CN208663859U - A kind of Folding holder disc type mechanical arm - Google Patents

Abstract

The utility model discloses a kind of Folding holder disc type mechanical arms, including support plate, frame, first movable axis and driving motor, the support plate two sides are equipped with frame, the frame is bolted with support plate, the frame two sides are equipped with shaft, the shaft lower part is equipped with the first movable axis, the shaft top is equipped with driving motor, the driving motor lower part is equipped with connecting shaft, dual-axle motor is equipped with inside first movable axis, the dual-axle motor bottom is equipped with control box, the dual-axle motor two sides are equipped with telescopic rod, the telescopic rod side is equipped with sliding block, the sliding block upper side is equipped with collet, a kind of Folding holder disc type mechanical arm, the first movable axis and the second movable axis are connected by frame, make to rotate between the first movable axis and the second movable axis flexible, connecting shaft rotation is driven by driving motor, second is set to live Moving axis rotation frame stretches out the first movable axis, by multiple frames and activity axis connection, increases collapsing length, convenient transportation.

Description

A kind of Folding holder disc type mechanical arm

Technical field

The utility model relates to mechanical arm technical field, specifically a kind of Folding holder disc type mechanical arm.

Background technique

With the continuous development and application of robot technology, the advantages of robot, is increasingly highlighted.Especially removed in movement Robot field is transported, robot is introduced into industrial production, hand labor is replaced to have become a kind of irresistible trend. The sorting task of logistic industry, storage storage task is gradually from manually to robot transition, so making the storage of article, remove The activities such as fortune, transfer become blocking operation, to greatly improve the efficiency of logistics transportation.It also solves and is accomplished manually as a result, , heavy workload, low efficiency, problem at high cost.In mobile transfer robot, the position positioning crawl task of object is realized Mechanical arm be realize robot function critical component.

Main problem existing for folding mechanism arm is that structure designs more complex, the freedom degree in joint in prior art Not strong, collapsing length is limited, and clamps that number of articles is few, and conevying efficiency is low.

Utility model content

To achieve the above object, the utility model provides the following technical solutions: a kind of Folding holder disc type mechanical arm, including Support plate, frame, the first movable axis and driving motor, the support plate two sides are equipped with frame, and the frame passes through with support plate Bolt is fixed, and the frame two sides are equipped with shaft, and the shaft lower part is equipped with the first movable axis, and the frame passes through shaft and the The rotation connection of one movable axis, the shaft top are equipped with driving motor, and the driving motor lower part is equipped with connecting shaft, the connection The rotor welding of axis and driving motor is fixed, and first movable axis is rotatablely connected by driving motor and shaft, and described first Dual-axle motor is equipped with inside movable axis, the dual-axle motor bottom is equipped with control box, and the dual-axle motor two sides are equipped with telescopic rod, The telescopic rod side is equipped with sliding block, and the sliding block upper side is equipped with collet, and the collet passes through sliding block and the first movable axis It is slidably connected.

As a kind of preferred embodiment of the utility model, range sensor, institute are equipped with inside first movable axis Range sensor is stated to be electrically connected by conducting wire and control box.

As a kind of preferred embodiment of the utility model, the support plate surface is equipped with placing groove, the placing groove It is bolted with support plate.

As a kind of preferred embodiment of the utility model, the collet uses rubber material.

As a kind of preferred embodiment of the utility model, it is equipped with the second movable axis on the right side of the frame, described second Movable axis is telescopically connected to by frame and the first movable axis.

Compared with prior art, the beneficial effects of the utility model are as follows:

A kind of Folding holder disc type mechanical arm connects the first movable axis and the second movable axis by frame, makes first to live It rotates and stretches between moving axis and the second movable axis, connecting shaft rotation is driven by driving motor, the second movable axis is made to rotate frame First movable axis is stretched out, by multiple frames and activity axis connection, increases collapsing length, convenient transportation, in the first movable axis Portion is equipped with dual-axle motor, drives the telescopic rod of two sides to extend by dual-axle motor and shortens, enable sliding block on the first movable axis It is slided, collet is driven to clamp article, collet uses rubber material, can reduce the hardness between collet and article Contact, prevents from damaging article again, the range sensor inside the first movable axis can incude article size, pass through control Box controls the distance of stretch out and draw back of dual-axle motor, accomplishes accurately to clamp, and range sensor uses ZLDS100 model, which can examine Millimeter distance is surveyed, support plate surface is equipped with placing groove, can transport more articles by placing groove, increase conevying efficiency.

