CN210476993U

CN210476993U - Mechanical arm

Info

Publication number: CN210476993U
Application number: CN201921024518.3U
Authority: CN
Inventors: 詹先锐; 薛龙龙; 李阳; 马大宝; 丁其林
Original assignee: Foshan Hanlong Intelligent Technology Co Ltd
Current assignee: Zhuhai Hanlong Intelligent Technology Co.,Ltd.
Priority date: 2019-07-02
Filing date: 2019-07-02
Publication date: 2020-05-08
Anticipated expiration: 2029-07-02

Abstract

The utility model discloses a mechanical arm, which comprises a rotary base, a first mechanical arm, a second mechanical arm and an auxiliary mechanism arranged at the outer sides of the first mechanical arm and the second mechanical arm; the rotary base, the first mechanical arm, the second mechanical arm and the working assembly are sequentially and movably connected; the auxiliary mechanism comprises a first pull rod, a tripod, a second pull rod and a third pull rod, and the first pull rod, the tripod, the second pull rod and the third pull rod are sequentially hinged; the head end of the first pull rod is hinged with the rotary base, the tripod is hinged at the movable connection part of the first mechanical arm and the second mechanical arm, and the tail end of the third pull rod is fixedly connected with the spraying assembly. The auxiliary mechanism is connected with the first mechanical arm and the second mechanical arm, so that the overall stability and the load capacity of the mechanical arm are improved.

Description

Mechanical arm

Technical Field

The utility model relates to a arm field, especially a mechanical arm.

Background

The mechanical arm is used as a mechanical device of a mobile execution mechanism, is a complex system with multiple inputs and multiple outputs, high nonlinearity and strong coupling, and has been widely applied to the fields of industrial assembly, safety explosion prevention and the like due to the unique operation flexibility. The mechanical arm is assembled by adopting the hinge mechanism in part of the mechanical arm, the structure is simple, and the production cost is low; however, the mechanical arm is easy to have the defects of poor stability and insufficient load after the arm length is increased, so that the application range of the mechanical arm is limited.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to solve one of the technical problem that exists among the prior art at least, provide a mechanical arm, improve stability and load capacity.

The utility model provides a technical scheme that its problem adopted is:

a mechanical arm comprises a rotary base, a first mechanical arm, a second mechanical arm and an auxiliary mechanism arranged on the outer sides of the first mechanical arm and the second mechanical arm; the rotary base is movably connected with the first mechanical arm, and the first mechanical arm is movably connected with the second mechanical arm; the auxiliary mechanism comprises a first pull rod, a tripod, a second pull rod and a third pull rod, and the first pull rod, the tripod, the second pull rod and the third pull rod are sequentially hinged; the head end of the first pull rod is hinged with the rotary base, and the tripod is hinged at the movable connection part of the first mechanical arm and the second mechanical arm; the second mechanical arm is movably connected with a working assembly, and the tail end of the third pull rod is fixedly connected with the working assembly.

Further, the tripod is hinged with the first pull rod through a first mounting hole, the tripod is hinged with the second pull rod through a second mounting hole, and the tripod is hinged at the movable connection position of the first mechanical arm and the second mechanical arm through a third mounting hole; the first mounting hole, the second mounting hole and the third mounting hole are respectively positioned on three corners of the tripod.

Further, the rotary base comprises a base plate, a rotary motor and a mechanical arm mounting rack; the rotary motor is fixedly connected with the substrate through a connecting rod, and an output shaft of the rotary motor is connected with the substrate through a bearing; the rotary motor is connected with the mechanical arm mounting frame.

Further, a first driving motor and a first speed reducer connected with the first driving motor are obliquely installed on the left side of the mechanical arm mounting frame; a second driving motor and a second speed reducer connected with the second driving motor are obliquely arranged on the right side of the mechanical arm mounting frame; the first speed reducer is connected with the second mechanical arm through a mechanical arm connecting rod, and the second speed reducer is connected with the first mechanical arm.

Further, the working assembly is a spraying assembly; the spraying assembly comprises a first spraying frame and a second spraying frame, the second spraying frame is hinged with the first spraying frame, and a rotary steering engine for driving the second spraying frame to rotate is arranged in the first spraying frame; the second spraying frame is provided with an automatic spray gun and a spraying pot connected with the automatic spray gun.

Specifically, the first speed reducer and the second speed reducer are both worm and gear speed reducers.

The mechanical arm at least has the following beneficial effects: the auxiliary mechanism comprising the first pull rod, the tripod, the second pull rod and the third pull rod is added to connect the first mechanical arm and the second mechanical arm, so that the overall stability and the load capacity of the mechanical arm are improved, the arm lengths of the first mechanical arm and the second mechanical arm can be further extended, and the application range is expanded.

Drawings

The invention is further described with reference to the following figures and examples.

