CN214560902U

CN214560902U - Movable working arm

Info

Publication number: CN214560902U
Application number: CN202120565941.5U
Authority: CN
Inventors: 李和勤
Original assignee: Jiangsu Herun Intelligent Equipment Co Ltd
Current assignee: Jiangsu Herun Intelligent Equipment Co Ltd
Priority date: 2021-03-19
Filing date: 2021-03-19
Publication date: 2021-11-02
Anticipated expiration: 2031-03-19

Abstract

The utility model relates to a movable working arm, which comprises a base and a folding arm frame, wherein the bottom of the base is provided with a movable seat, a screw rod in threaded fit is arranged in a ball nut of the movable seat, at least one side of the screw rod is provided with a guide shaft, both ends of the screw rod and the guide shaft are provided with shaft seats, a second motor of the shaft seats is connected with a gear, a first slide bar and a rack meshed with the gear are arranged on a bottom frame at the bottom of the shaft seats, the folding arm frame comprises a first arm frame, a second arm frame and a third arm frame, the end parts of the first arm frame, the second arm frame and the third arm frame are sequentially hinged, a first hydraulic cylinder and a second hydraulic cylinder are respectively arranged on the first arm frame and the second arm frame, the first arm frame, the second arm frame and the third arm frame move along the screw rod and the rack, the relative position of the folding arm frame on the base is changed, the working area is expanded, the first arm frame, the second arm frame and the third arm frame deflect relatively through hydraulic drive to realize the accurate positioning and the movement of the working arm rapidly, the processing precision, efficiency, application convenience and stability can be improved.

Description

Movable working arm

Technical Field

The utility model relates to a remove work arm belongs to arm technical field.

Background

The working arm is an automatic mechanical device which is composed of a machine, a driving part connected with a control device and the like, simulates the action function of a human arm, grabs and carries objects or operates tools according to a certain fixed program, can replace manual heavy labor to realize mechanization and intelligent automation of production, and is widely applied to operations such as mechanical manufacturing, hoisting, loading and unloading, feeding and the like. The working arm in the prior art generally comprises a foldable or contractible arm support, folding or contraction driving is realized by connecting a hydraulic cylinder and a hydraulic rod which are hinged or directly connected between the arm supports, a hydraulic system controls oil supply, oil return, filtering, cooling, neutral unloading and the like through an oil way valve so as to meet the corresponding movement of an arm end at a required station or a lifting station, the extending space of the working arm is limited due to the fact that the arm support is integrally arranged on a fixed base, and accurate positioning and movement are difficult to realize rapidly for the working arm limited by an installation or working area, so that the processing precision, the efficiency, the application convenience and the stability are influenced.

SUMMERY OF THE UTILITY MODEL

The utility model aims at prior art's defect, provide a remove work arm, remove along the lead screw through removing the seat and remove along the rack removal complex with the axle bed, change the relative position of folding cantilever crane on the base, extend work area, first cantilever crane, second cantilever crane and third cantilever crane relative deflection realize the accurate location and the removal of work arm fast, are favorable to improving machining precision, efficiency, application convenience and stationarity.

The utility model discloses a realize through following technical scheme:

a movable working arm comprises a base and a foldable arm support arranged on the base, wherein a movable seat is arranged at the bottom of the base, a ball nut is arranged on the movable seat, a screw rod in threaded fit is arranged in the ball nut, a guide shaft which is arranged in parallel and penetrates through the movable seat is arranged on at least one side of the screw rod, vertical shaft seats are arranged at two ends of the screw rod and the guide shaft, and a first motor coaxially connected with the screw rod is arranged on the shaft seat at one end of the screw rod;

a second motor perpendicular to the first motor is arranged on the shaft seats at two ends, a gear is coaxially connected with a motor shaft of the second motor, a bottom frame is arranged at the bottom of the shaft seats, at least one first sliding strip in sliding fit with the bottom of the shaft seats is arranged on the bottom frame, and racks which are meshed with the gear and are parallel to the sliding strips are arranged on two sides of the bottom frame;

at least one second sliding strip which is in sliding fit with the bottom of the moving seat and is parallel to the screw rod is arranged between the shaft seats at the two ends, a vertical connecting plate is arranged between the shaft seats at the two ends, and a third sliding strip which is in sliding fit with the bottom of the connecting plate and is parallel to the rack is arranged on the bottom frame;

