CN209190761U - A kind of mechanical arm of rotatable clamping - Google Patents
A kind of mechanical arm of rotatable clamping Download PDFInfo
- Publication number
- CN209190761U CN209190761U CN201821928378.8U CN201821928378U CN209190761U CN 209190761 U CN209190761 U CN 209190761U CN 201821928378 U CN201821928378 U CN 201821928378U CN 209190761 U CN209190761 U CN 209190761U
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- China
- Prior art keywords
- mechanical arm
- rack
- limited block
- lock pin
- block
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Abstract
The utility model discloses a kind of mechanical arms of rotatable clamping, including latch gear, locking limited block, rack, driving device, mechanical arm body, robot axis, drive connection axis and driving pull rod；Latch gear is mounted on the rack；Driving device includes lead screw and drive block, and drive block and rack constitute sliding block guide track structure, and drive block can be along housing slide；Drive block is connect by being drivingly connected axis with driving pull rod, and driving pull rod is connect with mechanical arm body；Locking limited block and rack constitute sliding block guide track structure, and locking limited block can be along housing slide；Mechanical arm body is connect by robot axis with locking limited block；There is stop post in mechanical arm body, be provided with the groove that stop post can pass through in rack.The utility model can not only realize that mechanical arm is moved again when being fully deployed, and can be realized and limit closed action in moving process, and locking structure intensity is high, the simple reliable operation of structure, increase mechanical arm and be applicable in scene.
Description
Technical field
The utility model belongs to a kind of machinery of rotatable clamping used in mechanical arm field more particularly to wheeled robot
Arm.
Background technique
With social high speed development, automobile is more more and more universal, but the following parking problem has become major, middle city
Problem.In order to solve the problem of existing storage parking lot and car parking area parking difficulty low efficiency, intelligent parking robot
Using more and more common.Transport Vehicle intelligent robot mainly has with vehicle-carrying plate at present, comb teeth, several shapes of mechanical arm clamping
Formula.In the prior art, the board-like robot of carrier vehicle will head on always vehicle-carrying plate, be minimum in space utilization rate and conevying efficiency
's.Comb-tooth-type robot needs to build special landing, and vehicle is lifted, then carries out lifting delivery, thereby results in space benefit
It is less economical with rate.Mechanical arm clamping type is without building special landing, direct progress vehicle conveying, robot can directly into
Enter vehicle bottom take stopping.According to the instruction of parking lot intelligent dispatching system, homing guidance is carried out.In the process of running, machine
Device people can freely advance, and retreat, traversing, multidirectional flexible motion such as rotation.Therefore walking space is not only saved, but also
Reduce the occupied area on parking stall.Since the robot advantage of mechanical arm clamping type is the most prominent, so associated mechanical arm list
The exploitation of member also especially important.
Utility model content
In order to use the robot of mechanical arm clamping type preferably, the utility model provides a kind of rotatable folder
The mechanical arm taken.
The purpose of this utility model is achieved through the following technical solutions: a kind of mechanical arm of rotatable clamping, packet
It includes latch gear, locking limited block, rack, driving device, mechanical arm body, robot axis, be drivingly connected axis and driving
Pull rod；
The latch gear is mounted on the rack；
The driving device includes lead screw and drive block, and the lead screw connects motor reducer, and the motor reducer is solid
It is scheduled on drive block, the drive block and rack constitute sliding block guide track structure, and drive block can be along housing slide；
The drive block is connect by being drivingly connected axis with driving pull rod, and the driving pull rod is connect with mechanical arm body；
The locking limited block and rack constitute sliding block guide track structure, and locking limited block can be along housing slide；
The mechanical arm body is connect by robot axis with locking limited block；
There is stop post in the mechanical arm body, be provided with the groove that stop post can pass through in the rack.
Further, the latch gear includes lock pin rotary shaft, lock pin spring seat and lock pin, and the lock pin passes through lock pin
Rotary shaft is mounted on lock pin spring seat, and the lock pin spring seat is mounted on the rack.
Further, the mechanical arm body include gripping arm body, mechanical arm upper junction plate, upper junction plate stop post, under
Connecting plate stop post and mechanical arm lower connecting plate, the gripping arm body respectively with mechanical arm upper junction plate and mechanical arm lower connecting plate
It connects, there is first boss feature on the mechanical arm upper junction plate, upper junction plate stop post, institute are installed in first boss feature
Stating has second boss feature on mechanical arm lower connecting plate, install lower connecting plate stop post in second boss feature.