Fig. 1 is a structural diagram of a robot according to an embodiment of the present invention;

fig. 2 is a structural diagram of an auxiliary mechanism in a robot arm according to an embodiment of the present invention;

fig. 3 is a structural diagram of a rotating base in a robot arm according to an embodiment of the present invention;

fig. 4 is a structural diagram of a spraying assembly in a robot according to an embodiment of the present invention.

Detailed Description

This section will describe in detail the embodiments of the present invention, preferred embodiments of the present invention are shown in the attached drawings, which are used to supplement the description of the text part of the specification with figures, so that one can intuitively and vividly understand each technical feature and the whole technical solution of the present invention, but they cannot be understood as the limitation of the protection scope of the present invention.

In the description of the present invention, it should be understood that the orientation or positional relationship indicated with respect to the orientation description, such as up, down, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, a plurality of means are one or more, a plurality of means are two or more, and the terms greater than, less than, exceeding, etc. are understood as not including the number, and the terms greater than, less than, within, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, unless there is an explicit limitation, the words such as setting, installation, connection, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in combination with the specific contents of the technical solution.

Referring to fig. 1 and 2, the present invention provides a robot arm, including a swing base 100, a first robot arm 200, a second robot arm 300, and an auxiliary mechanism 400 disposed outside the first robot arm 200 and the second robot arm 300; the swing base 100 is movably connected with the first mechanical arm 200, and the first mechanical arm 200 is movably connected with the second mechanical arm 300; the auxiliary mechanism 400 comprises a first pull rod 410, a tripod 420, a second pull rod 430 and a third pull rod 440, wherein the first pull rod 410, the tripod 420, the second pull rod 430 and the third pull rod 440 are sequentially hinged; the head end of the first pull rod 410 is hinged to the rotating base 100, and the tripod 420 is hinged to the movable connection between the first mechanical arm 200 and the second mechanical arm 300; the second mechanical arm 300 is movably connected with a spraying component 500, and the end of the third pull rod 440 is fixedly connected with the spraying component 500.

In this embodiment, the swing base 100 has a 360-degree rotation function for driving the robot arm main body portion provided on the swing base 100 to swing left and right. The auxiliary mechanism 400 including the first tie bar 410, the tripod 420, the second tie bar 430 and the third tie bar 440 is disposed outside the first robot arm 200 and the second robot arm 300, which is beneficial to increase the range of motion, and at the same time, the inside of the first robot arm 200 and the second robot arm 300 has a larger space for accommodating other components. The tripod 420 is disposed at the movable connection position of the first mechanical arm 200 and the second mechanical arm 300, and plays a role of bearing. The length of the first pull rod 410 is equivalent to that of the first mechanical arm 200, and the first pull rod is connected to the rotating base 100 and the tripod 420; the second and

third tie rods

430 and 440 are connected at the junction of the tripod 420 and the second mechanical arm 300 and the spray assembly 500. In the case where the arm lengths of the first robot 200 and the second robot 300 are extended, the spray assembly 500 makes the forces to be borne by the first robot 200 and the second robot 300 large. When the first mechanical arm 200 and the second mechanical arm 300 are driven to move, the auxiliary mechanism 400 also moves and drives the spraying assembly 500 to rotate so as to keep the spraying assembly 500 at a horizontal angle. The auxiliary mechanism 400 connects the first robot arm 200 and the second robot arm 300, simplifies the structure by the hinge relationship, and improves the stability and the load capacity of the robot arm by using the parallelogram principle and the lever principle.

In another embodiment, referring to fig. 2, a tripod 420 is hinged to the first pull rod 410 through a first mounting hole 421, the tripod 420 is hinged to the second pull rod 430 through a second mounting hole 422, and the tripod 420 is hinged to the movable connection between the first mechanical arm 200 and the second mechanical arm 300 through a third mounting hole 423; the first, second and

third mounting holes

421, 422 and 423 are located at three corners of the tripod 420, respectively.

In this embodiment, the first tie bar 410, the second tie bar 430 and the movable connection of the first robot arm 200 and the second robot arm 300 are located at three corners of the tripod 420, and the first tie bar 410, the second tie bar 430 and the tripod 420 cooperate with each other when the first robot arm 200 and the second robot arm 300 move. The triangular tripod 420 has a stable structure and is linked with the first pull rod 410 and the second pull rod 430, thereby providing a lever effect and improving a load capacity.

In another embodiment, referring to fig. 1 and 3, the swing base 100 includes a base plate 170, a swing motor 130, and a robot arm mounting frame 140; the rotary motor 130 is fixedly connected with the base plate 170 through a connecting rod 160, and an output shaft of the rotary motor 130 is connected with the base plate 170 through a bearing 150; the swing motor 130 is connected to the robot mounting frame 140. The rotation motor 130 operates, and the output shaft rotates to rotate the robot arm mounting frame 140 through the bearing 150. The first robot arm 200 and the second robot arm 300 are mounted on the robot mounting block 140 to rotate left and right with the robot mounting block 140.