the foldable arm support comprises a first arm support, a second arm support and a third arm support, wherein the end parts of the first arm support, the second arm support and the third arm support are sequentially hinged and connected, a first hydraulic cylinder is hinged on the first arm support, the end part of a hydraulic rod of the first hydraulic cylinder is hinged with the second arm support, a second hydraulic cylinder is hinged on the second arm support, and the end part of a hydraulic rod of the second hydraulic cylinder is hinged with the third arm support;

the first arm support and the third arm support are of V-shaped structures, the bottom of the first hydraulic cylinder is hinged to the end part of the bottom side of the first arm support, the hydraulic rod of the first hydraulic cylinder and the hinge position of the second hydraulic cylinder on the second arm support are consistent, and the hydraulic rod of the second hydraulic cylinder is hinged to the middle part of the third arm support;

the two ends of the second arm support are obliquely arranged with the top, a first hinged seat located on the outer side of the first arm support is arranged at the bottom of the first hydraulic cylinder, a second hinged seat located inside the second arm support is arranged on a hydraulic rod of the first hydraulic cylinder and a second hydraulic cylinder, and a third hinged seat located on the outer side of the third arm support is arranged at the end of the hydraulic rod of the second hydraulic cylinder.

The utility model has the advantages that:

(1) the underframe is fixed, the first motor drives the coaxial screw rod to rotate forward or reversely, so that the ball nut in threaded fit converts rotation into linear motion, the guide shaft and the moving seat are in sliding guide, the second slide bar and the bottom of the moving seat are in sliding fit guide limit, the moving seat is driven to reciprocate along the screw rod direction, the gear is driven to rotate forward and reverse with the second motor, shaft bases at two ends are driven to reciprocate along the rack direction under the transmission of a meshed rack, the relative position of the folding arm support on the base is changed, the working area is expanded, and the folding arm support can quickly and precisely reach a designated position;

(2) the folding arm support is telescopic through the hydraulic rods of the first hydraulic cylinder and the second hydraulic cylinder which are hinged, the included angle of the first arm support and the second arm support at the hinged position and the included angle of the second arm support and the third arm support at the hinged position are changed, telescopic operation of the folding arm support is achieved, the whole structure is compact, occupied space is reduced, accurate positioning and moving of the working arm are achieved rapidly, and improvement of machining accuracy, efficiency, application convenience and stability is facilitated.

Drawings

Fig. 1 is a top perspective view of the present invention.

Fig. 2 is a bottom perspective view of the present invention.

Fig. 3 is a top view of the structure of the present invention.

Fig. 4 is a front view structural diagram of the present invention.

The labels in the figure are: the foldable arm support comprises a base 1, a foldable arm support 2, a moving seat 3, a ball nut 4, a screw rod 5, a guide shaft 6, a notch 7, a shaft seat 8, a first motor 9, a second motor 10, a gear 11, an underframe 12, a first slide bar 13, a rack 14, a second slide bar 15, a connecting plate 16, a third slide bar 17, a counter bore 18, a first arm support 21, a second arm support 22, a third arm support 23, a first hydraulic cylinder 19, a second hydraulic cylinder 20, a first hinged seat 24, a second hinged seat 25 and a third hinged seat 26.

Detailed Description

The following describes the present invention with reference to the accompanying drawings.

A movable working arm comprises a base 1 and a folding arm support 2 arranged on the base 1, wherein a movable base 3 is arranged at the bottom of the base 1, a ball nut 4 is arranged on the movable base 3, a screw rod 5 in threaded fit is arranged in the ball nut 4, at least one side of the screw rod 5 is provided with a guide shaft 6 which is arranged in parallel and penetrates through the movable base 3, notches 7 are arranged on two sides of the movable base 3, two guide shafts 6 are arranged on two sides of the notches 7, vertical shaft seats 8 are arranged at two ends of the screw rod 5 and the guide shaft 6, and a first motor 9 coaxially connected with the screw rod 5 is arranged on the shaft seat 8 at one end;

a second motor 10 perpendicular to the first motor 9 is arranged on the shaft seats 8 at two ends, a gear 11 is coaxially connected with a motor shaft of the second motor 10, an underframe 12 is arranged at the bottom of the shaft seat 8, at least one first sliding strip 13 in sliding fit with the bottom of the shaft seat 8 is arranged on the underframe 12, and racks 14 which are meshed with the gear 11 and are parallel to the sliding strips are arranged on two sides of the underframe 12;

