CN210850239U - Combined type arm that can be used to material snatchs - Google Patents
Combined type arm that can be used to material snatchs Download PDFInfo
- Publication number
- CN210850239U CN210850239U CN201921230840.1U CN201921230840U CN210850239U CN 210850239 U CN210850239 U CN 210850239U CN 201921230840 U CN201921230840 U CN 201921230840U CN 210850239 U CN210850239 U CN 210850239U
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- gear
- piece
- claw
- fixing piece
- arm body
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- 239000000463 material Substances 0.000 title claims abstract description 11
- 210000000078 claw Anatomy 0.000 claims abstract description 36
- 230000007246 mechanism Effects 0.000 claims description 7
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 6
- 229910052802 copper Inorganic materials 0.000 claims description 6
- 239000010949 copper Substances 0.000 claims description 6
- 230000007704 transition Effects 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 10
- 238000009434 installation Methods 0.000 abstract 1
- 239000002131 composite material Substances 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Abstract
A combined type mechanical arm capable of being used for material grabbing comprises a mechanical claw and a mechanical arm body, wherein the mechanical claw is mounted at the upper end of the mechanical arm body; the gripper includes steering wheel, left gear, left side claw, right gear and connector, a steering wheel is installed in the connector, left side gear and left side claw fixed connection, the steering wheel of a steering wheel is connected with the coaxial locking of left gear, the rotatable installation of right gear is on the connector and with left gear engagement, right side claw and right gear fixed connection. The utility model provides a combined type arm that can be used to material to snatch when can satisfying conventional arm function, can also realize wider reachable scope in a direction, can realize reducing manufacturing cost, high-efficient and low-priced snatch the material function.
Description
Technical Field
The utility model belongs to the technical field of the robotechnology and specifically relates to a combined type mechanical structure that can be used to the material to snatch.
Background
With the development of society, science and technology have been rapidly developed. Meanwhile, with the reform of the production mode of modern enterprises and the great demand of the market, under the condition, in order to improve the production efficiency and meet the demand of the market, under the promotion of science and technology, the traditional manpower is gradually replaced by mechanical electronic equipment, and the traditional production mode is not comparable to the former production mode in terms of economic benefit, systematization and specialization degree.
Compared with the traditional manpower, the mechanical arm can greatly improve the efficiency, the working quality is almost close to perfect, the production cost is reduced, meanwhile, the working time is greatly shortened, the labor cost is reduced, and the production efficiency and the enterprise competitiveness are improved. Compared with a composite mechanical arm, the composite mechanical arm has the advantages that the requirements of customers can be better met on the premise that the cost can be reduced, the reachable range is wider, the cost is lower, the development potential is large, and the composite mechanical arm is easy to realize and maintain.
Disclosure of Invention
In order to overcome present arm and to have the price height, application range is limited, the difficult and defect such as maintenance difficulty of technical realization, the utility model provides a combined type arm that can be used to the material to snatch can satisfy when conventional arm function, can also realize wider reachable scope in a direction, can realize reducing manufacturing cost, high-efficient and the low-priced material function of snatching.
The utility model provides a technical scheme that its technical problem adopted is:
a combined type mechanical arm capable of being used for material grabbing comprises a mechanical claw and a mechanical arm body, wherein the mechanical claw is mounted at the upper end of the mechanical arm body;
the mechanical claw comprises a first steering engine, a left gear, a left claw, a right gear and a connecting body, wherein the first steering engine is fixed in the connecting body, the left gear is fixedly connected with the left claw, a steering wheel of the first steering engine is fixedly connected with the left gear through a fixed axle center, the steering wheel drives the left gear, the left gear drives the left claw to perform opening and action, the right gear is meshed with the left gear, the right claw is fixedly connected with the right gear through the fixed axle center, the left gear drives the right gear to rotate, the right gear drives the right claw to perform opening and action, and the connecting body is connected with the left claw and the right claw to form a rotation pair;
the mechanical arm body comprises an arm body base, a second steering engine, a first connecting rod, a left rotating part, a transition lever, a second connecting rod, a left support, a connecting piece, a right support, a copper column, a right rotating part, a third connecting rod, a third steering engine and a fourth connecting rod, wherein the second steering engine and the third steering engine are arranged on the left side and the right side of the arm body base; the front end of the right support is connected with the right side of the connecting piece through screws to form a revolute pair, the rear end of the right rotary piece is coaxially locked and connected with a rudder disc of a third steering engine, the front end of the right rotary piece is hinged with the rear portion of the right support, the front end of the third connecting rod is connected with the rear end of the right support through screws to form a revolute pair, the rear end of the fourth connecting rod is connected with the rear end of the third connecting rod through screws to form a revolute pair, and the front end of the fourth connecting rod is hinged with the right side of the arm body base; the left bracket and the right bracket, and the left rotating piece and the right rotating piece are connected through copper columns; the connecting body is fixedly connected with the connecting piece;
the linear motion mechanism comprises a working platform, a front fixing piece, a ball screw, a platform connecting piece, a large torque motor, a rear fixing piece, a stepping motor, a bottom fixing piece and a screw rod sliding block, wherein the front fixing piece, the ball screw, the platform connecting piece, the large torque motor, the rear fixing piece and the screw rod sliding block are arranged on the working platform, the front fixing piece and the rear fixing piece are respectively fixed at the front end and the rear end of the bottom fixing piece, the bottom fixing piece is fixed on the working platform, the front end and the rear end of the ball screw are respectively rotatably arranged on the front fixing piece and the rear fixing piece, the large torque motor is arranged on the screw rod sliding block through the platform connecting piece, the output shaft of the large torque motor is coaxially connected with an arm body base, the stepping.