In another embodiment, a first driving motor 111 and a first speed reducer 112 connected to the first driving motor 111 are obliquely installed on the left side of the robot arm mounting frame 140; a second driving motor 121 and a second speed reducer 122 connected with the second driving motor 121 are obliquely installed on the right side of the robot arm mounting frame 140; the first reducer 112 is connected to the second robot 300 through a robot link 113, and the second reducer 122 is connected to the first robot 200. Specifically, the first speed reducer 121 and the second speed reducer 122 are both worm gear speed reducers. The worm gear speed reducer has a mechanical self-locking function, and can play a role in stabilizing the first mechanical arm 200 and the second mechanical arm 300 after the operation is stopped.

In this embodiment, the first driving motor 111 and the first reduction gear 112 are located on the left side, and the second driving motor 121 and the second reduction gear 122 are located on the right side, which is beneficial to maintaining balance as a whole. The first driving motor 111 and the first speed reducer 112 are installed in an inclined manner, so that the center of gravity of the rotating base 100 moves backwards, and the stability is improved. The turning radius is reduced by the first speed reducer 112 and the second speed reducer 122, which is beneficial to realizing the micro-operation of the second mechanical arm 300 and the first mechanical arm 200, and is convenient for the spraying work in a small space.

In another embodiment, referring to fig. 1 and 4, the spray assembly 500 includes a first spray frame 510 and a second spray frame 520, the second spray frame 520 is hinged to the first spray frame 510, and a rotary steering engine for driving the second spray frame 520 to rotate is disposed in the first spray frame 510; the second painting booth 520 is provided with an automatic spray gun 530 and a spray can 540 connected to the automatic spray gun 530. The first spray booth 510 of the spray assembly 500 is connected to the second robot 300; the rotary steering engine drives the second spraying frame 520 and the spraying guns on the second spraying frame 520 to swing left and right, and the four-degree-of-freedom mechanical arm is finally realized by combining the functions of the first mechanical arm 200, the second mechanical arm 300 and the rotary motor 130.

The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above embodiment, and the technical effects of the present invention can be achieved by the same means, which all belong to the protection scope of the present invention.

Claims

1. A mechanical arm is characterized by comprising a rotary base, a first mechanical arm, a second mechanical arm and an auxiliary mechanism arranged on the outer sides of the first mechanical arm and the second mechanical arm; the rotary base is movably connected with the first mechanical arm, and the first mechanical arm is movably connected with the second mechanical arm; the auxiliary mechanism comprises a first pull rod, a tripod, a second pull rod and a third pull rod, and the first pull rod, the tripod, the second pull rod and the third pull rod are sequentially hinged; the head end of the first pull rod is hinged with the rotary base, and the tripod is hinged at the movable connection part of the first mechanical arm and the second mechanical arm; the second mechanical arm is movably connected with a working assembly, and the third pull rod is fixedly connected with the working assembly.

2. The mechanical arm according to claim 1, wherein the tripod is hinged to the first tie rod through a first mounting hole, the tripod is hinged to the second tie rod through a second mounting hole, and the tripod is hinged to a movable joint of the first mechanical arm and the second mechanical arm through a third mounting hole; the first mounting hole, the second mounting hole and the third mounting hole are respectively positioned on three corners of the tripod.

3. A robot arm according to any of claims 1 or 2, wherein the swing base comprises a base plate, a swing motor and a robot mounting frame; the rotary motor is fixedly connected with the substrate through a connecting rod, and an output shaft of the rotary motor is connected with the substrate through a bearing; the rotary motor is connected with the mechanical arm mounting frame.

4. The mechanical arm according to claim 3, wherein a first driving motor and a first speed reducer connected with the first driving motor are obliquely mounted on the left side of the mechanical arm mounting frame; a second driving motor and a second speed reducer connected with the second driving motor are obliquely arranged on the right side of the mechanical arm mounting frame; the first speed reducer is connected with the second mechanical arm through a mechanical arm connecting rod, and the second speed reducer is connected with the first mechanical arm.

5. A robot arm according to any of claims 1 or 2, wherein the working assembly is a spray assembly; the spraying assembly comprises a first spraying frame and a second spraying frame, the second spraying frame is hinged with the first spraying frame, and a rotary steering engine for driving the second spraying frame to rotate is arranged in the first spraying frame; the second spraying frame is provided with an automatic spray gun and a spraying pot connected with the automatic spray gun.

6. The robot arm of claim 4, wherein the first speed reducer and the second speed reducer are both worm gear speed reducers.