CN214446365U - Novel telescopic mechanical arm - Google Patents

Novel telescopic mechanical arm Download PDF

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Publication number
CN214446365U
CN214446365U CN202120058170.0U CN202120058170U CN214446365U CN 214446365 U CN214446365 U CN 214446365U CN 202120058170 U CN202120058170 U CN 202120058170U CN 214446365 U CN214446365 U CN 214446365U
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CN
China
Prior art keywords
arm
turntable
mechanical
angle
side wall
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN202120058170.0U
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Chinese (zh)
Inventor
黄昊燊
巫凯旋
郭振淇
黄技
王镭皓
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Guangdong Ocean University
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Guangdong Ocean University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Guangdong Ocean University filed Critical Guangdong Ocean University
Priority to CN202120058170.0U priority Critical patent/CN214446365U/en
Application granted granted Critical
Publication of CN214446365U publication Critical patent/CN214446365U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses a novel flexible arm, including gripper, xarm mechanism, angle arm mechanism, lateral wall mechanism and carousel mechanism, the lower extreme of xarm mechanism, angle arm mechanism, lateral wall mechanism and carousel mechanism all is provided with the track, and the gripper sets up on the track, the interaction of xarm mechanism, angle arm mechanism, lateral wall mechanism meets from top to bottom in proper order, and the gripper includes slider, rolling disc, telescopic link and grabbing device. This novel flexible arm uses through the linkage cooperation of gripper, xarm mechanism, angle arm mechanism, lateral wall mechanism and carousel mechanism, can realize snatching in a flexible way corresponding article, and the telescopic link on angle arm mechanism and grabbing device top can effectively carry out the rotation operation when using, is convenient for with the track adjustment to the required position of snatching, thereby a plurality of grippers snatch the operation to required position along orbital motion, can realize that the flexibility of major possession goods, many article snatchs.

