CN207736310U - A kind of single driving elevator tool arm - Google Patents
A kind of single driving elevator tool arm Download PDFInfo
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- CN207736310U CN207736310U CN201721784938.2U CN201721784938U CN207736310U CN 207736310 U CN207736310 U CN 207736310U CN 201721784938 U CN201721784938 U CN 201721784938U CN 207736310 U CN207736310 U CN 207736310U
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- mechanical arm
- platform
- axis pin
- hinged
- electric machine
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Abstract
The utility model discloses a kind of single driving elevator tool arms, including fixed frame, electric machine assembly, mechanical arm and platform, fixed frame includes fixed plate and two pieces of risers being mutually parallel, riser is vertically set on the same side of fixed plate, one end of mechanical arm is hinged on by the first axis pin on fixed frame, platform is hinged on the other end of mechanical arm by the second axis pin, electric machine assembly is fixed on riser and between two pieces of riser, electric machine assembly can drive mechanical arm to be rotated around the first axis pin by interlinked mechanism, mechanical arm inner hollow and its be internally provided with mechanical arm brace, one end of mechanical arm brace is hinged on by pull rod axis pin on riser, the other end of mechanical arm brace is hinged with platform, the both sides of mechanical arm offer the arc chute being slidably matched with pull rod axis pin.The utility model inside mechanical arm by being arranged mechanical arm brace, when platform is overloaded by the support of mechanical arm and mechanical arm brace, has achieved the effect that improve mechanical arm stability.
Description
Technical field
The utility model is related to a kind of robot mechanism, more particularly to a kind of single driving elevator tool arm.
Background technology
Existing mechanical arm can refer to the utility model patent that license notification number is CN200991895Y, it discloses
A kind of single drive two degrees of freedom mechanical arm, including pedestal, motor, lower belt wheel, upper belt-wheel, mechanical arm and platform, motor are fixed on
On pedestal, lower belt wheel is fixed in the lower end of mechanical arm, and the lower end of mechanical arm is hinged with pedestal, and motor shaft is connected with lower belt wheel, on
Belt wheel is fixedly connected with platform, and upper belt-wheel is hinged with the upper end of upper arm and mechanical arm, passes through belt between lower belt wheel and upper belt-wheel
Connection.When motor rotates, motor drives lower belt wheel with respect to base rotation, and lower belt wheel rotation drives mechanical arm to turn with respect to pedestal
It is dynamic, it is further driven to the whole opposite base rotation of platform, achievees the purpose that adjust podium level；In addition, when motor drives lower band
After the opposite base rotation of wheel, lower belt wheel drives upper belt-wheel to rotate synchronously by belt, and upper belt-wheel rotation band moving platform rotates, can
It is poor to platform one angle compensation of offer, ensure that platform is in horizontality always.
It is in place of above-mentioned the deficiencies in the prior art, belt wheel also easy tos produce slipping phenomenon when platform overloads, and reliability is not
Height, it is larger to the stability influence of mechanical arm.
Utility model content
The purpose of this utility model is to provide a kind of single driving elevator tool arm, solves and uses belt wheel to pass in the prior art
The relatively low problem of stability that is dynamic and generating.
The above-mentioned technical purpose of the utility model technical scheme is that：
A kind of single driving elevator tool arm, including fixed frame, electric machine assembly, mechanical arm and platform, fixed frame include
Fixed plate and two pieces of risers being mutually parallel, riser are vertically set on the same side of fixed plate, and one end of mechanical arm passes through first
Axis pin is hinged on fixed frame, and platform is hinged on the other end of mechanical arm by the second axis pin, and electric machine assembly is fixed on riser
Above and between two pieces of risers, electric machine assembly can drive mechanical arm be rotated around the first axis pin by interlinked mechanism, mechanical arm
Inner hollow and its be internally provided with mechanical arm brace, one end of mechanical arm brace is hinged on by pull rod axis pin on riser, machine
The other end of tool arm brace is hinged with platform, and the both sides of mechanical arm offer the arc chute being slidably matched with pull rod axis pin.
By using above-mentioned technical proposal, during electric machine assembly drives mechanical arm rotation, due to mechanical arm brace
Lower end is fixed with riser, and when mechanical arm is rotated up, mechanical arm brace relative mechanical arm rotates down, and mechanical arm brace can band
Moving platform relative mechanical arm rotates, and can provide an angle compensation to platform, ensure that platform is in horizontality always.Whole
It, will not the generation of relative mechanical arm when platform is overloaded by the support of mechanical arm and mechanical arm brace in a Machine Movement Process
Rotation, stability are high.
Preferably, interlinked mechanism includes lead screw and connecting rod, lead screw passes through electric machine assembly and being capable of band with electric machine assembly rotation
Into stretching, one end of connecting rod is hinged on by slide bar on one end of lead screw dynamic lead screw, and it is close that the other end of connecting rod is hinged on mechanical arm
One end of fixed frame, and the first axis pin, far from fixed plate, the hinge joint of mechanical arm and connecting rod is close to fixed plate.
