CN215395313U

CN215395313U - Mechanical arm

Info

Publication number: CN215395313U
Application number: CN202023223757.7U
Authority: CN
Inventors: 刘文革; 呼延斌; 王彦召; 黄亚明
Original assignee: E Cheng Rongchuang Information Technology Co Ltd
Current assignee: E Cheng Rongchuang Information Technology Co Ltd
Priority date: 2020-12-28
Filing date: 2020-12-28
Publication date: 2022-01-04
Anticipated expiration: 2030-12-28

Abstract

The utility model relates to the field of mechanical structures, in particular to a mechanical arm, which comprises: a fixing device; one end of the gauge arm is rotatably connected with the fixing device; one end of the second arm is rotatably connected with the other end of the first arm, and the other end of the second arm is provided with a first channel along the axial direction of the second arm; one end of the third arm is slidably arranged in the first channel in a penetrating way; and the telescopic device is detachably fixed on the second arm, and the driving end of the telescopic device is connected with the third arm and is used for driving the third arm to slide in the first channel in a reciprocating manner. Telescoping device detachably fixes on No. two arms and No. three arms, when the flexible length of No. two arms of No. three arms in need changing, can change the telescoping device, will satisfy the telescoping device who uses the requirement and change to need not change whole arm, improved the suitability of arm.

Description

Mechanical arm

Technical Field

The utility model relates to the field of mechanical structures, in particular to a mechanical arm.

Background

The mechanical arm is widely applied to various aspects of life as a common mechanical structure, such as various machining, article grabbing and the like, in the applications, in order to adapt to various different working environments, the mechanical arm is usually of a multi-section structure which is connected with each other, and the mechanical arms can rotate mutually.

The mechanical arm with the multi-section structure is often used for meeting the requirements of various angles and lengths, and in some mechanical arms, in order to enable the length of the mechanical arm to be longer, some mechanical arms can be extended in a telescopic cylinder mode, but the extended length is limited to the telescopic cylinder, and the length which can be achieved after the mechanical arm is manufactured is fixed, so that the applicability of the mechanical arm is not strong.

SUMMERY OF THE UTILITY MODEL

Therefore, the technical problem to be solved by the present invention is to overcome the defect of poor applicability of the robot arm in the prior art, and to provide a robot arm, including:

a fixing device;

one end of the first arm is rotatably connected with the fixing device;

one end of the second arm is rotatably connected with the other end of the first arm, and the other end of the second arm is provided with a first channel along the axial direction of the second arm;

one end of the third arm is slidably arranged in the first channel in a penetrating way;

and the telescopic device is detachably fixed on the second arm, and the driving end of the telescopic device is connected with the third arm and is used for driving the third arm to slide in the first channel in a reciprocating manner.

Preferably, the telescoping device include telescopic machanism and with the extensible member that telescopic machanism connects, telescopic machanism detachably fixes on No. two arms, the extensible member is connected on No. three arms, telescopic machanism is used for driving the extensible member is in the parallel the reciprocating sliding of axial direction of No. three arms.

Preferably, the telescopic mechanism comprises a driver and a driving sleeve detachably fixed on the driver, the driving sleeve is provided with a second channel along the axial direction of the driving sleeve, and the telescopic piece is slidably arranged in the second channel in a penetrating manner.

Preferably, a first driving device is arranged on the fixing device, and a driving end of the first driving device is fixedly connected with one end of the first arm so as to drive the first arm to rotate on the fixing device.

Preferably, the device further comprises a rotating connecting piece, a second driving device is further arranged on the fixing device, the driving end of the second driving device is fixedly connected with one end of the rotating connecting piece, the other end of the rotating connecting piece is fixedly connected with a rotating shaft, and the other end of the first arm is rotatably connected with the rotating shaft.

Preferably, the rotary connecting piece comprises a first rotating piece, a second rotating piece and a transmission piece for connecting the first rotating piece and the second rotating piece;

the driving end of the second driving device is connected with the first rotating piece, and the rotating shaft is fixedly connected with the second rotating piece.

