomplete gear according to the angle of required rotation, the contained angle that the second gear was equipped with tooth part to second gear axis of rotation department is the same with the angle of required rotation, after the change is accomplished, resume normal position with structures such as first gear and second gear according to above-mentioned reverse operation, through carrying out the location adjustment to second gear and groove wheel, make this invention can adapt to more angle change, it is more convenient when using.
Drawings
FIG. 1 is a schematic view of the appearance structure of the present invention;
FIG. 2 is a schematic top view of FIG. 1 of the present invention;
FIG. 3 is a schematic view of the bottom view of FIG. 1 according to the present invention;
FIG. 4 is a schematic view of the left side plan view of FIG. 1 of the present invention;
FIG. 5 is a schematic view of the height adjustment device of FIG. 1 according to the present invention;
FIG. 6 is a schematic view of the angle positioning apparatus of FIG. 1 according to the present invention;
FIG. 7 is a schematic view of the angular positioning device of FIG. 1 after replacing a second gear in accordance with the present invention;
FIG. 8 is a schematic view of the angular positioning device of FIG. 1 illustrating an un-replaced second gear state according to the present invention;
FIG. 9 is a schematic diagram illustrating a left side top view of the angular positioning device of FIG. 1 with a second gear not replaced in accordance with the present invention;
fig. 10 is a schematic view showing a bottom cross-sectional view of the connecting device of fig. 1 according to the present invention.
In the figure, 1, a bottom plate, 2, a height adjusting device, 201, a push plate, 202, a second circular ring, 203, a cylindrical block, 204, a third cylinder, 205, a sliding rod, 206, a vertical rod, 207, a turntable, 3, a base, 4, a first section of a mechanical arm, 5, a second section of the mechanical arm, 6, a third section of the mechanical arm, 7, a clamping jaw, 8, an angle positioning device, 801, a shaft sleeve, 802, a rotating plate, 803, a push block, 804, a second cylinder, 805, a transverse plate, 806, a grooved pulley, 807, a circular rod, 9, a connecting device, 901, a first circular ring, 902, a second rotating shaft, 903, a first cylinder, 904, a sleeve, 905, a rotating column, 10, a supporting leg, 11, a bolt, 12, a circular plate, 13, a supporting plate, 14, a second gear, 15, a supporting plate, 16, a first rotating shaft, 17, a top plate, 18, a frame, 19, a third rotating shaft, 20, a first gear, 21 and a motor are shown.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
Referring to fig. 1-10, in this embodiment, an electric automation multi-azimuth adjustable mechanical arm comprises a bottom plate 1 and supporting legs 10, wherein the lower end of the bottom plate 1 is symmetrically and fixedly connected with the supporting legs 10, the right side of the upper end of the bottom plate 1 is provided with a height adjusting device 2, the upper end of the bottom plate 1 is fixedly connected with two supporting plates 15, the upper end of the bottom plate 1 is provided with an angle positioning device 8, the front end of one side supporting plate 15 is fixedly connected with two supporting plates 13, the two side supporting plates 15 are respectively and fixedly connected with two ends of a frame 18, the lower end of the frame 18 is provided with a connecting device 9, the upper end of the bottom plate 1 is rotatably connected with a first rotating shaft 16 through a bearing, the rotating center of the first rotating shaft 16 is fixed, and the lower ends of the two side supporting legs 10 are fixedly connected with circular plates 12.
The connecting device 9 includes a first ring 901, a second rotating shaft 902, a first cylinder 903, a sleeve 904, and a rotating column 905;
The first cylinder 903 is fixedly connected with the lower end of the frame 18, the first cylinder 903 can meet the working requirement according to the actual requirement, the first cylinder 903 can drive the first circular ring 901 to move, the telescopic end of the first cylinder 903 is fixedly connected with the protruding portion of the first circular ring 901, the first circular ring 901 is rotatably connected with the sleeve 904 through a bearing, the first circular ring 901 can drive the sleeve 904 to rotate, meanwhile, the sleeve 904 can rotate, the inner wall of the sleeve 904 is slidably connected with the second rotating shaft 902, the second rotating shaft 902 can fix the moving track of the sleeve 904, the upper end of the second rotating shaft 902 is fixedly connected with the rotating column 905, the outer wall of the rotating column 905 is rotatably connected with the frame 18 through a bearing, and the rotating center of the rotating column 905 is fixed.
