CN215149259U - Automatic bending device of arm - Google Patents
Automatic bending device of arm Download PDFInfo
- Publication number
- CN215149259U CN215149259U CN202120450749.1U CN202120450749U CN215149259U CN 215149259 U CN215149259 U CN 215149259U CN 202120450749 U CN202120450749 U CN 202120450749U CN 215149259 U CN215149259 U CN 215149259U
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- Prior art keywords
- arm
- telescopic
- telescopic frame
- rod
- frame
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- 238000005452 bending Methods 0.000 title claims abstract description 36
- 230000007246 mechanism Effects 0.000 claims abstract description 39
- 230000009975 flexible effect Effects 0.000 claims abstract description 13
- 230000005540 biological transmission Effects 0.000 claims description 27
- 230000009471 action Effects 0.000 abstract description 9
- 230000008878 coupling Effects 0.000 abstract description 3
- 238000010168 coupling process Methods 0.000 abstract description 3
- 238000005859 coupling reaction Methods 0.000 abstract description 3
- 230000003014 reinforcing effect Effects 0.000 abstract description 2
- 238000009434 installation Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 210000000078 claw Anatomy 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
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Abstract
The utility model discloses an automatic bending device of arm, including base, slewing mechanism, the mechanism of bending and centre gripping jack catch, slewing mechanism sets up in the base, the last gyration that is provided with of slewing mechanism supports, the mechanism of bending includes first armed lever, second armed lever and third armed lever, the bottom fixed mounting of first armed lever is on the gyration is supported, first armed lever, second armed lever and third armed lever two liang of end to end in proper order, and corresponding junction is provided with rotatable coupling's hinge, the centre gripping jack catch sets up the tip at the third armed lever. The utility model discloses a set up base, slewing mechanism, the automatic action of bending that the mechanical arm device was realized to mechanism of bending and centre gripping jack catch, through the telescopic machanism who constitutes setting up the flexible frame of first telescopic link, second, the flexible frame of third and U type mount pad, adopt the hierarchical flexible action of multilayer, increase telescopic machanism's stroke to the scope of bending of reinforcing arm strengthens the suitability of this arm.
Description
Technical Field
The utility model relates to an arm technical field specifically is an automatic bending device of arm.
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. In actual operation, operation of various complex paths needs to be completed by part of mechanical arms, so the mechanical arms need to meet flexible bending actions, the existing bending actions are driven by hydraulic rods or by motor gears, hydraulic driving parts are heavy and inconvenient to flexibly move, the motor gears are not enough in driving load and are not suitable for high-load mechanical arms, and therefore the mechanical arm automatic bending device which is simple and light in structure and capable of bearing large loads is needed to meet requirements.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an automatic bending device of arm 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 bending device of arm, includes base, slewing mechanism, bending mechanism and centre gripping jack catch, slewing mechanism sets up in the base, the last gyration that is provided with of slewing mechanism is supported, the gyration is supported rotatable formula and is installed on the base, bending mechanism includes first armed lever, second armed lever and third armed lever, the bottom fixed mounting of first armed lever is supported in the gyration, first armed lever, second armed lever and third armed lever two liang end to end in proper order, and corresponding junction is provided with rotatable coupling's hinge, the centre gripping jack catch sets up the tip at the third armed lever.
Preferably, slewing mechanism still includes driving gear and driving motor, the rotatable formula of driving gear is installed on the base, and driving gear and slewing bearing outer lane tooth intermeshing, driving motor's power output shaft and the pivot fixed connection of driving gear.
Preferably, the bending mechanism further comprises a telescopic mechanism, the telescopic mechanism comprises a first telescopic rod, a second telescopic frame, a third telescopic frame and U-shaped installation seats, hinge seats are arranged on the first arm rod and the second arm rod respectively, the U-shaped installation seats are fixedly installed on the hinge seats of the first arm rod and the second arm rod respectively, the third telescopic frame is arranged in the U-shaped installation seats, the second telescopic frame is arranged in the third telescopic frame, and the first telescopic rod is arranged in the second telescopic frame.
Preferably, the inner walls of the front and rear back plates of the second telescopic frame, the third telescopic frame and the U-shaped mounting seat are provided with limiting strips.
Preferably, the inner walls of two sides of the U-shaped mounting seat and the third telescopic frame are provided with first racks, the two outer side walls of the first telescopic rod and the second telescopic frame are rotatably provided with second racks, a first waist hole is formed in the side edge of the second telescopic frame, a first transmission gear is arranged in the first waist hole, the first transmission gear is meshed with the second rack of the first telescopic rod and the first rack of the third telescopic frame, a second waist hole is formed in the side edge of the third telescopic frame, a second transmission gear is arranged in the second waist hole, the second waist hole is a strip-shaped waist hole, the length of the second waist hole is larger than the reference circle diameter of the second transmission gear, and the second transmission gear is meshed with the second rack of the second telescopic frame and the first rack of the U-shaped mounting seat.
