CN210650744U - Linkage type lever mechanical arm - Google Patents

Abstract

The utility model belongs to helping hand manipulator field, concretely relates to linkage type lever robotic arm, include: the device comprises a support, a power arm, an angle adjusting piece and a connecting arm; the bottom end of the power arm is connected with a first sliding piece which slides up and down along the support, the top end of the power arm is hinged with the connecting arm, and the first sliding piece is connected with a driving piece which drives the first sliding piece to lift; the bottom end of the angle adjusting piece is hinged with the power arm through a second sliding piece, and the top end of the angle adjusting piece is hinged with the connecting arm; the driving piece drives the power arm to lift, the angle adjusting piece is driven to horizontally slide along the support through the second sliding piece, and then an included angle between the connecting arm and the power arm is adjusted. The utility model has the characteristics of simple structure, support intensity height, be convenient for maintain.

Description

Linkage type lever mechanical arm

Technical Field

The utility model relates to a manipulator technical field, concretely relates to linkage type lever robotic arm.

Background

The power-assisted mechanical arm, also known as mechanical arm, balance crane, balance booster, manual transfer machine, etc. is a novel power-assisted device for labor-saving operation in material handling and installation. The balance principle of force is skillfully applied, so that an operator can push and pull a heavy object correspondingly to realize balanced moving and positioning in space.

However, the existing mechanical arm generally has a complex structure, and especially when the angle of the mechanical arm is adjusted, a special adjusting structure is needed, and the existing adjusting structure cannot play a good supporting role in hoisting the mechanical arm, so that the mechanical arm is easy to shake and unstable in use.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a linkage type lever robotic arm plays supporting role to robotic arm in angle modulation process, improves its stability in use.

In order to solve the technical problem, the utility model provides a linkage type lever robotic arm, include:

the device comprises a support, a power arm, an angle adjusting piece and a connecting arm;

the bottom end of the power arm is connected with a first sliding piece which slides up and down along the support, the top end of the power arm is hinged with the connecting arm, and the first sliding piece is connected with a driving piece which drives the first sliding piece to lift;

the bottom end of the angle adjusting piece is hinged with the power arm through a second sliding piece, and the top end of the angle adjusting piece is hinged with the connecting arm;

the driving piece drives the power arm to lift, the angle adjusting piece is driven to horizontally slide along the support through the second sliding piece, and then an included angle between the connecting arm and the power arm is adjusted.

Further, the power arm comprises a main arm and an auxiliary arm;

the auxiliary arm comprises a lever A, a lever B and a lever C, the lever A is arranged on the outer side of the main arm in parallel, the bottom ends of the lever A and the main arm are hinged to the first sliding part, the other end of the lever A is hinged to the lever B, and the other end of the lever B is hinged to the lever C;

the top end of the main arm is hinged with the lever B through a connecting arm.

Further, the lever B and the lever A form a hinge point I, the lever B and the lever C form a hinge point II, the main arm and the connecting arm and the lever B form a hinge point III, and the hinge point I, the hinge point II and the hinge point III form a triangular structure.

Further, the first sliding part comprises a sliding seat, a first hinge shaft and a second hinge shaft which are arranged in the sliding seat in a vertically staggered manner;

the second articulated shaft is articulated with the main arm, the second articulated shaft is also articulated with a driving piece connecting rod, and the lower end of the driving piece connecting rod is connected with the driving piece;

the first hinge shaft is hinged with the bottom end of the lever A.

Further, the main arm and the second hinge shaft form a hinge point IV, and the lever A and the second hinge shaft form a hinge point V;

and the hinge point I, the hinge point III, the hinge point IV and the hinge point V form four end points of a parallelogram.

Furthermore, the outer end of the first hinge shaft is sleeved with a first guide wheel positioned on the outer side of the sliding seat.

Further, the second sliding part comprises a base, a roller arranged in the base and a connecting rod hinged with the roller;

the other end of the connecting rod is hinged with the main arm;

and the two ends of the rolling shaft are provided with second guide wheels positioned outside the base.

Furthermore, a first guide hole matched with the first guide wheel and a second guide hole matched with the second guide wheel are formed in the support.

