CN205660319U

CN205660319U - Novel mechanical arm

Info

Publication number: CN205660319U
Application number: CN201620505154.0U
Authority: CN
Inventors: 谢宏庆
Original assignee: Changzhou Jiaying Vehicle Parts Co Ltd
Current assignee: Changzhou Jiaying Vehicle Parts Co Ltd
Priority date: 2016-05-27
Filing date: 2016-05-27
Publication date: 2016-10-26
Anticipated expiration: 2026-05-27

Abstract

The utility model relates to a novel mechanical arm, connect including base, fixing base, first motor, rolling disc, swing mechanism, the underarm body, upper arm body, upper bracket, connecting rod, supporting seat and cutting torch, the fixing base pass through damper and connect on the base, first motor install in the fixing base, rolling disc swing joint in the fixing base, the play axle head of first motor connect the bottom at the rolling disc, swing mechanism install the top at the rolling disc, the underarm body link to each other with swing mechanism, upper arm body pass through elevating system and the underarm body and link to each other, the upper bracket pass through angle adjustment mechanism and connect on upper arm body, position control mechanism link to each other and to install the top at the upper bracket, the cutting torch connect and to install on the supporting seat, the supporting seat on the position that connects for the cutting torch offered the through -hole. This design has simple structure, easily makes and practical efficient advantage.

Description

A kind of New Type of Robot Arm

Technical field

This utility model relates to mechanical arm technical field, particularly a kind of New Type of Robot Arm.

Background technology

Mechanical arm is the automated machine device obtaining broad practice in robot technical field, in industry system Make, its figure can be seen in therapeutic treatment, entertainment service, military affairs, the field such as semiconductor manufacturing and space probation.Although it Form have nothing in common with each other, but they have a common feature, it is simply that can accept instruction, be precisely positioned to three-dimensional (or two dimension) certain point spatially carries out operation, and arm typically has 3 motions: stretches, rotate and lifts.Realize rotating, rising Fall motion is to have been gone by transverse arm and product post.But in gas cutting field, existing mechanical arm also exists significant limitation, its The industrial needs of modernization cannot be met, so a kind of New Type of Robot Arm of design is just particularly important.

Summary of the invention

This utility model technical issues that need to address are by arranging detent mechanism between fixing seat and rotation dish, profit Reduce inertia with detent mechanism mechanical arm rotary motion is impacted, improve the running accuracy of mechanical arm；One is provided New Type of Robot Arm.

For solving above-mentioned technical problem, structure of the present utility model includes

Base,

Fixing seat, described fixing seat is connected on base by damping,

First motor, the first described motor is arranged in fixing seat,

Rotation dish, described rotation disk activity is connected in fixing seat, and the axle head that goes out of the first described motor is connected to turn The bottom of Moving plate,

Swing mechanism, described swing mechanism is arranged on the top of rotation dish,

Underarm body, described underarm body is connected with swing mechanism,

Upper arm body, described upper arm body is connected with underarm body by elevating mechanism,

Upper bracket, described upper bracket is connected on upper arm body by angle adjusting mechanism, and described upper bracket is offered There is groove,

Connecting rod, the upper end of described connecting rod is connected through groove with position adjusting mechanism, described position adjusting mechanism phase Even it is arranged on the top of upper bracket,

Supporting seat, the described seat that supports is connected with the lower end of connecting rod,

Cutting head joint, described cutting head joint is arranged on support seat, and described supports on seat relative to cutting head joint Position offers through hole.

Further: described damping includes linear bearing, the first spring and antivibrator, described linear bearing and resistance Buddhist nun's device is arranged between base and fixing seat, and the upper end of described linear bearing stretches in fixing seat, the first described spring Being looped around the outside of linear bearing, the two ends of the first described spring are connected with base and fixing seat respectively.

Further: between described rotation dish and fixing seat, be provided with detent mechanism, described detent mechanism mechanism bag Include the hemispherical draw-in groove being opened in inside fixing seat, be opened in the gathering sill outside rotation dish, spherical dop and the second spring, institute The inner side at the two ends, fixing seat left and right stated respectively offers a hemispherical draw-in groove, and described spherical dop is connected by the second spring In gathering sill, described spherical dop snaps in hemispherical draw-in groove under the effect of the second spring, it is achieved fixing seat and rotation Location between dish.