Description

Novel telescopic mechanical arm
Technical Field
The utility model relates to an arm technical field specifically is a novel flexible arm.
Background
The mechanical arm is a mechanical hand grip with the similar function of the human arm, generally, each joint is connected to rotate, each joint is formed into a kinematic chain, and the kinematic chain can replace the heavy labor of a human to realize the mechanization and automation of production and is similar to the hand of the human when in use.
Current flexible arm is difficult for adjusting the arm to required position when using, can't carry out and snatch corresponding article in a flexible way, leads to efficiency lower when snatching work, and traditional arm generally snatchs for single arm, snatchs big batch operation time, takes trouble hard, has reduced the practicality of arm.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a novel flexible arm to it can't carry out when using to corresponding article and snatch in a flexible way and can not carry out the problem that big batch operation snatched to propose current flexible arm among the above-mentioned background art to solve.
In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a novel telescopic mechanical arm, includes gripper, xarm mechanism, angle arm mechanism, lateral wall mechanism and carousel mechanism, the lower extreme of xarm mechanism, angle arm mechanism, lateral wall mechanism and carousel mechanism all is provided with the track, and the gripper sets up on the track, the interaction of xarm mechanism, angle arm mechanism, lateral wall mechanism meets from top to bottom in proper order, and the gripper includes slider, rolling disc, telescopic link and grabbing device, and gripper upper end slider sets up on the track, the lower extreme of slider is provided with the rolling disc, and the lower extreme of rolling disc is provided with the telescopic link, the bottom of telescopic link is provided with grabbing device, and grabbing device is provided with the clip structure of two swing joints, xarm mechanism includes xarm main part and first rolling disc, and the both ends of xarm main part all are provided with first carousel, angle arm mechanism includes first linking arm, second linking arm, lateral wall mechanism, A second turntable and a third turntable, wherein the second connecting arm is positioned in the first connecting arm, one end of the first connecting arm is provided with the second turntable, the other end of the first connecting arm is provided with the third turntable, one end of the third connecting arm is positioned in the first connecting arm, the side wall mechanism comprises a first side arm, a second side arm, a fourth turntable and a fifth turntable, the side wall mechanism is arranged at two sides of the mechanical arm, the side wall mechanism is divided into the first side arm and the second side arm by a two-end telescopic structure, the second side arm is positioned in the first side arm, one end of the first side arm is provided with the fourth turntable, the fourth turntable is positioned below the second turntable, one end of the second side arm is provided with the fifth turntable, the fifth turntable is arranged below the second turntable of the other side arm mechanism, the turntable mechanism comprises a center turntable and an angle transfer plate, and the center turntable is arranged at the lower end of the middle position of the mechanical arm, the top of center carousel is provided with the third carousel, and the angle is transported the dish and is set up in the lower extreme in arm four corners to first carousel setting is at the top of each carousel, the corner arm mechanism uses the center carousel to set up in the four corners department of arm respectively as the centre of a circle array, and the fourth carousel sets up in the below of the first carousel that xarm mechanism connects, and second side arm one end is tangent with the center carousel, the third carousel sets up in the top of center carousel.
Preferably, the mechanical claw, the cross arm mechanism, the angle arm mechanism and the side wall mechanism are all arranged in a telescopic manner.
Preferably, 7 mechanical claws are arranged on the track.
Compared with the prior art, the beneficial effects of the utility model are that: this novel flexible arm:
through the linkage cooperation use of gripper, xarm mechanism, angle arm mechanism, lateral wall mechanism and carousel mechanism, can realize snatching in a flexible way corresponding article, the telescopic link on angle arm mechanism and grabbing device top can be effectively rotatory operation when using, is convenient for adjust the track to the position that needs snatch, thereby a plurality of grippers snatch the operation to required position along orbital motion, can realize that the flexibility of major possession goods, many article snatchs.
Drawings
Fig. 1 is a schematic side plan view of the present invention;
FIG. 2 is a schematic top view of the present invention;
fig. 3 is a schematic view of the bottom view structure of the present invention;
FIG. 4 is a schematic side view of the present invention;
fig. 5 is a schematic structural view of the middle gripper of the present invention.
In the figure: 1. a gripper; 11. a slider; 12. rotating the disc; 13. a telescopic rod; 14. a gripping device; 2. A cross arm mechanism; 21. a cross arm main body; 22. a first turntable; 3. an angle arm mechanism; 31. a first connecting arm; 32. a second connecting arm; 33. a second turntable; 34. a third turntable; 35. a third connecting arm; 4. a side wall mechanism; 41. a first side arm; 42. a second side arm; 43. a fourth turntable; 44. a fifth turntable; 5. a turntable mechanism; 51. a central turntable; 52. an angular transfer disk.
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. 1-5, the present invention provides a technical solution: a novel telescopic mechanical arm comprises a mechanical claw 1, a cross arm mechanism 2, an angle arm mechanism 3, a side wall mechanism 4 and a turntable mechanism 5, wherein the lower ends of the cross arm mechanism 2, the angle arm mechanism 3, the side wall mechanism 4 and the turntable mechanism 5 are all provided with tracks, the mechanical claw 1 is arranged on the tracks, the cross arm mechanism 2, the angle arm mechanism 3 and the side wall mechanism 4 are sequentially connected from top to bottom in an interaction manner, the mechanical claw 1 comprises a sliding block 11, a rotating disc 12, a telescopic rod 13 and a grabbing devices 14, the sliding block 11 at the upper end of the mechanical claw 1 is arranged on the tracks, the lower end of the sliding block 11 is provided with the rotating disc 12, the lower end of the rotating disc 12 is provided with the telescopic rod 13, the bottom end of the telescopic rod 13 is provided with the grabbing devices 14, the grabbing devices 14 are provided with clamp structures with two movable joints, the cross arm mechanism 2 comprises a cross arm main body 21 and a first turntable 22, and the first turntable 22 is arranged at the two ends of the cross arm main body 21, the angle arm mechanism 3 comprises a first connecting arm 31, a second connecting arm 32, a second rotating disc 33 and a third rotating disc 34, the second connecting arm 32 is positioned in the first connecting arm 31, the second rotating disc 33 is arranged at one end of the first connecting arm 31, the third rotating disc 34 is arranged at the other end of the first connecting arm 31, one end of the third connecting arm 35 is positioned in the first connecting arm 31, the side wall mechanism 4 comprises a first side arm 41, a second side arm 42, a fourth rotating disc 43 and a fifth rotating disc 44, the side wall mechanism 4 is arranged at two sides of the mechanical arm, the side wall mechanism 4 is divided into the first side arm 41 and the second side arm 42 by a two-end telescopic structure, the second side arm 42 is positioned in the first side arm 41, the fourth rotating disc 43 is positioned below the second rotating disc 33, the fifth rotating disc 44 is arranged at one end of the second side arm 42, the fifth rotating disc 44 is arranged below the second rotating disc 33 where the other side angle arm mechanism 3 is positioned, and the turntable mechanism 5 comprises a central turntable 51 and an angle transfer turntable 52, the central turntable 51 is arranged at the lower end of the middle position of the mechanical arm, a third turntable 34 is arranged above the central turntable 51, the angle transfer turntable 52 is arranged at the lowest end of the four corners of the mechanical arm, the first turntable 22 is arranged at the uppermost end of each turntable, the angle arm mechanisms 3 are respectively arranged at the four corners of the mechanical arm in an array mode by taking the central turntable 51 as the circle center, a fourth turntable 43 is arranged below the first turntable 22 connected with the cross arm mechanism 2, one end of the second side arm 42 is tangent to the central turntable 51, and the third turntable 34 is arranged above the central turntable 51.
The mechanical claw 1, the cross arm mechanism 2, the angle arm mechanism 3 and the side wall mechanism 4 are all arranged in a telescopic mode, three-dimensional grabbing operation is effectively achieved in practical application, and flexible operation can be achieved.
The track is provided with 7 mechanical claws 1, and the 7 mechanical claws 1 are linked to grab operation, so that the mass objects can be grabbed flexibly.
The working principle is as follows: according to fig. 1, 2, 3, 4 and 5, firstly, a worker inputs an instruction to determine the position of an article, at this time, the transverse arm mechanism 2, the angle arm mechanism 3 and the side wall mechanism 4 perform telescopic adjustment according to position information, then, the worker inputs the instruction again to enable each mechanical claw 1 to be in linkage fit, the mechanical claws 1 move along a track, when the mechanical claws 1 move to the track to which the turntable mechanism 5 belongs, the turntable mechanism 5 can horizontally rotate to transfer the mechanical claws 1 among the arm rods, after the mechanical claws 1 move to proper positions, the telescopic rods 13 are started, the telescopic rods 13 are adjusted in a telescopic manner to be vertical, so that each mechanical claw 1 is in linkage fit, an article piece is accurately and stably grabbed by the grabbing device 14, after the article is grabbed, each arm rod is adjusted to be telescopic, the mechanical claws 1 perform linkage operation to transport the article to the specified position, and the content which is not described in detail in the specification belongs to the prior art which is well known to the skilled person.
It is to be understood that the terms "central," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for the purpose of convenience and simplicity of description, and are not intended to indicate or imply that the referenced devices or elements must be in a particular orientation, constructed and operated in a particular orientation, and are not to be construed as limiting the scope of the present invention.
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 (3)