By using above-mentioned technical proposal, electric machine assembly drives lead screw flexible, and lead screw stretching motion drives link motion, even
Bar movement drives mechanical arm to be rotated along the first axis pin, and mechanical arm rotation band moving platform rotates, and movement is more steady, and mechanical arm is to electricity
The torsion that machine shaft applies is smaller.
Preferably, being provided with rack on lead screw, the output end of motor is provided with gear in electric machine assembly.
By using above-mentioned technical proposal, the motor in electric machine assembly passes through the engagement of rack-and-pinion, drive lead screw progress
Stretching motion.
Preferably, the medial surface of two pieces of risers is both provided with stable sliding slot, stablizes sliding slot and be parallel to fixed plate, the two of slide bar
End is provided with and stablizes runner or bearing that sliding slot is slidably matched.
It by using above-mentioned technical proposal, is slidably matched by slide bar both ends runner or bearing with sliding slot is stablized, with support
The hinge joint of lead screw and connecting rod ensures the stability of lead screw and link motion, lead screw or connecting rod is avoided to become because stress is larger
Shape is damaged.
Preferably, it is U-shaped sliding slot to stablize sliding slot, stablize the U-shaped opening of sliding slot towards electric machine assembly.
By using above-mentioned technical proposal, stablizes sliding slot and use U-shaped sliding slot, on the one hand the convenient opening from U-shaped sliding slot
Slide bar and its runner or bearing at both ends are installed；It on the other hand, can be to slide bar when slide bar is moved to the top of U-shaped sliding slot
It is limited, to be limited to lead screw, prevents lead screw collapsing length larger, disengaged with electric machine assembly.
Preferably, the first axis pin is provided at both ends with bearing, the inside of two pieces of risers is recessed to be formed for installing the first pin
The bearing mounting groove of axis bearings at both ends.
By using above-mentioned technical proposal, the rotation friction smaller between the first axis pin and riser is not easy to abrasion
One axis pin.
Preferably, the second axis pin and the type of attachment of platform and the first axis pin are identical as the type of attachment of riser.
By using above-mentioned technical proposal, the second axis pin can reach effect same as the first axis pin.
Preferably, platform includes platform driving plate and platform framework, platform framework is hinged with mechanical arm, platform driving plate one
End is affixed with platform framework, and the other end and mechanical arm brace are hinged.
By using above-mentioned technical proposal, platform driving plate belongs to vulnerable part, and platform driving plate is set with platform framework
It is set to detachably, facilitates installation and replaces platform actuator.
In conclusion the utility model has the following technical effects：By the way that mechanical arm brace is arranged inside mechanical arm, by
It is fixed with riser in the lower end of mechanical arm brace, when mechanical arm is rotated up, mechanical arm brace relative mechanical arm rotates down,
Mechanical arm brace can be rotated with moving platform relative mechanical arm, platform can be given to provide an angle compensation, ensure that platform is located always
In horizontality.It, will not when platform is overloaded by the support of mechanical arm and mechanical arm brace in entire Machine Movement Process
Relative mechanical arm rotates, and has achieved the effect that improve mechanical arm stability.
Description of the drawings
Fig. 1 is the non-external structure schematic diagram for rising act state of the utility model；
Fig. 2 is that the utility model is in the external structure schematic diagram for rising act state；
Fig. 3 is the exploded perspective view that the utility model is in the non-internal structure for rising act state；
Fig. 4 is that the utility model is in the internal structure schematic diagram for rising act state.
In figure, 1, fixed frame；11, fixed plate；12, riser；121, stablize sliding slot；122, bearing mounting groove；13, it covers
Plate；2, mechanical arm；21, arc chute；22, the first axis pin；23, the second axis pin；3, platform；31, platform driving plate；32, platform
Frame；4, electric machine assembly；5, lead screw；6, connecting rod；7, mechanical arm brace；71, pull rod axis pin；8, slide bar.
Specific implementation mode
The utility model is described in further detail below in conjunction with attached drawing.The identical attached drawing of wherein identical parts
Label indicates.It should be noted that word "front", "rear" used in the following description, "left", "right", "upper", "lower", " bottom
Face " and " top surface " refer to that the direction in attached drawing, word "inner" and "outside" are referred respectively to towards or away from particular elements geometry
The direction at center.
As shown in figures 1 and 3, a kind of single driving elevator tool arm, fixed frame 1, electric machine assembly 4, mechanical arm 2 and platform
3, electric machine assembly 4 is fixed on fixed frame 1, and the lower end of mechanical arm 2 is hinged by the first axis pin 22 and fixed frame 1, machinery
The upper end of arm 2 is hinged with platform 3 by the second axis pin 23, and electric machine assembly 4 can drive mechanical arm 2 around first by interlinked mechanism
Axis pin 22 rotates.
