CN207104917U

CN207104917U - A kind of arm angle precise control device

Info

Publication number: CN207104917U
Application number: CN201720623758.XU
Authority: CN
Inventors: 陈云峰
Original assignee: Individual
Current assignee: Individual
Priority date: 2017-06-01
Filing date: 2017-06-01
Publication date: 2018-03-16
Anticipated expiration: 2027-06-01

Abstract

The utility model discloses a kind of arm angle precise control device, including first mechanical arm and second mechanical arm, second mechanical arm top active card is equipped with ball-type hinge, ball-type hinge top is fixedly connected with support shaft, and the second mechanical arm top surface of the ball pivot hole surrounding is provided with four through holes, through telescopic shaft is provided with through hole, the bottom of telescopic shaft is located in second mechanical arm, and telescopic shaft top is fixedly connected with first mechanical arm bottom surrounding by angle axle.The utility model structure drives rotating disk to rotate by servomotor when in use, so that the junction of curved bar and rotating disk moves in a circle, right telescopic shaft or front stretching axle is driven to move up and down, first mechanical arm is set to be rotated by support shaft on 360 ° of directions, and then the angle of first mechanical arm is adjusted, ensure stability of the first mechanical arm during regulation to a certain extent by balancing sleeve.

Description

A kind of arm angle precise control device

Technical field

The present invention relates to robotic technology field, specially a kind of arm angle precise control device.

Background technology

Robot is the automated machine device that most broad practice is obtained in robot technical field, in industry The fields such as manufacture, therapeutic treatment, entertainment service, military affairs, semiconductor manufacturing and space probation can see its figure.But The drive device of existing robot arm is generally positioned at the joint of two mechanical arm rotation connections, causes mechanical arm to be conducted oneself with dignity It is excessive, and articulation structure is complicated, and arm is typically only capable in some specific rotation with surface, drops mechanical arm applicability It is low, it is this it is proposed that a kind of arm angle precise control device is used to solve the above problems.

The content of the invention

It is an object of the invention to provide a kind of arm angle precise control device, to solve to carry in above-mentioned background technology The problem of going out.

To achieve the above object, the present invention provides following technical scheme：A kind of arm angle precise control device, including First mechanical arm and second mechanical arm, the second mechanical arm are hollow cylinder shape structure, second mechanical arm top center Provided with ball pivot hole, active card is equipped with ball-type hinge in the ball pivot hole, and the ball-type hinge top is fixedly connected with support shaft, the branch Support axle top is fixedly connected with first mechanical arm bottom center, and the second mechanical arm top surface of the ball pivot hole surrounding is provided with four and led to Hole, through telescopic shaft is provided with the through hole, the bottom of the telescopic shaft is located in second mechanical arm, and telescopic shaft top leads to Cross angle axle and be fixedly connected with first mechanical arm bottom surrounding；

The telescopic shaft is divided into right telescopic shaft, left telescopic shaft, front stretching axle and rear telescopic shaft, the right telescopic shaft and extension Contracting axle lower end is equipped with cover plate, one end of pivot bush unit curved bar in the cover plate, and the other end activity of the curved bar, which is plugged on, to be turned On the lateral surface of disk, the center of the rotating disk is fixedly connected with the rotating shaft of servomotor, and the servomotor is fixedly mounted on second On the inwall of mechanical arm；

The lower end of the left telescopic shaft and rear telescopic shaft is plugged in balancing sleeve, and the balancing sleeve is fixedly mounted on On the inwall of second mechanical arm, and balancing sleeve bottom is fixedly connected with the bottom of left telescopic shaft and rear telescopic shaft by spring.

Preferably, ball pivot hole medial surface is globoidal structure, and lower open end diameter is consistent thereon, and is less than ball-type The diameter of hinge, the diameter among ball pivot hole are more than the diameter of ball-type hinge.

Preferably, the second mechanical arm top surface on the outside of the through hole is provided with packing ring.

