CN208514518U

CN208514518U - Mechanical arm arm bindiny mechanism

Info

Publication number: CN208514518U
Application number: CN201820527034.XU
Authority: CN
Inventors: 麦骞誉
Original assignee: Jiangmen Mark Star Industrial Co Ltd
Current assignee: Shenzhen Qianhai LuBang Technology Co., Ltd
Priority date: 2018-04-13
Filing date: 2018-04-13
Publication date: 2019-02-19
Anticipated expiration: 2028-04-13

Abstract

The utility model discloses a kind of mechanical arm arm bindiny mechanisms；Previous mechanical arm actuating range is small, acts ineffective activity；Since mechanical arm described in the utility model realizes the up and down of arm by arm flexible connection combination respectively, so that the up and down range of arm can reach 120 °；Arm rotation is realized by rolling over connection combination, rotation twists angle maximum up to 90 °；Combination is connected by arms swing to realize swinging for arm, so that the maximum angle range that arm swings can reach 120 °；Emulation arm bindiny mechanism is collectively formed by the connection combination of such three arm arms, so that the scope of activities of arm greatly increases, the flexibility ratio of arm action is improved, and arm is up and down and the movement that swings is very smooth；The utility model is suitble to various mechanical arm arm structures.

Description

Mechanical arm arm bindiny mechanism

Technical field

The utility model relates to a kind of production and processing technical field of mechanical arm, especially a kind of mechanical arm arm connects Connection mechanism.

Background technique

In life now, under the progress of Science and Technology Day crescent benefit, the arm maximum of robot and the mankind are distinguished The huge difference of the resistance to dynamics of the flexibility ratio and manipulator that are that manpower between the two, the sharpest edges of manipulator are can to weigh It is multiple to do same movement and always feel tired！But its flexibility ratio is comparatively just very limited.Due to answering for mechanical arm With more and more extensive, the connecting bracket of mechanical arm mostly uses aluminium alloy in the market now, and hardness is inadequate, with combination be Absolute coordinate combination, this, which is combined, is not suitable for the round-trip actuation of high speed, can be increasing using drive gap over time, backhaul Worse and worse, the activity flexibility of mutual two axis also will receive limitation to precision, is not suitable for remote two between centers and is driven, nothing Overload protective function cannot accurately imitate certain careful works of manpower.

Utility model content

For overcome the deficiencies in the prior art, it is big to provide a kind of flexibility ratio height, fluent movements, scope of activities for the utility model Mechanical arm arm bindiny mechanism.

The technical scheme adopted by the utility model to solve the technical problem is as follows: mechanical arm arm bindiny mechanism, mechanical The upper arm upper end of arm is connected with movable steering engine, and movable steering engine is movably arranged under movable support by being flexibly connected turntable Side, the movable support other end are movably connected by rotation connection turntable and rotation steering engine, and rotation steering engine is mounted in rotating bracket, The other end for rotating steering engine is movably connected by swinging connection turntable with swing steering engine, and swing steering engine, which is mounted on, is fixedly connected with bracket It is interior.

Mechanical arm arm bindiny mechanism, the activity steering engine are that numerical control drives steering engine.

Mechanical arm arm bindiny mechanism, the angle that the mechanical arm is lifted up in the horizontal direction are 30 °.

Mechanical arm arm bindiny mechanism, the rotation steering engine are that numerical control drives steering engine.

The rotation twisting angle of mechanical arm arm bindiny mechanism, the mechanical arm is 90 °.

Mechanical arm arm bindiny mechanism, the swing steering engine are that numerical control drives steering engine.

The angle that swings of mechanical arm arm bindiny mechanism, the mechanical arm is 120 °.

The beneficial effects of the utility model are: since mechanical arm described in the utility model is by by movable steering engine, work The arm that dynamic connection turntable, movable support collectively form is flexibly connected combination to realize the up and down of arm, in movable steering engine Driving under, up to 30 °, the up and down maximum magnitude of arm can reach the angle that arm is lifted up in the horizontal direction 120°；The company of rolling over collectively formed by rotation connection turntable, rotation steering engine and rotating bracket in the middle part of arm bindiny mechanism Combination is connect to realize arm rotation, under the driving of rotation steering engine, arm is maximum in the rotation angle along arm central axis direction Up to 90 °；Arm bindiny mechanism is fixedly connected with position and is collectively formed by swinging connection turntable, swing steering engine and being fixedly connected with bracket Arms swing connection combination to realize swinging for arm, under the driving of swing steering engine, maximum that arm swings Angular range can reach 120 °；Emulation arm bindiny mechanism is collectively formed by the connection combination of such three arm arms, so that The scope of activities of arm greatly increases, and the flexibility ratio of arm action improves, and arm is up and down and the movement that swings is flowed very much Freely.