Preferably, a fixing part is arranged at one end of the second arm, fixing parts extend out of two opposite sides of the fixing part, and the two opposite fixing parts are fixed at two opposite ends of the rotating shaft.

Preferably, the other end of the third arm is connected with a first adjuster, and the first adjuster comprises a first U-shaped support, a third driving device and a second U-shaped support which are sequentially and rotatably connected;

the first U-shaped support is connected with one end, far away from the second arm, of the third arm, and the second U-shaped support is connected with equipment.

Preferably, a second adjuster is connected to one end of the third arm, which is far away from the second arm, the equipment is connected to the first adjuster through the second adjuster, and the second adjuster is in cross connection with the first adjuster;

the second adjuster comprises a third U-shaped support, a fourth driving device and a fourth U-shaped support which are sequentially connected in a rotating mode, and the third U-shaped support is connected with the second U-shaped support in a cross mode.

Preferably, the first U-shaped support can rotate with the axis of the third arm as a rotation axis.

The technical scheme of the utility model has the following advantages:

1. in the mechanical arm provided by the utility model, the telescopic devices are detachably fixed on the second arm and the third arm, when the telescopic length of the third arm in the second arm needs to be changed, the telescopic devices can be replaced, the telescopic devices meeting the use requirements can be replaced, so that the whole mechanical arm does not need to be replaced, and the applicability of the mechanical arm is improved.

2. The utility model provides an among the arm, first drive arrangement and second drive arrangement set up on fixing device, for rotating and set up second drive arrangement on the arm in order to make No. two arms, have reduced the load that the arm will bear when rotating for the arm extends the scope grow.

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, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic structural diagram of a robot arm according to embodiment 1 of the present invention;

FIG. 2 is a schematic view of the fixing device of FIG. 1;

FIG. 3 is a schematic structural view of a fixing device, an arm I and a rotating connecting member in embodiment 1 of the present invention;

fig. 4 is a schematic structural view of the first arm, the rotating connecting member, and the second arm in embodiment 1 of the present invention;

FIG. 5 is a schematic structural diagram of the second arm and the third arm in embodiment 1 of the present invention;

fig. 6 is an enlarged view of a portion a in fig. 5.

Description of reference numerals:

10. a first driving device; 101. a first driving end; 11. a fixing device; 12. a second driving device; 121. a second drive end; 20. an arm I; 201. a first rotating end; 202. a second rotating end; 30. rotating the connecting piece; 301. a first rotating member; 302. a second rotating member; 303. a rotating shaft; 304. A transmission member; 40. arm II; 401. a fixing member; 4011. a fixed part; 402. a first retaining ring; 403. a first channel; 50. arm III; 501. a second retaining ring; 60. a telescoping device; 601. a telescoping member; 602. a drive sleeve; 603. a driver; 701. a first U-shaped support; 702. a third driving device; 703. a second U-shaped support; 704. a third U-shaped support; 705. a fourth drive device; 706. A fourth U-shaped support; 707. an apparatus.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but 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 thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; 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 meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

Example 1

The embodiment provides a mechanical arm, as shown in fig. 1 and 4, including a fixing device 11, a first arm 20, a second arm 40, a third arm 50, and a telescopic device 60, where one end of the first arm 20 is rotatably connected to the fixing device 11, the other end is rotatably connected to the second arm 40, an end of the second arm 40 opposite to the first arm 20 has a first channel 403 along an axial direction of the second arm 40, and an end of the third arm 50 slidably penetrates through the first channel 403.

Telescoping device 60 is detachably fixed on second arm 40, and the drive end of telescoping device 60 is detachably connected with third arm 50 for drive third arm 50 to reciprocate and slide in first passageway 403. The telescoping device 60 may be an electric push rod, a telescoping cylinder, a hydraulic cylinder, or the like.