Preferably, the curved bar is Z-shaped structure, and the length of the curved bar intermediate bar is more than the diameter of rotating disk, and curved bar with Rotating disk junction is located on rotating disk from the position that the center of circle is 3/4ths.

Preferably, servomotor corresponding to the front stretching axle is located at the lower section of servomotor corresponding to right telescopic shaft, and The surface of rotating disk is not in approximately the same plane corresponding to both.

Preferably, the balancing sleeve is hollow cylinder shape structure, and its top surface is hatch frame, and bottom surface is tied for sealing Structure, the internal diameter of the balancing sleeve and left telescopic shaft and the diameter of rear telescopic shaft lower end are consistent.

Preferably, when the spring in the balancing sleeve is inelastic, the bottom surface of first mechanical arm and the top of second mechanical arm Face keeping parallelism.

Preferably, the side of the right telescopic shaft and front stretching axle is provided with displacement transducer, and institute's displacement sensors show Showing device is located in PLC, and the output end of the controller is electrically connected two servomotors.

Compared with prior art, the beneficial effects of the invention are as follows：Structure of the present invention is driven by servomotor when in use Rotating disk is rotated, and curved bar is eccentrically mounted on rotating disk, so that the junction of curved bar and rotating disk moves in a circle, due to curved bar both ends It is movable connected structure, so as to drive right telescopic shaft or front stretching axle to move up and down, first mechanical arm is existed by support shaft Rotated on 360 ° of directions, and then adjust the angle of first mechanical arm, while fill the control of right telescopic shaft and front stretching axle Put independently of each other, avoid the motion of two telescopic shafts from interfering, ensure the first machinery to a certain extent by balancing sleeve Stability of the arm during regulation.

Brief description of the drawings

Fig. 1 is schematic structural view of the invention；

Fig. 2 is that ball-type of the present invention cuts with scissors structural representation；

Fig. 3 is second mechanical arm top surface structure schematic diagram of the present invention；

Fig. 4 is rotating disk connection diagram of the present invention；

Fig. 5 is balancing sleeve structural representation of the present invention；

Fig. 6 is present invention electrical connection schematic diagram.

In figure：1 first mechanical arm, 2 second mechanical arms, 21 ball pivot holes, 3 through holes, 31 packing rings, 4 telescopic shafts, 4a are right flexible Telescopic shaft after the left telescopic shaft of axle, 4b, 4c front stretchings axle, 4d, 5 jiaos of axles, 6 ball-types hinge, 7 support shafts, 8 cover plates, 9 curved bars, 10 turns Disk, 11 rotating shafts, 12 servomotors, 13 balancing sleeves, 14 springs, 15 displacement transducers, 16PLC controllers.

Embodiment

Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made Embodiment, belong to the scope of protection of the invention.

Fig. 1-5 are referred to, the present invention provides a kind of technical scheme：A kind of arm angle precise control device, including the One mechanical arm 1 and second mechanical arm 2, second mechanical arm 2 are hollow cylinder shape structure, and the top center of second mechanical arm 2 is provided with ball Fraising 21, active card is equipped with ball-type hinge 6 in ball pivot hole 21, and the medial surface of ball pivot hole 21 is globoidal structure, and lower open end is straight thereon Footpath is consistent, and less than the diameter of ball-type hinge 6, the diameter among ball pivot hole 21 is more than the diameter of ball-type hinge 6, so as to by ball-type Cut with scissors 6 activities to be connected in ball pivot hole 21, ball-type cuts with scissors 6 tops and is fixedly connected with support shaft 7, and the top of support shaft 7 is fixedly connected with the first machine The bottom center of tool arm 1, first mechanical arm 1 can be rotated by support shaft 7 on 360 ° of directions, so as to realize mechanical arm Multi-angle regulation.

