CN212193160U

CN212193160U - Multi-shaft dead-angle-free mechanical arm

Info

Publication number: CN212193160U
Application number: CN202020653674.2U
Authority: CN
Inventors: 胡昌明
Original assignee: Shenzhen Lijiading Technology Co Ltd
Current assignee: Shenzhen Lijiading Technology Co Ltd
Priority date: 2020-04-26
Filing date: 2020-04-26
Publication date: 2020-12-22
Anticipated expiration: 2030-04-26

Abstract

The utility model discloses a multiaxis does not have dead angle arm, including the seat ring, the mounting groove has been seted up to seat ring top outer wall, the outer wall is pegged graft to mounting groove bottom has the pivot, bevel gear one has been cup jointed to the pivot outside, the outer wall welding of pivot top has connecting seat one, the outer wall of one side of connecting seat is pegged graft and is had connecting axle one, connecting axle one outside has been cup jointed connecting rod one, the outer wall of one side of connecting rod is pegged graft and has connecting axle two, the connecting axle two has been cup jointed to the outside of connecting axle two, the outer wall welding of two one ends of connecting rod has the pneumatic cylinder, the outer wall welding of pneumatic cylinder one. The utility model discloses, it drives the pivot rotation to rotate bevel gear, realizes the cover to each angle of horizontal direction, through the interconnect between connecting rod one, connecting rod two and the operating head, and the independent motion of junction, realizes the operation to co-altitude to realize the no dead angle operation of arm.

Description

Multi-shaft dead-angle-free mechanical arm

Technical Field

The utility model relates to an arm technical field specifically is a multiaxis does not have dead angle arm.

Background

The mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling, and has been widely applied to the fields of industrial assembly, safety, explosion prevention and the like due to the unique operation flexibility.

Therefore, the multi-shaft no-dead-angle mechanical arm is provided.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a no dead angle arm of multiaxis rotates bevel gear and drives the pivot and rotate, realizes the cover to each angle of horizontal direction, through the interconnect between connecting rod one, connecting rod two and the operating head, and the independent motion of junction, realizes the operation to not co-altitude to realize the no dead angle operation of arm, with the problem of proposing among the solution above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a multiaxis does not have dead angle arm, includes the seat ring, the mounting groove has been seted up to seat ring top outer wall, mounting groove bottom outer wall is pegged graft and is had the pivot, bevel gear one has been cup jointed to the pivot outside, the welding of pivot top outer wall has connecting seat one, the outer wall of one side of connecting seat is pegged graft and is had connecting axle one, and connecting axle one pegs graft in a connecting seat opposite side outer wall, connecting axle one outside has cup jointed connecting rod one, the outer wall of one side of connecting rod is pegged graft and is had connecting axle two, the connecting axle is outer to cup joint connecting rod two, the welding of two one end outer walls of connecting rod has the pneumatic cylinder, the welding of pneumatic cylinder one end outer wall has connecting.

Bevel gear drives the pivot synchronous rotation, and the pivot rotates and realizes the cover to each angle of horizontal direction, and three servo motor realizes the independent motion of each mechanical axis through connecting axle one, connecting axle two and connecting axle three respectively, rotates for connecting rod one, connecting rod two and operating head and provides power, through the interconnect between connecting rod one, connecting rod two and the operating head, and the independent motion of junction, realizes the operation to not co-altitude to realize the no dead angle operation of arm.

Preferably, the outer wall of the rotating shaft is welded with a support ring, a plane bearing is sleeved outside the rotating shaft, and the plane bearing is located below the support ring.

When the rotating shaft rotates, the plane bearing supports the rotating shaft through the support ring, and meanwhile, the friction force of the rotating shaft during rotation is reduced.

Preferably, the outer wall of one side of the seat ring is connected with a driving motor through a bolt, a second bevel gear is sleeved outside an output shaft of the driving motor, and the second bevel gear is meshed with the first bevel gear.

And starting a power switch of the driving motor, driving a second bevel gear to rotate by the driving motor through an output shaft, driving the first bevel gear in meshed connection to rotate by the second bevel gear, and driving the rotating shaft to synchronously rotate by the bevel gear.

Preferably, the pneumatic cylinder includes the cylinder body, and cylinder body one side outer wall welds in two one end outer walls of connecting rod, the activity of cylinder body one side outer wall is pegged graft and is had the telescopic link, telescopic link one end outer wall has the piston through bolted connection, and piston outer wall and cylinder body inner wall form sliding connection, cylinder body outer wall both sides are all pegged graft and are had the glib talker.

