CN208826663U - A kind of semi-automatic three shaft mechanicals arm equipment - Google Patents
A kind of semi-automatic three shaft mechanicals arm equipment Download PDFInfo
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- CN208826663U CN208826663U CN201821562732.XU CN201821562732U CN208826663U CN 208826663 U CN208826663 U CN 208826663U CN 201821562732 U CN201821562732 U CN 201821562732U CN 208826663 U CN208826663 U CN 208826663U
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- rotary joint
- fluted disc
- rotating disk
- shaft
- motor
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Abstract
The utility model relates to the carrying of auto parts and components, transfer, mounting technology fields, and disclose a kind of semi-automatic three shaft mechanicals arm equipment, including pedestal, lifting armed lever and cursor, the upper surface side of the pedestal is provided with main rotary joint, the main rotary joint includes main rotary joint drive rod, rotating disk a, motor a, retarder and cylinder, the rotating disk a is located at the upper surface of pedestal, and the rotating disk a is rotatablely connected by shaft and pedestal, the upper surface side of the rotating disk a is rotatably connected to main rotary joint drive rod；By designing three axis rotary joints, electric drive, gear drive, combining four-bar mechanism, cylinder driving lifting, so that the plane area that three axis of realization rotate automatically adds the transfer all standing in the solid space region of lifting vertical plane, overcome the laborious movement of artificial transfer operation power assistant arm, electronic rotation, move loading action can be achieved, greater room saves the manual operation transfer time.
Description
Technical field
The utility model relates to the carrying of auto parts and components, transfer, mounting technology field, specially a kind of semi-automatic three axis
Mechanical arm equipment.
Background technique
Now with the rapid development in industrial 4.0 epoch, intelligence to industrial equipment, digitlization proposes higher want
It asks, in this context, manual power assisting transfer equipment carries out operation carrying by manpower in many automobile factorys, and transfer work needs
Further improve and optimization, mechanical arm are divided into multi-joint manipulator arm according to the difference of structure type, rectangular coordinate system is mechanical
Arm, spherical coordinate system mechanical arm, polar coordinates mechanical arm, cylindrical coordinates mechanical arm etc..Common six degree of freedom mechanical arm
There is X mobile, Y is mobile, and Z is mobile, X rotation, Y rotation, and Z rotates six-freedom degree composition, and horizontal articulated mechanical arm generally has
Three main freedom degrees, Z1 rotation, Z2 rotation, Z are mobile.By executing terminal installation X rotation, Y rotation can be reached in space
Any coordinate points, rectangular coordinate system mechanical arm is there are three main freedom degree.X is mobile, and Y is mobile, the mobile composition of Z, by holding
Row terminal installs X rotation, Y rotation additional, and Z rotation can reach any coordinate points in space.
Opposed robots during use, using full-automatic machine people for the higher cost of factory used, and
Higher to the environmental requirement of factory, relatively traditional power assistant arm needs the expense of artificial transfer operation power assistant arm during use
The problem of power acts.
Utility model content
(1) the technical issues of solving
In view of the deficiencies of the prior art, the utility model provides a kind of semi-automatic three shaft mechanicals arm equipment, has saving
It the advantages that cost, maintenance is simple and saves the manual operation transfer time, solves opposed robots during use, adopts
With full-automatic machine people for the higher cost of factory used, and, relatively traditional power assistant arm higher to the environmental requirement of factory,
During use, the problem of needing the laborious movement of artificial transfer operation power assistant arm.