Further: described swing mechanism includes swinging housing, the second motor, the first rotary shaft and the first locking screw Mother, the second described motor is arranged in swing housing, the described sidewall swinging housing offers the first connecting hole, described The outside of the first rotary shaft be provided with external connection screw, one end of the first described rotary shaft passes the first connecting hole and second Motor is connected, and the other end of the first described rotary shaft passes underarm body, each in the first rotary shaft of described underarm body both sides Connecting and have first locking nut, described underarm body is fixing even by the first locking nut and first rotary shaft of both sides Connect.

Further: between the second described motor and rotation dish, be additionally provided with height adjustment mechanism, described height is adjusted Joint mechanism includes that the 3rd motor, the first leading screw, feed screw nut and gripper shoe, the second described motor are installed on the supporting plate, institute The 3rd motor stated is arranged on rotation dish, and the 3rd described motor and the first leading screw are connected, and described gripper shoe passes through leading screw Nut and the first leading screw are connected.

Further: described elevating mechanism includes being vertically arranged in the guide rail of underarm body side, slide block, cylinder and connection Plate, described cylinder is arranged on the opposite side of underarm body, and described upper arm body is movably connected on guide rail by slide block, described Cylinder be connected with upper arm body by connecting plate.

Further: described angle adjusting mechanism includes the 4th motor, the second rotary shaft and the second locking nut, described The 4th motor be arranged on the side of upper bracket, the outside of the second described rotary shaft is provided with external connection screw, described second One end of rotary shaft is connected through upper bracket and the 4th motor, and the other end of the second described rotary shaft passes upper arm body, described Upper arm body both sides the second rotary shaft on each connection have second locking nut, described upper arm body by both sides second Locking nut and the fixing connection of the second rotary shaft.

Further: described position adjusting mechanism includes the 5th motor, the second leading screw and spirit of living, the 5th described motor Being arranged on the top of upper bracket, the second described leading screw and the 5th motor to be connected, described connecting rod is by spirit and the second leading screw of living It is connected.

Further: described cutting head joint is connected with supporting seat by clamping body, and described clamping body includes the One dop and the second dop, on the first described dop and the second dop relative to side offer and cutting head joint profile mutually The draw-in groove joined, the two ends of the first described dop are each provided with an a connecting seat, and the two ends of the second described dop respectively set Being equipped with one second and connect seat, described a connecting seat is threaded connection assembly and second and connects seat and be connected, and described the Offering the second connecting hole on one dop and the second dop, described supporting offers relative to the position of the second connecting hole on seat 3rd connecting hole.

After using said structure, this utility model is by arranging detent mechanism between fixing seat and rotation dish, and it is fixed to utilize Position mechanism reduces inertia and impacts mechanical arm rotary motion, improves the running accuracy of mechanical arm；And the design is also There is simple in construction, the easily fabricated and advantage of practicality and high efficiency.

Accompanying drawing explanation

With detailed description of the invention, this utility model is described in further detail below in conjunction with the accompanying drawings.

Fig. 1 is this utility model lower end structural representation when not rotating.

Fig. 2 is the structural representation after the half-twist of this utility model lower end.

Fig. 3 is the enlarged drawing of A in Fig. 2.

Fig. 4 is the structural representation of height adjustment mechanism.

Fig. 5 is the right TV structure schematic diagram of this utility model upper end.

Fig. 6 is the main TV structure schematic diagram of this utility model upper end.

Fig. 7 is the main TV structure schematic diagram of clamping body.

Fig. 8 is the structural representation of elevating mechanism.

Detailed description of the invention

A kind of New Type of Robot Arm as shown in Figure 1, including base 1, fixing seat the 2, first motor 6, rotation dish 3, oscillating machine Structure 4, underarm body 5, upper arm body 40, upper bracket 22, connecting rod 27, support seat 26 and cutting head joint 29, described fixing seat 2 is by subtracting Shake mechanism is connected on base 1, and the first described motor 6 is arranged in fixing seat 2, and described rotation dish 3 is movably connected in solid In reservation 2, the axle head that goes out of the first described motor 6 is connected to the bottom of rotation dish 3, and described swing mechanism is arranged on rotation dish The top of 3, described underarm body 5 is connected with swing mechanism, and described upper arm body 40 is connected with underarm body 5 by elevating mechanism, Described upper bracket 22 is connected on upper arm body 40 by angle adjusting mechanism, described upper bracket 22 offers groove, institute The upper end of the connecting rod 27 stated is connected through groove with position adjusting mechanism, and described position adjusting mechanism is connected and is arranged on upper bracket The top of 22, the described seat 26 that supports is connected with the lower end of connecting rod 27, and described cutting head joint 29 is arranged on support seat 26, institute Supporting of stating offers through hole relative to the position of cutting head joint 29 on seat 26.During work, first start the first motor 6 make its with Rotation dish 3 rotates, thus underarm body 5 is turned to corresponding workbench, then starts swing mechanism and makes it with underarm Body 5 rotates, and completes the regulation to underarm body 5 angle, then starts elevating mechanism and completes the regulation to upper arm body 40 height, Subsequently starting angle adjusting mechanism makes upper bracket 22 be the level of state, and finally starts position adjusting mechanism and completes cutting head joint The regulation of 29 horizontal levels, is transported to cutting work station cutting head joint 29, and the design has simple in construction, easily fabricated and practical Efficient advantage.