at least one second sliding strip 15 which is in sliding fit with the bottom of the moving seat 3 and is parallel to the screw rod 5 is arranged between the shaft seats 8 at the two ends, a vertical connecting plate 16 is arranged between the shaft seats 8 at the two ends, a third sliding strip 17 which is in sliding fit with the bottom of the connecting plate 16 and is parallel to the rack 14 is arranged on the base frame 12, the second motors 10 on the shaft seats 8 at the two ends are arranged in a staggered mode, and counter bores 18 are arranged at the four corners of the base frame 12;

the foldable arm support 2 comprises a first arm support 21, a second arm support 22 and a third arm support 23, the end parts of the first arm support 21, the second arm support 22 and the third arm support 23 are sequentially hinged and connected, a first hydraulic cylinder 19 is hinged on the first arm support 21, the end part of a hydraulic rod of the first hydraulic cylinder 19 is hinged with the second arm support 22, a second hydraulic cylinder 20 is hinged on the second arm support 22, and the end part of a hydraulic rod of the second hydraulic cylinder 20 is hinged with the third arm support 23;

the first arm support 21 and the third arm support 23 are of a V-shaped structure, the bottom of the first hydraulic cylinder 19 is hinged to the end part of the bottom side of the first arm support 21, the hydraulic rod of the first hydraulic cylinder 19 is consistent with the hinged position of the second hydraulic cylinder 20 on the second arm support 22, and the hydraulic rod of the second hydraulic cylinder 20 is hinged to the middle part of the third arm support 23;

the two ends of the second arm support 22 are obliquely arranged with the top, the bottom of the first hydraulic cylinder 19 is provided with a first hinge seat 24 positioned outside the first arm support 21, the hydraulic rod of the first hydraulic cylinder 19 and the second hydraulic cylinder 20 are both provided with a second hinge seat 25 positioned inside the second arm support 22, and the end part of the hydraulic rod of the second hydraulic cylinder 20 is provided with a third hinge seat 26 positioned outside the third arm support 23.

The utility model discloses a theory of operation does:

referring to the attached drawings, the underframe 12 is fixed on a machining or hoisting station through the counter bore 18, the first hydraulic cylinder 19 and the second hydraulic cylinder 20 are connected with a hydraulic system, and the first motor 9 and the second motor 10 are connected with a control system and electrified; the first motor 9 on the shaft seat 8 drives the coaxial screw 5 to rotate on the shaft seat 8 in the forward direction or the reverse direction, so that the ball nut 4 in threaded fit converts the rotation into linear motion, and drives the moving seat 3 to reciprocate to a specified position along the direction of the screw 5;

the ball nut 4 is compactly installed by arranging the notch 7, when the moving seat 3 moves along with the ball nut 4, the parallel screw 5 passes through the guide shaft 6 of the moving seat 3 to be slidably guided with the moving seat 3, and the second slide bar 15 between the shaft seats 8 at two ends is slidably matched with the bottom of the moving seat 3 to be guided, so that the limiting and guiding effects are achieved, the stable support and the stable movement of the moving seat 3 are ensured, and the longitudinal position of the moving seat 3 relative to the bottom frame 12 is changed;

the gear 11 is driven by a motor shaft of the second motor 10 to rotate forward or reversely, under the transmission of the meshed rack 14, the shaft seats 8 at two ends are driven to do reciprocating motion along the direction of the rack 14, namely the direction vertical to the screw rod 5, and the second motors 10 on the shaft seats 8 at two ends are arranged in a staggered mode, so that the driving displacement distance can be increased, and the abdicating installation of the first motor 9 is facilitated;

when the shaft seats 8 move, the shaft seats 8 are in sliding fit with the first sliding strips 13 on the bottom frame 12, the connecting plates 16 between the shaft seats 8 at two ends are in sliding fit with the third sliding strips 17 on the bottom frame 12, the guiding and supporting effects are achieved, the movement reliability is guaranteed, the transverse position of the moving seat 3 relative to the bottom frame 12 is changed, the moving seat 3 is precisely moved due to the combination of the two movements, the relative position of the folding arm support 2 on the base 1 is changed, the working area is expanded, and the specified position can be quickly and precisely reached;

the end part of a third arm support 23 of the folding arm support 2 is connected with a manipulator or other mechanical parts for processing or hoisting and the like, when the folding arm support 2 extends, a hydraulic rod of a first hydraulic cylinder 19 extends, a first hinging seat 24 of the first hydraulic cylinder 19 and the first arm support 21 deflect relatively, a second hinging seat 25 of the hydraulic rod of the first hydraulic cylinder 19 and the second arm support 22 deflect relatively, and the first arm support 21 and the second arm support 22 deflect relatively at the hinging position to increase the included angle;