Through the cooperation of the connecting device 9, the first gear 20, the second gear 16, the first rotating shaft 16 and the third rotating shaft 19, the first cylinder 903 is controlled to work at the same time, the telescopic end of the first cylinder 903 is started to shorten and drive the first circular ring 901 to move upwards, the first circular ring 901 can drive the sleeve 904 to move upwards synchronously, the sleeve 904 is no longer abutted against the upper end of the second gear 14, the sleeve 904 is no longer sleeved with the first rotating shaft 16, an operator pulls out the first gear 20 and the second gear 14 from the surfaces of the third rotating shaft 19 and the first rotating shaft 16 respectively, meanwhile, the grooved pulley 806 is taken down, the second gear 14 and the grooved pulley 806 are replaced, the grooved pulley 806 with the interval between the replaced grooves meeting the requirement is replaced with an incomplete gear, the included angle between the part of the second gear 14 with teeth and the position of the second gear 14 is the same as the required rotation angle, after the replacement is completed, the structures such as the first gear 20 and the second gear 14 are restored to the original positions according to the reverse operation, and the grooved pulley 806 can be more conveniently adjusted when the grooved pulley 14 is replaced.
The circular plate 12 is symmetrically provided with threaded through holes on the surface and is connected with the threads of the bolts 11, the lower end of the bottom plate 1 is fixedly connected with the motor 21 through a motor frame, the motor 21 can meet the working requirements according to actual requirements, the motor 21 can drive the third rotating shaft 19 to rotate, and an output shaft of the motor 21 is fixedly connected with one end of the third rotating shaft 19 through a bearing.
The outer wall of the third rotating shaft 19 is rotationally connected with the bottom plate 1 through a bearing, one end of the third rotating shaft 19 penetrates through the bottom plate 1, the outer wall of the third rotating shaft 19 is sleeved with the first gear 20, the first gear 20 can be disassembled, teeth of the first gear 20 are meshed with tooth grooves of the second gear 14, the first gear 20 can drive the second gear 14 to rotate, the second gear 14 is a complete gear, meanwhile, the second gear 14 can be replaced by an incomplete gear, and the second gear 14 can be stopped after rotating for a certain angle under the transmission of the first gear 20.
The angular positioning device 8 comprises a shaft sleeve 801, a rotating plate 802, a pushing block 803, a second cylinder 804, a transverse plate 805, a groove wheel 806 and a round bar 807;
The lower extreme of axle sleeve 801 links firmly with base 1, the inner wall of axle sleeve 801 links firmly with round bar 807 rotates, the lower extreme of round bar 807 links firmly with bottom plate 1 through the bearing rotates, the outer wall of round bar 807 links firmly with the activity of rotating plate 802, the recess looks joint that the recess of recess wheel 806 was seted up is offered to one end of rotating plate 802, rotating plate 802 can carry out the joint with the recess on recess wheel 806 surface, make the angle of recess wheel 806 can be fixed, the other end of rotating plate 802 links firmly with the flexible end of ejector pad 803 through the round pin axle, ejector pad 803 links firmly with the flexible end of second cylinder 804, second cylinder 804 can according to actual demand, it can to satisfy the work needs to satisfy, the other end of diaphragm 805 links firmly with the one end of diaphragm 805 through the round pin axle, the fulcrum 13 of both sides can support diaphragm 805 and move, make second cylinder 804 can swing, make second cylinder 804 can adapt to the convex motion track of rotating plate 802.
Through the cooperation of angle adjusting device 8, first gear 20, second gear 14, first pivot 16, third pivot 19, motor 21, the flexible end of second cylinder 804 shortens through push block 803 pulling revolving plate 802 and takes round bar 807 as the center to carry out the activity, make the one end of revolving plate 802 no longer with the recess joint on groove 806 surface, simultaneously control motor 21 carries out work, make motor 21 drive first gear 20 through third pivot 19 and rotate, make first pivot 16 can drive groove 806 and sleeve 904 and carry out synchronous rotation, after first gear 20 rotates to appointed angle, stop motor 21, simultaneously according to above-mentioned operation, start the expansion end extension of second cylinder 804, make revolving plate 802 and the recess joint on groove 806 surface again, make the angle of first bull stick 16 fixed, through can make revolving plate 802 and groove 806 carry out the joint after to rotating certain angle, make motor 21 stop rotating, can further fix the angle of arm, improve and transport the effect.