Further, the driving pull rod use two, one end of two driving pull rods be drivingly connected axis connection, energy
Enough to rotate around drive connection axis, the other end of two driving pull rods is separately connected mechanical arm upper junction plate, mechanical arm lower connecting plate.
Further, it is provided with groove above and below the rack side, when the mechanical arm body fully opens,
The groove that the upper junction plate stop post and lower connecting plate stop post pass through upper and lower respectively enters machine frame inside.
Further, when the lock pin of the latch gear is bounced to rack inside, the position of locking limited block can be locked,
Prevent locking limited block mobile.
Further, it when the mechanical arm body fully opens, is contacted with latch gear, and can be by the lock of latch gear
Pin pushes back rack, releases locking of the lock pin to locking limited block.
Further, the rack includes two pieces of support plates being vertically arranged symmetrically, and the interior lateral edge mechanical arm of support plate moves
Guide rail is arranged in dynamic direction, and the drive block and locking limited block can be slided along guide rail.
The beneficial effects of the utility model are: the utility model provides a kind of mechanical arm of rotatable clamping, lock is utilized
Pin assembly blocks locking limited block, by the structure of design driven pull rod and robot axis, so that mechanical arm body at this time
Only make rotating motion by axle center of robot axis；When mechanical arm body fully opens, mechanical arm body and plunger contacts, solution
Except the locking to locking limited block, mechanical arm body drives locking limited block to travel forward together at this time；Design stop post with it is recessed
The mutually matched structure of slot, limit mechanical arm closed action, to realize mobile clamping；The utility model can not only realize machine
Tool arm is moved again when being fully deployed, and be can be realized and limited closed action in moving process, locking structure intensity
Height, the simple reliable operation of structure increase mechanical arm and are applicable in scene.
Detailed description of the invention
Fig. 1 is the mechanical arm top view (mechanical arm closed state) of the rotatable clamping of the utility model；
Fig. 2 is the mechanical arm partial view A of the rotatable clamping of the utility model；
Fig. 3 is the mechanical arm top view (mechanical arm closed state perspective view) of the rotatable clamping of the utility model；
Fig. 4 is the mechanical arm axonometric drawing (mechanical arm closed state) of the rotatable clamping of the utility model；
Fig. 5 is the mechanical arm top view (mechanical arm opening state) of the rotatable clamping of the utility model；
Fig. 6 is the mechanical arm partial view B of the rotatable clamping of the utility model；
Fig. 7 is that the mechanical arm of the rotatable clamping of the utility model bows section figure (mechanical arm opening state perspective view)；
Fig. 8 is the mechanical arm top view (mechanical arm moving condition) of the rotatable clamping of the utility model；
In figure, latch gear 1, locking limited block 2, rack 3, driving device 4, mechanical arm body 5, robot axis 6,
It is drivingly connected axis 7, driving pull rod 8, lock pin rotary shaft 11, lock pin spring seat 12, lock pin 13, lead screw 41, nut seat 42, drive block
43, it is connected under gripping arm body 51, mechanical arm upper junction plate 52, upper junction plate stop post 53, lower connecting plate stop post 54, mechanical arm
Plate 55, U-shaped feature 31.
Specific embodiment
The utility model is described in further detail in the following with reference to the drawings and specific embodiments.
A kind of New Type of Robot Arm of rotatable clamping provided by the utility model, including latch gear 1, locking limited block 2,
Rack 3, mechanical arm body 5, robot axis 6, is drivingly connected axis 7 and driving pull rod 8 at driving device 4, sees Fig. 1 and Fig. 3.
The latch gear 1 includes lock pin rotary shaft 11, lock pin spring seat 12 and lock pin 13 etc., sees Fig. 2.
The driving device 4 includes lead screw 41, nut seat 42, drive block 43 etc., sees Fig. 4.
The mechanical arm body 5 includes gripping arm body 51, mechanical arm upper junction plate 52, upper junction plate stop post 53, lower company
Fishplate bar stop post 54, mechanical arm lower connecting plate 55 etc., are shown in Fig. 4.