Damping as depicted in figs. 1 and 2 includes linear bearing the 7, first spring 8 and antivibrator 9, described linear axis Hold 7 and antivibrator 9 be arranged between base 1 and fixing seat 2, the upper end of described linear bearing 7 stretches in fixing seat 2, institute The first spring 8 stated is looped around the outside of linear bearing 7, the two ends of the first described spring 8 respectively with base 1 and fixing seat 2 It is connected.The design reduces vibration by the first spring 8 and antivibrator 9 and impacts mechanical arm main body.

Being provided with detent mechanism between rotation dish 3 and fixing seat 2 as shown in Figures 2 and 3, described detent mechanism includes It is opened in the hemispherical draw-in groove 11 inside fixing seat 2, is opened in the gathering sill 12 outside rotation dish 3, spherical dop 13 and second Spring 14, the inner side at described fixing seat about 2 two ends respectively offers a hemispherical draw-in groove 11, and described spherical dop 13 leads to Crossing the second spring 14 to be connected in gathering sill 12, described spherical dop 13 snaps in hemispherical card under the effect of the second spring 14 In groove 11, it is achieved fixing location between seat 2 and rotation dish 3.The design is by arranging location between fixing seat and rotation dish Mechanism, utilizes detent mechanism to impact mechanical arm rotary motion to reduce inertia, improves the running accuracy of mechanical arm.

Swing mechanism 4 as shown in Figure 1 and Figure 4 includes swinging housing the 17, second motor the 16, first rotary shaft 15 and first Locking nut 10, the second described motor 16 is arranged in swing housing 17, the described sidewall swinging housing 17 offers First connecting hole, the outside of the first described rotary shaft 15 is provided with external connection screw, and one end of the first described rotary shaft 15 is worn Crossing the first connecting hole and the second motor 16 is connected, the other end of the first described rotary shaft 15 passes underarm body 5, described underarm In first rotary shaft 15 of body 5 both sides, there is first locking nut 10 each connection, and described underarm body 5 passes through the first of both sides Locking nut 10 is fixing with the first rotary shaft 15 to be connected.Start the second motor 16 during work to be passed to the first rotary shaft 15 and drive Underarm body 5 rotates, and completes the regulation to underarm body 5 angle.

It is additionally provided with height adjustment mechanism, described altitude mixture control between the second motor 16 and rotation dish 3 as shown in Figure 4 Mechanism includes that the 3rd motor the 19, first leading screw 20, feed screw nut 21 and gripper shoe 18, the second described motor 16 are arranged on support On plate 18, the 3rd described motor 19 is arranged on rotation dish 3, and the 3rd described motor 19 is connected with the first leading screw 20, described Gripper shoe 18 be connected with the first leading screw 20 by feed screw nut 21.During work by start the 3rd motor 19, utilize its with First leading screw 20 rotates, and gripper shoe 18 carries out the motion on vertical direction under the drive of feed screw nut 21, thus completes Regulation to the second motor 16 height, makes the shaft of the second motor 16 rectify facing to the first connecting hole, by using above-mentioned design, Decrease the mismachining tolerance impact on the design, enable mechanical arm normal mounting and work.

Elevating mechanism as shown in Figure 8 includes being vertically arranged in the guide rail 41 of underarm body 5 side, slide block, cylinder 42 and connecting Fishplate bar 43, described cylinder 42 is arranged on the opposite side of underarm body 5, and described upper arm body 40 is movably connected in by slide block and leads On rail 41, described cylinder 42 is connected with upper arm body 40 by connecting plate 43.Start cylinder 42 during work, make upper arm body 40 even Carry out moving on vertical direction along guide rail 41 under the effect of fishplate bar 43, complete the regulation to upper arm body 40 height.