The outer wall of the first rotating shaft 16 is sleeved with the grooved wheel 806, the upper end of the grooved wheel 806 is abutted against the second gear 14, the first rotating shaft 16 can enable the grooved wheel 806 and the second gear 14 to be coaxial, the grooved wheel 806 and the second gear 14 can synchronously rotate, and the lower end of the grooved wheel 806 is abutted against the protruding portion of the first rotating shaft 16.
The height adjusting device 2 comprises a push plate 201, a second circular ring 202, a cylindrical block 203, a third cylinder 204, a slide bar 205, a vertical rod 206 and a rotary table 207;
The third cylinder 204 is fixedly connected with the bottom plate 1, the telescopic end of the third cylinder 204 is fixedly connected with the push plate 201, the left side of the upper end of the push plate 201 is fixedly connected with the cylindrical block 203, the outer wall of the cylindrical block 203 is fixedly connected with the second circular ring 202, the cylindrical block 203 can improve the stability of the second circular ring 202 through a triangular structure on the surface, the second circular ring 202 is rotationally connected with the rotary table 207 through a bearing, the second circular ring 202 can support the rotary table 207 to rotate, meanwhile, the rotary table 207 can be driven to move upwards, a vertical rod 206 is fixedly connected to the upper end of the rotary table 207, the rotary table 207 can drive the vertical rod 206 to synchronously move, the rotary table 207 does not do lifting movement during rotation, the two movement processes of rotation and lifting are separately carried out, the situation of movement interference is prevented, the rotary table 207 is slidingly connected with a plurality of slide bars 205 through a plurality of through holes formed in the surface, the slide bars 205 can fix the movement track of the rotary table 207, and the lower ends of the slide bars 205 are fixedly connected with the upper ends of the rotary columns 905.
Through the cooperation of height adjusting device 2 and roof 17, control third cylinder 204 carries out work, start the extension of the flexible end of third cylinder 204 and drive cylinder piece 203 upward movement through push pedal 201, make cylinder piece 203 can drive second ring 202 and carry out synchronous motion, make second ring 202 can drive carousel 207 and carry out upward movement, make carousel 207 can drive roof 17 upward movement through montant 206, make arm first segment 4, arm second segment 5 and arm third segment 6 can drive clamping jaw 7 and transport the work piece to the eminence, through can carry out independent height adjustment to three groups of arms, do not need to drive the motor and carry out synchronous motion, effectually avoid the power cord to be bent repeatedly, lead to the problem that life reduces.
The upper end of the vertical rod 206 is fixedly connected with a top plate 17, the surface of the top plate 17 is fixedly connected with a base 3, the upper end of the base 3 is fixedly connected with a first section 4 of the mechanical arm, one end of the first end 4 of the mechanical arm is movably connected with one end of a second section 5 of the mechanical arm through a pin shaft, the other end of the second section 5 of the mechanical arm is movably connected with a third section 6 of the mechanical arm through a pin shaft, and the other end of the third end 6 of the mechanical arm is movably connected with a clamping jaw 7 through a pin shaft.
Working principle:
When an electrically automated mechanical arm is used:
The preparation process comprises the following steps:
The circular plates 12 on two sides are placed at the designated positions for installation, the circular plates 12 are fixed at the designated positions through four groups of bolts 11, meanwhile, the first air cylinder 903 is controlled to work, the telescopic end of the first air cylinder 903 is started to shorten and drive the first circular ring 901 to move upwards, the first circular ring 901 can drive the sleeve 904 to move upwards synchronously, the sleeve 904 is not tightly abutted against the upper end of the second gear 14 any more, the sleeve 904 is not sleeved with the first rotating shaft 16 any more, an operator pulls out the first gear 20 and the second gear 14 from the surfaces of the third rotating shaft 19 and the first rotating shaft 16 respectively, meanwhile, the grooved pulley 806 is taken down, the second gear 14 and the grooved pulley 806 are replaced, the grooved pulley 806 with the interval between the replaced grooves meeting the requirement is replaced with an incomplete gear, the included angle between the part of the second gear 14 provided with teeth and the rotating shaft of the second gear 14 is the same as the required rotating angle, and the structures such as the first gear 20 and the second gear 14 are restored to the original positions according to the reverse operation after the replacement.