(2) technical solution
To realize above-mentioned saving cost, maintenance is simple and saves manual operation transfer time purpose, and the utility model mentions
For following technical solution: a kind of semi-automatic three shaft mechanicals arm equipment, including pedestal, lifting armed lever and cursor, the pedestal
Upper surface side is provided with main rotary joint, the main rotary joint include main rotary joint drive rod, rotating disk a, motor a,
Retarder and cylinder, the rotating disk a is located at the upper surface of pedestal, and the rotating disk a is rotatablely connected by shaft and pedestal,
The upper surface side of the rotating disk a is rotatably connected to main rotary joint drive rod, the top of the main rotary joint drive rod
It is provided with retarder, the side of the retarder is fixedly connected with motor a by nut, and the top of the rotating disk a, which is located at, to be subtracted
The side of fast device is fixedly connected with outer housing by nut, and cylinder, and the bottom of the cylinder are provided on the inside of the outer housing
End is fixedly connected by welding in the upper surface of driven fluted disc a, and the top of the cylinder and one end of lifting armed lever pass through shaft
Rotation connection, the other end of the lifting armed lever are provided with time rotary joint, the secondary rotary joint include motor b, connector,
Connect shaft, rotating disk b, driven fluted disc b, transmission fluted disc b and secondary rotary joint drive rod, the side one of the rotating disk b
Formula is provided with connector, and the lifting armed lever is rotatablely connected by connector and time rotary joint, the upper surface of the rotating disk b
Center position is connected with connection shaft, and one end of the connection shaft passes through weldering through rotating disk b and the fixation of cursor one end
It connects and is fixedly connected, time rotary joint drive rod, the top of the secondary rotary joint drive rod are connected with above the rotating disk b
Side is provided with motor b, and the other end of the cursor is provided with fixture rotary joint.
Preferably, the fixture rotary joint includes driven fluted disc c, connecting rod, motor c, transmission fluted disc c, protective edge and folder
The connection of fixture rotary joint is provided at the link position of tool rotary joint attachment base, the fixture rotary joint and cursor
Seat, the fixture rotary joint attachment base are fixedly connected with cursor by nut, and the driven fluted disc c is located at fixture rotation and closes
The middle position of section, the side lower end of the fixture rotary joint are provided with motor c, and the top of the motor c rotates setting
There are transmission fluted disc c, the transmission fluted disc c to engage and be fixedly connected with driven fluted disc c, fixture is run through in the lower section of the driven fluted disc c
Rotary joint is fixedly connected with connecting rod by nut.
Preferably, the top engaging for being internally located at shaft of the rotating disk a is provided with driven fluted disc a, the rotating disk a
Inside be additionally provided with transmission fluted disc a, and the transmission fluted disc a engages connection with driven fluted disc a.
Preferably, the outer surface two sides of the outer housing are symmetrically welded with briquetting.
Preferably, there are three the retarder is arranged altogether, and three retarders be connected to motor a, motor b and
On the output end of motor c.
Preferably, shaft is provided through at the link position of the lifting armed lever and connector.
Preferably, the upper surface that the bottom end of the connection shaft is located at rotating disk b is sheathed with driven fluted disc b, described driven
The side of fluted disc b is engaged with transmission fluted disc b, and one end of the transmission fluted disc b engages with time low side of rotary joint drive rod
It is fixedly connected.
(3) beneficial effect
Compared with prior art, the utility model provides a kind of semi-automatic three shaft mechanicals arm equipment, has following beneficial
Effect:
(1), the utility model passes through three axis rotary joints of design, electric drive, gear drive, in conjunction with double leval jib machine
Structure, cylinder driving lifting, to realize that the plane area that three axis rotate automatically adds the shifting for going up and down the solid space region of vertical plane
Carry all standing；
(2), the utility model overcomes the laborious movement of artificial transfer operation power assistant arm, it can be achieved that electronic rotation, transfer
Movement, greater room saves the manual operation transfer time, accomplishes time saving, and laborsaving transfer is carried, opposed robots, save at
This, maintenance is simple, and lower to work condition environment requirement, and relatively traditional power assistant arm overcomes the expense of artificial transfer operation power assistant arm
Power movement, saves the manual operation transfer time.