Detailed description of the invention

The present invention will be further described with reference to the accompanying drawings and examples:

Fig. 1 is that the utility model arm bindiny mechanism splits schematic diagram；

Fig. 2 is the utility model using state structure diagram；

Fig. 3 is the utility model using state structure diagram 2；

Fig. 4 is the utility model using state structure diagram 3.

Wherein in figure: 10. upper arm, 11. movable steering engines, 12. are flexibly connected turntable, 13. movable supports, 21. rotation connections Turntable, 22. rotation steering engines, 23. rotating brackets, 31. swing connection turntables, 32. swing steering engines, 33. are fixedly connected with bracket, 101. Arm flexible connection combination, 201. roll over and connect combination, 301. arms swings connection is combined.

Specific embodiment

Mechanical arm arm bindiny mechanism, the upper arm upper end of mechanical arm are connected with movable steering engine, and movable steering engine passes through It is flexibly connected the lower section that turntable is movably arranged on movable support, the movable support other end passes through rotation connection turntable and rotation steering engine It is movably connected, rotation steering engine is mounted in rotating bracket, rotates the other end of steering engine by swinging connection turntable and swing steering engine It is movably connected, swing steering engine, which is mounted on, to be fixedly connected in bracket.

Referring to Fig.1, Fig. 2, Fig. 3, Fig. 4, since mechanical arm described in the utility model is by being connected by movable steering engine, activity Switch through disk, the arm that movable support collectively forms is flexibly connected combination to realize the up and down of arm, in the drive of movable steering engine Under dynamic, for the angle that arm is lifted up in the horizontal direction up to 30 °, the up and down maximum magnitude of arm can reach 120 °； The connection combination of rolling over collectively formed by rotation connection turntable, rotation steering engine and rotating bracket in the middle part of arm bindiny mechanism Realize arm rotation, under the driving of rotation steering engine, arm is reachable in the rotation angle maximum along arm central axis direction 90°；Arm bindiny mechanism is fixedly connected with position by swinging connection turntable, swing steering engine and being fixedly connected with the hand that bracket collectively forms Arm swing connection combination is to realize swinging for arm, under the driving of swing steering engine, maximum angle that arm swings Range can reach 120 °；Emulation arm bindiny mechanism is collectively formed by the connection combination of such three arm arms, so that arm Scope of activities greatly increase, the flexibility ratio of arm action improves, and arm is up and down and the movement that swings is very smooth.

Referring to Fig.1, Fig. 2, Fig. 3, Fig. 4, in order to increase the movable flexibility of integral product and improve the fluent movements of product Property, activity steering engine described in the utility model, rotation steering engine, swing steering engine all use Numeric Control Technology to be driven, in numerical control rudder Under the control driving of machine, for the angle that arm is lifted up in the horizontal direction up to 30 °, the up and down maximum magnitude of arm can Reach 120 °, arm the rotation twisting along arm central axis direction angle maximum up to 90 °, the maximum that arm swings Angular range can reach 120 °, just because of in the whole arm bindiny mechanism of the utility model, individually use numerical control Steering engine drives each position in corresponding arm bindiny mechanism, so that whole mechanical arm activity is more flexible, acts more Add smoothness.

In short, specific embodiment of the present utility model only describes the skill of one of mechanical arm arm bindiny mechanism Art improvement project, the technical pattern of any other equivalent substitute is all within its protection scope.

Claims

1. mechanical arm arm bindiny mechanism, it is characterised in that upper arm (10) upper end of mechanical arm is connected with movable steering engine (11), the lower section that movable steering engine (11) is movably arranged on movable support (13) by being flexibly connected turntable (12), movable support (13) other end is movably connected by rotation connection turntable (21) and rotation steering engine (22), and rotation steering engine (22) is mounted on rotation branch In frame (23), the other end of rotation steering engine (22) is movably connected by swinging connection turntable (31) with swing steering engine (32), is swung Steering engine (32), which is mounted on, to be fixedly connected in bracket (33).

2. mechanical arm arm according to claim 1 bindiny mechanism, it is characterised in that the activity steering engine (11) is number Control driving steering engine.

3. mechanical arm arm according to claim 1 bindiny mechanism, it is characterised in that the mechanical arm is in level side It is 30 ° to the angle being lifted up.

4. mechanical arm arm according to claim 1 bindiny mechanism, it is characterised in that the rotation steering engine (22) is number Control driving steering engine.

5. mechanical arm arm according to claim 1 bindiny mechanism, it is characterised in that the rotation of the mechanical arm is turned round Dynamic angle is 90 °.

6. mechanical arm arm according to claim 1 bindiny mechanism, it is characterised in that the swing steering engine (32) is number Control driving steering engine.

7. mechanical arm arm according to claim 1 bindiny mechanism, it is characterised in that the left and right pendulum of the mechanical arm Dynamic angle is 120 °.