CN209868589U - Mechanical arm for port spiral expansion - Google Patents
Mechanical arm for port spiral expansion Download PDFInfo
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- CN209868589U CN209868589U CN201920700338.6U CN201920700338U CN209868589U CN 209868589 U CN209868589 U CN 209868589U CN 201920700338 U CN201920700338 U CN 201920700338U CN 209868589 U CN209868589 U CN 209868589U
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- mechanical arm
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Abstract
The utility model discloses a flexible robotic arm that uses of harbour spiral, including top installation slide rail, the bottom sliding connection of top installation slide rail has the sliding seat to the first slewing mechanism of bottom fixedly connected with of sliding seat, the fixed surface of first slewing mechanism is connected with first arm, the utility model relates to an arm technical field. This flexible robotic arm of using of harbour spiral, when snatching article, move the grip slipper suitable position, play a preliminary absorption to article through the sucking disc earlier, the back rotates through the carousel and drives the centre gripping tooth simultaneously to the intermediate motion, with the centre gripping of article firmly, can be applicable to the centre gripping of multiple shape article, robotic arm has been solved when snatching article, owing to treat the shape reason of grabbing article, the problem that drops or place the position and be inaccurate enough appears easily, lead to snatching the problem that the condition that warp or lead to article to damage even when snatching very easily.
Description
Technical Field
The utility model relates to an arm technical field specifically is a flexible robotic arm that uses of harbour spiral.
Background
The mechanical arm is an automatic mechanical device which is widely applied in the technical field of robots, can be seen in the fields of industrial manufacturing, medical treatment, entertainment service, military, semiconductor manufacturing, space exploration and the like, has a common characteristic of receiving instructions and accurately positioning to a certain point on a three-dimensional (or two-dimensional) space for operation although the shapes of the mechanical arm are different, and is divided into a multi-joint mechanical arm, a rectangular coordinate mechanical arm, a spherical coordinate mechanical arm, a polar coordinate mechanical arm, a cylindrical coordinate mechanical arm and the like according to different structural forms.
When carrying some goods, current harbour often can adopt the arm to carry, and robotic arm is when snatching article, owing to wait to grab the shape reason of article, appears dropping easily or place the not accurate enough problem in position, leads to very easily when snatching to snatch the condition emergence that warp or lead to article to damage even.
SUMMERY OF THE UTILITY MODEL
The utility model provides a not enough to prior art, the utility model provides a flexible robotic arm of using of harbour spiral has solved robotic arm and when snatching article, owing to wait to grab the shape reason of article, appears dropping easily or places the problem that the position is not accurate enough, leads to snatching the problem that warp or lead to article to damage very easily when snatching.
In order to achieve the above purpose, the utility model discloses a following technical scheme realizes: a mechanical arm for port spiral extension comprises a top mounting slide rail, wherein the bottom of the top mounting slide rail is connected with a slide seat in a sliding manner, the bottom of the slide seat is fixedly connected with a first rotating mechanism, the surface of the first rotating mechanism is fixedly connected with a first mechanical arm, one side, far away from the first rotating mechanism, of the first mechanical arm is fixedly connected with a second rotating mechanism, the surface of the second rotating mechanism is fixedly connected with a second mechanical arm, the inner cavity of the second mechanical arm is fixedly connected with a first driving motor, the left end of the output shaft of the first driving motor is fixedly connected with a threaded rod through a coupler, the left side of the second mechanical arm is connected with an extension arm in a sliding manner, the right end of the extension arm penetrates through the left side of the second mechanical arm and extends to the inner cavity of the second mechanical arm, the left end of the threaded rod penetrates through the right side of the extension arm and, the surface of the threaded rod is rotatably connected with the inner cavity of the telescopic arm, the left side of the telescopic arm is fixedly connected with a clamping seat, the inner cavity of the clamping seat is fixedly connected with a second driving motor, and the left end of an output shaft of the second driving motor is fixedly connected with a connecting shaft through a coupler.