The beneficial effects of the utility model are that, the linkage type lever mechanical arm of the utility model drives the connecting arm of the angle adjusting part to adjust the angle through the main arm, thereby realizing the change of the position of the hoisted object, and the angle adjusting part supports the main arm in the adjusting process, thereby realizing the working stability of the main arm; meanwhile, the tensioning of the auxiliary arm and the working of the angle adjusting piece are realized by using one driving piece, and the auxiliary arm tensioning device has the advantages of simple structure, convenience in maintenance and low cost.

Drawings

The present invention will be further explained with reference to the drawings and examples.

Fig. 1 is a schematic perspective view of the present invention;

fig. 2 is a schematic view of the connection of the internal structures of the support of the present invention.

FIG. 3 is a schematic view of a first slider configuration;

FIG. 4 is a schematic view of a second slider configuration;

FIG. 5 is a schematic view of the assembly of the main arm, the second hinge shaft and the actuator connecting rod;

fig. 6 is a schematic view of the assembly structure of the lever A, the lever B and the lever C.

Fig. 7 is a schematic diagram of the main arm structure.

Detailed Description

The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic drawings and illustrate the basic structure of the present invention only in a schematic manner, and thus show only the components related to the present invention.

Examples

As shown in fig. 1 to 7, a linkage type lever robot arm includes: the device comprises a support 1, a power arm 20, an angle adjusting piece 30 and a connecting arm 4; the bottom end of the power arm 20 is connected with a first sliding part 50 which slides up and down along the support 1, the top end of the power arm is hinged with the connecting arm 4, and the first sliding part 50 is connected with a driving part 60 which drives the first sliding part to lift; the bottom end of the angle adjusting piece 30 is hinged with the power arm 20 through a second sliding piece 70, and the top end is hinged with the connecting arm 4; the driving part 60 drives the power arm 20 to lift, the angle adjusting part is driven by the second sliding part to horizontally slide along the support, and further the included angle between the connecting arm and the power arm is adjusted, when the angle adjusting device is used, the driving part 60 drives the first sliding part 50 to lift, the first sliding part drives the power arm 20 to lift, the power arm 20 drives the second sliding part 70 to horizontally slide along the support 1, when the first sliding part 50 lifts, the second sliding part 70 is close to the first sliding part 50, the bottom end of the angle adjusting part 30 is close to the first sliding part 50, and further the top pull-down connecting arm 4 is driven, so that the connecting arm 4 rotates around the hinged position of the connecting arm 4 and the power arm 20, and further the rotation of the connecting arm is completed, the angle change is formed, the air cylinder is selected for the.

Further, the power arm 20 comprises a main arm 21 and an auxiliary arm 22; the auxiliary arm 22 comprises a lever A, a lever B and a lever C, the lever A is arranged outside the main arm 21 in parallel, the bottom ends of the lever A and the main arm 21 are hinged with the first sliding part 50, the other end of the lever A is hinged with the lever B, and the other end of the lever B is hinged with the lever C; the top end of the main arm 21 is hinged to the lever B through a connecting arm 4, the connecting arm is of a U-shaped structure with an upward opening, the lever C is placed in the connecting arm 4 in a contact mode, and the connecting arm 4 supports the lever C.

Further, the lever B and the lever A form a hinge point I, the lever B and the lever C form a hinge point II, the main arm and the connecting arm and the lever B form a hinge point III, and the hinge point I, the hinge point II and the hinge point III form a triangular structure. Specifically, when the first slider 50 ascends or descends, the main arm 21 is a force application rod, and the lever a, the lever B, and the lever C form a linkage structure, so that the main arm 21 is strengthened in tension.

Further, the first slider 50 includes a sliding seat 51, and a first hinge shaft 52 and a second hinge shaft 53 disposed in the sliding seat 51 in a vertically staggered manner; the second hinge shaft 53 is hinged to the main arm 21, the second hinge shaft 53 is further hinged to a driving member connecting rod 80, the lower end of the driving member connecting rod 80 is connected to the driving member 30, and the first hinge shaft 52 is hinged to the bottom end of the lever a.