Detailed description of the invention
FIG. 1 is a schematic structural view of the utility model；
Fig. 2 is the utility model schematic view of the front view；
Fig. 3 is the utility model side structure schematic view；
Fig. 4 is the utility model overlooking structure diagram；
Fig. 5 is the utility model time rotation joint structure schematic diagram；
Fig. 6 is the utility model fixture rotation joint structure schematic diagram；
In figure: 1, main rotary joint drive rod；2, main rotary joint；3, pedestal；4, driven fluted disc a；5, rotating disk a；6,
Motor a；7, retarder；8, outer housing；9, cylinder；10, armed lever is gone up and down；11, motor b；12, connector；13, secondary rotary joint；
14, shaft is connected；15, rotating disk b；16, driven fluted disc b；17, it is driven fluted disc b；18, cursor；19, driven fluted disc c；20, even
Extension bar；21, motor c；22, fixture rotary joint；23, it is driven fluted disc c；24, protective edge；25, fixture rotary joint attachment base；26,
Secondary rotary joint drive rod；27, it is driven fluted disc a.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
It please refers to shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, a kind of semi-automatic three shaft mechanicals arm equipment, including pedestal
3, armed lever 10 and cursor 18 are gone up and down, the upper surface side of pedestal 3 is provided with main rotary joint 2, and main rotary joint 2 includes main rotation
Turn joint transmission bar 1, rotating disk a5, motor a6, retarder 7 and cylinder 9, rotating disk a5 is located at the upper surface of pedestal 3, and rotates
Disk a5 is rotatablely connected by shaft and pedestal 3, and the upper surface side of rotating disk a5 is rotatably connected to main rotary joint drive rod 1,
The top of main rotary joint drive rod 1 is provided with retarder 7, and the side of retarder 7 is fixedly connected with motor a6 by nut,
The side that the top of rotating disk a5 is located at retarder 7 is fixedly connected with outer housing 8 by nut, and the inside of outer housing 8 is provided with
Cylinder 9, and the bottom end of cylinder 9 is fixedly connected by welding in the upper surface of driven fluted disc a4, the top of cylinder 9 and lifting armed lever
10 one end is rotatablely connected by shaft, and the other end of lifting armed lever 10 is provided with time rotary joint 13, and secondary rotary joint 13 wraps
Motor b11, connector 12, connection shaft 14, rotating disk b15, driven fluted disc b16, transmission fluted disc b17 and secondary rotary joint is included to pass
Lever 26, the side integral type of rotating disk b15 are provided with connector 12, and lifting armed lever 10 passes through connector 12 and time rotary joint
13 rotation connections, the upper surface center position of rotating disk b15 are connected with connection shaft 14, and one end of connection shaft 14 is through rotation
Turntable b15 is fixedly connected by welding with the fixation of 18 one end of cursor, and time rotary joint transmission is connected with above rotating disk b15
Bar 26, the top side of secondary rotary joint drive rod 26 are provided with motor b11, and the other end of cursor 18 is provided with fixture rotation
Joint 22.
It please refers to shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 6, fixture rotary joint 22 includes driven fluted disc c19, connecting rod
20, motor c21, transmission fluted disc c23, protective edge 24 and fixture rotary joint attachment base 25, fixture rotary joint 22 and cursor 18
Link position at be provided with fixture rotary joint attachment base 25, fixture rotary joint attachment base 25 and cursor 18 pass through nut
It is fixedly connected, driven fluted disc c19 is located at the middle position of fixture rotary joint 22, and the side lower end of fixture rotary joint 22 is set
It is equipped with motor c21, the top rotation of motor c21 is provided with transmission fluted disc c23, and transmission fluted disc c23 is engaged with driven fluted disc c19
It is fixedly connected, the lower section of driven fluted disc c19 is fixedly connected with connecting rod 20 by nut through fixture rotary joint 22.
It please refers to shown in Fig. 1, Fig. 2, Fig. 3 and Fig. 6, when being rotated to fixture rotary joint 22, is rotated using fixture
One group of gear is installed in joint 22, and transmission fluted disc c23 is connect with motor c21, drives transmission fluted disc c23 by motor c21, so that
Transmission fluted disc c23 drives driven fluted disc c19 to be rotated, and drives the rotation of connecting rod 20, rotates joint automatically.
Refering to Figure 1, the top engaging for being internally located at shaft of rotating disk a5 is provided with driven fluted disc a4, rotating disk
The inside of a5 is additionally provided with transmission fluted disc a27, and is driven fluted disc a27 and engages connection with driven fluted disc a4.
Refering to Figure 1, the rotation of motor a6 drives transmission fluted disc a27 carrying out rotation adjusting to main rotary joint 2
Rotation, to drive rotating disk a5 under the drive of shaft, is turned so that driven fluted disc a4 is rotated on pedestal 3
Dynamic, realization rotates main rotary joint 2.
Refering to Figure 1, the outer surface two sides of outer housing 8 are symmetrically welded with clump weight, clump weight is for semi-automatic three
Shaft mechanical arm carries out stabilized performance, increases the fastness of pedestal 3 during clamping.