The beneficial effects of the utility model are that:
1) the utility model adopts the steering engine to control the mechanical arm body and the mechanical claw, the mechanical arm body is arranged on the platform of the ball screw, and the structure is very suitable especially when a very long reachable range is needed in a certain dimension;
2) the utility model is easy to control and realize, and adopts the ball screw as the executing piece of the whole movement of the mechanical arm, which can bear larger force;
3) the utility model discloses a combined type's mechanical structure can reduce manufacturing cost to a certain extent, and has improved the utilization ratio of equipment, has also improved production efficiency simultaneously.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic view of the grabbing structure of the present invention.
Fig. 3 is a schematic view of the structure of the arm body of the present invention.
Fig. 4 is a schematic bottom structure diagram of the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
Referring to fig. 1 to 4, a combined type mechanical arm for material grabbing comprises a mechanical claw 1, a mechanical arm body 2, a bottom platform 3 and a linear motion mechanism 4, wherein the mechanical claw 1 is connected with the mechanical arm body 2, the mechanical arm body 2 is coaxially connected with the bottom platform 3, and the bottom platform 3 is in spiral fit with the linear motion mechanism 4;
the mechanical claw 1 comprises a first steering gear 5, a left gear 6, a left claw 7, a right claw 8, a right gear 9 and a connecting body 10, the first steering gear 5 is fixed in the connecting body 10, the left gear 6 is fixedly connected with the left claw 7, a steering wheel of the first steering gear 5 is fixedly connected with the left gear 6 through a fixed axis, the steering wheel drives the left gear 6, the left gear 6 drives the left claw 7 to open and move, the right gear 9 is meshed with the left gear 6, the right claw 8 is fixedly connected with the right gear 9 through the fixed axis, the left gear 6 drives the right gear 9 to rotate, the right gear 9 drives the right claw 8 to open and move, and the connecting body 10 is connected with the left claw 7 and the right claw 8 to form a rotating pair and then is fixedly connected with a connecting piece 19;
the mechanical arm body 2 comprises an arm body base 11, a screw 12, a second steering engine 13, a first connecting rod 14, a left rotating piece 15, a transition lever 16, a second connecting rod 17, a left support 18, a connecting piece 19, a right support 20, a copper column 21, a right rotating piece 22, a third connecting rod 23, a third steering engine 24, a fourth connecting rod 25 and a steering wheel 26, wherein the arm body base 11 is used as the bottom of the whole mechanical arm body, the second steering engine 13 and the third steering engine 24 are arranged on the left side and the right side of the arm body base 11, the rear end of the first connecting rod 14 is connected with the arm body base 11 through the screw 12 to form a rotating pair, the transition lever 16 is triangular, the front end and the rear end of the left rotating piece 15 are respectively connected with the vertex angle of the transition lever 16 and the steering wheel of the second steering engine 13 to form a rotating pair, two bottom angles of the transition lever 16 are respectively connected with the front end of the first connecting rod 14 and the rear end of the second connecting rod 17 through screws to, the front end of the second connecting rod 17 is coaxially connected with the front end of the left bracket 18 and the left side of the connecting piece 19 through screws to form a revolute pair; the front end of the right support 20 is coaxially connected with the right side of the connecting piece 19 through screws to form a revolute pair, the copper column 21 is used for connecting the left support 18 with the right support 20, the left rotary piece 15 and the right rotary piece 22, the rear end of the right rotary piece 22 is coaxially locked and connected with a steering wheel of a third steering engine 24, the front end of the right rotary piece 22 is hinged with the rear part of the right support 20, the front end of the third connecting rod 23 is coaxially connected with the rear end of the right support 20 through screws to form a revolute pair, the rear end of the fourth connecting rod 25 is coaxially connected with the rear end of the third connecting rod 23 through screws to form a revolute pair, and the front end of the fourth connecting rod 25 is hinged with the right side of the arm body base; the steering wheel 26 is used as a connecting piece for the steering engine and other parts;
the linear motion mechanism 4 comprises a front fixing piece 27, a ball screw 28, a platform connecting piece 29, a large torque motor 30, a rear fixing piece 31, a stepping motor 32, a working platform 33, a bottom fixing piece 34 and a screw rod sliding block 35, the platform connecting piece 29 and the screw rod sliding block 35 form the bottom platform 3, the front fixing piece 27 and the rear fixing piece 31 are respectively fixed at the front end and the rear end of the bottom fixing piece 34, the front end and the rear end of the ball screw 28 are respectively rotatably installed on the front fixing piece 27 and the rear fixing piece 31, the platform connecting piece 29 is used for installing the large torque motor 30 and is fixedly connected with the screw rod sliding block 35, an output shaft of the large torque motor 30 is coaxially connected with the arm body base 11, the stepping motor 32 is installed on the rear fixing piece 31 and is coaxially locked and connected with the ball screw 28, and the screw rod sliding, the bottom fixing member 34 is fixed to the work platform 33.