Angle adjusting mechanism as shown in Figure 5 and Figure 6 includes the 4th motor the 23, second rotary shaft 25 and the second locking screw Female 24, the 4th described motor 23 is arranged on the side of upper bracket 22, and the outside of the second described rotary shaft 25 is provided with external Screw thread, one end of the second described rotary shaft 25 is connected through upper bracket 22 with the 4th motor 23, the second described rotary shaft 25 The other end through upper arm body 40, in the second rotary shaft 25 of described upper arm body 40 both sides, there is second locking screw each connection Female 24, described upper arm body 40 is connected by the second locking nut 24 of both sides is fixing with the second rotary shaft 25.During work, pass through Start the 4th motor 23 so that it is rotated with upper bracket 22 by the second rotary shaft 25, make upper bracket 22 keep horizontal State.

Position adjusting mechanism as shown in Figure 5 and Figure 6 includes the 5th motor the 30, second leading screw 31 and spirit 32 of living, described 5th motor 30 is arranged on the top of upper bracket 22, and the second described leading screw 31 is connected with the 5th motor 30, described connecting rod 27 By living, spirit 32 is connected with the second leading screw 31.During work, start the 5th motor 30 and make it rotate with the second leading screw 31, even Bar 27 can move horizontally under the drive of spirit 32 of living, thus completes the regulation to cutting head joint horizontal level, and cutting torch is connect Head is transported to cutting work station.

Being provided with the second torque force limiting device 33 between the second leading screw 31 and the 5th motor 30 as shown in Figure 5, the design is led to Cross and the second torque force limiting device is set between the second leading screw and the 5th motor to play the effect of self-protection, prevent owing to occurring The stuck self structure to the 5th motor causes damage.

Cutting head joint 29 as shown in Figure 7 is connected with supporting seat 26 by clamping body 28, and described clamping body 28 wraps Include the first dop 34 and the second dop 35, the first described dop 34 with on the second dop 35 relative to side offer and cutting torch The draw-in groove that joint 29 profile matches, the two ends of the first described dop 34 are each provided with an a connecting seat 36, described The two ends of the second dop 35 be each provided with one second connect seat 37, described a connecting seat 36 be threaded connection assembly with Second connects seat 37 is connected, and the first described dop 34 and the second dop 35 offer the second connecting hole 38, described support The 3rd connecting hole, the first described dop 34 and the second dop 35 is offered relative to the position of the second connecting hole 38 on seat 26 Draw-in groove inside be provided with rubber mount 39.Cutting head joint 29 is protected by this utility model by the design of rubber mount 39 Protect, prevent from, in clamping process, cutting head joint 29 is caused damage, extend the service life of cutting head joint 29.

Claims

1. a New Type of Robot Arm, it is characterised in that: include

Base (1),

Fixing seat (2), described fixing seat (2) is connected on base (1) by damping,

First motor (6), described the first motor (6) is arranged in fixing seat (2),

Rotation dish (3), in described rotation dish (3) is movably connected in fixing seat (2), described the first motor (6) go out axle head It is connected to the bottom of rotation dish (3),

Swing mechanism (4), described swing mechanism (4) is arranged on the top of rotation dish (3),

Underarm body (5), described underarm body (5) is connected with swing mechanism,

Upper arm body (40), described upper arm body (40) is connected with underarm body (5) by elevating mechanism,

Upper bracket (22), described upper bracket (22) is connected on upper arm body (40) by angle adjusting mechanism, described upper Frame offers groove on (22),

Connecting rod (27), the upper end of described connecting rod (27) is connected through groove with position adjusting mechanism, described position adjustments machine Structure is connected and is arranged on the top of upper bracket (22),

Supporting seat (26), described support seat (26) is connected with the lower end of connecting rod (27),

Cutting head joint (29), described cutting head joint (29) is arranged in support seat (26), and described support seat (26) is upper relatively Through hole is offered in the position of cutting head joint (29).

A kind of New Type of Robot Arm the most according to claim 1, it is characterised in that: described damping includes linear bearing (7), the first spring (8) and antivibrator (9), described linear bearing (7) and antivibrator (9) are arranged on base (1) and fixing seat (2), between, the upper end of described linear bearing (7) stretches in fixing seat (2), and described the first spring (8) is looped around straight line The outside of bearing (7), the two ends of the first described spring 8 are connected with base (1) and fixing seat (2) respectively.