similarly, the hydraulic rod of the second hydraulic cylinder 20 extends, the second hinge base 25 of the second hydraulic cylinder 20 and the second arm support 22 deflect relatively, and the third hinge base 26 of the hydraulic rod of the second hydraulic cylinder 20 and the third arm support 23 deflect relatively, so that the second arm support 22 and the third arm support 23 deflect relatively at the hinge position to increase the included angle, and the foldable arm support 2 can extend to reach the designated position quickly; in the same way, the hydraulic rods of the first hydraulic cylinder 19 and the second hydraulic cylinder 20 contract and move reversely to realize contraction and transfer;

the first arm support 21 and the third arm support 23 are of V-shaped structures, the hydraulic rod of the first hydraulic cylinder 19 is consistent with the hinged position of the second hydraulic cylinder 20 on the second arm support 22, and the shape and position design that the two ends of the second arm support 22 and the top are obliquely arranged enables the extension and contraction structure of the folding arm support 2 to be compact, occupied space is reduced, accurate positioning and movement of the working arm can be achieved rapidly, and the processing precision, efficiency, application convenience and stability can be improved.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being 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", etc. 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," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

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.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A movable working arm comprises a base (1) and a foldable arm support (2) arranged on the base (1), and is characterized in that a movable seat (3) is arranged at the bottom of the base (1), a ball nut (4) is arranged on the movable seat (3), a screw rod (5) in threaded fit is arranged in the ball nut (4), a guide shaft (6) which is arranged in parallel and penetrates through the movable seat (3) is arranged on at least one side of the screw rod (5), vertical shaft seats (8) are arranged at two ends of the screw rod (5) and the guide shaft (6), and a first motor (9) coaxially connected with the screw rod (5) is arranged on the shaft seat (8) at one end;

a second motor (10) perpendicular to the first motor (9) is arranged on the shaft seats (8) at the two ends, a gear (11) is coaxially connected with a motor shaft of the second motor (10), an underframe (12) is arranged at the bottom of the shaft seats (8), at least one first sliding strip (13) in sliding fit with the bottom of the shaft seats (8) is arranged on the underframe (12), and racks (14) which are meshed with the gear (11) and parallel to the sliding strips are arranged on the two sides of the underframe (12);

the foldable arm support (2) comprises a first arm support (21), a second arm support (22) and a third arm support (23) which are sequentially hinged and connected at the ends, a first hinged hydraulic cylinder (19) is arranged on the first arm support (21), the end part of a hydraulic rod of the first hydraulic cylinder (19) is hinged with the second arm support (22), a second hinged hydraulic cylinder (20) is arranged on the second arm support (22), and the end part of the hydraulic rod of the second hydraulic cylinder (20) is hinged with the third arm support (23).

2. A mobile working arm according to claim 1, characterized in that said mobile seat (3) is provided with notches (7) on both sides, and said guide shaft (6) is provided with two notches (7) on both sides.

3. A mobile working arm according to claim 1, characterized in that between the two end axle seats (8) there is provided at least one second slide (15) sliding fitted to the bottom of the mobile seat (3) and parallel to the screw (5).

4. A mobile working arm according to claim 1, characterised in that a vertical link plate (16) is provided between the two end axle seats (8), and the base frame (12) is provided with a third slide bar (17) which is in sliding fit with the bottom of the link plate (16) and is parallel to the rack (14).

5. A mobile working arm according to claim 1, characterized in that the second motors (10) on the axle seats (8) at both ends are arranged in a staggered manner, and counterbores (18) are arranged at the four corners of the base frame (12).

6. A movable working arm according to any one of claims 1-5, characterized in that the first arm support (21) and the third arm support (23) are V-shaped, the bottom of the first hydraulic cylinder (19) is hinged to the bottom side end of the first arm support (21), the hydraulic rod of the first hydraulic cylinder (19) and the hydraulic rod of the second hydraulic cylinder (20) are hinged to the second arm support (22) at the same position, and the hydraulic rod of the second hydraulic cylinder (20) is hinged to the middle of the third arm support (23).

7. A mobile working arm according to claim 6, characterized in that two ends of the second arm support (22) are arranged obliquely with respect to the top, a first hinged base (24) located outside the first arm support (21) is arranged at the bottom of the first hydraulic cylinder (19), a second hinged base (25) located inside the second arm support (22) is arranged at both the hydraulic rod of the first hydraulic cylinder (19) and the second hydraulic cylinder (20), and a third hinged base (26) located outside the third arm support (23) is arranged at the end of the hydraulic rod of the second hydraulic cylinder (20).