Preferably, the left end of the connecting shaft is rotatably connected with the inner cavity of the clamping seat, the surface of the connecting shaft is fixedly connected with a turntable, arc-shaped teeth are formed in the surface of the turntable, and the surface of the clamping seat is fixedly connected with a rotating frame.
Preferably, the inner cavity of the rotating frame is rotatably connected with a clamping tooth, one side of the clamping tooth, which is close to the clamping seat, is fixedly connected with a sliding rod, and one end of the sliding rod penetrates through the surface of the clamping seat and extends to the inner cavity of the clamping seat.
Preferably, the one end that the centre gripping tooth was kept away from to the slide bar contradicts each other with the surface of arc tooth, the inner chamber fixedly connected with extension spring of grip slipper to the one end that the grip slipper was kept away from to the extension spring is connected with the fixed surface of centre gripping tooth, the left end fixedly connected with sucking disc of grip slipper.
Preferably, the first rotating mechanism and the second rotating mechanism both comprise a rotating motor and a rotating disc, the surface of an output shaft of the rotating motor is fixedly connected with an inner cavity of the rotating disc, one end of the output shaft of the rotating motor penetrates through the back surface of the first mechanical arm and extends to the front surface of the first mechanical arm, the surface of the output shaft of the rotating motor is fixedly connected with the inner cavity of the first mechanical arm, the surface of the output shaft of the rotating motor is fixedly connected with a sliding sleeve, and the back surface of the sliding sleeve is in sliding connection with the surface of the rotating disc.
Preferably, one end of the output shaft of the rotating motor penetrates through the back surface of the second mechanical arm and extends to the front surface of the second mechanical arm, and the surface of the output shaft of the rotating motor is fixedly connected with the inner cavity of the second mechanical arm.
Advantageous effects
The utility model provides a flexible robotic arm that uses of harbour spiral. Compared with the prior art, the method has the following beneficial effects:
(1) the mechanical arm for the port spiral expansion is characterized in that a sliding seat is connected to the bottom of a sliding rail arranged at the top in a sliding manner, a first rotating mechanism is fixedly connected to the bottom of the sliding seat, a first mechanical arm is fixedly connected to the surface of the first rotating mechanism, a second rotating mechanism is fixedly connected to one side, away from the first rotating mechanism, of the first mechanical arm, a second mechanical arm is fixedly connected to the surface of the second rotating mechanism, a first driving motor is fixedly connected to the inner cavity of the second mechanical arm, a threaded rod is fixedly connected to the left end of the output shaft of the first driving motor through a coupler, an expansion arm is slidably connected to the left side of the second mechanical arm, the right end of the expansion arm penetrates through the left side of the second mechanical arm and extends to the inner cavity of the second mechanical arm, the left end of the threaded rod penetrates through the right side of the expansion arm and extends to the inner cavity, the left side fixedly connected with grip slipper of flexible arm, the inner chamber fixedly connected with second driving motor of grip slipper, the left end of second driving motor output shaft passes through shaft coupling fixedly connected with connecting axle, when snatching article, remove suitable position with the grip slipper, play a preliminary absorption to article through the sucking disc earlier, it drives the centre gripping tooth simultaneously to the intermediate motion to rotate through the carousel afterwards, grasp article, can be applicable to the centre gripping of multiple shape article, mechanical arm has been solved when snatching article, owing to wait to grab article's shape reason, the problem that the position is not accurate enough appears dropping easily or placing, lead to snatching the problem that warp or lead to article to damage very easily when snatching.
(2) The mechanical arm for the spiral extension of the port comprises a rotary motor and a rotary disc on a first rotating mechanism and a second rotating mechanism, wherein the surface of an output shaft of the rotary motor is fixedly connected with an inner cavity of the rotary disc, one end of the output shaft of the rotary motor penetrates through the back surface of the first mechanical arm and extends to the front surface of the first mechanical arm, the surface of the output shaft of the rotary motor is fixedly connected with the inner cavity of the first mechanical arm, a sliding sleeve is fixedly connected with the surface of the output shaft of the rotary motor, and the back surface of the sliding sleeve is in sliding connection with the surface of the rotary disc, when the mechanical arm is used, the position of the sliding seat can be adjusted by installing the sliding rail at the top, and by matching the first rotating mechanism and the second rotating mechanism, the direction and the position of the clamping seat can be conveniently adjusted, the clamping seat can be extended out through the telescopic arm, and the moving range of the mechanical arm is enlarged.
