CN211220768U

CN211220768U - Novel articulated mechanical arm

Info

Publication number: CN211220768U
Application number: CN201922263399.3U
Authority: CN
Inventors: 颜建军
Original assignee: Wenling Huachi Machinery Co ltd
Current assignee: Wenling Huachi Machinery Co ltd
Priority date: 2019-12-17
Filing date: 2019-12-17
Publication date: 2020-08-11
Anticipated expiration: 2029-12-17

Abstract

The utility model provides a novel articulated arm belongs to arm technical field. It has been solved current arm rigidity not strong, bear a burden not high and can't arrange in order and accomodate the coil, leads to the coil to expose the problem that influences whole outward appearance in the external world. This novel articulated arm, by the base with set up the centre gripping arm on the base, first festival arm body and second festival arm body are constituteed, the top that is located the base is equipped with first cavity rotary platform, and drive the centre gripping arm that is located on the base through this first cavity rotary platform, first festival arm body and the simultaneous syntropy circumferential direction of second festival arm body, first cavity rotary platform's top is provided with the radial pivoted second cavity rotary platform of drive second festival arm body, the junction of second festival arm body and first festival arm body links to each other through can driving the radial pivoted third cavity rotary platform of first festival arm body. The utility model has the advantages of the rigidity is strong, high heavy burden just can accomodate the coil and make it can not be exposed in the external world.

Description

Novel articulated mechanical arm

Technical Field

The utility model belongs to the technical field of the arm, a mechanical arm is related to, in particular to novel articulated type arm.

Background

With the development of science and technology, the application of mechanical arms is increasing day by day, the transmission mode of mechanical arms is more and more emphasized, and high-precision transmission and high-power output become the direction of industry development.

The traditional mechanical arm transmission mode mainly comprises the following steps: mechanical transmission, electric transmission, pneumatic transmission and hydraulic transmission, wherein the mechanical transmission comprises spiral transmission, belt transmission, chain transmission, gear transmission, flexible transmission and the like. However, the traditional mechanical arm has the following disadvantages no matter the traditional mechanical arm is driven by any one of the above modes: 1. although the mechanism is simple and easy to understand through the transmission modes of screw transmission, belt transmission, chain transmission, gear transmission, flexible transmission and the like, the load is not high, so that the clamping force of the clamping arm is low, and the application range of the clamping arm is directly influenced; 2. the transmission means of the conventional robot arm, such as belt transmission, chain transmission and gear transmission, all cause a problem that the rigidity of the entire robot arm is low. In addition, the operation of the mechanical arm needs an integral control system, data or current can be transmitted between the control system and the mechanical arm through a coil, but the existing mechanical arm is simple in structure and cannot contain and arrange the coil, so that the coil is exposed outside the mechanical arm, the appearance of the mechanical arm is not attractive, and unexpected dangerous conditions can be caused due to the fact that the coil is exposed in the air.

Therefore, a new articulated robot arm is needed to solve the above problems.

Disclosure of Invention

The utility model aims at the above-mentioned problem that exists among the prior art, provide a rigidity is strong, high heavy burden and can accomodate the coil and make it can not be exposed at external novel articulated type arm.

The purpose of the utility model can be realized by the following technical proposal: a novel articulated mechanical arm comprises a base, a clamping arm, a first arm body and a second arm body, wherein the clamping arm, the first arm body and the second arm body are arranged on the base, two ends of the first arm body are respectively connected with the clamping arm and the second arm body, the novel articulated mechanical arm is characterized in that a first hollow rotary platform is arranged at the top of the base, the clamping arm, the first arm body and the second arm body which are arranged on the base are driven by the first hollow rotary platform to simultaneously rotate circumferentially in the same direction, a second hollow rotary platform which drives the second arm body to rotate radially is arranged at the top of the first hollow rotary platform, the joint of the second arm body and the first arm body is connected by a third hollow rotary platform which can drive the first arm body to rotate radially, the joint of the clamping arm and the first arm body is connected by a fourth hollow rotary platform which can drive the clamping arm to rotate, a first driving mechanism which controls the first rotary platform to work is arranged on the base, a second driving mechanism for controlling the second hollow rotary platform to work is arranged at the position close to the second hollow rotary platform, a third driving mechanism for controlling the third hollow rotary platform to work is arranged at the position close to the third hollow rotary platform, and a fourth driving mechanism for controlling the fourth hollow rotary platform to work is arranged behind the clamping arm.

In the novel articulated mechanical arm, the clamping arm and the central axis of the first arm body are arranged in parallel.

In the above-mentioned novel articulated robot arm, the central axis of the first hollow rotating platform and the central axis of the second hollow rotating platform are perpendicular to each other but do not intersect each other, and the central axis of the second hollow rotating platform and the central axis of the third hollow rotating platform are parallel to each other.

