CN212706739U

CN212706739U - Automatic change mechanical arm device

Info

Publication number: CN212706739U
Application number: CN202021175937.XU
Authority: CN
Inventors: 何润欣
Original assignee: Heilongjiang University
Current assignee: Heilongjiang University
Priority date: 2020-06-22
Filing date: 2020-06-22
Publication date: 2021-03-16
Anticipated expiration: 2030-06-22

Abstract

The utility model discloses an automatic change arm device relates to arm technical field, including the loading board, the upper end of loading board is equipped with the base, the base has first armed lever through axis of rotation connection, the upper end of first armed lever is rotated through first rotation motor and is connected with the second armed lever, the one end that first armed lever was kept away from to the second armed lever is rotated through the second and is connected with the third armed lever, the end that second armed lever was kept away from to the third armed lever has the end to be connected with and grasps the mechanism, the lower extreme of loading board is equipped with the I-shaped track that two symmetries set up. The utility model discloses a first rotation motor, the second of control box automatic control rotates motor, centre gripping motor and driving motor's rotation for the arm can be on the I-shaped track round trip movement, and through the mating reaction between first armed lever, second armed lever, third armed lever and the tongs, realizes automatic work of snatching, easy operation snatchs the convenience, improves work efficiency.

Description

Automatic change mechanical arm device

Technical Field

The utility model relates to an arm technical field specifically is an automatic change mechanical arm device.

Background

The mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Because of its unique operational flexibility, it has been widely used in the fields of industrial assembly, safety and explosion protection.

Most of existing mechanical arms are small in moving range and limited in working area, and when the existing mechanical arms clamp objects, the operation is troublesome, the grabbing is inconvenient, the working efficiency is affected, and therefore an automatic mechanical arm device is provided.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an automatic change mechanical arm device to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme:

the utility model provides an automatic change mechanical arm device, includes the loading board, the upper end of loading board is equipped with the base, the base has first armed lever through rotation axis connection, the upper end of first armed lever is rotated through first rotation motor and is connected with the second armed lever, the one end that first armed lever was kept away from to the second armed lever is rotated through the second and is connected with the third armed lever, the third armed lever has the end of keeping away from the second armed lever to be connected with and holds and hold the mechanism, the lower extreme of loading board is equipped with the I-shaped track that two symmetries set up, the orbital lower extreme of I-shaped passes through bolt fixed connection subaerial, the lower extreme of loading board is equipped with the actuating mechanism that the drive loading board removed, the up end of loading board still is equipped with the.

As a further aspect of the present invention: the driving mechanism comprises a driving motor, a driving wheel and a moving wheel, the moving wheel is installed on the lower end face of the loading plate through a connecting piece, the lower end of the moving wheel is in rolling connection with the upper end face of the I-shaped rail, the motor is arranged on the upper end face of the loading plate, the lower end of the motor is connected with a rotating shaft, the lower end of the rotating shaft is connected with the driving wheel, and the driving wheel is in rolling connection with the outer side face of the I-shaped rail.

As a further aspect of the present invention: grab and hold the mechanism and include centre gripping case, lead screw, centre gripping motor and two tongs, a side and the third armed lever fixed connection of centre gripping case, the opposite side of centre gripping case is equipped with the spout, the both ends of lead screw rotate respectively through the bearing and connect on the interior roof and the interior diapire of centre gripping case, two the spout and lead screw threaded connection are all passed to the one end of tongs, the centre gripping motor sets up the outer top at the centre gripping case, the one end fixed connection of the one end of centre gripping motor and lead screw.

As a further aspect of the present invention: the thread directions of the two ends of the screw rod are opposite.

As a further aspect of the present invention: the tongs are a rod-shaped structure with the middle bent outwards.

As a further aspect of the present invention: the control box is respectively and electrically connected with the first rotating motor, the second rotating motor, the clamping motor and the driving motor.

Compared with the prior art, the utility model has the advantages of following several aspects:

the utility model discloses a first rotation motor, the second of control box automatic control rotates motor, centre gripping motor and driving motor's rotation for the arm can be on the I-shaped track round trip movement, and through the mating reaction between first armed lever, second armed lever, third armed lever and the tongs, realizes automatic work of snatching, easy operation snatchs the convenience, improves work efficiency.

Drawings

Fig. 1 is a schematic structural diagram of an automated mechanical arm device.

Fig. 2 is a schematic side view of a glasses body in an automatic arm device.

In the figure: 1. a carrier plate; 2. a base; 3. a control box; 4. a first arm; 5. a first rotating electric machine; 6. A second arm; 7. a second rotating electric machine; 8. a third arm; 9. a grasping mechanism; 91. a clamping box; 92. A screw rod; 93. a gripper; 94. a clamping motor; 95. a bearing; 10. a drive motor; 11. a drive wheel; 12. A moving wheel; 13. an I-shaped rail; 14. and (4) bolts.

Detailed Description

The technical solution of the present patent will be described in further detail with reference to the following embodiments.

Referring to fig. 1 and 2, an automatic mechanical arm device includes a bearing plate 1, a base 2 is disposed at an upper end of the bearing plate 1, the base 2 is connected with a first arm 4 through a rotation shaft, the upper end of the first arm 4 is rotatably connected with a second arm 6 through a first rotating motor 5, one end of the second arm 6, which is far away from the first arm 4, is rotatably connected with a third arm 8 through a second rotating motor 7, the other end of the third arm 8, which is far away from the second arm 6, is connected with a gripping mechanism 9, two symmetrically disposed i-shaped rails 13 are disposed at a lower end of the bearing plate 1, a lower end of the i-shaped rail 13 is fixedly connected to the ground through a bolt 14, a driving mechanism for driving the bearing plate 1 to move is disposed at a lower end of the bearing plate 1, and a control box 3 is further disposed at an upper.