The working principle of the utility model is as follows:
the opening and closing of the mechanical claw are realized by controlling the first steering engine 5, the front and back up and down movement of the mechanical arm body is realized by controlling the third steering engine 24 and the second steering engine 13, the plane rotation of the whole mechanical arm body is realized by controlling the large-torque motor 30, and the movement of the whole mechanical arm along the direction of the ball screw 28 is realized by controlling the stepping motor 32.
The above detailed description is provided for illustrative purposes, and is not intended to limit the present invention, and any modifications and variations of the present invention are within the spirit and scope of the following claims.
Claims (1)
1. The utility model provides a combined type arm that can be used to material to snatch, includes gripper and arm body, the gripper is installed in the upper end of arm body, its characterized in that: the mechanical arm further comprises a linear motion mechanism, and the lower end of the mechanical arm body is mounted on the linear motion mechanism;
the mechanical claw comprises a first steering engine, a left gear, a left claw, a right gear and a connecting body, wherein the first steering engine is fixed in the connecting body, the left gear is fixedly connected with the left claw, a steering wheel of the first steering engine is fixedly connected with the left gear through a fixed axle center, the steering wheel drives the left gear, the left gear drives the left claw to perform opening and action, the right gear is meshed with the left gear, the right claw is fixedly connected with the right gear through the fixed axle center, the left gear drives the right gear to rotate, the right gear drives the right claw to perform opening and action, and the connecting body is connected with the left claw and the right claw to form a rotation pair;
the mechanical arm body comprises an arm body base, a second steering engine, a first connecting rod, a left rotating part, a transition lever, a second connecting rod, a left support, a connecting piece, a right support, a copper column, a right rotating part, a third connecting rod, a third steering engine and a fourth connecting rod, wherein the second steering engine and the third steering engine are arranged on the left side and the right side of the arm body base; the front end of the right support is connected with the right side of the connecting piece through screws to form a revolute pair, the rear end of the right rotary piece is coaxially locked and connected with a rudder disc of a third steering engine, the front end of the right rotary piece is hinged with the rear portion of the right support, the front end of the third connecting rod is connected with the rear end of the right support through screws to form a revolute pair, the rear end of the fourth connecting rod is connected with the rear end of the third connecting rod through screws to form a revolute pair, and the front end of the fourth connecting rod is hinged with the right side of the arm body base; the left bracket and the right bracket, and the left rotating piece and the right rotating piece are connected through copper columns; the connecting body is fixedly connected with the connecting piece;
the linear motion mechanism comprises a working platform, a front fixing piece, a ball screw, a platform connecting piece, a large torque motor, a rear fixing piece, a stepping motor, a bottom fixing piece and a screw rod sliding block, wherein the front fixing piece, the ball screw, the platform connecting piece, the large torque motor, the rear fixing piece and the screw rod sliding block are arranged on the working platform, the front fixing piece and the rear fixing piece are respectively fixed at the front end and the rear end of the bottom fixing piece, the bottom fixing piece is fixed on the working platform, the front end and the rear end of the ball screw are respectively rotatably arranged on the front fixing piece and the rear fixing piece, the large torque motor is arranged on the screw rod sliding block through the platform connecting piece, the output shaft of the large torque motor is coaxially connected with an arm body base, the stepping.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921230840.1U CN210850239U (en) | 2019-08-01 | 2019-08-01 | Combined type arm that can be used to material snatchs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921230840.1U CN210850239U (en) | 2019-08-01 | 2019-08-01 | Combined type arm that can be used to material snatchs |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210850239U true CN210850239U (en) | 2020-06-26 |
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ID=71285962
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921230840.1U Expired - Fee Related CN210850239U (en) | 2019-08-01 | 2019-08-01 | Combined type arm that can be used to material snatchs |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210850239U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113696981A (en) * | 2021-08-17 | 2021-11-26 | 上海工程技术大学 | Multifunctional all-terrain rescue robot |
-
2019
- 2019-08-01 CN CN201921230840.1U patent/CN210850239U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113696981A (en) * | 2021-08-17 | 2021-11-26 | 上海工程技术大学 | Multifunctional all-terrain rescue robot |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200626 Termination date: 20210801 |
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| CF01 | Termination of patent right due to non-payment of annual fee |