CN210500346U

CN210500346U - Flexible mechanical arm tail end

Info

Publication number: CN210500346U
Application number: CN201921368752.8U
Authority: CN
Inventors: 章小丽
Original assignee: Zhejiang Shuren University
Current assignee: Zhejiang Shuren University
Priority date: 2019-08-21
Filing date: 2019-08-21
Publication date: 2020-05-12
Anticipated expiration: 2029-08-21

Abstract

The utility model discloses a flexible mechanical arm is terminal, including fixed frame, the mode of cantilever is provided with flexible mechanical arm in the fixed frame, the inside cavity of having seted up of flexible mechanical arm, flexible mechanical arm terminal position is inside the cavity internal fixation is equipped with first fixed plate, the fixed hydraulic stem that is equipped with in fixed frame other end, the second fixed plate has been placed in the cavity, the output of hydraulic stem runs through fixed frame is located inside the cavity. Has the advantages that: and inserting the T-shaped block into the T-shaped groove, contacting the sealing plate with the corresponding fixing plate to enable the corresponding first threaded hole and the corresponding second threaded hole to correspond, additionally arranging an installation nail to be inserted into the threaded hole, and enabling the sealing plate to be fixed on the corresponding first fixing plate and the second fixing plate, so that the T-shaped block is stably inserted into the T-shaped groove, the integral installation is completed, and the spring is convenient to replace.

Description

Flexible mechanical arm tail end

Technical Field

The utility model relates to an automatic change machinery particularly, relates to a flexible arm is terminal.

Background

The engineering field is showing more and more large mechanical structures, which have elastic vibration during working, and the elastic vibration affects the safety and running precision of the mechanical structures, so that measures must be taken to suppress the elastic vibration. Large mechanical arms on space shuttles in the aerospace field, deployable antennas and solar sailboards of artificial satellites, high-rise building concrete conveying devices and tower cranes on engineering machinery, flexible mechanical arms on robots and the like, and the large, high-speed and heavy-load mechanical structures have the problems in working.

An effective solution to the problems in the related art has not been proposed yet.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a flexible arm is terminal to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme:

a flexible mechanical arm tail end comprises a fixed frame, a flexible mechanical arm is arranged on the fixed frame in a cantilever mode, a cavity is formed in the flexible mechanical arm, a first fixing plate is fixedly arranged in the cavity in the position of the tail end of the flexible mechanical arm, a hydraulic rod is fixedly arranged at the other end of the fixed frame, a second fixing plate is arranged in the cavity, the output end of the hydraulic rod penetrates through the fixed frame and is positioned in the cavity and is fixedly connected with the second fixing plate, T-shaped grooves are formed in the first fixing plate and the second fixing plate respectively, matched T-shaped blocks are arranged in the T-shaped grooves in a sliding mode, two first threaded holes are formed in the first fixing plate and the second fixing plate respectively, sealing plates are contacted with the first fixing plate and the second fixing plate respectively, and second threaded holes corresponding to the first threaded holes are formed in the sealing plates respectively, the corresponding sides of the T-shaped blocks are connected through telescopic rods, springs are movably sleeved on the telescopic rods, two ends of each spring are fixed on the corresponding first fixing plate and the corresponding second fixing plate respectively, one end face of the flexible mechanical arm is movably connected with a mechanical arm door through a metal hinge, and matched standby mechanisms are arranged on the fixing rack and the flexible mechanical arm.

Furthermore, a through hole matched with the output end of the hydraulic rod is formed in the fixed rack.

Further, spare mechanism comprises two-way pump and sealed container, two-way pump is fixed in the fixed frame, sealed container fixes on the flexible arm tip, be connected with the conveyer pipe on the two-way pump, the conveyer pipe runs through the flexible arm is located in the sealed container.

Further, the sealed container is connected with leads to the chamber, it is equipped with the control valve to lead to the chamber, lead to intracavity portion with the sealed container is inside to communicate with each other, it is equipped with a plurality of tubule pipe to lead to chamber bottom evenly distributed.

Further, the fixed screw thread piece that is equipped with quantity for two of flexible arm outer wall one end, the arm door is located quantity and has all seted up the third screw hole on the screw thread piece that quantity is two between the screw thread piece that quantity is two, all insert in the third screw hole and be equipped with the assorted threaded rod, the threaded rod with the arm door cooperation is constituteed shutter mechanism.

Compared with the prior art, the utility model discloses following beneficial effect has:

the second fixing plate is driven by the hydraulic rod to mutually approach or separate from the first fixing plate, so that the spring can be driven to stretch or compress, the tail end of the flexible mechanical arm is finally enabled to generate different axial forces, the elastic vibration of the tail end position of the flexible mechanical arm is adjusted, the flexibility of the spring is greatly reduced when the spring is used for a long time, therefore, the spring needs to be replaced regularly, the mechanical arm door is opened, the T-shaped block and the spring connected with the T-shaped block are taken out for replacement, a new T-shaped block, a new telescopic rod and the spring are placed into the cavity, the T-shaped block is inserted into the T-shaped groove, the sealing plate is contacted with the corresponding fixing plate, the corresponding first threaded hole and the corresponding second threaded hole are enabled to correspond, the mounting nail is additionally arranged to be inserted into the threaded hole, the sealing plate is fixed on the corresponding first fixing plate and the second fixing plate, and the T-shaped, the whole installation is completed, and the spring is convenient to replace.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a front view of a flexible robotic arm tip according to an embodiment of the present invention;

fig. 2 is a schematic view of a mounting plate of a flexible robotic arm end according to an embodiment of the present invention;

fig. 3 is a schematic view of a robot arm door at the end of a flexible robot arm according to an embodiment of the present invention.