Mechanical arm carrying process:
The object to be carried is clamped through the clamping jaw 7, the position of the clamping jaw 7 can be adjusted through the first section 4 of the mechanical arm, the second section 5 of the mechanical arm and the third section 6 of the mechanical arm (a power source for the movement of the three-section mechanical arm can be an air cylinder), the object is carried, the second air cylinder 804 is controlled to work, the telescopic end of the second air cylinder 804 is started to shorten, the rotating plate 802 is pulled by the pushing block 803 to move around the round rod 807, one end of the rotating plate 802 is not clamped with the groove on the surface of the grooved pulley 806, meanwhile, the motor 21 is controlled to work, the motor 21 can drive the first gear 20 to rotate through the third rotating shaft 19, the first gear 20 can drive the second gear 14 to synchronously rotate, the second gear 14 can drive the first rotating shaft 16 to synchronously rotate, the grooved pulley 806 and the sleeve 904 can be synchronously rotated through the first rotating shaft 16, when the first gear 20 rotates to a designated angle, the first gear 20 and the second gear 14 are in a limit meshing position, (the first gear 20 is not completely separated from teeth on the surface of the second gear 14, so that the second gear 14 can be driven to reset when the output shaft of the motor 21 rotates reversely, meanwhile, by arranging the incomplete second gear 14, when the motor 21 is not stopped in time, the first gear 20 can be completely separated from the second gear 14, the first gear 20 and the second gear 14 can realize idling of the motor 21, the mechanical arm is prevented from being driven by the motor 21 to quickly and continuously rotate to collide with other structures, so that economic loss is caused, and meanwhile, no longer meshing is realized, the deviated angle can be reduced, the deviation of the rotation angle of the motor 21 when the motor 21 is not stopped in time is reduced), the motor 21 is stopped, meanwhile, according to the operation, the telescopic end of the second cylinder 804 is started to be extended, the rotating plate 802 is clamped with the groove on the surface of the grooved pulley 806 again, so that the angle of the first rotating rod 16 is fixed, when the sleeve 904 rotates, the second rotating shaft 902 can be driven to synchronously rotate, the second rotating shaft 902 can drive the four groups of sliding rods 205 to rotate through the rotating column 905, the four groups of sliding rods 205 can drive the rotary table 207 to synchronously rotate, the rotary table 207 can drive the top plate 17 to synchronously rotate through the vertical rod 206, the top plate 17 can drive the base 3 to move, the base 3 can drive the first section 4 of the mechanical arm, the second section 5 of the mechanical arm and the third section 6 of the mechanical arm to move, the clamping jaw 7 can drive an object to synchronously move, and the object carrying is realized.
The adjusting process comprises the following steps:
The third cylinder 204 is controlled to work, the extension of the telescopic end of the third cylinder 204 is started to drive the cylindrical block 203 to move upwards through the push plate 201, the cylindrical block 203 can drive the second circular ring 202 to move synchronously, the second circular ring 202 can drive the rotary table 207 to move upwards, the rotary table 207 can drive the top plate 17 to move upwards through the vertical rod 206, and the first section 4 of the mechanical arm, the second section 5 of the mechanical arm and the third section 6 of the mechanical arm can drive the clamping jaw 7 to convey workpieces to a high position.
While the invention has been shown and described with reference to a preferred embodiment, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the scope of the invention.
Claims (2)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411287215.6A CN118769232B (en) | 2024-09-13 | 2024-09-13 | Multi-azimuth adjustable mechanical arm for electric automation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411287215.6A CN118769232B (en) | 2024-09-13 | 2024-09-13 | Multi-azimuth adjustable mechanical arm for electric automation |
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| Publication Number | Publication Date |
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| CN118769232A CN118769232A (en) | 2024-10-15 |
| CN118769232B true CN118769232B (en) | 2024-11-29 |
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| CN202411287215.6A Active CN118769232B (en) | 2024-09-13 | 2024-09-13 | Multi-azimuth adjustable mechanical arm for electric automation |
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| CN114043515A (en) * | 2021-11-26 | 2022-02-15 | 江苏科技大学 | Single-motor-controlled reversing clamping device |
| CN117733828A (en) * | 2024-01-10 | 2024-03-22 | 济南奥普瑞思智能装备有限公司 | Industrial mechanical arm for production line |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114043515A (en) * | 2021-11-26 | 2022-02-15 | 江苏科技大学 | Single-motor-controlled reversing clamping device |
| CN117733828A (en) * | 2024-01-10 | 2024-03-22 | 济南奥普瑞思智能装备有限公司 | Industrial mechanical arm for production line |
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