And the top surface of second mechanical arm 2 of the surrounding of ball pivot hole 21 is provided with four through holes 3, second machinery in the outside of through hole 3 The top surface of arm 2 is provided with packing ring 31, and packing ring 31 ensures the sealing in second mechanical arm 2, runs through in through hole 3 and be provided with telescopic shaft 4, the bottom of telescopic shaft 4 is located in second mechanical arm 2, and the top of telescopic shaft 4 is fixedly connected with the bottom of first mechanical arm 1 by angle axle 5 Surrounding is held, by the cooperation between each telescopic shaft 4, first mechanical arm 1 is carried out angular adjustment.

Wherein telescopic shaft 4 divides for right telescopic shaft 4a, left telescopic shaft 4b, front stretching axle 4c and rear telescopic shaft 4d, right telescopic shaft 4a and front stretching axle 4c lower ends are equipped with cover plate 8, one end of pivot bush unit curved bar 9 in cover plate 8, and the other end activity of curved bar 9 is inserted It is connected on the lateral surface of rotating disk 10, wherein curved bar 9 is Z-shaped structure, and the length of the intermediate bar of curved bar 9 is more than the straight of rotating disk 10 Footpath, and curved bar 9 is located at from the position that the center of circle is 3/4ths on rotating disk 10 with the junction of rotating disk 10, the center of rotating disk 10 is fixed The rotating shaft 11 of servomotor 12 is connected, servomotor 12 is fixedly mounted on the inwall of second mechanical arm 2, passes through servomotor 12 Rotating disk 10 is driven to rotate, curved bar 9 is eccentrically mounted on rotating disk 10, so that circumference fortune is done in the junction of curved bar 9 and rotating disk 10 It is dynamic, because the both ends of curved bar 9 are movable connected structure, so as to drive right telescopic shaft 4a or front stretching axle 4c to move up and down, and then The angle of first mechanical arm 1 is adjusted, servomotor 12 corresponding to front stretching axle 4c is located at servomotor corresponding to right telescopic shaft 4a 12 lower section, and the surface of rotating disk 10 corresponding to both ensures right telescopic shaft 4a and front stretching axle 4c not in approximately the same plane Motion do not disturb independently of each other.

Left telescopic shaft 4b and rear telescopic shaft 4d lower end are plugged in balancing sleeve 13, and balancing sleeve 13 is fixedly mounted On the inwall of second mechanical arm 2, and the bottom of balancing sleeve 13 is fixedly connected with left telescopic shaft 4b and rear telescopic shaft by spring 14 4d bottom, balancing sleeve 13 is hollow cylinder shape structure, and its top surface is hatch frame, and bottom surface is sealing structure, the balance The internal diameter of sleeve 13 and left telescopic shaft 4b and the diameter of rear telescopic shaft 4d lower ends are consistent, and the spring 14 in balancing sleeve 13 When inelastic, the bottom surface of first mechanical arm 1 and the top surface keeping parallelism of second mechanical arm 2.

Right telescopic shaft 4a and front stretching axle 4c side is provided with displacement transducer 15, the display device position of displacement transducer 15 In in PLC 16, and the output end of PLC 16 is electrically connected two servomotors 12, passes through displacement transducer 15 show right telescopic shaft 4a and front stretching axle 4c extension elongation, facilitate operating personnel's control, while control by PLC Device 16 is programmed, and set motor program is set to two servomotors 12, and the technology is existing common technology, is not done herein superfluous State.

Operation principle：Structure of the present invention drives rotating disk 10 to rotate by servomotor 12 when in use, the eccentric peace of curved bar 9 On rotating disk 10, so that the junction of curved bar 9 and rotating disk 10 moves in a circle, because the both ends of curved bar 9 are activity grafting Structure, so as to drive right telescopic shaft 4a or front stretching axle 4c to move up and down, make first mechanical arm 1 by support shaft 7 360 ° of sides Rotated upwards, and then adjust the angle of first mechanical arm 1, while fill right telescopic shaft 4a and front stretching axle 4c control Put independently of each other, avoid the motion of two telescopic shafts 4 from interfering, the first machine is ensured by balancing sleeve 13 to a certain extent Stability of the tool arm 1 during regulation.

Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with A variety of changes, modification can be carried out to these embodiments, replace without departing from the principles and spirit of the present invention by understanding And modification, the scope of the present invention is defined by the appended.