In foretell novel articulated arm, first cavity rotary platform, second cavity rotary platform and third cavity rotary platform constitute by the box, locate output shaft, axle shell in the box and set up the conjuncted camshaft in the axle shell, the even distribution in circumference has a plurality of kingpin on the outer wall of output shaft, the kingpin on be provided with the gyro wheel with cam intermeshing on the conjuncted camshaft.

In foretell novel articulated arm, fourth cavity rotary platform by the casing, set up in the output fluted disc of casing and through actuating mechanism four control rotations and with output fluted disc matched with drive shaft component, the periphery wall of drive shaft upper end on seted up inside sunken ring channel, and in this ring channel circumference evenly distributed have a plurality of can rotate and with output fluted disc matched with rolling member, thereby applied the rolling member and made it realize zero clearance roll engagement with the output fluted disc.

In the above novel articulated mechanical arm, the rolling members are rollers or needles.

In the above-mentioned novel articulated manipulator, the outer peripheral wall of the lower end of the driving shaft is sleeved with a tapered roller bearing, and a crossed roller bearing for fixing and rotating the output fluted disc is arranged between the housing and the output fluted disc.

In the above-mentioned novel articulated mechanical arm, the inside of second festival arm body has the cavity, the mounting groove that supplies third cavity rotary platform fixed mounting is seted up at the top of second festival arm body, the through-hole that runs through second festival arm body both sides face is seted up in the corresponding second cavity rotary platform's of lower tip position department of second festival arm body.

In the novel joint type mechanical arm, the first driving mechanism, the second driving mechanism, the third driving mechanism and the fourth driving mechanism are all servo motors.

Compared with the prior art, the novel articulated mechanical arm has the following advantages:

1. compared with the traditional mechanical arm which is driven by screw transmission, belt transmission, chain transmission, gear transmission, flexible transmission and the like, the novel joint type mechanical arm has the advantages that each joint part of the mechanical arm is mutually related through the first hollow rotary platform, the second hollow rotary platform, the third hollow rotary platform and the fourth hollow rotary platform, and the rotation of each joint part in the mechanical arm is respectively controlled through the plurality of hollow rotary platforms, so that the whole mechanical arm has the characteristics of strong rigidity, strong bearing capacity and high load, the application range of the mechanical arm is widened, and the use efficiency is improved;

2. a toroidal enveloping roller structure is adopted between the conjoined camshaft and the output shaft in the first hollow rotary platform, the second hollow rotary platform and the third hollow rotary platform, so that higher segmentation precision can be kept, the capability of bearing heavy load can be ensured under the condition of high torsion, the precision is greatly improved, and the vibration and the noise are reduced;

3. the driving shaft in the fourth hollow rotating platform solves the abrasion problem caused by the traditional worm and gear mechanism, keeps higher precision, ensures the capability of bearing heavy load, greatly improves the precision, and has the advantages that all driving parts in the driving shaft are in rolling contact, no tooth beating sound and small vibration are generated, the crossed roller bearing can strongly support the external force acting on the turntable, the size is small, and the production cost is effectively reduced. In addition, a plurality of rolling pieces which can rotate and are matched with the output fluted disc are uniformly distributed in the circumferential direction in the annular groove on the driving shaft, and the rolling pieces are applied to realize gapless rolling engagement with the output fluted disc, so that the bearing capacity is ensured as well, and the precision is greatly improved;

4. the inside of second festival arm body has the cavity, the mounting groove that supplies third cavity rotary platform fixed mounting is seted up at the top of second festival arm body, the through-hole that runs through second festival arm body both sides face is seted up to the corresponding second cavity rotary platform's of lower tip department of second festival arm body position department, the coil is worn out in the third cavity rotary platform, and pass through the inside of mounting groove and second festival arm body in proper order, stretch into the rotatory inside of second cavity through the through-hole, make the coil can not expose in the external world, hide in the inside of whole arm, so that not only make the whole outward appearance pattern of arm can promote, and can be in order the well of coil arrangement, can not seem very in disorder.

Drawings

Fig. 1 is a schematic perspective view of a robot arm in the novel articulated robot arm.

Fig. 2 is a schematic perspective view of the novel articulated robot arm with a box removed.

Fig. 3 is a schematic sectional view of a first hollow rotary platform, a second hollow rotary platform and a third hollow rotary platform in the novel articulated robot arm.

Fig. 4 is a schematic cross-sectional view of a fourth hollow rotary platform of the novel articulated robot arm.