Preferably, a servo motor is fixedly mounted at the lower bottom of the U-shaped mounting seat, a transmission lead screw is fixedly connected to a power output shaft of the servo motor, a lead screw nut seat is fixedly mounted at the bottom of the second telescopic frame, and the transmission lead screw is screwed in the lead screw nut seat.
The utility model has the advantages as follows: the utility model discloses a set up base, slewing mechanism, the automatic action of bending that the mechanical arm device was realized to mechanism of bending and centre gripping jack catch, through the telescopic machanism who constitutes setting up the flexible frame of first telescopic link, second, the flexible frame of third and U type mount pad, adopt the hierarchical flexible action of multilayer, increase telescopic machanism's stroke to the scope of bending of reinforcing arm strengthens the suitability of this arm.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic front view of the overall structure of the present invention;
FIG. 2 is a front sectional view of the telescoping mechanism of the present invention;
fig. 3 is a schematic side view of a second retractable frame according to the present invention.
Reference numerals of the above figures: the bending device comprises a base 10, a rotating mechanism 20, a rotary support 21, a driving gear 22, a driving motor 23, a bending mechanism 30, a first arm rod 31, a second arm rod 32, a third arm rod 33, a telescopic mechanism 34, a first telescopic rod 341, a second telescopic frame 342, a third telescopic frame 343, a U-shaped mounting seat 344, a first transmission gear 345, a second transmission gear 346, a servo motor 347, a transmission screw 348, a screw nut seat 349, a limiting strip 350, a first waist hole 351, a first rack 352, a second rack 353 and a clamping claw 40.
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, an automatic bending device for a mechanical arm comprises a base 10, a rotating mechanism 20, a bending mechanism 30 and a clamping jaw 40, wherein the rotating mechanism 20 is arranged in the base 10, a rotary support 21 is arranged on the rotating mechanism 20, the rotary support 21 is rotatably arranged on the base 10, the bending mechanism 30 comprises a first arm 31, a second arm 32 and a third arm 33, the bottom of the first arm 31 is fixedly arranged on the rotary support 21, the first arm 31, the second arm 32 and the third arm 33 are sequentially connected end to end along with the rotation of the rotary support 21, a hinge capable of being rotatably connected is arranged at the corresponding connection position, the second arm 32 can rotate relative to the end of the first arm 31, the third arm 33 can rotate relative to the end of the second arm 32, the clamping jaw 40 is arranged at the end of the third arm 33, for holding the product.
Further, slewing mechanism 20 still includes driving gear 22 and driving motor 23, driving gear 22 is rotatable to be installed on base 10, and driving gear 22 and gyration support 21 outer lane tooth intermeshing drive gyration support 21 and rotate, driving motor 23's power output shaft and driving gear 22's pivot fixed connection for driving gear 22 rotates.
Further, the bending mechanism 30 further includes a telescopic mechanism 34, the telescopic mechanism 34 includes a first telescopic rod 341, a second telescopic frame 342, a third telescopic frame 343 and U-shaped mounting seats 344, hinge seats are respectively provided on the first arm 31 and the second arm 32, the two U-shaped mounting seats 344 are respectively and fixedly mounted on the hinge seats of the first arm 31 and the second arm 32, along with the rotation of the hinge seats, the third telescopic frame 343 is disposed in the U-shaped mounting seats 344, the second telescopic frame 342 is disposed in the third telescopic frame 343, and the first telescopic rod 341 is disposed in the second telescopic frame 342.
Further, the inner walls of the front and rear back plates of the second telescopic frame 342, the third telescopic frame 343 and the U-shaped mounting seat 344 are provided with limiting strips 350 for limiting the first telescopic rod 341, the second telescopic frame 342 and the third telescopic frame 343 to move up and down respectively.
Further, the inner walls of both sides of the U-shaped mounting seat 344 and the third telescopic frame 343 are provided with first racks 352, the outer side walls of the first telescopic frame 341 and the second telescopic frame 342 are rotatably provided with second racks 353, the side of the second telescopic frame 342 is provided with a first waist hole 351, the first waist hole 351 is internally provided with a first transmission gear 345, the first transmission gear 345 is engaged with the second rack 353 of the first telescopic frame 341 and the first rack 352 of the third telescopic frame 343, under the action of the first transmission gear 345, the first telescopic frame 341 and the third telescopic frame 343 move in opposite directions, the side of the third telescopic frame 343 is provided with a second waist hole, the second waist hole is internally provided with a second transmission gear 346, the second waist hole is a long strip waist hole, the length of which is much greater than the diameter of the reference circle of the second transmission gear 346, preferably 3 times the diameter of the second transmission gear 346, the second transmission gear 346 is engaged with the second rack 353 of the second telescopic frame 342 and the first rack 352 of the U-shaped mounting seat 344, and the second telescopic frame 342 and the U-shaped mounting seat 344 move in opposite directions under the action of the second transmission gear 346.