The assemble sequence of the utility model mechanical arm are as follows:
Step 1: lock pin 13 is mounted on lock pin spring seat 12 by lock pin rotary shaft 11, forms latch gear 1；Lock pin
Device 1 is by bolted-on (see Fig. 2) in rack 3；
Step 2: lead screw 41 and 42 mating connection motor reducer of nut seat provide power；Nut seat 42 and drive block 43
Bolted-on collectively constitutes driving device 4；Driving device 4 is connect with rack 3 by slide block guide rail (see Fig. 1, Fig. 3)；
Step 3: locking limited block 2 is connect with rack 3 by slide block guide rail (see Fig. 3)；
Step 4: gripping arm body 51 is bolted by bolt and mechanical arm upper junction plate 52 and mechanical arm lower connecting plate 55；Machine
There is boss feature on tool arm upper junction plate 52, upper junction plate stop post 53 is installed in the boss feature；Mechanical arm lower connecting plate
There is boss feature on 55, lower connecting plate stop post 54 is installed in the boss feature；To be assembled into mechanical arm body 5 (see
Fig. 4)；
Step 5: mechanical arm body 5 is connected by robot axis 6 with locking limited block 2, to be fixed on machine
Human body is upper (see Fig. 1)；
Step 6: driving device 4 is connect by being drivingly connected axis 7 with driving pull rod 8；Two driving pull rods 8 respectively with machine
Tool arm upper junction plate 52 is connected with mechanical arm lower connecting plate 55；It, can be by driving force from driving device 4 by a series of connection
It is transmitted in mechanical arm body 5 (see Fig. 1, Fig. 3, Fig. 4).
The specific implementation method of the utility model mechanical arm is as follows:
There are three state in mechanical arm use process: opening, fully open, move clamping from being closed into.
1: seeing Fig. 1 to Fig. 4 (being closed into opening)
State feature: the lock pin 13 in latch gear 1, which is in, bounces state；Lock pin 13 blocks locking limited block 2, prevents lock
Only limited block 2 is mobile；Since locking limited block 2 can not move, when driving device 4 provides dynamic movement, driving pull rod 8 will be moved
Power passes to mechanical arm body 5, and mechanical arm body 5 is only made rotating motion with robot axis 6 for axle center.
2: seeing Fig. 5 to Fig. 7 (fully opening)
State feature: when mechanical arm body 5 fully opens, mechanical arm upper junction plate 52 is contacted with lock pin 13, and will lock
Pin 13 is pressed into lock pin spring seat 12, to release locking of the lock pin 13 to locking limited block 2；When driving device 4 continues to provide
When dynamic movement, mechanical arm body 5 will drive locking limited block 2 to travel forward together.
3: seeing Fig. 7 to Fig. 8 (mobile clamping)
State feature: design has U-shaped feature in rack 3, when mechanical arm body 5 is opened, 53 He of upper junction plate stop post
Lower connecting plate stop post 54 is entered inside rack 3 by U-shaped feature respectively；In mechanical arm moving process, upper junction plate thrust
Column 53 and lower connecting plate stop post 54 also leave U-shaped feature locations therewith；In clamping, since upper junction plate stop post 53 is under
Connecting plate stop post 54 is blocked in inside rack 3 by rack 3, and mechanical arm will be by limitation closed action, thus in driving device 4
Drive the lower clamping function of realizing gripping arm.
It is above-mentioned although specific embodiments of the present invention are described with reference to the accompanying drawings, but it is not practical new to this
The limitation of type protection scope, those skilled in the art should understand that, based on the technical solution of the present invention, ability
Field technique personnel do not need to make the creative labor the various modifications or changes that can be made still in the protection model of the utility model
Within enclosing.