Claims

1. a kind of arm angle precise control device, including first mechanical arm（1）And second mechanical arm（2）, second machine Tool arm（2）For hollow cylinder shape structure, it is characterised in that：The second mechanical arm（2）Top center is provided with ball pivot hole（21）, institute State ball pivot hole（21）Interior active card is equipped with spherical hinge（6）, the ball-type hinge（6）Top is fixedly connected with support shaft（7）, the branch Support axle（7）Top is fixedly connected with first mechanical arm（1）Bottom center, and the ball pivot hole（21）The second mechanical arm of surrounding（2）Top Face is provided with four through holes（3）, the through hole（3）Inside run through and be provided with telescopic shaft（4）, the telescopic shaft（4）Bottom be located at Second mechanical arm（2）It is interior, and telescopic shaft（4）Top passes through angle axle（5）It is fixedly connected with first mechanical arm（1）Bottom surrounding；

The telescopic shaft（4）It is divided into right telescopic shaft（4a）, left telescopic shaft（4b）, front stretching axle（4c）With rear telescopic shaft（4d）, institute State right telescopic shaft（4a）With front stretching axle（4c）Lower end is equipped with cover plate（8）, the cover plate（8）Upper pivot bush unit curved bar（9）'s One end, the curved bar（9）Other end activity be plugged on rotating disk（9）Lateral surface on, the rotating disk（9）Center be fixedly connected Servomotor（12）Rotating shaft（11）, the servomotor（12）It is fixedly mounted on second mechanical arm（2）Inwall on；

The left telescopic shaft（4b）With rear telescopic shaft（4d）Lower end be plugged on balancing sleeve（13）It is interior, the balancing sleeve （13）It is fixedly mounted on second mechanical arm（2）Inwall on, and balancing sleeve（13）Bottom passes through spring（14）It is fixedly connected with a left side Telescopic shaft（4b）With rear telescopic shaft（4d）Bottom.

A kind of 2. arm angle precise control device according to claim 1, it is characterised in that：The ball pivot hole （21）Medial surface is globoidal structure, and lower open end diameter is consistent thereon, and is cut with scissors less than ball-type（6）Diameter, ball pivot hole （21）Middle diameter is cut with scissors more than ball-type（6）Diameter.

A kind of 3. arm angle precise control device according to claim 1, it is characterised in that：The through hole（3）Outside The second mechanical arm of side（2）Top surface is provided with packing ring（31）.

A kind of 4. arm angle precise control device according to claim 1, it is characterised in that：The curved bar（9）For Z-shaped structure, the curved bar（9）The length of intermediate bar is more than rotating disk（10）Diameter, and curved bar（9）With rotating disk（10）Junction position In rotating disk（10）On from the center of circle be 3/4ths position.

A kind of 5. arm angle precise control device according to claim 1, it is characterised in that：The front stretching axle （4c）Corresponding servomotor（12）Positioned at right telescopic shaft（4a）Corresponding servomotor（12）Lower section, and both corresponding to turn Disk（10）Surface not in approximately the same plane.

A kind of 6. arm angle precise control device according to claim 1, it is characterised in that：The balancing sleeve （13）For hollow cylinder shape structure, and its top surface is hatch frame, and bottom surface is sealing structure, the balancing sleeve（13）Internal diameter and Left telescopic shaft（4b）With rear telescopic shaft（4d）The diameter of lower end is consistent.

A kind of 7. arm angle precise control device according to claim 1, it is characterised in that：The balancing sleeve （13）Interior spring（14）When inelastic, first mechanical arm（1）Bottom surface and second mechanical arm（2）Top surface keeping parallelism.

A kind of 8. arm angle precise control device according to claim 1, it is characterised in that：The right telescopic shaft （4a）With front stretching axle（4c）Side be provided with displacement transducer（15）, institute's displacement sensors（15）Display device be located at PLC（16）On, and the PLC（16）Output end be electrically connected two servomotors（12）.