CN209190779U - Rotatable mechanical arm - Google Patents
Rotatable mechanical arm Download PDFInfo
- Publication number
- CN209190779U CN209190779U CN201821928386.2U CN201821928386U CN209190779U CN 209190779 U CN209190779 U CN 209190779U CN 201821928386 U CN201821928386 U CN 201821928386U CN 209190779 U CN209190779 U CN 209190779U
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- China
- Prior art keywords
- mechanical arm
- limit switch
- screw nut
- unit
- feed screw
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- Withdrawn - After Issue
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 13
- 230000005611 electricity Effects 0.000 claims description 14
- 238000009434 installation Methods 0.000 claims description 9
- 238000000034 method Methods 0.000 abstract description 9
- 230000006698 induction Effects 0.000 abstract 1
- 230000008901 benefit Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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Abstract
The utility model discloses a rotatable mechanical arm, which comprises a motor reducer, a mechanical arm opening limit switch, a limit switch induction block, a mechanical arm closing limit switch, a gear box, a mechanical arm body, a mechanical arm rotating part fixing unit, a rotating push-pull rod unit, a driving unit, a lead screw nut unit and a power-off brake; a lead screw nut connecting block of the driving unit is connected with the lead screw and the lead screw nut unit; one end of the rotary push-pull rod unit is connected with the lead screw nut connecting block, and the other end of the rotary push-pull rod unit is connected with the mechanical arm body; the mechanical arm body is arranged on a mechanical arm rotating part fixing unit through a mechanical arm rotating pin; the utility model adopts the power-off brake to start braking when power is off, thereby preventing the mechanical arm from shaking off in the motion process; the control unit can automatically judge the opening and closing states through the mechanical arm opening limit switch and the mechanical arm closing limit switch. The utility model discloses arm locking structural strength is high, simple structure reliable operation, and the increase arm is suitable for the scene.
Description
Technical field
The utility model belongs to rotatable mechanical arm used in mechanical arm field more particularly to a kind of wheeled robot.
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
Mechanical arm.
The purpose of this utility model is achieved through the following technical solutions: a kind of rotatable mechanical arm, feature
It is, including motor reducer, mechanical arm opening limit switch, limit switch sensor block, mechanical arm are closed limit switch, gear
Case, mechanical arm body, mechanical arm rotary part fixed cell, rotating sliding bar unit, driving unit, lead screw and feed screw nut list
Member and electricity loss brake；
The mechanical arm opening limit switch, mechanical arm closure limit switch, gear-box, mechanical arm rotary part are fixed single
Member and electricity loss brake are each attached in rack；
The input terminal of the motor reducer tooth connection roller box；The lead screw and feed screw nut unit one end tooth connection roller box
Output end, the other end connect electricity loss brake；
The driving unit includes feed screw nut link block, the feed screw nut link block and lead screw and feed screw nut unit
Connection；
Rotating sliding bar unit one end is connect with feed screw nut link block, and the other end is connect with mechanical arm body；
The mechanical arm body is mounted on mechanical arm rotary part fixed cell by mechanical arm rotating dog, can be with tool
It is rotated centered on arm rotating dog；
The limit switch sensor block is fixed on feed screw nut link block, and when mechanical arm body fully opens, limit is opened
It is corresponding with mechanical arm opening limit switch position to close sensor block position, is used for Crush trigger arm opening limit switch, mechanical arm
When ontology is closed completely, limit switch sensor block position is corresponding with mechanical arm closure limit-switch positions, is used for Crush trigger
Arm is closed limit switch.
Further, the mechanical arm body includes mechanical arm body installation lower plate, rotating dog fastening bolt, mechanical arm sheet
Body installs upper plate and mechanical arm rotating dog；The mechanical arm rotary part fixed cell includes mechanical arm rotating dog fixing seat, rotation
Rotation member lower support fixing bearing and rotary part upper support fixing bearing；The rotary part lower support fixing bearing
It embeds and is fitted into mechanical arm rotating dog fixing seat with rotary part upper support fixing bearing, the mechanical arm rotating dog passes through machine
Tool arm body installs upper plate, mechanical arm rotating dog fixing seat and mechanical arm body and installs lower plate, and mechanical arm body is mounted on machine
On tool arm rotary part fixed cell, mechanical arm rotating dog bottom is fastened by rotating dog fastening bolt.