In the above embodiment, the telescopic device 60 is detachably fixed on the second arm 40 and the third arm 50, and when the telescopic length of the third arm 50 in the second arm 40 needs to be changed, the telescopic device 60 can be replaced, and the telescopic device meeting the use requirement is replaced, so that the whole mechanical arm does not need to be replaced, and the applicability of the mechanical arm is improved.

The telescoping device 60 includes telescopic machanism and the extensible member 601 who is connected with telescopic machanism, and telescopic machanism detachably fixes on No. two arms 40, and extensible member 601 detachably connects on No. three arms 50, and telescopic machanism can drive the reciprocating sliding of extensible member 601 in the axial direction of No. three parallel arms 50, and then drives No. three arms 50 reciprocating motion on the first passageway 403 of No. two arms 40.

As shown in fig. 1 and fig. 5, in this embodiment, the telescopic mechanism includes a driver 603 and a driving sleeve 602 detachably fixed on the driver 603, a second channel is provided in the driving sleeve 602 along an axial direction of the driving sleeve 602, the telescopic member 601 is slidably disposed in the second channel, and both the driving sleeve 602 and the telescopic member 601 are of a cylindrical structure, and a cross section of the cylindrical structure may be rectangular, circular, polygonal, or the like.

In this embodiment, as shown in fig. 1 and 5, the driver 603 is detachably fixed on the first fixing ring 402 of the second arm 40, the telescopic member 601 is detachably fixed on the second fixing ring 501 of the third arm 50, and the driving sleeve 602 and the telescopic member 601 are detachably fixed, so that when the length that the third arm 50 can be stretched needs to be adjusted, the driving sleeve 602 and the telescopic member 601 can be directly replaced without replacing the whole telescopic device. In some embodiments, the drive sleeve 602 is integrally formed with the driver 603, and the entire retractor 60 may need to be replaced.

As shown in fig. 2 and 3, the fixing device 11 is a U-shaped seat structure, and the bottom plate of the fixing device 11 has fixing holes for fixing the fixing device 11 on a plane by using pins, screws, and the like. A first driving device 10 is arranged on one side wall of the fixing device 11, and a driving end of the first driving device 10 is fixedly connected with one end of the first arm 20 so as to drive the first arm 20 to rotate on the fixing device 11.

The other side wall of the fixing device 11 is further provided with a second driving device 12, a driving end of the second driving device 12 is fixedly connected with one end of the rotating connecting piece 30, the other end of the rotating connecting piece 30 is fixedly connected with the rotating shaft 303, and the other end of the first arm 20 is rotatably connected with the rotating shaft 303. The first driving device 10 and the second driving device 12 are arranged on the fixing device 11, and compared with the method that the second driving device 12 is arranged on the mechanical arm for facilitating the second arm 40 to rotate, the load born by the rotation of the mechanical arm is reduced, and the extension range of the mechanical arm is enlarged.

As shown in fig. 2 to 4, in the present embodiment, the first driving end 101 of the first driving device 10 passes through the side wall of the fixing device 11 and is fixedly connected to the first rotating end 201 of the first arm 20, and the second rotating end 202 of the first arm 20 is rotatably connected to the rotating shaft 303. When the first driving device 10 starts to work, the first driving end 101 drives the first arm 20 to rotate on the fixing device 11. The first rotating end 201 and the second rotating end 202 may be U-shaped seats, and the connection between the first rotating end 201 and the second rotating end 202 may be hollow tubes to reduce the weight of the first arm and maintain the necessary rigidity.