Two oil nozzles of the hydraulic cylinder are connected with the hydraulic machine through oil pipes, the movement of the telescopic rod is realized by changing the oil quantity on two sides of the piston inside the cylinder body, so that the adjustment of the distance between the second connecting shaft and the third connecting shaft is changed, and the operation range of the mechanical arm is enlarged by matching with other mechanical shafts.

Preferably, the operating head comprises a connecting sheet, the connecting sheet is sleeved on the three outer portions of the connecting shaft, a sleeve is welded on the outer wall of one end of the connecting sheet, and a threaded hole is formed in the outer wall of one end of the sleeve.

The connecting sheet and the connecting shaft rotate synchronously, one end of the dong sleeve moves, and the threaded hole is convenient for installing the processing equipment in a threaded connection mode.

Preferably, the outer wall of the bottom of the seat ring is welded with the bottom plate, one side of the top of the outer wall of the seat ring is in threaded connection with the top cover, and the top cover is sleeved outside the rotating shaft.

Pass through the bolt fastening with the bottom plate on the workstation, the top cap shelters from dustproof to the mounting groove is inside, prevents that bevel gear one from causing the rotation to hinder because of the dust.

Preferably, the outer walls of one side of the first connecting seat, the first connecting rod and the second connecting seat are connected with servo motors through bolts, and the output ends of the three servo motors are in transmission connection with the first connecting shaft, the second connecting shaft and the third connecting shaft through couplers respectively.

The three servo motors respectively realize independent motion of each mechanical shaft through the first connecting shaft, the second connecting shaft and the third connecting shaft, and power is provided for rotation of the first connecting rod, the second connecting rod and the operating head.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the utility model discloses, the rotation bevel gear drives the pivot and rotates, realizes the cover to each angle of horizontal direction, through the interconnect between connecting rod one, connecting rod two and the operating head, and the independent motion of junction, realizes the operation to different heights to realize the no dead angle operation of arm;

2. the utility model discloses, driving motor drives bevel gear two and rotates, and bevel gear two is connected with bevel gear one meshing, realizes the rotation of arm, and three servo motor realizes the independent motion of each mechanical axis through connecting axle one, connecting axle two and connecting axle three respectively, provides power for the no dead angle motion of arm;

3. the utility model discloses, pass through oil pipe with two glib talkers of pneumatic cylinder and be connected with the hydraulic press, realize the motion of telescopic link through the change that changes the inside piston both sides oil mass of cylinder body to change the regulation of distance between connecting axle two and the connecting axle three, through the operation range with the cooperation increase arm of other mechanical axes.

Drawings

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

fig. 2 is a top view of the present invention;

FIG. 3 is a schematic structural view of the hydraulic cylinder of the present invention;

fig. 4 is a schematic structural diagram of the operating head of the present invention.

In the figure: 1. a seat ring; 2. mounting grooves; 3. a rotating shaft; 4. a support ring; 5. a flat bearing; 6. a first connecting seat; 7. a first connecting shaft; 8. a first bevel gear; 9. a second bevel gear; 10. a drive motor; 11. a first connecting rod; 12. a second connecting shaft; 13. a second connecting rod; 14. a hydraulic cylinder; 15. a second connecting seat; 16. a third connecting shaft; 17. an operating head; 18. a cylinder body; 19. a piston; 20. a telescopic rod; 21. a threaded hole; 22. a sleeve; 23. connecting sheets; 24. a base plate; 25. a top cover; 26. a servo motor.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-4, the present invention provides a technical solution: the utility model provides a multiaxis does not have dead angle arm, as shown in fig. 1-2, including seat ring 1, mounting groove 2 has been seted up to 1 top outer wall of seat ring, the outer wall is pegged graft to 2 bottom mounting grooves of mounting groove has pivot 3, 3 outside bevel gear 8 that cup joint of pivot, 3 top outer wall welding of pivot has connecting seat one 6, 6 one side outer walls of connecting seat one are pegged graft and are had connecting axle one 7, and connecting axle one 7 is pegged graft in 6 opposite side outer walls of connecting seat one, connecting axle one 7 outside has cup jointed connecting rod one 11, connecting axle two 12 has been pegged graft to one side outer wall of connecting rod one 11, connecting axle two 12 outside has cup jointed connecting rod two 13, connecting rod two 13 one end outer wall welding has pneumatic cylinder 14, the welding of the 14 one end outer wall of pneumatic cylinder.