Claims (8)
1. a kind of mechanical arm of rotatable clamping, which is characterized in that including latch gear (1), locking limited block (2), rack
(3), driving device (4), mechanical arm body (5), robot axis (6), drive connection axis (7) and driving pull rod (8)；
The latch gear (1) is mounted on rack (3)；
The driving device (4) includes lead screw (41) and drive block (43), and the lead screw (41) connects motor reducer, the electricity
Machine speed reducer is fixed on drive block (43), and the drive block (43) and rack (3) constitute sliding block guide track structure, drive block (43)
It can be slided along rack (3)；
The drive block (43) is connect by being drivingly connected axis (7) with driving pull rod (8), the driving pull rod (8) and mechanical arm
Ontology (5) connection；
The locking limited block (2) and rack (3) constitute sliding block guide track structure, and locking limited block (2) can be sliding along rack (3)
It is dynamic；
The mechanical arm body (5) is connect by robot axis (6) with locking limited block (2)；
There is stop post on the mechanical arm body (5), be provided with the groove that stop post can pass through on the rack (3).
2. a kind of mechanical arm of rotatable clamping according to claim 1, which is characterized in that latch gear (1) packet
Lock pin rotary shaft (11), lock pin spring seat (12) and lock pin (13) are included, the lock pin (13) is installed by lock pin rotary shaft (11)
On lock pin spring seat (12), the lock pin spring seat (12) is mounted on rack (3).
3. a kind of mechanical arm of rotatable clamping according to claim 1, which is characterized in that the mechanical arm body (5)
Including gripping arm body (51), mechanical arm upper junction plate (52), upper junction plate stop post (53), lower connecting plate stop post (54) and machine
Tool arm lower connecting plate (55), the gripping arm body (51) respectively with mechanical arm upper junction plate (52) and mechanical arm lower connecting plate (55)
It connects, there is first boss feature on the mechanical arm upper junction plate (52), upper junction plate thrust is installed in first boss feature
Column (53) has second boss feature on the mechanical arm lower connecting plate (55), and installation lower connecting plate stops in second boss feature
Push away column (54).
4. a kind of mechanical arm of rotatable clamping according to claim 3, which is characterized in that the driving pull rod (8) is adopted
With two, one end of two driving pull rods (8) is connect with drive connection axis (7), can be rotated around axis (7) are drivingly connected, two
The other end of branch driving pull rod (8) is separately connected mechanical arm upper junction plate (52), mechanical arm lower connecting plate (55).
5. a kind of mechanical arm of rotatable clamping according to claim 3, which is characterized in that rack (3) side
Above and below be provided with groove, when the mechanical arm body (5) fully opens, upper junction plate stop post (53) He Xialian
It is internal that fishplate bar stop post (54) enters rack (3) by the groove of upper and lower respectively.
6. a kind of mechanical arm of rotatable clamping according to claim 1, which is characterized in that the latch gear (1)
When lock pin (13) is bounced to rack (3) inside, the position of locking limited block (2) can be locked, locking limited block (2) is prevented to move
It is dynamic.
7. a kind of mechanical arm of rotatable clamping according to claim 1, which is characterized in that the mechanical arm body (5)
It when fully opening, contacts, and the lock pin (13) of latch gear (1) can be pushed back rack (3) with latch gear (1), release lock
Sell the locking of (13) to locking limited block (2).
8. a kind of mechanical arm of rotatable clamping according to claim 1, which is characterized in that the rack (3) includes two
The support plate that block is vertically arranged symmetrically, the interior lateral edge mechanical arm moving direction of support plate arrange guide rail, the drive block (43) and
Locking limited block (2) can be slided along guide rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821928378.8U CN209190761U (en) | 2018-11-22 | 2018-11-22 | A kind of mechanical arm of rotatable clamping |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821928378.8U CN209190761U (en) | 2018-11-22 | 2018-11-22 | A kind of mechanical arm of rotatable clamping |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209190761U true CN209190761U (en) | 2019-08-02 |
Family
ID=67425335
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821928378.8U Active CN209190761U (en) | 2018-11-22 | 2018-11-22 | A kind of mechanical arm of rotatable clamping |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209190761U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109333502A (en) * | 2018-11-22 | 2019-02-15 | 杭州极木科技有限公司 | A kind of mechanical arm of rotatable clamping |
-
2018
- 2018-11-22 CN CN201821928378.8U patent/CN209190761U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109333502A (en) * | 2018-11-22 | 2019-02-15 | 杭州极木科技有限公司 | A kind of mechanical arm of rotatable clamping |
| CN109333502B (en) * | 2018-11-22 | 2023-12-19 | 杭州极木科技有限公司 | Rotatable mechanical arm that presss from both sides and get |
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