In the figure, 1, a base; 2. a clamp arm; 3. a first arm body; 4. a second arm body; 5. a first hollow rotating platform; 6. a second hollow rotating platform; 7. a third hollow rotating platform; 8. a fourth hollow rotating platform; 9. a first driving mechanism; 10. a second driving mechanism; 11. a driving mechanism III; 12. a driving mechanism IV; 13. a box body; 14. an output shaft; 15. a shaft housing; 16. a conjoined camshaft; 17. a housing; 18. an output fluted disc; 19. a drive shaft; 20. a rolling member; 21. mounting grooves; 22. a through hole; 23. a coil; 24. a fixed box; 25. rolling needles; 26. a roller; 27. an annular groove; 28. a tapered roller bearing; 29. a crossed roller bearing.

Detailed Description

The following are specific embodiments of the present invention and the accompanying drawings are used to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

As shown in figures 1 and 2, the novel articulated mechanical arm comprises a base 1, a clamping arm 2, a first arm body 3 and a second arm body 4 which are arranged on the base 1, wherein two ends of the first arm body 3 are respectively connected with the clamping arm 2 and the second arm body 4, a first hollow rotary platform 5 is arranged at the top of the base 1 and drives the clamping arm 2, the first arm body 3 and the second arm body 4 which are arranged on the base 1 to simultaneously rotate in the same circumferential direction through the first hollow rotary platform 5, a second hollow rotary platform 6 which drives the second arm body 4 to rotate in the radial direction is arranged at the top of the first hollow rotary platform 5, the joint of the second arm body 4 and the first arm body 3 is connected through a third hollow rotary platform 7 which can drive the first arm body 3 to rotate in the radial direction, the joint of the clamping arm 2 and the first arm body 3 is connected through a fourth hollow rotary platform 8 which can drive the clamping arm 2 to rotate, the base 1 is provided with a first driving mechanism 9 for controlling the first hollow rotary platform 5 to work, a second driving mechanism 10 for controlling the second hollow rotary platform 6 to work is arranged at a position close to the second hollow rotary platform 6, a third driving mechanism 11 for controlling the third hollow rotary platform 7 to work is arranged at a position close to the third hollow rotary platform 7, a fourth driving mechanism 12 for controlling the fourth hollow rotary platform 8 to work is arranged at the rear part of the clamping arm 2, the clamping arm 2 and the central axis of the first arm body 3 are arranged in parallel, the central axis of the first hollow rotary platform 5 and the central axis of the second hollow rotary platform 6 are perpendicular but not intersected, the central axis of the second hollow rotary platform 6 and the central axis of the third hollow rotary platform 7 are parallel, a cavity is arranged inside the second arm body 4, the top of the second arm body 4 is provided with a mounting groove 21 for fixedly mounting the third hollow rotary platform 7, the through hole 22 penetrating through two side faces of the second arm body section 4 is formed in the position, corresponding to the second hollow rotary platform 6, of the lower end portion of the second arm body section 4, the coil 23 penetrates out of the third hollow rotary platform 7 and sequentially passes through the mounting groove 21 and the inside of the second arm body section 4, and extends into the inside of the second hollow rotary platform through the through hole 22, so that the coil 23 is not exposed outside and hidden in the whole mechanical arm, therefore, the overall appearance of the mechanical arm is not only improved, and wells in which the coils 23 are arranged are ordered and not in disorder, and the first driving mechanism 9, the second driving mechanism 10, the third driving mechanism 11 and the fourth driving mechanism 12 are servo motors.

As shown in fig. 3, each of the first hollow rotary platform 5, the second hollow rotary platform 6 and the third hollow rotary platform 7 is composed of a box body 13, an output shaft 14 arranged in the box body 13, a shaft housing 15 and a conjoined cam shaft 16 arranged in the shaft housing 15, a plurality of needle rollers 25 are uniformly distributed on the outer wall of the output shaft 14 in the circumferential direction, and roller wheels 26 engaged with cams on the conjoined cam shaft 16 are arranged on the needle rollers 25, wherein the box body 13 in the third hollow rotary platform 7 is fixedly connected with the second knuckle arm body 4 and hides the driving mechanism four 12 in the interior, and the driving mechanism two 10 is externally provided with a fixed box 24 hiding the driving mechanism in the interior and fixedly connected with the top of the first hollow rotary platform 5 and the box body 13 in the second hollow rotary platform 6.