Through the technical scheme, bevel gear 8 drives pivot 3 synchronous rotation, pivot 3 rotates and realizes the cover to each angle of horizontal direction, three servo motor 26 realizes the independent motion of each mechanical axis through connecting axle one 7, connecting axle two 12 and connecting axle three 16 respectively, for connecting rod one 11, connecting rod two 13 and operating head 17 rotate and provide power, through connecting rod one 11, interconnect between connecting rod two 13 and the operating head 17, and the independent motion of junction, realize the operation to not co-altitude, thereby realize the no dead angle operation of arm.

Specifically, as shown in fig. 1, a support ring 4 is welded on the outer wall of the rotating shaft 3, a flat bearing 5 is sleeved outside the rotating shaft 3, and the flat bearing 5 is located below the support ring 4.

Through above-mentioned technical scheme, plane bearing 5 supports pivot 3 through support ring 4 when pivot 3 rotates, has reduced the frictional force when pivot 3 rotates simultaneously.

Specifically, as shown in fig. 1, the outer wall of one side of the seat ring 1 is connected with a driving motor 10 through a bolt, a second bevel gear 9 is sleeved outside an output shaft of the driving motor 10, and the second bevel gear 9 and the first bevel gear 8 form a meshing connection.

Through the technical scheme, the power switch of the driving motor 10 is started, the driving motor 10 drives the bevel gear II 9 to rotate through the output shaft, the bevel gear II 9 drives the bevel gear I8 in meshed connection to rotate, and the bevel gear I8 drives the rotating shaft 3 to synchronously rotate.

Specifically, as shown in fig. 3, the hydraulic cylinder 14 includes a cylinder body 18, an outer wall of one side of the cylinder body 18 is welded to an outer wall of one end of the second connecting rod 13, an expansion rod 20 is movably inserted into an outer wall of one side of the cylinder body 18, an outer wall of one end of the expansion rod 20 is connected with a piston 19 through a bolt, the outer wall of the piston 19 is connected with an inner wall of the cylinder body 18 in a sliding manner, and oil nozzles are inserted into two sides of.

Through the technical scheme, the two oil nozzles of the hydraulic cylinder 14 are connected with the hydraulic machine through oil pipes, the telescopic rod 20 moves by changing the oil quantity on two sides of the piston 19 in the cylinder body 18, so that the distance between the second connecting shaft 12 and the third connecting shaft 16 is changed, and the operation range of the mechanical arm is enlarged by matching with other mechanical shafts.

Specifically, as shown in fig. 4, the operating head 17 includes a connecting sheet 23, the connecting sheet 23 is sleeved outside the third connecting shaft 16, a sleeve 22 is welded to an outer wall of one end of the connecting sheet 23, and a threaded hole 21 is formed in an outer wall of one end of the sleeve 22.

Through above-mentioned technical scheme, connection piece 23 rotates with connecting axle three 16 is synchronous, and it moves to say that eastern sleeve 22 one end, and threaded hole 21 is convenient for install the processing equipment through threaded connection's mode.

Specifically, as shown in fig. 1, a bottom plate 24 is welded to the outer wall of the bottom of the seat ring 1, a top cover 25 is connected to one side of the top of the outer wall of the seat ring 1 through a thread, and the top cover 25 is sleeved outside the rotating shaft 3.

Through above-mentioned technical scheme, pass through the bolt fastening with bottom plate 24 on the workstation, top cap 25 shelters from dustproof to mounting groove 2 is inside, prevents that bevel gear 8 from causing the rotation to hinder because of the dust.

Specifically, as shown in fig. 2, the outer walls of one side of the first connecting seat 6, the first connecting rod 11 and the second connecting seat 15 are all connected with the servo motors 26 through bolts, and the output ends of the three servo motors 26 are in transmission connection with the first connecting shaft 7, the second connecting shaft 12 and the third connecting shaft 16 through couplers respectively.

Through the technical scheme, the three servo motors 26 respectively realize independent movement of each mechanical shaft through the first connecting shaft 7, the second connecting shaft 12 and the third connecting shaft 16, and power is provided for rotation of the first connecting rod 11, the second connecting rod 13 and the operating head 17.