Further, the rotating sliding bar unit includes top rotating sliding bar and lower part rotating sliding bar；On described
Portion's rotating sliding bar is mounted on feed screw nut link block by top fixed circlip, and the lower part rotating sliding bar passes through lower part
Fixed circlip is mounted on feed screw nut link block, the top rotating sliding bar and lower part rotating sliding bar respectively with mechanical arm
Ontology clamping.
Further, which further includes control unit, the mechanical arm opening limit switch and mechanical arm closure limit
Bit switch is connect with control unit, judges opening and closing operation by control unit.
Further, the rack includes two pieces of support plates being vertically arranged symmetrically, the disposed inboard guide rail of support plate, institute
Stating feed screw nut link block and limit switch sensor block can slide along guide rail.
The beneficial effects of the utility model are: the utility model provides a kind of rotatable New Type of Robot Arm, using mistake
Electric brake power-off starting braking, prevents in motion process mechanical arm to be shaken and shakes apart；By mechanical arm opening limit switch and
Mechanical arm is closed limit switch, and control unit can judge automatically opening and closing state.The utility model mechanical arm locking structure
Intensity is high, the simple reliable operation of structure, increases mechanical arm and is applicable in scene.
Detailed description of the invention
Fig. 1 is the rotatable mechanical arm top view of the utility model (mechanical arm opening state)；
Fig. 2 is the rotatable mechanical arm top view of the utility model (mechanical arm opening state perspective view)；
Fig. 3 is schematic partial sectional view A-A；
Fig. 4 is schematic partial sectional view B-B；
Fig. 5 is the rotatable mechanical arm top view of the utility model (mechanical arm closed state)；
In figure, motor reducer 1, mechanical arm opening limit switch 2, limit switch sensor block 3, mechanical arm closure limit are opened
Close 4, gear-box 5, mechanical arm body 6, mechanical arm body installation lower plate 61, rotating dog fastening bolt 62, mechanical arm body installation
Under upper plate 63, mechanical arm rotating dog 64, mechanical arm rotary part fixed cell 7, mechanical arm rotating dog fixing seat 71, rotary part
Portion support fixing bearing 72, rotary part upper support fixing bearing 73, rotating sliding bar unit 8, top rotating sliding bar 81,
Lower part rotating sliding bar 82, driving unit 9, feed screw nut link block 91, top fixed circlip 92, lower part fixed circlip 93, silk
Thick stick and feed screw nut unit 10, electricity loss brake 11.
Specific embodiment
The utility model is described in further detail in the following with reference to the drawings and specific embodiments.
A kind of rotatable New Type of Robot Arm provided by the utility model, including motor reducer 1, mechanical arm open limit
Switch 2, limit switch sensor block 3, mechanical arm are closed limit switch 4, gear-box 5, mechanical arm body 6, mechanical arm rotary part
Fixed cell 7, rotating sliding bar unit 8, driving unit 9, lead screw and feed screw nut unit 10 and electricity loss brake 11, are shown in Fig. 2.
The mechanical arm body 6 includes mechanical arm body installation lower plate 61, rotating dog fastening bolt 62, mechanical arm body peace
Plate 63 and mechanical arm rotating dog 64 are loaded onto, sees Fig. 3.
The mechanical arm rotary part fixed cell 7 includes mechanical arm rotating dog fixing seat 71, rotary part lower support
Fixing bearing 72 chord rotation member upper support fixing bearing 73, is shown in Fig. 3.
The rotating sliding bar unit 8 includes top rotating sliding bar 81 and lower part rotating sliding bar 82, sees Fig. 4.
The driving unit 9 includes feed screw nut link block 91, top fixed circlip 92 and lower part fixed circlip 93, sees figure
4。
The assemble sequence of the utility model mechanical arm is as follows:
Step 1: motor reducer 1 accesses the input terminal of gear-box 5, passes through the key and tooth on 1 output shaft of motor reducer
Gear connection in roller box 5, and motor reducer 1 is fixed on gear-box 5 (see Fig. 2) by bolt；
Step 2: the output end of lead screw and 10 one end of feed screw nut unit access gear-box 5 passes through the key on lead screw end
It is connect with the gear in gear-box 5 (see Fig. 2)；Motor reducer 1 imparts power to feed screw nut unit by gear-box 5
10；
Step 3: lead screw and 10 other end of feed screw nut unit are connect with electricity loss brake 11, thus in mechanical arm body 6
When closing, electricity loss brake 11 is powered off, brake actuating, locks lead screw, is prevented in motion process mechanical arm to be shaken and is shaken apart；Power loss
Brake 11 is fixed in robot frame (see Fig. 2)；
Step 4: gear-box 5 is bolted in robot frame (see Fig. 2)；
Step 5: it is man-machine that mechanical arm opening limit switch 2 and mechanical arm closure limit switch 4 are bolted on machine
On frame, position is the final position that mechanical arm opens and closes (see Fig. 2).
