CN211333207U

CN211333207U - Telescopic mechanical arm

Info

Publication number: CN211333207U
Application number: CN201922025934.1U
Authority: CN
Inventors: 郭宇航; 张奕; 章文奇; 刘源春; 石晶
Original assignee: Wuhan University of Science and Engineering WUSE
Current assignee: Wuhan University of Science and Engineering WUSE
Priority date: 2019-11-21
Filing date: 2019-11-21
Publication date: 2020-08-25
Anticipated expiration: 2029-11-21

Abstract

The utility model discloses a telescopic mechanical arm, including support arm, first flexible arm, the flexible arm of second, first driving piece and second driving piece, the support arm level sets up, first flexible arm slidable mounting be in on the support arm, the flexible arm slidable mounting of second is in on the first flexible arm, first driving piece is installed on the support arm, its drive end with the flexible arm transmission of second is connected, and it is used for the drive first flexible arm is in slide on the support arm, the second driving piece is installed on the first flexible arm, its drive end with the flexible arm transmission of second is connected, and it is used for the drive the flexible arm of second is in slide on the first flexible arm. The telescopic arm is simple in structure, convenient to stretch and controllable in stretching range, the first driving piece drives the first telescopic arm to move relative to the supporting arm, the second driving piece drives the second telescopic arm to move upwards on the first telescopic arm, and therefore the moving track of the whole mechanical arm is wide.

Description

Telescopic mechanical arm

Technical Field

The utility model belongs to a manipulator field especially relates to a telescopic manipulator.

Background

In the industrial production field, the six traditional arms extensive applicability, application scope are big, but in the face of some fields that operating mode is simple, the acquisition cost and the use complexity of six arms are higher, are unfavorable for the producer to press the low cost to produce. Meanwhile, the six-axis mechanical arm has high degree of freedom, so that the mechanical reliability is weaker to a certain extent. Therefore, the invention is a component of automatic production machinery under simple working conditions, and can complete material conveying of each point position in space on the x axis on the premise of ensuring stability.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, an object of the utility model is to provide a simple structure, and control convenient telescopic arm.

In order to achieve the above purpose, the technical solution of the present invention is as follows: the utility model provides a telescopic mechanical arm, includes support arm, first flexible arm, the flexible arm of second, first driving piece and second driving piece, the support arm level sets up, first flexible arm slidable mounting be in on the support arm, the flexible arm of second is installed on the first flexible arm, first driving piece is installed on the support arm, its drive end with the flexible arm transmission of second is connected, and it is used for driving first flexible arm slides on the support arm, the second driving piece is installed on the first flexible arm, its drive end with the flexible arm transmission of second is connected, and it is used for driving the flexible arm of second is in slide on the first flexible arm.

The beneficial effects of the above technical scheme are that: the telescopic arm is simple in structure, convenient to stretch and controllable in stretching range, the first driving piece drives the first telescopic arm to move relative to the supporting arm, the second driving piece drives the second telescopic arm to move upwards on the first telescopic arm, and therefore the moving track of the whole mechanical arm is wide.

In the technical scheme, the supporting arm and the first telescopic arm are both in a bar shape and are horizontally arranged along the front-back direction, and the first driving piece is used for driving the first telescopic arm to slide along the front-back direction on the supporting arm.

The beneficial effects of the above technical scheme are that: so make whole arm can only stretch out and draw back in the front and back to for can only realize one-dimensional removal, so can realize controlling the convenience, simple structure.

In the technical scheme, the front end of the supporting arm is provided with two first sliding holes in a backward concave manner, the rear end of the first telescopic arm is provided with two sliding rods which are in one-to-one correspondence with the first sliding holes and are matched with each other, the rear end of each sliding rod extends into the corresponding first sliding hole, the first telescopic arm is driven by the first driving piece, and the two sliding rods slide in the corresponding first sliding holes along the front-back direction.

The beneficial effects of the above technical scheme are that: the supporting arm and the first telescopic arm are limited and guided through the first sliding hole and the sliding rod, so that the supporting arm and the first telescopic arm can only move relatively in the front-back direction.