As depicted in figs. 1 and 2, fixed frame 1 includes fixed plate 11 and two pieces of risers 12 being mutually parallel, and riser 12 is vertical
It is arranged in the top of fixed plate 11, the length of two pieces of risers 12 is inconsistent, and electric machine assembly 4 is fixed on longer one piece of riser 12
On, the top of riser 12 is removably connected with cover board 13.
As shown in Figure 3 and Figure 4, the interlinked mechanism that electric machine assembly 4 is connect with mechanical arm 2 includes lead screw 5 and connecting rod 6, lead screw 5
Across electric machine assembly 4, it is provided with rack on lead screw 5, the output end of motor is provided with gear in electric machine assembly 4, passes through gear teeth
The cooperation electric machine assembly 4 of item can drive 5 stretching motion of lead screw, one end of connecting rod 6 to be hinged on one end of lead screw 5 by slide bar 8
On, the other end of connecting rod 6 is hinged on the lower end of mechanical arm 2, and the hinge joint of connecting rod 6 and mechanical arm 2 be located at the first axis pin 22 with
Between fixed plate 11.Start electric machine assembly 4, electric machine assembly 4 drives lead screw 5 to do stretching motion, and lead screw 5 drives connecting rod 6 to move, even
The movement of bar 6 can drive mechanical arm 2 to be rotated around the first axis pin 22, to be rotated with moving platform 3, change the height of platform 3.
In addition, as shown in Figure 3 and Figure 4, the medial surface of two pieces of risers 12 is both provided with stable sliding slot 121 and bearing mounting groove
122, stablize sliding slot 121 and be parallel to the setting of fixed plate 11, stablizes sliding slot 121 and be U-shaped sliding slot and be open towards electric machine assembly 4, axis
It is circular groove to hold mounting groove 122；Slide bar 8 is provided at both ends with and stablizes runner or bearing that sliding slot 121 is slidably matched, and
One axis pin 22 is provided at both ends with bearing, and the bearing at 22 both ends of the first axis pin is located in bearing mounting groove 122.Stablize sliding slot
121 setting can supporting slider 8, after the gravity of mechanical arm 2 is applied to slide bar 8 by connecting rod 6, stablizing sliding slot 121 can prop up
Support slide bar 8 so that connecting rod 6 and lead screw 5 are not likely to produce deformation, while can also ensure the movement locus of lead screw 5.Bearing mounting groove
122 and the bearing of 22 both ends of the first axis pin setting can reduce the frictional force between the first axis pin 22 and riser 12, increase first
The service life of axis pin 22.
As shown in Figure 3 and Figure 4,2 inner hollow of mechanical arm and its be internally provided with mechanical arm brace 7, mechanical arm brace 7
Lower end is hinged on by pull rod axis pin 71 on riser 12, and the upper end of mechanical arm brace 7 is hinged with platform 3, and the both sides of mechanical arm 2 are opened
Equipped with the arc chute 21 being slidably matched with pull rod axis pin 71.During electric machine assembly 4 drives mechanical arm 2 to rotate, due to machine
The lower end of tool arm brace 7 is fixed with riser 12, and when mechanical arm 2 is rotated up, 7 relative mechanical arm 2 of mechanical arm brace turns downwards
Dynamic, mechanical arm brace 7 can be rotated with 3 relative mechanical arm 7 of moving platform, platform 3 can be given to provide an angle compensation, be ensured platform
3 are in horizontality always.In entire Machine Movement Process, pass through mechanical arm 2 and mechanical arm brace 7 when platform 3 overloads
Support, will not relative mechanical arm 2 rotate, stability is high.
As shown in Figure 3 and Figure 4, platform 3 includes platform driving plate 31 and platform framework 32, platform framework 32 and mechanical arm 2
Hinged by the second axis pin 23,31 one end of platform driving plate and platform framework 32 are affixed, and the other end and mechanical arm brace 7 are hinged.
As shown in Figure 3 and Figure 4, the lower end of platform driving plate 31 is arc, is bent towards mechanical arm brace 7, is conducive to avoid putting down in this way
Platform driving plate 31 is interfered with mechanical arm brace 7.Second axis pin 23 and the type of attachment of platform 3 and the first axis pin 22 and riser
12 type of attachment is identical.