The working principle is as follows: when the device is used, the bottom plate 24 is fixed on a workbench through bolts, the top cover 25 shields and prevents dust in the mounting groove 2, the bevel gear I8 is prevented from rotating and blocking due to dust, a power switch of the driving motor 10 is started, the driving motor 10 drives the bevel gear II 9 to rotate through an output shaft, the bevel gear II 9 drives the bevel gear I8 in meshed connection to rotate, the bevel gear I8 drives the rotating shaft 3 to synchronously rotate, the plane bearing 5 supports the rotating shaft 3 through the support ring 4 during rotation, meanwhile, the friction force during rotation of the rotating shaft 3 is reduced, the rotating shaft 3 rotates to cover each angle in the horizontal direction, the three servo motors 26 respectively realize independent motion of each mechanical shaft through the connecting shaft I7, the connecting shaft II 12 and the connecting shaft III 16 to provide power for rotation of the connecting rod I11, the connecting rod II 13 and the operating head 17, and through mutual connection among the connecting rod I11, the connecting rod, and the joint moves independently to realize the operation of different heights, so that the dead-angle-free operation of the mechanical arm is realized, two oil nozzles of the hydraulic cylinder 14 are connected with the hydraulic machine through an oil pipe, the movement of the telescopic rod 20 is realized by changing the change of the oil quantity on two sides of the piston 19 in the cylinder body 18, the adjustment of the distance between the second connecting shaft 12 and the third connecting shaft 16 is changed, and the operation range of the mechanical arm is enlarged by matching with other mechanical shafts.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a no dead angle arm of multiaxis which characterized in that: the connecting device comprises a seat ring (1), wherein a mounting groove (2) is formed in the outer wall of the top of the seat ring (1), a rotating shaft (3) is inserted into the outer wall of the bottom of the mounting groove (2), a bevel gear I (8) is sleeved outside the rotating shaft (3), a connecting seat I (6) is welded on the outer wall of the top end of the rotating shaft (3), a connecting shaft I (7) is inserted into the outer wall of one side of the connecting seat I (6), the connecting shaft I (7) is inserted into the outer wall of the other side of the connecting seat I (6), a connecting rod I (11) is sleeved outside the connecting shaft I (7), a connecting shaft II (12) is inserted into the outer wall of one side of the connecting rod I (11), a connecting rod II (13) is sleeved outside the connecting shaft II (12), a hydraulic cylinder (14) is welded on the outer wall of one end of the connecting rod II (13, and an operating head (17) is sleeved outside the third connecting shaft (16).

2. The multi-axis no-dead-angle robotic arm as claimed in claim 1, wherein: the outer wall of the rotating shaft (3) is welded with a support ring (4), a plane bearing (5) is sleeved outside the rotating shaft (3), and the plane bearing (5) is located below the support ring (4).

3. The multi-axis no-dead-angle robotic arm as claimed in claim 1, wherein: the outer wall of one side of the seat ring (1) is connected with a driving motor (10) through a bolt, a second bevel gear (9) is sleeved outside an output shaft of the driving motor (10), and the second bevel gear (9) is meshed with the first bevel gear (8) to be connected.

4. The multi-axis no-dead-angle robotic arm as claimed in claim 1, wherein: the hydraulic cylinder (14) comprises a cylinder body (18), the outer wall of one side of the cylinder body (18) is welded to the outer wall of one end of the second connecting rod (13), an expansion rod (20) is movably inserted into the outer wall of one side of the cylinder body (18), the outer wall of one end of the expansion rod (20) is connected with a piston (19) through a bolt, the outer wall of the piston (19) is connected with the inner wall of the cylinder body (18) in a sliding mode, and oil nozzles are inserted into two sides of the outer wall of the cylinder body.

5. The multi-axis no-dead-angle robotic arm as claimed in claim 1, wherein: operating head (17) include connection piece (23), and connection piece (23) cup joint in connecting axle three (16) outsidely, connection piece (23) one end outer wall welding has sleeve (22), threaded hole (21) have been seted up to sleeve (22) one end outer wall.

6. The multi-axis no-dead-angle robotic arm as claimed in claim 1, wherein: the outer wall welding of seat ring (1) bottom has bottom plate (24), threaded connection has top cap (25) on one side of the top of seat ring (1) outer wall, and top cap (25) cup joints in pivot (3) outside.

7. The multi-axis no-dead-angle robotic arm as claimed in claim 1, wherein: the connecting device is characterized in that the outer walls of one side of the first connecting seat (6), one side of the first connecting rod (11) and one side of the second connecting seat (15) are connected with servo motors (26) through bolts, and the output ends of the three servo motors (26) are in transmission connection with the first connecting shaft (7), the second connecting shaft (12) and the third connecting shaft (16) through couplers respectively.