Among the above-mentioned technical scheme first driving piece includes first motor and first rack, the front end of support arm still is the concave first shrinkage pool that is equipped with backward, first rack sets up along the fore-and-aft direction level the rear end of first flexible arm, the rear end of first rack stretches into to correspond in the first shrinkage pool, just first motor is installed the front end of support arm, and its drive end perpendicular with first rack, and penetrate to in the first shrinkage pool, just the drive end of first motor install with first rack intermeshing's first gear, first motor corotation or reversal are in order to drive first rack removes along the fore-and-aft direction in first shrinkage pool, and drives first flexible arm removes along the fore-and-aft direction, first rack constitutes the drive end of first driving piece.

The beneficial effects of the above technical scheme are that: thus, the first telescopic arm and the supporting arm can be flexibly moved.

In the technical scheme, the second telescopic boom comprises a connecting column, two first connecting rods and two second connecting rods, the connecting column is arranged in the front of the first telescopic boom, the two first connecting rods and the two second connecting rods are horizontally arranged between the connecting column and the first telescopic boom, the two ends of the first connecting rods are respectively connected and rotated with the connecting column, the two ends of the second connecting rods are respectively connected and rotated with the other ends of the first connecting rods, the two ends of the second connecting rods are respectively connected and rotated with the other ends of the first telescopic boom, the other ends of the second connecting rods are respectively connected and rotated with the other ends of the sliding rods, the second driving piece is installed on the first telescopic boom, the driving end of the second driving piece is connected and driven by the connecting column, and the second driving piece is used for driving the connecting column to move to be close to or to be far away from the first telescopic boom along.

The beneficial effects of the above technical scheme are that: so that the second supporting arm has better stability when being stretched.

Among the above-mentioned technical scheme the second driving piece includes second motor and second rack, the front end of first flexible arm is equipped with the second shrinkage pool backward, the second rack sets up along the fore-and-aft direction level, its front end with the spliced pole is connected, the rear end of second rack stretches into in the second shrinkage pool, the second motor is installed the front end of first flexible arm, and its drive end penetrates in the second shrinkage pool, just the drive end of second motor install with second rack intermeshing's second gear, second motor corotation or reversal are in order to drive the second rack is in the second shrinkage pool removes along the fore-and-aft direction, and drives the spliced pole removes along the fore-and-aft direction, the second rack constitutes the drive end of second driving piece.

The beneficial effects of the above technical scheme are that: the structure is simple, and the transmission is convenient.

Drawings

Fig. 1 is a schematic structural diagram of a telescopic mechanical arm according to an embodiment of the present invention;

fig. 2 is a detailed connection diagram between the first telescopic arm and the support arm according to the embodiment of the present invention.

In the figure: the device comprises a support arm 1, a first slide hole 11, a first concave hole 12, a first telescopic arm 2, a slide rod 21, a second concave hole 22, a second telescopic arm 3, a connecting column 31, a first connecting rod 32, a second connecting rod 33, a first driving part 4, a first motor 41, a first rack 42, a second driving part 5, a second motor 51 and a second rack 52.

Detailed Description

The principles and features of the present invention are described below in conjunction with the following drawings, the examples given are only intended to illustrate the present invention and are not intended to limit the scope of the present invention.

As shown in fig. 1, this embodiment provides a telescopic mechanical arm, which includes a support arm 1, a first telescopic arm 2, a second telescopic arm 3, a first driving member 4 and a second driving member 5, where the support arm 1 is horizontally disposed, the first telescopic arm 2 is slidably mounted on the support arm 1, the second telescopic arm 3 is mounted on the first telescopic arm 2, the first driving member 4 is mounted on the support arm 1, and a driving end of the first driving member is in transmission connection with the second telescopic arm 3 and is used for driving the first telescopic arm 2 to slide on the support arm 1, and the second driving member 5 is mounted on the first telescopic arm 2 and a driving end of the second driving member is in transmission connection with the second telescopic arm 3 and is used for driving the second telescopic arm 3 to slide on the first telescopic arm 2. The telescopic arm is simple in structure, convenient to stretch and controllable in stretching range, the first driving piece drives the first telescopic arm to move relative to the supporting arm, the second driving piece drives the second telescopic arm to move upwards on the first telescopic arm, and therefore the moving track of the whole mechanical arm is wide.

Wherein, among the above-mentioned technical scheme support arm 1 and first flexible arm 2 are the bar, and all set up along fore-and-aft direction level, first driving piece 4 is used for driving first flexible arm 2 is in slide along the fore-and-aft direction on the support arm 1. So make whole arm can only stretch out and draw back in the front and back to for can only realize one-dimensional removal, so can realize controlling the convenience, simple structure.

As shown in fig. 2, in the above technical solution, two first sliding holes 11 are concavely provided at the front end of the supporting arm 1, the rear end of the first telescopic arm 2 is provided with sliding rods 21 which are in one-to-one correspondence with the two first sliding holes 11 and are matched with each other, the rear end of each sliding rod 21 extends into the corresponding first sliding hole 11, and the two sliding rods 21 slide in the corresponding first sliding holes 11 in the front-back direction under the driving of the first driving member 4 of the first telescopic arm 2.

The first driving member 4 in the above technical solution comprises a first motor 41 and a first rack 42, the front end of the supporting arm 1 is also provided with a first concave hole 12 which is concave backwards, the first rack 42 is horizontally arranged at the rear end of the first telescopic arm 2 along the front-back direction, the rear end of the first rack 42 extends into the first concave hole 12, and the first motor 41 is installed at the front end of the support arm 1, and its driving end is perpendicular to the first rack 42, and penetrates into the first concave hole 12, and a first gear meshed with the first rack 42 is installed at the driving end of the first motor 41, the first motor 41 rotates forward or backward to drive the first rack 42 to move in the front-back direction in the first concave hole 12, and drives the first telescopic arm 2 to move along the front-back direction, and the first rack 42 constitutes the driving end of the first driving part 4. Thus, the first telescopic arm and the supporting arm can be flexibly moved.

Wherein, preferentially, first shrinkage pool also can be replaced by a straight bar venturi tube, constitutes first shrinkage pool by the tube hole of this straight bar venturi tube promptly, and this straight bar venturi tube is installed along the fore-and-aft direction the support arm upper end, the rear end of first rack stretches into in the straight bar venturi tube, first motor direct mount be in on the support arm, and the first gear of its drive end directly with first rack toothing, the installation of first motor and first gear of so being convenient for.

In the above technical solution, the second telescopic boom 3 includes a connection column 31, two first connection rods 32 and two second connection rods 33, the connection column 31 is disposed in front of the first telescopic boom 2, the two first connection rods 32 and the two second connection rods 33 are horizontally disposed between the connection column 31 and the first telescopic boom 2, one ends of the two first connection rods 32 are respectively rotatably connected to the connection column 31, one ends of the two second connection rods 33 are respectively rotatably connected to the other ends of the two first connection rods 32, the other ends of the two second connection rods 33 are respectively rotatably connected to one end of the first telescopic boom 2 far away from the slide bar 21, the second driving member 5 is mounted on the first telescopic boom 2, and a driving end thereof is in transmission connection with the connection column 31, the second driving member 5 is used for driving the connection column 31 to move in a front-back direction to be close to or far away from the first telescopic boom 2, so that the second supporting arm has better stability when being stretched. In the above technical scheme second driving piece 5 includes second motor 51 and second rack 52, the front end of first flexible arm 2 is equipped with second shrinkage pool 22 backward, second rack 52 sets up along the fore-and-aft direction level, its front end with spliced pole 31 is connected, the rear end of second rack 52 stretches into in the second shrinkage pool 22, second motor 51 is installed the front end of first flexible arm 2, and its drive end penetrates in the second shrinkage pool 22, just the drive end of second motor 51 install with second rack 52 intermeshing's second gear, second motor 51 corotation or reversal are in order to drive second rack 52 is in remove along the fore-and-aft direction in the second shrinkage pool 22, and drive spliced pole 31 removes along the fore-and-aft direction, second rack 52 constitutes the drive end of second driving piece 5.

Preferably, the second motor is mounted at the front end of the first telescopic arm, so that the driving end of the second motor and the second gear can be directly outside the second concave hole, namely, meshed with the second rack.

Preferably, the length of the first rack is smaller than that of the first sliding rod, so that the first telescopic arm can be prevented from being separated from the supporting arm under the driving of the first motor.

Preferably, the first motor and the second motor are servo speed reduction motors.

Although the present invention has been described with reference to the preferred embodiments, it should be understood that various changes and modifications can be made by those skilled in the art without departing from the spirit and scope of the invention.