As shown in fig. 1 to 4, the rotary connector 30 includes a first rotating member 301, a second rotating member 302, and a transmission member 304 connecting the first rotating member 301 and the second rotating member 302, the second driving end 121 of the second driving device 12 is fixedly connected to the first rotating member 301, and the rotating shaft 303 is fixedly connected to the second rotating member 302. When the second driving device 12 starts to operate, the second driving end 121 drives the first rotating member 301 to start to rotate, and the first rotating member 301 drives the second rotating member 302 to rotate through the transmission member 304, so as to drive the rotating shaft 303 fixed to the second rotating member 302 to rotate. The rotating shaft 303 is rotatably connected to the second rotating end 202 of the first arm 20, so that the rotation of the rotating shaft 303 does not affect the first arm 20.

In this embodiment, the rotary connecting member 30 is in the form of a synchronous pulley, the first rotating member 301 and the second rotating member 302 are transmission wheels, and the transmission member 304 is a belt. In some embodiments, the rotary connecting element 30 may also be driven by a chain wheel, i.e. the first rotating element 301 and the second rotating element 302 are gears, and the driving element 304 is a chain.

As shown in fig. 4 and 5, in this embodiment, a fixing part 401 is disposed at one end of the second arm 40, fixing parts 4011 extend from two opposite sides of the fixing part 401 along the same direction, the fixing part 4011 and the fixing part 401 are U-shaped, and the fixing parts 4011 are fixed at two opposite ends of the rotating shaft 303. When the second driving device 12 operates to rotate the rotating shaft 303, the rotating shaft 303 rotates the second arm 40. The second arm 40 may have a hollow column structure to reduce the overall weight of the robot arm and maintain the necessary rigidity, or the second arm 40 may have a hollow end (end having the first passage 403) and a solid end.

As shown in fig. 5 and 6, a first adjuster is disposed at an end of the third arm 50 opposite to the second arm 40, the first adjuster includes a first U-shaped support 701, a third driving device 702 and a second U-shaped support 703 which are rotatably connected in sequence, two side walls of the first U-shaped support 701 and the second U-shaped support 703 are rotatably connected to two opposite ends of the third driving device 702, wherein the first U-shaped support 701 is connected to an end of the third arm 50 away from the second arm 40, and the second U-shaped support 703 is connected to a device 707. The first U-shaped support 701 and the second U-shaped support 703 are driven by the third driving device 702 to drive the apparatus 707 to rotate.

To further increase the rotational flexibility of the boom nose, a second adjuster is provided, by which the device 707 is connected to the first adjuster, the second adjuster being cross-connected to the first adjuster. The second adjuster comprises a third U-shaped support 704, a fourth driving device 705 and a fourth U-shaped support 706 which are sequentially and rotatably connected, two side walls of the fourth U-shaped support 706 and two side walls of the third U-shaped support 704 are rotatably connected to two opposite ends of the fourth driving device 705, the third U-shaped support 704 is in cross connection with the second U-shaped support 703, and equipment 707 is connected to the fourth U-shaped support 706.

In this embodiment, the first adjuster and the second adjuster are connected in a 90-degree cross, and the third driving device 702 and the fourth driving device 705 can drive the device 707 to move flexibly in two axes at the front end of the robot arm. The device 707 may be a miniature visible light camera for taking pictures in well lit environments, an infrared camera for taking pictures in poorly lit environments, a laser and/or sensor, etc. In some embodiments, more adjusters may be included, and the intersection of the first adjuster and the second adjuster may be 70 degrees, 77 degrees, 40 degrees, etc.

To further adjust the flexibility of the front end of the arm, the first U-shaped support 701 can rotate with the axis of the third arm 50 as the rotation axis. When the first U-shaped support 701 rotates, the first adjuster, the second adjuster and the device 707 are driven to rotate, thereby further adjusting the flexibility of the front end of the mechanical arm.

The first driving device 10, the second driving device 12, the third driving device 702 and the fourth driving device 705 can be steering engines, servo motors and the like, the torque of the first driving device 10 and the second driving device 12 can be 180kg/mm, the torque of the third driving device 702 and the fourth driving device 705 can be 20kg/mm, and the positions of the first arm 20 and the second arm 40 can be controlled through signal input rotation angles. The mechanical arms all adopt carbon tubes, and the sections of the mechanical arms can be in the shapes of circles, rectangles, polygons and the like. When carrying on equipment such as camera, can be used to under the complex environment, the control at no dead angle, and this arm can be independent product, also can install in machines such as robot, mechanical car, unmanned aerial vehicle as the accessory.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the utility model.