As shown in fig. 4, the fourth hollow rotating platform 8 is composed of a housing 17, an output fluted disc 18 arranged in the housing 17, and a driving shaft 19 which is controlled by a driving mechanism four 12 to rotate and is matched with the output fluted disc 18, an annular groove 27 which is inwards sunken is arranged on the outer peripheral wall of the upper end part of the driving shaft 19, and a plurality of rolling members 20 which can rotate and are matched with the output fluted disc 18 are evenly distributed in the inner circumference of the annular groove 27, the rolling members 20 are applied to realize gapless rolling engagement with the output fluted disc 18, the rolling members 20 are rollers or rolling needles 25, the needle rollers 25 are similar to the needle rollers 25 in the first hollow rotating platform 5, the second hollow rotating platform 6 and the third hollow rotating platform 7, a tapered roller bearing 28 is sleeved on the outer peripheral wall of the lower end portion of the drive shaft 19, and a cross roller bearing 29 for fixing and rotating the output toothed disc 18 is provided between the housing 17 and the output toothed disc 18.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications, additions and substitutions for the specific embodiments described herein may be made by those skilled in the art without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.

Claims

1. A novel articulated mechanical arm comprises a base (1), a clamping arm (2), a first arm body (3) and a second arm body (4), wherein the clamping arm (2), the first arm body (3) and the second arm body (4) are arranged on the base (1), two ends of the first arm body (3) are respectively connected with the clamping arm (2) and the second arm body (4), the novel articulated mechanical arm is characterized in that a first hollow rotary platform (5) is arranged at the top of the base (1) and drives the clamping arm (2), the first arm body (3) and the second arm body (4) which are arranged on the base (1) to simultaneously rotate in the same direction in the circumferential direction through the first hollow rotary platform (5), a second hollow rotary platform (6) which drives the second arm body (4) to rotate in the radial direction is arranged at the top of the first hollow rotary platform (5), and a third hollow rotary platform (7) which can drive the first arm body (3) to rotate in the radial direction is arranged at the joint of the second arm body (4) and the first arm body (3), the utility model discloses a hollow rotary table, including centre gripping arm (2), base (1), drive mechanism (10) that the first cavity rotary table of control (5) worked, the position department that is close to second cavity rotary table (6) is equipped with drive mechanism two (10) of this second cavity rotary table of control (6) work, is close to third cavity rotary table (7) position department is equipped with drive mechanism three (11) of this third cavity rotary table of control (7) work, the rear of centre gripping arm (2) is equipped with drive mechanism four (12) of this fourth cavity rotary table of control (8) work.

2. A novel articulated arm according to claim 1, characterized in that the centre axes of the gripping arm (2) and the first arm body (3) are arranged in parallel.

3. A new articulated arm according to claim 1, characterized in that the central axis of said first hollow rotating platform (5) and the central axis of said second hollow rotating platform (6) are perpendicular but not intersecting, the central axis of said second hollow rotating platform (6) and the central axis of said third hollow rotating platform (7) being parallel.

4. The novel articulated mechanical arm as claimed in claim 1, wherein the first hollow rotating platform (5), the second hollow rotating platform (6) and the third hollow rotating platform (7) are all composed of a box body (13), an output shaft (14) arranged in the box body (13), a shaft shell (15) and a conjoined camshaft (16) arranged in the shaft shell (15), a plurality of rolling needles (25) are uniformly distributed on the outer wall of the output shaft (14) in the circumferential direction, and rolling wheels (26) meshed with cams on the conjoined camshaft (16) are arranged on the rolling needles (25).

5. The novel articulated mechanical arm as claimed in claim 1, wherein the fourth hollow rotating platform (8) is composed of a housing (17), an output fluted disc (18) arranged in the housing (17), and a driving shaft (19) which is controlled to rotate by a driving mechanism four (12) and is matched with the output fluted disc (18), an inward recessed annular groove (27) is formed in the peripheral wall of the upper end of the driving shaft (19), a plurality of rolling members (20) which can rotate and are matched with the output fluted disc (18) are uniformly distributed in the annular groove (27), and the rolling members (20) are applied so as to realize gapless rolling engagement with the output fluted disc (18).

6. A new articulated arm according to claim 5, characterized in that said rolling elements (20) are rollers or needles (25).

7. A novel articulated mechanical arm according to claim 5, characterized in that the outer peripheral wall of the lower end of the driving shaft (19) is sleeved with a tapered roller bearing (28), and a crossed roller bearing (29) for fixing and rotating the output fluted disc (18) is arranged between the housing (17) and the output fluted disc (18).

8. The novel articulated mechanical arm as claimed in claim 1, wherein the second arm body (4) has a cavity inside, the top of the second arm body (4) is provided with a mounting groove (21) for the third hollow rotating platform (7) to be fixedly mounted, and the lower end of the second arm body (4) is provided with a through hole (22) corresponding to the second hollow rotating platform (6) and penetrating through two side surfaces of the second arm body (4).

9. The novel articulated mechanical arm as claimed in claim 1, wherein the first driving mechanism (9), the second driving mechanism (10), the third driving mechanism (11) and the fourth driving mechanism (12) are all servo motors.