A kind of New Type of Robot Arm the most according to claim 1, it is characterised in that: described rotation dish (3) and fixing seat (2) Between be provided with detent mechanism, described detent mechanism includes being opened in the hemispherical draw-in groove (11) of fixing seat (2) inner side, opens It is located at gathering sill (12), spherical dop (13) and second spring (14) in rotation dish (3) outside, described fixing seat (2) left and right The inner side at two ends respectively offers a hemispherical draw-in groove 11, and described spherical dop (13) is connected to guide by the second spring 14 In groove (12), described spherical dop (13) snaps in hemispherical draw-in groove (11) under the effect of the second spring (14), it is achieved Gu Location between reservation (2) and rotation dish (3).

A kind of New Type of Robot Arm the most according to claim 1, it is characterised in that: described swing mechanism includes swinging housing (17), the second motor (16), the first rotary shaft (15) and the first locking nut (10), described the second motor (16) is arranged on pendulum In dynamic housing (17), the sidewall of described swing housing (17) offers the first connecting hole, described the first rotary shaft (15) Outside be provided with external connection screw, one end of described the first rotary shaft (15) pass the first connecting hole and the second motor (16) phase Even, the other end of described the first rotary shaft (15) passes underarm body (5), the first rotary shaft of described underarm body (5) both sides (15) upper each connection has first locking nut (10), the described underarm body (5) the first locking nut (10) by both sides Fix with the first rotary shaft (15) and be connected.

A kind of New Type of Robot Arm the most according to claim 4, it is characterised in that: described the second motor (16) and rotation dish (3) be additionally provided with height adjustment mechanism between, described height adjustment mechanism include the 3rd motor (19), the first leading screw (20), Feed screw nut (21) and gripper shoe (18), described the second motor (16) is arranged in gripper shoe (18), the 3rd described motor (19) being arranged on rotation dish (3), the 3rd described motor (19) is connected with the first leading screw (20), and described gripper shoe (18) is led to Cross feed screw nut (21) to be connected with the first leading screw (20).

A kind of New Type of Robot Arm the most according to claim 1, it is characterised in that: described elevating mechanism includes being vertically arranged Guide rail (41), slide block, cylinder (42) and connecting plate (43) in underarm body (5) side, described cylinder (42) is arranged on underarm On the opposite side of body (5), described upper arm body (40) is movably connected on guide rail (41) by slide block, and described cylinder (42) leads to Cross connecting plate (43) to be connected with upper arm body (40).

A kind of New Type of Robot Arm the most according to claim 1, it is characterised in that: described angle adjusting mechanism includes the 4th Motor (23), the second rotary shaft (25) and the second locking nut (24), the 4th described motor (23) is arranged on upper bracket (22) Side, the outside of described the second rotary shaft (25) is provided with external connection screw, and one end of described the second rotary shaft (25) is worn Crossing upper bracket (22) to be connected with the 4th motor (23), the other end of described the second rotary shaft (25) passes upper arm body (40), institute The upper each connection of second rotary shaft (25) of upper arm body (40) both sides stated has second locking nut (24), described upper arm body (40) it is connected by second locking nut (24) of both sides and the second rotary shaft (25) are fixing.

A kind of New Type of Robot Arm the most according to claim 1, it is characterised in that: described position adjusting mechanism includes the 5th Motor (30), the second leading screw (31) and spirit (32) of living, the 5th described motor (30) is arranged on the top of upper bracket (22), described The second leading screw (31) be connected with the 5th motor (30), described connecting rod (27) is by spirit (32) and the second leading screw (31) phase of living Even.

A kind of New Type of Robot Arm the most according to claim 1, it is characterised in that: described cutting head joint (29) passes through clamping Mechanism (28) is connected with supporting seat (26), and described clamping body (28) includes the first dop (34) and the second dop (35), institute The first dop (34) stated relative side upper with the second dop (35) offers the card matched with cutting head joint (29) profile Groove, the two ends of described the first dop (34) are each provided with an a connecting seat (36), the two of described the second dop (35) End is each provided with one second and connects seat (37), and described a connecting seat (36) is threaded connection assembly and second and connects seat (37) it is connected, described the first dop (34) and the second dop (35) offer the second connecting hole (38), described support seat (26) the 3rd connecting hole is offered relative to the position of the second connecting hole (38) on.