Claims

1. A robot arm, comprising:

a fixing device (11);

a first arm (20) with one end rotatably connected with the fixing device (11);

a second arm (40) having one end rotatably connected to the other end of the first arm (20) and the other end having a first passage (403) along the axial direction of the second arm (40);

a third arm (50) with one end slidably penetrating the first channel (403);

the telescopic device (60) is detachably fixed on the second arm (40), and the driving end of the telescopic device (60) is detachably connected with the third arm (50) and used for driving the third arm (50) to slide in the first channel (403) in a reciprocating mode.

2. The mechanical arm as claimed in claim 1, wherein the telescopic device (60) comprises a telescopic mechanism and a telescopic member (601) connected with the telescopic mechanism, the telescopic mechanism is detachably fixed on the second arm (40), the telescopic member (601) is connected with the third arm (50), and the telescopic mechanism is used for driving the telescopic member (601) to slide back and forth in a direction parallel to the axial direction of the third arm (50).

3. A robot arm according to claim 2, characterized in that said telescopic mechanism comprises an actuator (603) and a driving sleeve (602) detachably fixed to said actuator (603), said driving sleeve (602) having a second channel in the axial direction of said driving sleeve (602), said telescopic member (601) being slidably arranged through said second channel.

4. A robotic arm as claimed in any one of claims 1 to 3, characterised in that a first drive means (10) is provided on said mounting means (11), the drive end of said first drive means (10) being fixedly connected to one end of said first arm (20) for driving rotation of said first arm (20) on said mounting means (11).

5. A mechanical arm as claimed in claim 4, further comprising a rotary connecting piece (30), wherein a second driving device (12) is further arranged on the fixing device (11), the driving end of the second driving device (12) is fixedly connected with one end of the rotary connecting piece (30), the other end of the rotary connecting piece (30) is fixedly connected with a rotating shaft (303), and the other end of the first arm (20) is rotatably connected with the rotating shaft (303).

6. A robot arm according to claim 5, characterized in that the rotary joint (30) comprises a first rotary member (301), a second rotary member (302) and a transmission member (304) connecting the first and second rotary members (301, 302);

the driving end of the second driving device (12) is connected with the first rotating piece (301), and the rotating shaft (303) is fixedly connected with the second rotating piece (302).

7. The mechanical arm as claimed in claim 5 or 6, wherein a fixing part (401) is arranged at one end of the second arm (40), fixing parts (4011) extend from two opposite sides of the fixing part (401), and the two opposite fixing parts (4011) are fixed at two opposite ends of the rotating shaft (303).

8. A robot arm as claimed in any one of claims 1 to 3, wherein a first adjuster is connected to the other end of the third arm (50), and the first adjuster comprises a first U-shaped support (701), a third driving device (702) and a second U-shaped support (703) which are rotatably connected in sequence;

the first U-shaped support (701) is connected with one end, away from the second arm (40), of the third arm (50), and the second U-shaped support (703) is connected with equipment (707).

9. The robotic arm of claim 8, wherein an end of said third arm (50) distal from said second arm (40) has a second adjuster attached thereto, said device (707) being attached to said first adjuster by a second adjuster, said second adjuster being cross-coupled to said first adjuster;

the second adjuster comprises a third U-shaped support (704), a fourth driving device (705) and a fourth U-shaped support (706) which are sequentially connected in a rotating mode, and the third U-shaped support (704) is connected with the second U-shaped support (703) in a cross mode.

10. The mechanical arm as claimed in claim 8, wherein the first U-shaped support (701) can rotate by taking the axis of the third arm (50) as a rotation axis.