Step 6: feed screw nut link block 91 is connect with lead screw and feed screw nut unit 10 (see Fig. 2) by bolt；
Step 7: limit switch sensor block 3 is fixed on feed screw nut link block 91 (see Fig. 2), for whole in opening and closing two
Dead-centre position Crush trigger arm opening limit switch 2 and mechanical arm are closed limit switch 4；
Step 8: top rotating sliding bar 81 and lower part rotating sliding bar 82 pass through top fixed circlip 92 and lower part respectively
Fixed circlip 93 is fixed on feed screw nut link block 91 (see Fig. 4)；
Step 9: rotary part lower support fixing bearing 72 chord rotation member upper support fixing bearing 73 is embedded to be packed into
(see Fig. 3) in mechanical arm rotating dog fixing seat 71；
Step 10: mechanical arm body installs lower plate 61 and mechanical arm body installation upper plate 63 is solid by mechanical arm rotating dog 64
It being scheduled on mechanical arm rotary part fixed cell 7,64 bottom of mechanical arm rotating dog is fastened by rotating dog fastening bolt 62, thus
Enable mechanical arm body 6 with tool arm rotating dog 64 for center rotary motion；Mechanical arm rotary part fixed cell 7 is fixed on
In rack, to provide the fixation on the six degree of freedom of mechanical arm space (see Fig. 3)；
Step 11: top rotating sliding bar 81 and mechanical arm body are installed simultaneously in the installation process of synchronizing step ten
Upper plate 63 is clamped, and lower part rotating sliding bar 82 and mechanical arm body installation lower plate 61 are clamped, to pass through rotating sliding bar list
Member 8 completes rotary motion of the mechanical arm body 6 centered on mechanical arm rotating dog 64.
The specific implementation method of the utility model mechanical arm is as follows:
There are two state in mechanical arm use process: opening, from being closed into from being opened to closure；
1: seeing Fig. 1 to Fig. 4 (being closed into opening)
State feature: electricity loss brake 11 is powered, braking release；1 output power of motor reducer is transmitted to gear-box 5；Tooth
Roller box 5 drives lead screw and feed screw nut unit 10 to operate by gear drive；Since electricity loss brake 11 has been powered opening, lead screw
And feed screw nut unit 10 can drive driving unit 9 to move；Feed screw nut link block 91 in driving unit 9 pulls top rotation
Push-pull rod 81 and lower part rotating sliding bar 82, to drive mechanical arm body 6 in mechanical arm rotary part fixed cell 7
Mechanical arm rotating dog 64 rotates；Limit switch sensor block 3 is with feed screw nut link block while mechanical arm body 6 is opened in place
91 move to the position of mechanical arm opening limit switch 2, and control unit receives this switching signal, and judgement is completed this and opens behaviour
Make.
2: seeing Fig. 5 (being opened to closure)
State feature: electricity loss brake 11 is powered, braking release；1 output power of motor reducer is transmitted to gear-box 5；Tooth
Roller box 5 drives lead screw and feed screw nut unit 10 to operate by gear drive；Since electricity loss brake 11 has been powered opening, lead screw
And feed screw nut unit 10 can drive driving unit 9 to move；Feed screw nut link block 91 in driving unit 9 pushes top rotation
Push-pull rod 81 and lower part rotating sliding bar 82, to drive mechanical arm body 6 in mechanical arm rotary part fixed cell 7
Mechanical arm rotating dog 64 rotates；Limit switch sensor block 3 is with feed screw nut link block while mechanical arm body 6 is closed in place
91 move to the position of mechanical arm closure limit switch 4, and control unit receives this switching signal, this closure behaviour is completed in judgement
Make；Electricity loss brake 11 powers off, brake actuating, prevents in motion process mechanical arm to be shaken and shakes apart.