The driving mechanism comprises a driving motor 10, a driving wheel 11 and a moving wheel 12, the moving wheel 12 is installed on the lower end face of the bearing plate 1 through a connecting piece, the lower end of the moving wheel 12 is in rolling connection with the upper end face of the I-shaped rail 13, the motor is arranged on the upper end face of the bearing plate 1, the lower end of the motor is connected with a rotating shaft, the lower end of the rotating shaft is connected with the driving wheel 11, and the driving wheel 11 is in rolling connection with the outer side face of the I-shaped rail 13.

The grasping mechanism 9 comprises a clamping box 91, a screw rod 92, a clamping motor 94 and two grippers 93, one side face of the clamping box 91 is fixedly connected with the third arm rod 8, the other side of the clamping box 91 is provided with a sliding groove, two ends of the screw rod 92 are respectively and rotatably connected to the inner top wall and the inner bottom wall of the clamping box 91 through bearings 95, one ends of the two grippers 93 are respectively in threaded connection with the screw rod 92 through the sliding groove, the clamping motor 94 is arranged at the outer top end of the clamping box 91, and one end of the clamping motor 94 is fixedly connected with one end of the screw rod 92; the two ends of the screw 92 are threaded in opposite directions. The grip 93 has a rod-like structure bent outward in the middle.

Wherein, the control box 3 is electrically connected with the first rotating motor 5, the second rotating motor 7, the clamping motor 94 and the driving motor 10, respectively.

The utility model discloses a theory of operation is: the utility model discloses the during operation, work through driving motor 10 on the loading board 1, it rotates to drive wheel 11, thereby drive loading board 1 and mechanical nose and remove on I-shaped track 13, make the arm work in different regions, centre gripping motor 94 rotates, it rotates to drive lead screw 92, make two tongs 93 draw close each other and carry out the centre gripping article, centre gripping motor 94 reverses, two tongs 93 separate, lift the article of centre gripping off, and through the first rotating motor 5 of control box 3 automatic control, the second rotates motor 7, centre gripping motor 94 and driving motor 10's rotation, make the arm can be on I-shaped track 13 quick automatic work, and through first armed lever 4, second armed lever 6, the cooperation between third armed lever 8 and the tongs 93, realize automatic work of snatching, and easy operation, snatching conveniently, and improving work efficiency.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, 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 by those of ordinary skill in the art through specific situations.

Although the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present patent within the knowledge of those skilled in the art.

Claims

1. The automatic mechanical arm device is characterized by comprising a bearing plate (1), wherein a base (2) is arranged at the upper end of the bearing plate (1), the base (2) is connected with a first arm rod (4) through a rotating shaft, the upper end of the first arm rod (4) is rotatably connected with a second arm rod (6) through a first rotating motor (5), one end, far away from the first arm rod (4), of the second arm rod (6) is rotatably connected with a third arm rod (8) through a second rotating motor (7), the other end, far away from the second arm rod (6), of the third arm rod (8) is connected with a holding mechanism (9), two I-shaped rails (13) which are symmetrically arranged are arranged at the lower end of the bearing plate (1), the lower end of the I-shaped rails (13) is fixedly connected on the ground through bolts (14), and a driving mechanism for driving the bearing plate (1) to move is arranged at the lower end of the bearing plate (1), the upper end face of the bearing plate (1) is also provided with a control box (3).

2. The automatic mechanical arm device is characterized in that the driving mechanism comprises a driving motor (10), a driving wheel (11) and a moving wheel (12), the moving wheel (12) is installed on the lower end face of the bearing plate (1) through a connecting piece, the lower end of the moving wheel (12) is in rolling connection with the upper end face of the I-shaped rail (13), the motor is arranged on the upper end face of the bearing plate (1), the lower end of the motor is connected with a rotating shaft, the lower end of the rotating shaft is connected with the driving wheel (11), and the driving wheel (11) is in rolling connection with the outer side face of the I-shaped rail (13).

3. The automatic mechanical arm device is characterized in that the gripping mechanism (9) comprises a clamping box (91), a screw rod (92), a clamping motor (94) and two grippers (93), one side face of the clamping box (91) is fixedly connected with the third arm rod (8), the other side of the clamping box (91) is provided with a sliding groove, two ends of the screw rod (92) are respectively and rotatably connected onto the inner top wall and the inner bottom wall of the clamping box (91) through bearings (95), one ends of the two grippers (93) penetrate through the sliding groove and are in threaded connection with the screw rod (92), the clamping motor (94) is arranged at the outer top end of the clamping box (91), and one end of the clamping motor (94) is fixedly connected with one end of the screw rod (92).

4. An automated mechanical arm device according to claim 3, wherein the two ends of the screw (92) are threaded in opposite directions.

5. The robot arm device according to claim 3, wherein the hand grip (93) is a rod-shaped structure bent outward in the middle.

6. An automated mechanical arm device according to claim 1, 2 or 3, wherein the control box (3) is electrically connected to the first rotating motor (5), the second rotating motor (7), the holding motor (94) and the driving motor (10), respectively.