Refering to Figure 1, there are three the total settings of retarder 7, and three retarders 7 are connected to motor a6, motor
On the output end of b11 and motor c21, convenient for carrying out the adjusting of rate to motor a6, motor b11 and motor c21.
It please refers to shown in Fig. 1, Fig. 4 and Fig. 5, is provided through and turns at the link position of lifting armed lever 10 and connector 12
Axis, lifting armed lever 10 are connect with connector 12, so that more efficient for going up and down the rotation of armed lever 10 during use.
It please refers to shown in Fig. 1 and Fig. 5, the upper surface that the bottom end of connection shaft 14 is located at rotating disk b15 is sheathed with driven tooth
Disk b16, the side of driven fluted disc b16 are engaged with transmission fluted disc b17, and are driven one end and time rotary joint transmission of fluted disc b17
The low side engaging of bar 26 is fixedly connected.
Refering to Figure 1, the rotation of motor b11 drives transmission fluted disc b17 to be rotated, so that with transmission fluted disc
The driven fluted disc b16 of b17 engagement is rotated, and connection shaft 14 is driven to be rotated, convenient for carrying out angle to cursor 18
It adjusts.
Working principle: after the utility model is installed, so that it may it uses, it first will the installation docking of equipment front end when use
Equipment tail portion is equipped with cylinder 9 by nipper, and cylinder 9 is flexible by cylinder rod, and driving lifting armed lever 10 forms lifting action, from
And meet the different height application of front end fixture, equipment point main rotary joint 2, secondary rotary joint 13 and fixture rotary joint 22 3
A rotary joint, each rotary joint install one group of gear, transmission fluted disc a27 connect with motor a6, driven fluted disc a4 be driven
Fluted disc a27 engagement connection, so that drive driven fluted disc a4 to be rotated during being driven fluted disc a27 and being rotated, thus
So that rotation armed lever is rotated, when carrying out the adjusting of angle to cursor 18, the rotation of motor b11 drives transmission fluted disc
B17 is rotated, so that being rotated with the transmission fluted disc b17 driven fluted disc b16 engaged, connection shaft 14 is driven to carry out
Rotation, convenient for carrying out the adjusting of angle to cursor 18, after the completion of adjusting, finally to driven gear with by motor driven,
Gear drive makes the furniture on automatic 18 top of rotary motion arm in joint carry out rotation adjusting, first will be electric during adjusting
The rotation of machine c21 carries out the adjusting of slewing rate by retarder 7, then turns what the transmission bottom end fluted disc c23 was connect with retarder 7
Axis is rotated, so that transmission fluted disc c23 is rotated, transmission fluted disc c23 rotation drives driven fluted disc c19 to be turned
It is dynamic, so that the fixture connected in connecting rod 20 carries out rotation adjusting, that is, complete the rotation of semi-automatic three shaft mechanicals arm.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art,
It is understood that these embodiments can be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaired
Change, replacement and variant, the scope of the utility model is defined by the appended claims and the equivalents thereof.
Claims (7)
1. a kind of semi-automatic three shaft mechanicals arm equipment, including pedestal (3), lifting armed lever (10) and cursor (18), feature exists
In: the upper surface side of the pedestal (3) is provided with main rotary joint (2), and the main rotary joint (2) includes main rotary joint
Drive rod (1), rotating disk a (5), motor a (6), retarder (7) and cylinder (9), the rotating disk a (5) are located at pedestal (3)
Upper surface, and the rotating disk a (5) is rotatablely connected by shaft and pedestal (3), the upper surface side of the rotating disk a (5) turns
Dynamic to be connected with main rotary joint drive rod (1), the top of the main rotary joint drive rod (1) is provided with retarder (7), described
The side of retarder (7) is fixedly connected with motor a (6) by nut, and the top of the rotating disk a (5) is located at retarder (7)
Side is fixedly connected with outer housing (8) by nut, is provided with cylinder (9) on the inside of the outer housing (8), and the cylinder
(9) bottom end is fixedly connected by welding in the upper surface of driven fluted disc a (4), the top of the cylinder (9) and lifting armed lever
(10) one end is rotatablely connected by shaft, and the other end of lifting armed lever (10) is provided with time rotary joint (13), described
Secondary rotary joint (13) includes motor b (11), connector (12), connection shaft (14), rotating disk b (15), driven fluted disc b
(16), fluted disc b (17) and time rotary joint drive rod (26) are driven, the side integral type of the rotating disk b (15) is provided with company
Connector (12), the lifting armed lever (10) are rotatablely connected by connector (12) and time rotary joint (13), the rotating disk b
(15) upper surface center position is connected with connection shaft (14), and rotating disk b is run through in one end of connection shaft (14)
(15) it is fixedly connected by welding with the fixation of cursor (18) one end, time rotation is connected with above the rotating disk b (15) and is closed
It saves drive rod (26), the top side of the secondary rotary joint drive rod (26) is provided with motor b (11), the cursor (18)
The other end be provided with fixture rotary joint (22).