Reference numerals:

1. fixing the frame; 2. a flexible mechanical arm; 3. a cavity; 4. a first fixing plate; 5. a hydraulic lever; 6. a second fixing plate; 7. a T-shaped groove; 8. a T-shaped block; 9. a telescopic rod; 10. a spring; 11. a metal hinge; 12. a robotic arm door; 13. perforating; 14. a bi-directional pump; 15. sealing the container; 16. a delivery pipe; 17. a cavity is communicated; 18. a control valve; 19. a thread block; 20. a third threaded hole; 21. a threaded rod; 22. a first threaded hole; 23. a sealing plate; 24. a second threaded hole; 25. a thin water pipe.

Detailed Description

The following, with reference to the drawings and the detailed description, further description of the present invention is made:

in order to make the above objects, features and advantages of the present invention more clearly understood, the present invention will be further described with reference to the accompanying drawings and examples. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the present invention is not limited to the limitations of the specific embodiments of the present disclosure.

The first embodiment is as follows:

referring to fig. 1-3, a flexible mechanical arm end according to an embodiment of the present invention includes a fixed frame 1, a flexible mechanical arm 2 is disposed on the fixed frame 1 in a cantilever manner, a cavity 3 is disposed inside the flexible mechanical arm 2, a first fixing plate 4 is fixedly disposed inside the cavity 3 inside an end position of the flexible mechanical arm 2, a hydraulic rod 5 is fixedly disposed at another end of the fixed frame 1, a second fixing plate 6 is disposed inside the cavity 3, an output end of the hydraulic rod 5 penetrates through the fixed frame 1 and is disposed inside the cavity 3 and is fixedly connected to the second fixing plate 6, T-shaped grooves 7 are disposed on the first fixing plate 4 and the second fixing plate 6, matched T-shaped blocks 8 are slidably disposed in the T-shaped grooves 7, and two first threaded holes 22 are disposed on the first fixing plate 4 and the second fixing plate 6, the first fixing plate 4 and the second fixing plate 6 are both contacted with a sealing plate 23, second threaded holes 24 corresponding to the first threaded holes 22 are formed in the sealing plate 23, one sides corresponding to the T-shaped blocks 8 are connected through telescopic rods 9, springs 10 are movably sleeved on the telescopic rods 9, two ends of each spring 10 are fixed on the corresponding first fixing plate 4 and the corresponding second fixing plate 6 respectively, one end face of the flexible mechanical arm 2 is movably connected with a mechanical arm door 12 through a metal hinge 11, and matched standby mechanisms are arranged on the fixing rack 1 and the flexible mechanical arm 2.

Example two:

referring to fig. 1, for the fixed frame 1, a through hole 13 matched with the output end of the hydraulic rod 5 is formed on the fixed frame 1

Example three:

referring to fig. 1, for the standby mechanism, the standby mechanism is composed of a bidirectional pump 14 and a sealed container 15, the bidirectional pump 14 is fixed on the fixed frame 1, the sealed container 15 is fixed on the end of the flexible mechanical arm 2, a delivery pipe 16 is connected to the bidirectional pump 14, and the delivery pipe 16 penetrates through the flexible mechanical arm 2 and is positioned in the sealed container 15.

Through the above technical scheme of the utility model, beneficial effect: when the spring 10 is inconvenient to replace during working, a standby mechanism can be started to absorb the elastic vibration of the tail end position, when the flexible mechanical arm 2 moves to the terminal, the bidirectional pump 14 is started to inject liquid into the sealed container 15 at the tail end of the flexible mechanical arm 2 to increase the additional mass of the tail end, the elastic vibration of the tail end position is inhibited, and when the elastic movement of the tail end of the flexible mechanical arm 2 is reduced, the bidirectional pump 14 is started to evacuate the liquid in the sealed container 15.

Example four:

referring to fig. 1, for the sealed container 15, the sealed container 15 is connected to a through cavity 17, a control valve 18 is arranged on the through cavity 17, the inside of the through cavity 17 is communicated with the inside of the sealed container 15, and a plurality of thin water pipes 25 are uniformly distributed at the bottom end of the through cavity 17.

Through the above technical scheme of the utility model, beneficial effect: when the flexible mechanical arm 2 is used in a high-rise building concrete conveying device, a tower crane and the like on engineering machinery, dust generated during working is not pumped out of the liquid in the sealed container 15 by the bidirectional pump 14, the control valve 18 is opened, water is finely discharged from the thin water pipe 25, dust generated in the surrounding environment is reduced, and the air purification effect is achieved.