1. The utility model provides a novel flexible arm, includes gripper (1), xarm mechanism (2), angle arm mechanism (3), lateral wall mechanism (4) and carousel mechanism (5), its characterized in that: the lower ends of the cross arm mechanism (2), the angle arm mechanism (3), the side wall mechanism (4) and the turntable mechanism (5) are all provided with tracks, the mechanical claw (1) is arranged on the tracks, the cross arm mechanism (2), the angle arm mechanism (3) and the side wall mechanism (4) are mutually connected from top to bottom in sequence, the mechanical claw (1) comprises a sliding block (11), a rotating disc (12), a telescopic rod (13) and a grabbing device (14), the sliding block (11) at the upper end of the mechanical claw (1) is arranged on the tracks, the lower end of the sliding block (11) is provided with the rotating disc (12), the lower end of the rotating disc (12) is provided with the telescopic rod (13), the grabbing device (14) is arranged at the bottom end of the telescopic rod (13), the grabbing device (14) is provided with a clamp structure with two movable joints, the cross arm mechanism (2) comprises a cross arm main body (21) and a first turntable (22), the two ends of the cross arm main body (21) are respectively provided with a first turntable (22), the angle arm mechanism (3) comprises a first connecting arm (31), a second connecting arm (32), a second turntable (33) and a third turntable (34), the second connecting arm (32) is positioned in the first connecting arm (31), one end of the first connecting arm (31) is provided with the second turntable (33), the other end of the first connecting arm (31) is provided with the third turntable (34), one end of the third connecting arm (35) is positioned in the first connecting arm (31), the side wall mechanism (4) comprises a first side arm (41), a second side arm (42), a fourth turntable (43) and a fifth turntable (44), the side wall mechanism (4) is arranged on the two sides of the mechanical arm, the side wall mechanism (4) is divided into the first side arm (41) and the second side arm (42) by a two-end telescopic structure, and the second side arm (42) is positioned in the first side arm (41), a fourth turntable (43) is arranged at one end of the first side arm (41), the fourth turntable (43) is positioned below the second turntable (33), a fifth turntable (44) is arranged at one end of the second side arm (42), the fifth turntable (44) is arranged below the second turntable (33) where the other side corner arm mechanism (3) is positioned, the turntable mechanism (5) comprises a central turntable (51) and corner transfer disks (52), the central turntable (51) is arranged at the lower end of the middle position of the mechanical arm, a third turntable (34) is arranged above the central turntable (51), the corner transfer disks (52) are arranged at the lowest ends of four corners of the mechanical arm, the first turntable (22) is arranged at the uppermost end of each turntable, the corner arm mechanisms (3) are respectively arranged at the four corners of the mechanical arm in an array mode by taking the central turntable (51) as the circle center, and the fourth turntable (43) is arranged below the first turntable (22) connected with the cross arm mechanism (2), and one end of the second side arm (42) is tangent to the central turntable (51), and the third turntable (34) is arranged above the central turntable (51).
2. The novel telescopic mechanical arm as claimed in claim 1, wherein: the mechanical claw (1), the cross arm mechanism (2), the angle arm mechanism (3) and the side wall mechanism (4) are all arranged in a telescopic mode.
3. The novel telescopic mechanical arm as claimed in claim 1, wherein: the track is provided with 7 mechanical claws (1).
CN202120058170.0U 2021-01-11 2021-01-11 Novel telescopic mechanical arm Expired - Fee Related CN214446365U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202120058170.0U CN214446365U (en) 2021-01-11 2021-01-11 Novel telescopic mechanical arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202120058170.0U CN214446365U (en) 2021-01-11 2021-01-11 Novel telescopic mechanical arm

Publications (1)

Publication Number Publication Date
CN214446365U true CN214446365U (en) 2021-10-22

Family

ID=78111273

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202120058170.0U Expired - Fee Related CN214446365U (en) 2021-01-11 2021-01-11 Novel telescopic mechanical arm

Country Status (1)

Country Link
CN (1) CN214446365U (en)

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CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20211022