Detailed description of the invention

Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other spies of the utility model Sign, objects and advantages will become more apparent upon:

Fig. 1 is a kind of overall structure diagram of Folding holder disc type mechanical arm of the utility model；

Fig. 2 is a kind of expansion overlooking structure diagram of Folding holder disc type mechanical arm of the utility model；

Fig. 3 is a kind of the first movable axis schematic diagram of internal structure of Folding holder disc type mechanical arm of the utility model.

In figure: support plate -1, the first movable axis -2, frame -3, shaft -4, driving motor -5, connecting shaft -6, Distance-sensing Device -7, placing groove -8, dual-axle motor -9, telescopic rod -10, sliding block -11, collet -12, control box -13, the second movable axis -14.

To be easy to understand the technical means, creative features, achievement of purpose, and effectiveness of the utility model, below In conjunction with specific embodiment, the utility model is further described.

Please refer to Fig. 1-3, a kind of Folding holder disc type mechanical arm, including support plate 1, frame 3, the first movable axis 2 and drive Dynamic motor 5,1 two sides of support plate are equipped with frame 3, and the frame 3 is bolted with support plate 1,3 two sides of frame Equipped with shaft 4,4 lower part of shaft is equipped with the first movable axis 2, and the frame 3 is connected by shaft 4 and the rotation of the first movable axis 2 It connects, 4 top of shaft is equipped with driving motor 5, and 5 lower part of driving motor is equipped with connecting shaft 6, the connecting shaft 6 and driving The rotor welding of motor 5 is fixed, and first movable axis 2 is rotatablely connected by driving motor 5 and shaft 4, first activity Dual-axle motor 9 is equipped with inside axis 2,9 bottom of dual-axle motor is equipped with control box 13, and 9 two sides of dual-axle motor are equipped with flexible Bar 10,10 side of telescopic rod are equipped with sliding block 11, and 11 upper side of sliding block is equipped with collet 12, and the collet 12 passes through cunning Block 11 is slidably connected with the first movable axis 2.

Referring to Fig. 3, being equipped with range sensor 7 inside first movable axis 2, the range sensor 7 passes through conducting wire It is electrically connected with control box 13, range sensor 7 can incude article size, control stretching for dual-axle motor 9 by control box 13 Contracting distance accomplishes accurately to clamp, and range sensor uses ZLDS100 model, which is able to detect millimeter distance.

Referring to Fig. 2,1 surface of support plate is equipped with placing groove 8, the placing groove 8 is solid by bolt with support plate 1 It is fixed, more articles can be transported by placing groove 8, increase conevying efficiency.

Referring to Fig. 3, the collet 12 uses rubber material, the hard contact between collet and article can be reduced, is prevented Only article is damaged again.

Referring to Fig. 1, being equipped with the second movable axis 14 on the right side of the frame 3, second movable axis 14 passes through frame 3 and the One movable axis 2 is telescopically connected to, and by multiple frames 3 and activity axis connection, increases collapsing length, convenient transportation.

A kind of Folding holder disc type mechanical arm described in the utility model connects the first movable axis 2 and second by frame 3 Movable axis 14 makes to rotate between the first movable axis 1 and the second movable axis 14 and stretch, passes through driving motor 5 and drive 6 turns of connecting shaft It is dynamic, it stretches out the second movable axis 14 rotation frame 3 by the first movable axis 2, is stretched by multiple frames 3 and activity axis connection, increase Contracting length, convenient transportation are equipped with dual-axle motor 9 inside the first movable axis 2, pass through the telescopic rod 10 that dual-axle motor 9 drives two sides Elongation is shortened, and sliding block 11 is enable to be slided on the first movable axis 2, drives collet 12 to clamp article, collet 12 Using rubber material, the hard contact between collet and article can be reduced, prevents from damaging article again, the first movable axis 2 Internal range sensor 7, can incude article size, and the distance of stretch out and draw back of dual-axle motor 9 is controlled by control box 13, accomplishes essence Really clamping, range sensor use ZLDS100 model, which is able to detect millimeter distance, and 1 surface of support plate, which is equipped with, places Slot 8 can transport more articles by placing groove 8, increase conevying efficiency.