Furthermore, a servo motor 347 is fixedly mounted at the lower bottom of the U-shaped mounting base 344, a power output shaft of the servo motor 347 is fixedly connected with a transmission lead screw 348, a lead screw nut base 349 is fixedly mounted at the bottom of the second telescopic frame 342, the transmission lead screw 348 is screwed in the lead screw nut base 349, the servo motor 347 drives the transmission lead screw 348 to rotate, and the second telescopic frame 342 is pushed to perform telescopic motion under the transmission action of the lead screw nut base 349.
The working principle is as follows: during operation, the driving motor 23 drives the driving gear 22 to rotate, and drives the rotary support 21 to rotate, so that the first arm lever 31, the second arm lever 32 and the third arm lever 33 rotate synchronously, the servo motor 347 drives the transmission screw 348 to rotate, under the transmission action of the screw nut seat 349, the second telescopic frame 342 is pushed to extend, meanwhile, the first transmission gear 345 arranged on the second telescopic frame 342 is meshed with the second rack 353 of the first telescopic frame 341 and the first rack 352 of the third telescopic frame 343, so that the first telescopic frame 341 and the third telescopic frame 343 are pushed to extend, so that the second telescopic frame 342 is pushed to extend relative to the first telescopic frame 341, the third telescopic frame 343 is pushed to extend relative to the second telescopic frame, and the mechanical arm bending action is realized.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the content of the present invention within the protection scope of the present invention.
Claims (6)
1. The utility model provides an automatic bending device of arm, includes base, slewing mechanism, bending machine and centre gripping jack catch, its characterized in that: the rotary mechanism is arranged in the base, the rotary mechanism is provided with a rotary support, the rotary support can be rotatably arranged on the base, the bending mechanism comprises a first arm rod, a second arm rod and a third arm rod, the bottom of the first arm rod is fixedly arranged on the rotary support, the first arm rod, the second arm rod and the third arm rod are sequentially connected end to end, the corresponding joints are provided with hinges capable of being connected in a rotating mode, and the clamping jaws are arranged at the end portion of the third arm rod.
2. The automatic bending device for the mechanical arm according to claim 1, wherein: the rotating mechanism further comprises a driving gear and a driving motor, the driving gear is rotatably mounted on the base, the driving gear is meshed with the rotary support outer ring teeth, and a power output shaft of the driving motor is fixedly connected with a rotating shaft of the driving gear.
3. The automatic bending device for the mechanical arm according to claim 1, wherein: the bending mechanism further comprises a telescopic mechanism, the telescopic mechanism comprises a first telescopic rod, a second telescopic frame, a third telescopic frame and U-shaped mounting seats, hinge seats are arranged on the first arm rod and the second arm rod respectively, the U-shaped mounting seats are fixedly mounted on the hinge seats of the first arm rod and the second arm rod respectively, the third telescopic frame is arranged in the U-shaped mounting seats, the second telescopic frame is arranged in the third telescopic frame, and the first telescopic rod is arranged in the second telescopic frame.
4. The automatic bending device for the mechanical arm according to claim 3, wherein: and the inner walls of the front and rear back plates of the second telescopic frame, the third telescopic frame and the U-shaped mounting seat are provided with limiting strips.
5. The automatic bending device for the mechanical arm according to claim 3, wherein: all be provided with first rack on the both sides inner wall of U type mount pad, the flexible frame of third, the second rack is installed to rotatable formula on two lateral walls of first telescopic link, the flexible frame of second, be provided with first waist hole on the side of the flexible frame of second, and be provided with first drive gear in the first waist hole, the first rack meshing of second rack, the flexible frame of third of first drive gear and first telescopic link, be provided with second waist hole on the side of the flexible frame of third, and be provided with second drive gear in the second waist hole, second waist hole is rectangular type waist hole, and length is greater than second drive gear's reference circle diameter, second drive gear meshes with the second rack of the flexible frame of second, the first rack of U type mount pad mutually.
6. The automatic bending device for the mechanical arm according to claim 3, wherein: the servo motor is fixedly mounted at the lower bottom of the U-shaped mounting seat, a transmission screw rod is fixedly connected to a power output shaft of the servo motor, a screw rod nut seat is fixedly mounted at the bottom of the second telescopic frame, and the transmission screw rod is screwed in the screw rod nut seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120450749.1U CN215149259U (en) | 2021-03-02 | 2021-03-02 | Automatic bending device of arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120450749.1U CN215149259U (en) | 2021-03-02 | 2021-03-02 | Automatic bending device of arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215149259U true CN215149259U (en) | 2021-12-14 |
Family
ID=79413294
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120450749.1U Expired - Fee Related CN215149259U (en) | 2021-03-02 | 2021-03-02 | Automatic bending device of arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215149259U (en) |
-
2021
- 2021-03-02 CN CN202120450749.1U patent/CN215149259U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20211214 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |