CN212146505U - Pneumatic telescopic mechanical arm - Google Patents

Abstract

A pneumatically telescopic robotic arm comprising: the valve opening and closing device comprises a first mechanical arm, a second mechanical arm, a third mechanical arm, a valve opening and closing device and a mechanical rotating device, wherein one end of the second mechanical arm is arranged in a middle cavity of the first mechanical arm; one end of the third mechanical arm is arranged in the hollow cavity of the second mechanical arm; the valve switching device is arranged inside the second mechanical arm; the mechanical rotation device is arranged at the end part of the third mechanical arm, and the mechanical rotation device is arranged inside the second mechanical arm. The pneumatic telescopic mechanical arm of the utility model has simple structure and low manufacturing cost, and can be applied to multi-stage mechanical arm expansion; the pneumatic operation is adopted, so that the production cost is low; an air valve switch is arranged on the joint and can control the stretching degree of the mechanical arm; the mechanical arm can be controlled to rotate automatically by the aid of the rotating device, and the use is convenient and fast.

Description

Pneumatic telescopic mechanical arm

Technical Field

The utility model belongs to the technical field of robotic arm, specifically, relate to a pneumatic flexible arm.

Background

Articulated arm robots are one of the most common forms of industrial robots in modern industrial fields, and are widely used for mechanical automation operations in many industrial fields. At present, the mechanical arm of most joint arm robots is flexible and is all accomplished by the lead screw, and to the flexible between the multistage mechanical arm, the lead screw device can occupy a large amount of spaces, and production efficiency is low.

SUMMERY OF THE UTILITY MODEL

Utility model purpose: the utility model aims at providing a pneumatic telescopic mechanical arm which has simple structure and low manufacturing cost and can be applied to multi-stage mechanical arm extension; the pneumatic operation is adopted, so that the production cost is low; an air valve switch is arranged on the joint and can control the stretching degree of the mechanical arm; the mechanical arm can be controlled to rotate automatically by the aid of the rotating device, and the use is convenient and fast.

The technical scheme is as follows: the utility model provides a pneumatic flexible arm, include: the valve opening and closing device comprises a first mechanical arm, a second mechanical arm, a third mechanical arm, a valve opening and closing device and a mechanical rotating device, wherein one end of the second mechanical arm is arranged in a middle cavity of the first mechanical arm; one end of the third mechanical arm is arranged in the hollow cavity of the second mechanical arm; the valve switching device is arranged inside the second mechanical arm; the mechanical rotation device is arranged at the end part of the third mechanical arm, and the mechanical rotation device is arranged inside the second mechanical arm, and the mechanical rotation device comprises: the first motor is arranged inside the third mechanical arm, a rotating shaft of the first motor penetrates through the third mechanical arm, and the first gear is arranged on the rotating shaft of the first motor; the axes of the second gear, the third gear and the fourth gear are all provided with transmission shafts, one end of each transmission shaft is arranged at the end part of the third mechanical arm, and the other end of each transmission shaft is arranged on the fixed disc; the second gear, the third gear and the fourth gear are all connected with the first gear in a matched mode, and the second gear, the third gear and the fourth gear are evenly arranged on the periphery of the first gear. The pneumatic telescopic mechanical arm of the utility model has simple structure and low manufacturing cost, and can be applied to multi-stage mechanical arm expansion; the pneumatic operation is adopted, so that the production cost is low; an air valve switch is arranged on the joint and can control the stretching degree of the mechanical arm; the mechanical arm can be controlled to rotate automatically by the aid of the rotating device, and the use is convenient and fast.

Further, in the above pneumatic telescopic robot arm, the first robot arm includes: the first end cover is fixedly connected with the first guide rail section; a first vent hole is formed in the side wall of the first end cover, and an air pipe joint is arranged at an outlet of the first vent hole outside the first end cover; one end of the first guide rail section, which is far away from the end connected with the first end cover, is provided with a first bulge towards the inner periphery, and the bottom of the first bulge is provided with a first sealing ring. The structure design is simple, and the manufacture and the assembly are convenient.

Further, in the above pneumatic telescopic robot arm, the second robot arm includes: the second end cover is fixedly connected with the second guide rail section, and the valve switch device is arranged on the second end cover; a second bulge is arranged on the inner periphery of one end, far away from the end connected with the second end cover, of the second guide rail section, a first plane bearing is arranged on the inner side of the second bulge, and a second sealing ring is arranged on the inner side of the first plane bearing; a third bulge is arranged on the periphery of the second end cover, a first sealing groove is arranged on the third bulge, and the first sealing groove is connected with the first sealing ring in a matched manner; and a second vent hole is also formed in the second end cover. The air leakage phenomenon can not be generated in the using process, and the production efficiency is not influenced.

Further, the above-mentioned pneumatic telescopic arm, the valve opening and closing device includes: the embedded block is embedded on the second end cover, the first spring, the air valve and the first traction rope are arranged between the embedded block and the second end cover, the air valve is connected with the first spring, and the air valve is connected with the second vent hole in a matching manner; one end of the first traction rope is connected with one end, close to the first spring, of the air valve, and the other end of the first traction rope penetrates through the first spring and is connected with a rotor of the second motor; still be provided with the guide way between mosaic block and the second end cover, the one end and the first spring setting of pneumatic valve are in the guide way. The second motor rotates to drive the first traction rope to drive the air valve, the second vent hole is opened, air enters the cavity of the second mechanical arm and is discharged, and the third mechanical arm stretches and retracts.

Furthermore, according to the pneumatic telescopic mechanical arm, a guide rod is further arranged at one end, away from the first spring, of the air valve. The air valve can ensure the correctness of the position when being opened and closed, and simultaneously ensure the tightness in the using process.

Further, according to the pneumatic telescopic mechanical arm, the second end cover is provided with steps towards the inner periphery, a plurality of second springs are evenly arranged on the steps, and the second springs are connected with the fixed disc in a matched mode. Defining a retracted position of the third mechanical arm; the gear is prevented from interfering with the second mechanical arm.

Further, above-mentioned pneumatic flexible arm, second guide rail section internal periphery are provided with the internal tooth, just second gear, third gear and fourth gear all are connected with the internal tooth cooperation. The internal tooth provides the support for the third arm is rotatory, simultaneously, plays directional effect to the flexible of arm.

Further, the above-mentioned pneumatic telescopic robot arm, the third robot arm includes: the third end cover is fixedly connected with the third guide rail section; a fourth bulge is arranged on the periphery of the third end cover, a second sealing groove is arranged at the upper end part of the fourth bulge, and the second sealing groove is connected with a second sealing ring in a matched manner; the protruding bottom of fourth is provided with the second bearing, just the second bearing periphery is provided with the fifth gear, the fifth gear is connected with the internal tooth cooperation. The structure design is simple, and the manufacture and the use are easy.

Above-mentioned technical scheme can find out, the utility model discloses following beneficial effect has: the pneumatic telescopic mechanical arm of the utility model has simple structure and low manufacturing cost, and can be applied to multi-stage mechanical arm expansion; the pneumatic operation is adopted, so that the production cost is low; an air valve switch is arranged on the joint and can control the stretching degree of the mechanical arm; the mechanical arm can be controlled to rotate automatically by the aid of the rotating device, and the mechanical arm is convenient to use and has high popularization value.

Drawings

Fig. 1 is a schematic structural view of the pneumatic telescopic mechanical arm of the present invention;

fig. 2 is a schematic structural view of the second mechanical arm of the present invention extending out;

fig. 3 is a schematic view of an extending structure of the third mechanical arm of the present invention;

FIG. 4 is a schematic view of the structure at A-A in FIG. 3;

FIG. 5 is an enlarged view of the structure at B in FIG. 3;

fig. 6 is an enlarged schematic view of the structure at C in fig. 3.

In the figure: 1 a first mechanical arm, 11 a first end cover, 111 a first vent hole, 112 a gas pipe joint, 12 a first guide rail section, 121 a first bulge, 122 a first sealing ring, 2 a second mechanical arm, 21 a second end cover, 211 a third bulge, 212 a first sealing groove, 213 a second vent hole, 214 steps, 215 a second spring, 221 a second bulge, 222 a first plane bearing, 223 a second sealing ring, 224 internal teeth, 3 a third mechanical arm, 31 a third end cover, 311 a fourth bulge, 312 a second sealing groove, 313 a second bearing, 314 a fifth gear, 32 a third guide rail section, 4 a valve switch device, 41 a mosaic block, 42 a second motor, 43 a first spring, 44 a gas valve, 441 guide rods, 45 a first traction rope, 5 a mechanical rotation device, 51 a first motor, 52 a first gear, 53 a second gear, 54 a third gear, 55 a fourth transmission shaft, 56, 57 a fixed disc.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise specified, "a plurality" means two or more unless explicitly defined otherwise.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Examples

A pneumatically telescopic robotic arm as shown in fig. 1-6, comprising: the mechanical arm comprises a first mechanical arm 1, a second mechanical arm 2, a third mechanical arm 3, a valve switching device 4 and a mechanical rotating device 5, wherein one end of the second mechanical arm 2 is arranged in a middle cavity of the first mechanical arm 1; one end of the third mechanical arm 3 is arranged in the hollow cavity of the second mechanical arm 2; the valve opening and closing device 4 is arranged inside the second mechanical arm 2; the mechanical rotation device 5 is provided at an end of the third robot arm 3, and the mechanical rotation device 5 is inside the second robot arm 2.

The mechanical rotation device 5 includes: the robot comprises a first motor 51, a first gear 52, a second gear 53, a third gear 54, a fourth gear 55 and a fixed disc 56, wherein the first motor 51 is arranged inside a third mechanical arm 3, the rotating shaft of the first motor 51 passes through the third mechanical arm 3, and the first gear 52 is arranged on the rotating shaft of the first motor 51; the axes of the second gear 53, the third gear 54 and the fourth gear 55 are all provided with a transmission shaft 57, one end of the transmission shaft 57 is arranged at the end part of the third mechanical arm 3, and the other end is arranged on the fixed disc 56; the second gear 53, the third gear 54 and the fourth gear 55 are all in fit connection with the first gear 52, and the second gear 53, the third gear 54 and the fourth gear 55 are uniformly arranged on the periphery of the first gear 52.

The first robot arm 1 includes: the end cover comprises a first end cover 11 and a first guide rail section 12, wherein the first end cover 11 is fixedly connected with the first guide rail section 12; a first vent hole 111 is formed in the side wall of the first end cover 11, and an air pipe joint 112 is arranged at an outlet of the first vent hole 111 outside the first end cover 11; a first protrusion 121 is arranged on the inner periphery of one end, far away from the end connected with the first end cover 11, of the first guide rail section 12, and a first sealing ring 122 is arranged at the bottom of the first protrusion 121.

The second robot arm 2 includes: the valve opening and closing device comprises a second end cover 21 and a second guide rail section 22, wherein the second end cover 21 is fixedly connected with the second guide rail section 22, and the valve opening and closing device 4 is arranged on the second end cover 21; a second protrusion 221 is arranged on the inner periphery of one end, far away from the end connected with the second end cover 21, of the second guide rail section 22, a first planar bearing 222 is arranged on the inner side of the second protrusion 221, and a second sealing ring 223 is arranged on the inner side of the first planar bearing 222; a third bulge 211 is arranged on the periphery of the second end cover 21, a first seal groove 212 is arranged on the third bulge 211, and the first seal groove 212 is connected with the first seal ring 122 in a matching manner; the second end cap 21 is further provided with a second vent hole 213. The second end cover 21 is provided with a step 214 on the inner circumference, the step 214 is uniformly provided with a plurality of second springs 215, and the second springs 215 are connected with the fixing disc 56 in a matching manner. The inner periphery of the second guide rail section 22 is provided with internal teeth 224, and the second gear 53, the third gear 54 and the fourth gear 55 are all connected with the internal teeth 224 in a matching way.

The valve opening and closing device 4 includes: the gas valve assembly comprises an embedded block 41, a second motor 42, a first spring 43, a gas valve 44 and a first traction rope 45, wherein the embedded block 41 is embedded on the second end cover 21, the first spring 43, the gas valve 44 and the first traction rope 45 are arranged between the embedded block 41 and the second end cover 21, the gas valve 44 is connected with the first spring 43, and the gas valve 44 is connected with a second vent hole 213 in a matching manner; one end of the first traction rope 45 is connected with one end of the air valve 44 close to the first spring 43, and the other end of the first traction rope passes through the first spring 43 and is connected with a rotor of the second motor 42; a guide groove 46 is further formed between the insert 41 and the second end cap 21, and one end of the air valve 44 and the first spring 43 are disposed in the guide groove 46. The end of the air valve 44 away from the first spring 43 is also provided with a guide rod 441.

The third robot arm 3 includes: a third end cap 31 and a third guide rail section 32, wherein the third end cap 31 is fixedly connected with the third guide rail section 32; a fourth bulge 311 is arranged on the periphery of the third end cover 31, a second sealing groove 312 is arranged at the upper end of the fourth bulge 311, and the second sealing groove 312 is connected with a second sealing ring 223 in a matching manner; the bottom of the fourth protrusion 311 is provided with a second bearing 313, and the periphery of the second bearing 313 is provided with a fifth gear 314, and the fifth gear 314 is connected with the internal teeth 224 in a matching manner.

In operation, based on the above structure, as shown in fig. 1-2, the air pipe connector 112 connects with the high pressure air pipe; when the air pipe joint extends out, the air pipe joint enters air, the second mechanical arm 2 extends out, and the first sealing ring 122 is connected with the first sealing groove 212 in a matching mode; as shown in fig. 3, the second motor 42 is started to drive the first traction rope 45 to pull the gas valve 44, so that the gas valve 44 is separated from the second vent hole 213, gas enters the cavity of the second mechanical arm 2, and the third mechanical arm 3 extends out; when the robot arm needs to rotate, the first motor 51 is started to drive the first gear 52 to rotate, and then the third robot arm 3 is rotated through the cooperation of the second gear 53, the third gear 54, the fourth gear 55 and the internal teeth 224. When the mechanical arm retracts, the air pipe joint extracts air, and air in the cavity of the first mechanical arm 1 and the cavity of the second mechanical arm 2 is pumped out, so that the retraction can be completed.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications can be made without departing from the principles of the present invention, and these modifications should also be regarded as the protection scope of the present invention.

Claims (8)

1. A pneumatically telescopic mechanical arm, comprising: the mechanical arm comprises a first mechanical arm (1), a second mechanical arm (2), a third mechanical arm (3), a valve switching device (4) and a mechanical rotating device (5), wherein one end of the second mechanical arm (2) is arranged in a middle cavity of the first mechanical arm (1); one end of the third mechanical arm (3) is arranged in a hollow cavity of the second mechanical arm (2); the valve opening and closing device (4) is arranged inside the second mechanical arm (2); the mechanical rotation device (5) is arranged at the end part of the third mechanical arm (3), the mechanical rotation device (5) is arranged inside the second mechanical arm (2), and the mechanical rotation device (5) comprises: the mechanical arm comprises a first motor (51), a first gear (52), a second gear (53), a third gear (54), a fourth gear (55) and a fixed disc (56), wherein the first motor (51) is arranged inside the third mechanical arm (3), the rotating shaft of the first motor (51) penetrates through the third mechanical arm (3), and the first gear (52) is arranged on the rotating shaft of the first motor (51); the axes of the second gear (53), the third gear (54) and the fourth gear (55) are all provided with a transmission shaft (57), one end of the transmission shaft (57) is arranged at the end part of the third mechanical arm (3), and the other end is arranged on the fixed disc (56); the second gear (53), the third gear (54) and the fourth gear (55) are all connected with the first gear (52) in a matched mode, and the second gear (53), the third gear (54) and the fourth gear (55) are evenly arranged on the periphery of the first gear (52).

2. The pneumatic telescopic mechanical arm according to claim 1, wherein the first mechanical arm (1) comprises: the end cover comprises a first end cover (11) and a first guide rail section (12), wherein the first end cover (11) is fixedly connected with the first guide rail section (12); a first vent hole (111) is formed in the side wall of the first end cover (11), and a gas pipe joint (112) is arranged at an outlet of the first vent hole (111) on the outer side of the first end cover (11); one end, far away from the end connected with the first end cover (11), of the first guide rail section (12) is provided with a first bulge (121) towards the inner periphery, and the bottom of the first bulge (121) is provided with a first sealing ring (122).

3. A pneumatic telescopic robot arm according to claim 1, characterized in that said second robot arm (2) comprises: the valve opening and closing device comprises a second end cover (21) and a second guide rail section (22), wherein the second end cover (21) is fixedly connected with the second guide rail section (22), and the valve opening and closing device (4) is arranged on the second end cover (21); a second protrusion (221) is arranged on the inner periphery of one end, far away from the end connected with the second end cover (21), of the second guide rail section (22), a first planar bearing (222) is arranged on the inner side of the second protrusion (221), and a second sealing ring (223) is arranged on the inner side of the first planar bearing (222); a third bulge (211) is arranged on the periphery of the second end cover (21), a first sealing groove (212) is formed in the third bulge (211), and the first sealing groove (212) is connected with a first sealing ring (122) in a matched mode; the second end cover (21) is also provided with a second vent hole (213).

4. A pneumatic telescopic arm according to claim 3, characterized in that said valve opening and closing device (4) comprises: the air valve device comprises an mosaic block (41), a second motor (42), a first spring (43), an air valve (44) and a first traction rope (45), wherein the mosaic block (41) is embedded on a second end cover (21), the first spring (43), the air valve (44) and the first traction rope (45) are arranged between the mosaic block (41) and the second end cover (21), the air valve (44) is connected with the first spring (43), and the air valve (44) is connected with a second vent hole (213) in a matched mode; one end of the first traction rope (45) is connected with one end, close to the first spring (43), of the air valve (44), and the other end of the first traction rope penetrates through the first spring (43) to be connected with a rotor of the second motor (42); a guide groove (46) is further formed between the embedding block (41) and the second end cover (21), and one end of the air valve (44) and the first spring (43) are arranged in the guide groove (46).

5. A pneumatic telescopic arm as claimed in claim 4, wherein the end of the air valve (44) remote from the first spring (43) is further provided with a guide rod (441).

6. The pneumatic telescopic mechanical arm as claimed in claim 3, wherein the second end cover (21) is provided with a step (214) towards the inner periphery, a plurality of second springs (215) are uniformly arranged on the step (214), and the second springs (215) are in fit connection with the fixed disc (56).

7. The pneumatic telescopic mechanical arm as claimed in claim 3, wherein the inner periphery of the second guide rail section (22) is provided with internal teeth (224), and the second gear (53), the third gear (54) and the fourth gear (55) are all in fit connection with the internal teeth (224).

8. A pneumatic telescopic robot arm according to claim 1, characterized in that said third robot arm (3) comprises: the third end cover (31) and the third guide rail section (32) are fixedly connected, and the third end cover (31) is fixedly connected with the third guide rail section (32); a fourth bulge (311) is arranged on the periphery of the third end cover (31), a second sealing groove (312) is arranged at the upper end part of the fourth bulge (311), and the second sealing groove (312) is connected with a second sealing ring (223) in a matched mode; the bottom of the fourth protrusion (311) is provided with a second bearing (313), a fifth gear (314) is arranged on the periphery of the second bearing (313), and the fifth gear (314) is connected with the inner teeth (224) in a matched mode.

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