Claims

1. A telescopic mechanical arm is characterized by comprising a supporting arm (1), a first telescopic arm (2), a second telescopic arm (3), a first driving piece (4) and a second driving piece (5), the supporting arm (1) is horizontally arranged, the first telescopic arm (2) is slidably arranged on the supporting arm (1), the second telescopic arm (3) is arranged on the first telescopic arm (2), the first driving piece (4) is arranged on the supporting arm (1), the driving end of the telescopic arm is in transmission connection with the second telescopic arm (3) and is used for driving the first telescopic arm (2) to slide on the supporting arm (1), the second driving piece (5) is arranged on the first telescopic arm (2), the driving end of the telescopic arm is in transmission connection with the second telescopic arm (3) and is used for driving the second telescopic arm (3) to slide on the first telescopic arm (2).

2. The telescopic arm as claimed in claim 1, wherein the support arm (1) and the first telescopic arm (2) are both bar-shaped and horizontally arranged in a front-to-rear direction, and the first driving member (4) is configured to drive the first telescopic arm (2) to slide on the support arm (1) in the front-to-rear direction.

3. The telescopic mechanical arm as claimed in claim 2, wherein the front end of the support arm (1) is recessed rearward to form two first sliding holes (11), the rear end of the first telescopic arm (2) is provided with sliding rods (21) which correspond to the two first sliding holes (11) one by one and are matched with each other, the rear end of each sliding rod (21) extends into the corresponding first sliding hole (11), and the two sliding rods (21) slide in the corresponding first sliding holes (11) in the forward and backward directions.

4. The telescopic mechanical arm according to claim 3, wherein the first driving member (4) comprises a first motor (41) and a first rack (42), the front end of the support arm (1) is further recessed with a first recess hole (12) backward, the first rack (42) is horizontally disposed at the rear end of the first telescopic arm (2) along the forward-backward direction, the rear end of the first rack (42) extends into the corresponding first recess hole (12), the first motor (41) is mounted at the front end of the support arm (1) and has a driving end perpendicular to the first rack (42) and penetrates into the first recess hole (12), and the driving end of the first motor (41) is mounted with a first gear engaged with the first rack (42), the first motor (41) rotates forward or backward to drive the first rack (42) to move along the forward-backward direction in the first recess hole (12), and the first telescopic arm (2) is driven to move along the front-back direction, and the first rack (42) forms a driving end of the first driving piece (4).

5. The telescopic mechanical arm as claimed in claim 3 or 4, wherein the second telescopic arm (3) comprises a connecting column (31), two first connecting rods (32) and two second connecting rods (33), the connecting column (31) is arranged in front of the first telescopic arm (2), the two first connecting rods (32) and the two second connecting rods (33) are horizontally arranged between the connecting column (31) and the first telescopic arm (2), one ends of the two first connecting rods (32) are respectively and rotatably connected with the connecting column (31), one ends of the two second connecting rods (33) are respectively and rotatably connected with the other ends of the two first connecting rods (32), the other ends of the two second connecting rods (33) are respectively and rotatably connected with one end of the first telescopic arm (2) far away from the slide bar (21), the second driving member (5) is mounted on the first telescopic arm (2), and the driving end of the telescopic arm is in transmission connection with the connecting column (31), and the second driving piece (5) is used for driving the connecting column (31) to move to be close to or far away from the first telescopic arm (2) along the front-back direction.

6. The telescopic mechanical arm as claimed in claim 5, wherein the second driving member (5) comprises a second motor (51) and a second rack (52), the front end of the first telescopic arm (2) is provided with a second concave hole (22) backwards, the second rack (52) is horizontally arranged along the front-back direction, the front end of the second rack is connected with the connecting column (31), the rear end of the second rack (52) extends into the second concave hole (22), the second motor (51) is installed at the front end of the first telescopic arm (2), the driving end of the second motor penetrates into the second concave hole (22), the driving end of the second motor (51) is provided with a second gear meshed with the second rack (52), the second motor (51) rotates forwards or reversely to drive the second rack (52) to move along the front-back direction in the second concave hole (22), and drives the connecting column (31) to move along the front-back direction, and the second rack (52) forms a driving end of the second driving piece (5).