Drawings
FIG. 1 is a front view of the structure of the present invention;
fig. 2 is a cross-sectional view of a second robot arm structure of the present invention;
FIG. 3 is a cross-sectional view of the holder structure of the present invention;
fig. 4 is a top view of the turntable structure of the present invention;
fig. 5 is a front view of a second rotating mechanism structure of the present invention.
In the figure: the method comprises the following steps of 1-installing a sliding rail at the top, 2-a sliding seat, 3-a first rotating mechanism, 4-a first mechanical arm, 5-a second mechanical arm, 6-a second rotating mechanism, 7-a first driving motor, 8-a threaded rod, 9-a telescopic arm, 10-a clamping seat, 11-a second driving motor, 12-a connecting shaft, 13-a rotating disc, 14-an arc-shaped tooth, 15-a rotating frame, 16-a clamping tooth, 17-a sliding rod, 18-a tension spring, 19-a sucking disc, 20-a rotating motor, 21-a rotating disc and 22-a sliding sleeve.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1-5, the present invention provides a technical solution: a mechanical arm for port spiral extension comprises a top mounting slide rail 1, the bottom of the top mounting slide rail 1 is connected with a sliding seat 2 in a sliding manner, a driving mechanism on the top mounting slide rail 1 drives the sliding seat 2 to slide, the bottom of the sliding seat 2 is fixedly connected with a first rotating mechanism 3, the first rotating mechanism 3 and a second rotating mechanism 6 both comprise a rotating motor 20 and a rotating disc 21, the rotating motor 20 is electrically connected with a power supply, one end of an output shaft of the rotating motor 20 penetrates through the back of a second mechanical arm 5 and extends to the front of the second mechanical arm 5, the surface of the output shaft of the rotating motor 20 is fixedly connected with an inner cavity of the rotating disc 21, one end of the output shaft of the rotating motor 20 penetrates through the back of the first mechanical arm 4 and extends to the front of the first mechanical arm 4, the surface of the output shaft of the rotating motor, the surface of the output shaft of the rotating motor 20 is fixedly connected with a sliding sleeve 22, the back of the sliding sleeve 22 is connected with the surface of a rotating disc 21 in a sliding manner, the sliding sleeve 22 provides assistance for the first mechanical arm 4, the surface of the first rotating mechanism 3 is fixedly connected with the first mechanical arm 4, one side of the first mechanical arm 4 far away from the first rotating mechanism 3 is fixedly connected with a second rotating mechanism 6, the surface of the second rotating mechanism 6 is fixedly connected with a second mechanical arm 5, when the mechanical arm is used, the position of the sliding seat 2 can be adjusted through the top installation of the sliding rail 1, the direction and the position of the clamping seat 10 can be conveniently adjusted through the matching of the first rotating mechanism 3 and the second rotating mechanism 6, the clamping seat 10 can be extended out through a telescopic arm, the moving range of the mechanical arm is increased, the inner cavity of the second mechanical arm 5 is fixedly connected with a first driving motor 7, the first driving motor 7 is electrically connected with a power supply, the left end of an output shaft of the first driving motor 7 is fixedly connected with a threaded rod 8 through a coupler, the left side of the second mechanical arm 5 is slidably connected with a telescopic arm 9, the right end of the telescopic arm 9 penetrates through the left side of the second mechanical arm 5 and extends to the inner cavity of the second mechanical arm 5, the left end of the threaded rod 8 penetrates through the right side of the telescopic arm 9 and extends to the inner cavity of the telescopic arm 9, the surface of the threaded rod 8 is rotatably connected with the inner cavity of the telescopic arm 9, the left side of the telescopic arm 9 is fixedly connected with a clamping seat 10, the inner cavity of the clamping seat 10 is fixedly connected with a second driving motor 11, the second driving motor 11 is electrically connected with the power supply, the left end of an output shaft of the second driving motor 11 is fixedly connected with a connecting shaft 12 through the coupler, the left end of the connecting, arc teeth 14 are arranged on the surface of the rotary disc 13, anti-skid lines are arranged on the surface of the