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 (5)
1. a kind of rotatable mechanical arm, which is characterized in that including motor reducer (1), mechanical arm opening limit switch (2),
Limit switch sensor block (3), mechanical arm are closed limit switch (4), gear-box (5), mechanical arm body (6), mechanical arm rotating part
Part fixed cell (7), rotating sliding bar unit (8), driving unit (9), lead screw and feed screw nut unit (10) and power loss braking
Device (11)；
The mechanical arm opening limit switch (2), mechanical arm are closed limit switch (4), gear-box (5), mechanical arm rotary part
Fixed cell (7) and electricity loss brake (11) are each attached in rack；
The input terminal of motor reducer (1) the tooth connection roller box (5)；The lead screw and the connection of feed screw nut unit (10) one end
The output end of gear-box (5), the other end connect electricity loss brake (11)；
The driving unit (9) includes feed screw nut link block (91), the feed screw nut link block (91) and lead screw and lead screw
Nut unit (10) connection；
Described rotating sliding bar unit (8) one end is connect with feed screw nut link block (91), and the other end and mechanical arm body (6) are even
It connects；
The mechanical arm body (6) is mounted on mechanical arm rotary part fixed cell (7) by mechanical arm rotating dog (64), energy
It is enough to be rotated centered on tool arm rotating dog (64)；
The limit switch sensor block (3) is fixed on feed screw nut link block (91), when mechanical arm body (6) fully opens,
Limit switch sensor block (3) position is corresponding with mechanical arm opening limit switch (2) position, opens limit for Crush trigger arm
It switchs (2), when mechanical arm body (6) is closed completely, limit switch sensor block (3) position and mechanical arm closure limit switch (4)
Position is corresponding, for Crush trigger arm closure limit switch (4).
2. a kind of rotatable mechanical arm according to claim 1, which is characterized in that the mechanical arm body (6) includes
Mechanical arm body installs lower plate (61), rotating dog fastening bolt (62), mechanical arm body installation upper plate (63) and mechanical arm rotation
It sells (64)；The mechanical arm rotary part fixed cell (7) includes mechanical arm rotating dog fixing seat (71), rotary part lower part branch
Support fixing bearing (72) and rotary part upper support fixing bearing (73)；The rotary part lower support fixing bearing (72)
It embeds and is fitted into mechanical arm rotating dog fixing seat (71) with rotary part upper support fixing bearing (73), the mechanical arm rotation
It sells (64) and passes through mechanical arm body installation upper plate (63), mechanical arm rotating dog fixing seat (71) and mechanical arm body installation lower plate
(61), mechanical arm body (6) is mounted on mechanical arm rotary part fixed cell (7), mechanical arm rotating dog (64) bottom
Portion is fastened by rotating dog fastening bolt (62).
3. a kind of rotatable mechanical arm according to claim 1, which is characterized in that the rotating sliding bar unit (8)
Including top rotating sliding bar (81) and lower part rotating sliding bar (82)；The top rotating sliding bar (81) is fixed by top
Circlip (92) is mounted on feed screw nut link block (91), and the lower part rotating sliding bar (82) passes through lower part fixed circlip (93)
Be mounted on feed screw nut link block (91), the top rotating sliding bar (81) and lower part rotating sliding bar (82) respectively with machine
Tool arm body (6) clamping.
4. a kind of rotatable mechanical arm according to claim 1, which is characterized in that the mechanical arm further includes that control is single
Member, the mechanical arm opening limit switch (2) and mechanical arm closure limit switch (4) are connect with control unit, pass through control
Unit judges opening and closing operation.
5. a kind of rotatable mechanical arm according to claim 1, which is characterized in that the rack includes two pieces vertical right
Claim the support plate of arrangement, the disposed inboard guide rail of support plate, the feed screw nut link block (91) and limit switch sensor block (3)
It can be slided along guide rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821928386.2U CN209190779U (en) | 2018-11-22 | 2018-11-22 | Rotatable mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821928386.2U CN209190779U (en) | 2018-11-22 | 2018-11-22 | Rotatable mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209190779U true CN209190779U (en) | 2019-08-02 |
Family
ID=67425323
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821928386.2U Withdrawn - After Issue CN209190779U (en) | 2018-11-22 | 2018-11-22 | Rotatable mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209190779U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109333525A (en) * | 2018-11-22 | 2019-02-15 | 杭州极木科技有限公司 | Rotatable mechanical arm |
-
2018
- 2018-11-22 CN CN201821928386.2U patent/CN209190779U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109333525A (en) * | 2018-11-22 | 2019-02-15 | 杭州极木科技有限公司 | Rotatable mechanical arm |
| CN109333525B (en) * | 2018-11-22 | 2023-12-26 | 杭州极木科技有限公司 | Rotatable mechanical arm |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20190802 Effective date of abandoning: 20231226 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20190802 Effective date of abandoning: 20231226 |