Example five:

referring to fig. 3, for the flexible mechanical arm 2, two threaded blocks 19 are fixedly arranged at one end of the outer wall of the flexible mechanical arm 2, the mechanical arm door 12 is located between the two threaded blocks 19, third threaded holes 20 are formed in the two threaded blocks 19, matched threaded rods 21 are inserted into the third threaded holes 20, and the threaded rods 21 and the mechanical arm door 12 are matched to form a door stop mechanism.

Through the above technical scheme of the utility model, beneficial effect: when the mechanical arm door 12 is closed, the threaded rod 21 is manually rotated, so that the threaded rod 21 abuts against the mechanical arm door 12, and a sealed environment is formed inside the cavity 3.

For the convenience of understanding the above technical solution of the present invention, the following detailed description is made on the working principle or the operation mode of the present invention in the practical process:

in practical application, the hydraulic rod 5 drives the second fixing plate 6 to approach or separate from the first fixing plate 4, so that the spring 10 is driven to stretch or compress, the tail end of the flexible mechanical arm 2 is finally enabled to generate different axial forces, the elastic vibration of the tail end position of the flexible mechanical arm 2 is adjusted, when the spring 10 is used for a long time, the flexibility of the spring 10 is greatly reduced, therefore, the spring needs to be replaced regularly, the mechanical arm door 12 is opened, the T-shaped block 8 and the spring connected with the T-shaped block are taken out to be replaced, a new T-shaped block 8, the telescopic rod 9 and the spring 10 are placed into the cavity 3, the T-shaped block 8 is inserted into the T-shaped groove 7, the sealing plate 23 is contacted with the corresponding fixing plate, the corresponding first threaded hole 22 and the second threaded hole 24 correspond to each other, a mounting nail is additionally arranged to be inserted into the threaded hole, and the sealing plate 23 is fixed on the corresponding first fixing plate 4 and the second, therefore, the T-shaped block 8 is stably inserted into the T-shaped groove 7, the integral installation is completed, and the spring 10 is convenient to replace.

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

1. The tail end of the flexible mechanical arm is characterized by comprising a fixed rack (1), the flexible mechanical arm (2) is arranged on the fixed rack (1) in a cantilever mode, a cavity (3) is formed in the flexible mechanical arm (2), a first fixing plate (4) is fixedly arranged in the cavity (3) inside the tail end position of the flexible mechanical arm (2), a hydraulic rod (5) is fixedly arranged at the other end of the fixed rack (1), a second fixing plate (6) is placed in the cavity (3), the output end of the hydraulic rod (5) penetrates through the fixed rack (1) and is located in the cavity (3) and is fixedly connected with the second fixing plate (6), T-shaped grooves (7) are formed in the first fixing plate (4) and the second fixing plate (6), and matched T-shaped blocks (8) are placed in the T-shaped grooves (7) in a sliding mode, the first fixing plate (4) and the second fixing plate (6) are both provided with two first threaded holes (22), the first fixing plate (4) and the second fixing plate (6) are both contacted with a sealing plate (23), the sealing plates (23) are provided with second threaded holes (24) corresponding to the first threaded holes (22), one corresponding side of the T-shaped block (8) is connected with the other through a telescopic rod (9), a spring (10) is movably sleeved on the telescopic rod (9), two ends of the spring (10) are respectively fixed on the corresponding first fixing plate (4) and the second fixing plate (6), one end face of the flexible mechanical arm (2) is movably connected with a mechanical arm door (12) through a metal hinge (11), and the fixed rack (1) and the flexible mechanical arm (2) are provided with matched standby mechanisms.

2. The flexible mechanical arm tail end according to claim 1 is characterized in that a through hole (13) matched with the output end of the hydraulic rod (5) is formed in the fixed frame (1).

3. A flexible robot arm end according to claim 1, characterized in that the standby mechanism consists of a bidirectional pump (14) and a sealed container (15), the bidirectional pump (14) is fixed on the fixed frame (1), the sealed container (15) is fixed on the end of the flexible robot arm (2), a delivery pipe (16) is connected to the bidirectional pump (14), and the delivery pipe (16) is located in the sealed container (15) through the flexible robot arm (2).

4. The flexible mechanical arm tail end according to claim 3 is characterized in that a through cavity (17) is connected to the sealed container (15), a control valve (18) is arranged on the through cavity (17), the inside of the through cavity (17) is communicated with the inside of the sealed container (15), and a plurality of fine water pipes (25) are uniformly distributed at the bottom end of the through cavity (17).

5. The tail end of the flexible mechanical arm as claimed in claim 1, wherein two threaded blocks (19) are fixedly arranged at one end of the outer wall of the flexible mechanical arm (2), the mechanical arm door (12) is located between the two threaded blocks (19), third threaded holes (20) are formed in the two threaded blocks (19), matched threaded rods (21) are inserted into the third threaded holes (20), and the threaded rods (21) and the mechanical arm door (12) are matched to form a door blocking mechanism.