arc teeth 14, a rotary frame 15 is fixedly connected to the surface of the clamping seat 10, clamping teeth 16 are rotatably connected to the inner cavity of the rotary frame 15, a sliding rod 17 is fixedly connected to one side, close to the clamping seat 10, of each clamping tooth 16, one end, far away from the clamping teeth 16, of each sliding rod 17 is abutted to the surface of the arc teeth 14, a tension spring 18 is fixedly connected to the inner cavity of the clamping seat 10, one end, far away from the clamping seat 10, of each tension spring 18 is fixedly connected to the surface of the clamping teeth 16, a suction disc 19 is fixedly connected to the left end of the clamping seat 10, each suction disc 19 is communicated with an air source through a pipeline, one end of each sliding rod 17 penetrates through the surface of the clamping seat 10 and extends to the inner cavity of the clamping seat 10, when articles are grabbed, the clamping seat 10 is moved to a proper position, an, the article is clamped, the article clamping device can be suitable for clamping articles in various shapes, the problem that when the mechanical arm grabs the articles, due to the shape reason of the articles to be grabbed, the articles drop or are placed at positions which are not accurate enough is easily solved, and the problem that the articles are deformed or even damaged when being grabbed is easily caused.
During operation, slide holder 2 slides suitable position through top installation slide rail 1, drive rolling disc 21 through starting rotating electrical machines 20 and rotate and drive first arm 4 and second arm 5 respectively and rotate and drive the regulation that the grip slipper 10 carried out the position, and can drive threaded rod 8 through first driving motor 7 and rotate, it stretches out to drive flexible arm 9, adjust the length that stretches out of grip slipper 10, when needing to carry out the centre gripping, earlier carry out simple absorption to article through sucking disc 19 and then start second driving motor 11 and drive connecting axle 12 and rotate, it rotates to drive carousel 13, carousel 13 outwards extrudees slide bar 17 through above-mentioned arc tooth 14, slide bar 17 drives centre gripping tooth 16 and rotates on rotating turret 15, hold article to the intermediate motion.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The utility model provides a flexible robotic arm that uses of harbour spiral, includes top installation slide rail (1), the bottom sliding connection of top installation slide rail (1) has sliding seat (2) to the first slewing mechanism (3) of bottom fixedly connected with of sliding seat (2), its characterized in that: the surface of the first rotating mechanism (3) is fixedly connected with a first mechanical arm (4), one side, far away from the first rotating mechanism (3), of the first mechanical arm (4) is fixedly connected with a second rotating mechanism (6), the surface of the second rotating mechanism (6) is fixedly connected with a second mechanical arm (5), an inner cavity of the second mechanical arm (5) is fixedly connected with a first driving motor (7), the left end of an output shaft of the first driving motor (7) is fixedly connected with a threaded rod (8) through a coupler, the left side of the second mechanical arm (5) is slidably connected with a telescopic arm (9), the right end of the telescopic arm (9) penetrates through the left side of the second mechanical arm (5) and extends to an inner cavity of the second mechanical arm (5), the left end of the threaded rod (8) penetrates through the right side of the telescopic arm (9) and extends to the inner cavity of the telescopic arm (9), the surface of threaded rod (8) is rotated with the inner chamber of flexible arm (9) and is connected, the left side fixedly connected with grip slipper (10) of flexible arm (9), the inner chamber fixedly connected with second driving motor (11) of grip slipper (10), shaft coupling fixedly connected with connecting axle (12) is passed through to the left end of second driving motor (11) output shaft.
2. The mechanical arm for spiral extension and retraction of the port as claimed in claim 1, wherein: the left end of connecting axle (12) rotates with the inner chamber of grip slipper (10) to be connected, the fixed surface of connecting axle (12) is connected with carousel (13) to arc tooth (14) have been seted up on the surface of carousel (13), the fixed surface of grip slipper (10) is connected with rotating turret (15).