The working process of the utility model is as follows：
Initial position starts electric machine assembly 4 as shown in 1 and Fig. 3, and electric machine assembly 4 drives lead screw 5 by rack pinion
It being moved towards mechanical arm 2, the movement of lead screw 5 drives connecting rod 6 to move, and 6 movement progress mechanical arm 2 of connecting rod is rotated around the first axis pin 22,
The state such as Fig. 2 and Fig. 4 is reached, to be rotated with moving platform 3, changes the height of platform 3；In conjunction with Fig. 3 and Fig. 4, in motor group
During part 4 drives mechanical arm 2 to rotate, since lower end and the riser 12 of mechanical arm brace 7 are fixed, when mechanical arm 2 turns upwards
When dynamic, 7 relative mechanical arm 2 of mechanical arm brace rotates down, and mechanical arm brace 7 can be rotated with 3 relative mechanical arm 7 of moving platform, energy
It is enough to provide an angle compensation to platform 3, ensure that platform 3 is in horizontality always.
This specific embodiment is only the explanation to the utility model, is not limitations of the present invention, ability
Field technique personnel can as needed make the present embodiment the modification of not creative contribution after reading this specification, but
As long as all being protected by Patent Law in the right of the utility model.
Claims (8)
1. a kind of single driving elevator tool arm, including fixed frame（1）, electric machine assembly（4）, mechanical arm（2）And platform（3）Gu
Determine frame（1）Including fixed plate（11）The riser being mutually parallel with two pieces（12）, riser（12）It is vertically set on fixed plate（11）
The same side, mechanical arm（2）One end pass through the first axis pin（22）It is hinged on fixed frame（1）On, platform（3）Pass through the second pin
Axis（23）It is hinged on mechanical arm（2）The other end, electric machine assembly（4）It is fixed on riser（12）Above and it is located at two pieces of risers（12）It
Between, electric machine assembly（4）Mechanical arm can be driven around the first axis pin by interlinked mechanism（22）Rotation, which is characterized in that mechanical arm
（2）Inner hollow and its be internally provided with mechanical arm brace（7）, mechanical arm brace（7）One end pass through pull rod axis pin（71）Hinge
It is connected on riser（12）On, mechanical arm brace（7）The other end and platform（3）It is hinged, mechanical arm（2）Both sides offer and pull rod
Axis pin（71）The arc chute being slidably matched（21）.
2. a kind of single driving elevator tool arm according to claim 1, which is characterized in that interlinked mechanism includes lead screw（5）
And connecting rod（6）, lead screw（5）Across electric machine assembly（4）And and electric machine assembly（4）Rotation can drive lead screw（5）Into stretching, connecting rod
（6）One end pass through slide bar（8）It is hinged on lead screw（5）One end on, connecting rod（6）The other end be hinged on mechanical arm（2）It is close
Fixed frame（1）One end, and the first axis pin（22）Far from fixed plate（11）, mechanical arm（2）With connecting rod（6）Hinge joint it is close
Fixed plate（11）.
3. a kind of single driving elevator tool arm according to claim 2, which is characterized in that lead screw（5）On be provided with rack,
Electric machine assembly（4）The output end of middle motor is provided with gear.
4. a kind of single driving elevator tool arm according to claim 2, which is characterized in that two pieces of risers（12）Medial surface
It is both provided with stable sliding slot（121）, stablize sliding slot（121）It is parallel to fixed plate（11）, slide bar（8）Be provided at both ends with stablize
Sliding slot（121）The runner or bearing being slidably matched.
5. a kind of single driving elevator tool arm according to claim 4, which is characterized in that stablize sliding slot（121）For U-shaped cunning
Slot stablizes sliding slot（121）U-shaped opening towards electric machine assembly（4）.
6. a kind of single driving elevator tool arm according to claim 1, which is characterized in that the first axis pin（22）Both ends set
It is equipped with bearing, two pieces of risers（12）Inside be recessed to be formed for install the first axis pin（22）The bearing mounting groove of bearings at both ends
（122）.
7. a kind of single driving elevator tool arm according to claim 6, which is characterized in that the second axis pin（23）With platform
（3）Type of attachment and the first axis pin（22）With riser（12）Type of attachment it is identical.
8. a kind of single driving elevator tool arm according to claim 1, which is characterized in that platform（3）Including platform drives
Plate（31）And platform framework（32）, platform framework（32）With mechanical arm（2）It is hinged, platform driving plate（31）One end and platform framework
（32）It is affixed, the other end and mechanical arm brace（7）It is hinged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721784938.2U CN207736310U (en) | 2017-12-19 | 2017-12-19 | A kind of single driving elevator tool arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721784938.2U CN207736310U (en) | 2017-12-19 | 2017-12-19 | A kind of single driving elevator tool arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207736310U true CN207736310U (en) | 2018-08-17 |
Family
ID=63118522
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721784938.2U Expired - Fee Related CN207736310U (en) | 2017-12-19 | 2017-12-19 | A kind of single driving elevator tool arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207736310U (en) |
-
2017
- 2017-12-19 CN CN201721784938.2U patent/CN207736310U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180817 Termination date: 20201219 |
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| CF01 | Termination of patent right due to non-payment of annual fee |