The support plate 1 of the utility model, the first movable axis 2, frame 3, shaft 4, driving motor 5, connecting shaft 6, distance pass Sensor 7, placing groove 8, dual-axle motor 9, telescopic rod 10, sliding block 11, collet 12, control box 13, the second movable axis 14, component are Universal standard part or component as known to those skilled in the art, structure and principle are all that this technology personnel can be by technology hand Volume learns or knows by routine experiment method the utility model solves the problems, such as it is that folding mechanism arm is deposited in prior art Main problem be structure design it is more complex, the freedom degree in joint is not strong, and collapsing length is limited, and clamps number of articles Few, conevying efficiency is low, and the utility model is combined with each other by above-mentioned component, which passes through Frame connects the first movable axis and the second movable axis, makes to rotate between the first movable axis and the second movable axis and stretch, passes through driving Motor drives connecting shaft rotation, stretches out the second movable axis rotation frame by the first movable axis, passes through multiple frames and movable axis Connection increases collapsing length, convenient transportation, and the first movable axis inside is equipped with dual-axle motor, passes through dual-axle motor and drives two sides Telescopic rod elongation is shortened, and sliding block is enable to be slided on the first movable axis, drives collet to clamp article, collet is adopted With rubber material, the hard contact between collet and article can be reduced, prevents from damaging article again, inside the first movable axis Range sensor, article size can be incuded, by control box control dual-axle motor distance of stretch out and draw back, accomplish accurately to clamp, Range sensor uses ZLDS100 model, which is able to detect millimeter distance, and support plate surface is equipped with placing groove, passes through Placing groove can transport more articles, increase conevying efficiency.

The basic principles and main features of the present invention and the advantages of the present invention have been shown and described above, for For those skilled in the art, it is clear that the present invention is not limited to the details of the above exemplary embodiments, and without departing substantially from this In the case where the spirit or essential attributes of utility model, the utility model can be realized in other specific forms.Therefore, no matter From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the utility model is by institute Attached claim rather than above description limit, it is intended that will fall within the meaning and scope of the equivalent elements of the claims All changes are embraced therein.It should not treat any reference in the claims as limiting related right It is required that.

In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should It considers the specification as a whole, the technical solutions in the embodiments can also be closed suitably, and group forms those skilled in the art The other embodiments being understood that.

Claims (5)

1. a kind of Folding holder disc type mechanical arm, it is characterised in that: including support plate (1), frame (3), the first movable axis (2) and Driving motor (5), support plate (1) two sides are equipped with frame (3), and the frame (3) is bolted with support plate (1), Frame (3) two sides are equipped with shaft (4), and shaft (4) lower part is equipped with the first movable axis (2), and the frame (3) is by turning Axis (4) and the first movable axis (2) are rotatablely connected, and shaft (4) top is equipped with driving motor (5), under the driving motor (5) Portion is equipped with connecting shaft (6), and the connecting shaft (6) and the rotor welding of driving motor (5) are fixed, and first movable axis (2) is logical Motor (5) are overdrived with shaft (4) rotation connection, first movable axis (2) is internal equipped with dual-axle motor (9), the twin shaft Motor (9) bottom is equipped with control box (13), and dual-axle motor (9) two sides are equipped with telescopic rod (10), telescopic rod (10) side Face is equipped with sliding block (11), and sliding block (11) upper side is equipped with collet (12), and the collet (12) passes through sliding block (11) and the One movable axis (2) is slidably connected.

2. a kind of Folding holder disc type mechanical arm according to claim 1, it is characterised in that: first movable axis (2) Inside is equipped with range sensor (7), and the range sensor (7) is electrically connected by conducting wire and control box (13).

3. a kind of Folding holder disc type mechanical arm according to claim 1, it is characterised in that: support plate (1) surface Equipped with placing groove (8), the placing groove (8) is bolted with support plate (1).

4. a kind of Folding holder disc type mechanical arm according to claim 1, it is characterised in that: the collet (12) uses rubber Glue material matter.

5. a kind of Folding holder disc type mechanical arm according to claim 1, it is characterised in that: set on the right side of the frame (3) Have the second movable axis (14), second movable axis (14) is telescopically connected to by frame (3) with the first movable axis (2).