3. The mechanical arm for spiral extension and retraction of the port as claimed in claim 2, wherein: the inner cavity of the rotating frame (15) is rotatably connected with clamping teeth (16), one side of each clamping tooth (16) close to the clamping seat (10) is fixedly connected with a sliding rod (17), and one end of each sliding rod (17) penetrates through the surface of the clamping seat (10) and extends to the inner cavity of the clamping seat (10).
4. The mechanical arm for spiral extension and retraction of the port as claimed in claim 3, wherein: the utility model discloses a clamping device, including slide bar (17), inner chamber fixedly connected with extension spring (18) of grip slipper (10) to the one end that grip slipper (10) were kept away from in slide bar (17) contradicts each other with the surface of arc tooth (14) to the one end that grip slipper (10) were kept away from in extension spring (18) is connected with the fixed surface of grip slipper (16), the left end fixedly connected with sucking disc (19) of grip slipper (10).
5. The mechanical arm for spiral extension and retraction of the port as claimed in claim 1, wherein: the first rotating mechanism (3) and the second rotating mechanism (6) respectively comprise a rotating motor (20) and a rotating disc (21), the surface of an output shaft of the rotating motor (20) is fixedly connected with the inner cavity of the rotating disc (21), one end of the output shaft of the rotating motor (20) penetrates through the back face of the first mechanical arm (4) and extends to the front face of the first mechanical arm (4), the surface of the output shaft of the rotating motor (20) is fixedly connected with the inner cavity of the first mechanical arm (4), the surface of the output shaft of the rotating motor (20) is fixedly connected with a sliding sleeve (22), and the back face of the sliding sleeve (22) is in sliding connection with the surface of the rotating disc (21).
6. The mechanical arm for spiral extension and retraction of the port as claimed in claim 5, wherein: one end of an output shaft of the rotating motor (20) penetrates through the back face of the second mechanical arm (5) and extends to the front face of the second mechanical arm (5), and the surface of the output shaft of the rotating motor (20) is fixedly connected with the inner cavity of the second mechanical arm (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920700338.6U CN209868589U (en) | 2019-05-15 | 2019-05-15 | Mechanical arm for port spiral expansion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920700338.6U CN209868589U (en) | 2019-05-15 | 2019-05-15 | Mechanical arm for port spiral expansion |
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| Publication Number | Publication Date |
|---|---|
| CN209868589U true CN209868589U (en) | 2019-12-31 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920700338.6U Active CN209868589U (en) | 2019-05-15 | 2019-05-15 | Mechanical arm for port spiral expansion |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209868589U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112147508A (en) * | 2020-09-22 | 2020-12-29 | 邵阳学院 | Fixing mechanism and motor fault detection equipment |
| CN112338896A (en) * | 2020-11-19 | 2021-02-09 | 深圳市草履虫生物科技有限公司 | Rotatable mechanical claw for biological detection workstation |
-
2019
- 2019-05-15 CN CN201920700338.6U patent/CN209868589U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112147508A (en) * | 2020-09-22 | 2020-12-29 | 邵阳学院 | Fixing mechanism and motor fault detection equipment |
| CN112338896A (en) * | 2020-11-19 | 2021-02-09 | 深圳市草履虫生物科技有限公司 | Rotatable mechanical claw for biological detection workstation |
| CN112338896B (en) * | 2020-11-19 | 2024-02-20 | 深圳市草履虫生物科技有限公司 | Rotatable mechanical claw for biological detection workstation |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | "change of name, title or address" |
Address after: Room 329, 28 Xiushan Road, Chongming District, Shanghai 202150 Patentee after: Shanghai Gangji New Technology Group Co., Ltd Address before: Room 329, No.28 Xiushan Road, Chongming Industrial Park, Chongming District, Shanghai Patentee before: Shanghai Gangnan electromechanical equipment (Group) Co.,Ltd. |
|
| CP03 | "change of name, title or address" |