2. the semi-automatic three shaft mechanicals arm equipment of one kind according to claim 1, it is characterised in that: the fixture rotary joint
It (22) include that driven fluted disc c (19), connecting rod (20), motor c (21), transmission fluted disc c (23), protective edge (24) and fixture rotation are closed
It saves attachment base (25), fixture rotary joint company is provided at the link position of the fixture rotary joint (22) and cursor (18)
Joint chair (25), the fixture rotary joint attachment base (25) are fixedly connected with cursor (18) by nut, the driven fluted disc c
(19) it is located at the middle position of fixture rotary joint (22), the side lower end of the fixture rotary joint (22) is provided with motor
The top rotation of c (21), the motor c (21) are provided with transmission fluted disc c (23), the transmission fluted disc c (23) and driven fluted disc c
(19) engagement is fixedly connected, and the lower section of the driven fluted disc c (19) is fixedly connected through fixture rotary joint (22) by nut
There are connecting rod (20).
3. the semi-automatic three shaft mechanicals arm equipment of one kind according to claim 1, it is characterised in that: the rotating disk a (5)
The top engaging for being internally located at shaft is provided with driven fluted disc a (4), and the inside of the rotating disk a (5) is additionally provided with transmission fluted disc
A (27), and the transmission fluted disc a (27) engages connection with driven fluted disc a (4).
4. the semi-automatic three shaft mechanicals arm equipment of one kind according to claim 1, it is characterised in that: the outer housing (8)
Outer surface two sides are symmetrically welded with clump weight.
5. the semi-automatic three shaft mechanicals arm equipment of one kind according to claim 1, it is characterised in that: the retarder (7) is altogether
There are three settings, and three retarders (7) are connected to the output end of motor a (6), motor b (11) and motor c (21)
On.
6. the semi-automatic three shaft mechanicals arm equipment of one kind according to claim 1, it is characterised in that: the lifting armed lever (10)
Shaft is provided through at the link position of connector (12).
7. the semi-automatic three shaft mechanicals arm equipment of one kind according to claim 1, it is characterised in that: the connection shaft (14)
Bottom end be located at the upper surface of rotating disk b (15) and be sheathed with driven fluted disc b (16), the side engagement of the driven fluted disc b (16)
There is transmission fluted disc b (17), and one end of transmission fluted disc b (17) and the low side of time rotary joint drive rod (26) are fixed
Connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821562732.XU CN208826663U (en) | 2018-09-20 | 2018-09-20 | A kind of semi-automatic three shaft mechanicals arm equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821562732.XU CN208826663U (en) | 2018-09-20 | 2018-09-20 | A kind of semi-automatic three shaft mechanicals arm equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208826663U true CN208826663U (en) | 2019-05-07 |
Family
ID=66318473
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821562732.XU Active CN208826663U (en) | 2018-09-20 | 2018-09-20 | A kind of semi-automatic three shaft mechanicals arm equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208826663U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112008709A (en) * | 2020-09-01 | 2020-12-01 | 四川朗迪新材料有限公司 | Rotary mechanical arm of hydraulic mechanical arm |
-
2018
- 2018-09-20 CN CN201821562732.XU patent/CN208826663U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112008709A (en) * | 2020-09-01 | 2020-12-01 | 四川朗迪新材料有限公司 | Rotary mechanical arm of hydraulic mechanical arm |
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