Further, the main arm 21 and the second hinge shaft 53 form a hinge point iv, and the lever a and the second hinge shaft 53 form a hinge point v; the hinge point I, the hinge point III, the hinge point IV and the hinge point V form four end points of a parallelogram, so that the main arm 21 and the auxiliary arm 22 do not interfere in the operation process, and the motion is flexible. During the use, the one end that main arm 21 connects second articulated shaft 53 is provided with the arcwall face 211 of joint in the second articulated shaft 53 outside, makes things convenient for main arm 21 and second articulated shaft 53's quick fixed connection.

Further, the outer end of the first hinge shaft 52 is sleeved with a first guide wheel 90 positioned outside the sliding seat 51, so as to ensure the stability of the sliding seat 51 sliding up and down.

Further, the second sliding member 70 includes a base 71, a roller 72 disposed in the base 71, and a link 73 hinged to the roller; the other end of the connecting rod 73 is hinged with the main arm 21; and the two ends of the roller 72 are provided with second guide wheels 10 positioned outside the base 71.

Further, the support 1 is provided with a first guide hole 11 matched with the first guide wheel 90 and a second guide hole 12 matched with the second guide wheel 10.

In light of the foregoing, it will be apparent to those skilled in the art from this disclosure that various changes and modifications can be made without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.

Claims (8)

1. A linked lever robot arm, comprising:

the device comprises a support, a power arm, an angle adjusting piece and a connecting arm;

the bottom end of the power arm is connected with a first sliding piece which slides up and down along the support, the top end of the power arm is hinged with the connecting arm, and the first sliding piece is connected with a driving piece which drives the first sliding piece to lift;

the bottom end of the angle adjusting piece is hinged with the power arm through a second sliding piece, and the top end of the angle adjusting piece is hinged with the connecting arm;

the driving piece drives the power arm to lift, the angle adjusting piece is driven to horizontally slide along the support through the second sliding piece, and then an included angle between the connecting arm and the power arm is adjusted.

2. The linkage type lever mechanical arm according to claim 1, wherein:

the power arm comprises a main arm and an auxiliary arm;

the auxiliary arm comprises a lever A, a lever B and a lever C, the lever A is arranged on the outer side of the main arm in parallel, the bottom ends of the lever A and the main arm are hinged to the first sliding part, the other end of the lever A is hinged to the lever B, and the other end of the lever B is hinged to the lever C;

the top end of the main arm is hinged with the lever B through a connecting arm.

3. The linkage type lever mechanical arm according to claim 2, wherein:

the lever B and the lever A form a hinge point I, the lever B and the lever C form a hinge point II, the main arm, the connecting arm and the lever B form a hinge point III, and the hinge point I, the hinge point II and the hinge point III form a triangular structure.

4. The linkage type lever mechanical arm according to claim 3, wherein:

the first sliding part comprises a sliding seat, a first hinge shaft and a second hinge shaft which are arranged in the sliding seat in a vertically staggered manner;

the second articulated shaft is articulated with the main arm, the second articulated shaft is also articulated with a driving piece connecting rod, and the lower end of the driving piece connecting rod is connected with the driving piece;

the first hinge shaft is hinged with the bottom end of the lever A.

5. The linkage type lever mechanical arm according to claim 4, wherein:

the main arm and the second hinge shaft form a hinge point IV, and the lever A and the second hinge shaft form a hinge point V;

and the hinge point I, the hinge point III, the hinge point IV and the hinge point V form four end points of a parallelogram.

6. The linkage type lever mechanical arm according to claim 1, wherein:

the outer end of the first articulated shaft is sleeved with a first guide wheel positioned on the outer side of the sliding seat.

7. The linkage type lever mechanical arm according to claim 2, wherein:

the second sliding part comprises a base, a rolling shaft arranged in the base and a connecting rod hinged with the rolling shaft;

the other end of the connecting rod is hinged with the main arm;

and the two ends of the rolling shaft are provided with second guide wheels positioned outside the base.

8. The linkage type lever mechanical arm according to claim 7, wherein:

and a first guide hole matched with the first guide wheel and a second guide hole matched with the second guide wheel are formed in the support.

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