CN215511045U - Connecting arm assembly, connecting arm device and operation equipment - Google Patents

Abstract

The utility model relates to the technical field of machining, in particular to a connecting arm assembly, a connecting arm device and operating equipment. The connecting arm assembly comprises N connecting arms which are sequentially arranged, a first wheel is rotatably arranged on each connecting arm, a second wheel is arranged on the front N-1 connecting arms, and N is a positive integer greater than 1; the front connecting arm is positioned at the upstream of the power transmission direction in the two adjacent connecting arms, and the other connecting arm is positioned at the rear connecting arm; a first wheel in the front connecting arm is in transmission connection with the rear connecting arm and is used for driving the rear connecting arm to rotate; and a first wheel in the rear connecting arm is in transmission connection with a second wheel in the front connecting arm. The plurality of connecting arms are driven by the mode, linkage of the plurality of connecting arms can be realized by only using one driving device, the structure is simple, the control difficulty of the electric appliance is low, the control program is simple, and economic, practical and simple effects are achieved. The utility model is suitable for the technical fields of blowing, shot blasting, high-end spraying, laser cladding, cutting, welding and the like.

Description

Connecting arm assembly, connecting arm device and operation equipment

Technical Field

The utility model relates to the technical field of machining, in particular to a connecting arm assembly, a connecting arm device and operating equipment.

Background

When a machine is used for machining, such as cleaning, blowing, shot blasting, high-end spraying, laser cladding, cutting, and welding, a structure in which a plurality of mechanical arms rotate relative to each other is often adopted to control the rotation of the mechanical arms to realize operations.

A wired control explosive ordnance disposal cutting robot as disclosed in application No. 201520254085.6, the robot comprising a first arm, a second arm, a third arm, a straight arm, and a cutting wheel. The first arm is driven by a first arm motor, the end of the first arm is connected with a second arm, and the second arm is driven by a second arm motor; the end of the second arm is connected with a third arm which is driven by a third arm motor; the end of the third arm is connected with a straight arm, the straight arm is driven by a straight arm motor, the end of the straight arm is connected with a cutting grinding wheel, and the cutting grinding wheel is driven by a grinding wheel motor.

Therefore, the joints of the mechanical arms are provided with the motors to drive the mechanical arms to rotate, the structure is complex, the control difficulty of the electric appliance is high, and the control program is complex.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a connecting arm assembly, a connecting arm device and operating equipment, and aims to solve the technical problems that in the prior art, a motor is arranged at each of the joints of a plurality of mechanical arms to drive the mechanical arms to rotate, the structure is complex, the control difficulty of an electric appliance is high, and the control program is complex.

The utility model provides a connecting arm assembly, which comprises N connecting arms 1 which are sequentially arranged, wherein each connecting arm 1 is rotatably provided with a first wheel 2, the front N-1 connecting arms are provided with second wheels 3, and N is a positive integer greater than 1; the front connecting arm is positioned at the upstream of the power transmission direction in the two adjacent connecting arms, and the other connecting arm is positioned at the rear connecting arm; the first wheel 2 in the front connecting arm is in transmission connection with the rear connecting arm and is used for driving the rear connecting arm to rotate; the first wheel 2 in the rear connecting arm is in driving connection with the second wheel 3 in the front connecting arm.

Further, the first wheel 2 and the second wheel 3 are arranged coaxially in the same connecting arm.

Further, a first wheel 2 in the front connecting arm is fixedly connected with the rear connecting arm through a transmission sleeve 4; the second wheel 3 is fixed with the connecting arm 1 through a fixed shaft 5; the fixed shaft 5 is arranged in the transmission sleeve 4 in a penetrating way.

Further, a first wheel 2 in the front connecting arm is in transmission connection with the rear connecting arm through a transmission speed reducer; the transmission speed reducer comprises a speed reducer body 15, a hollow input shaft 16 and an output flange 17; the speed reducer body 15 is fixedly connected with a front connecting arm, a hollow input shaft 16 is in transmission connection with a first wheel 2 in the connecting arm, an output flange 17 is coaxial and synchronous in rotation with the hollow input shaft, and the output flange 17 is fixedly connected with a rear connecting arm; the connecting shafts of the first wheel 2 and the second wheel 3 are arranged in the hollow input shaft 16 in a penetrating mode, and the first wheel 2 and the second wheel 3 rotate synchronously.

Further, the first wheel 2 on the connecting arm 1 is located inside the connecting arm 1, and the second wheel 3 in the front connecting arm 1 is located inside the rear connecting arm 1.

Further, the first wheel 2 of the rear connecting arm 1 is in belt transmission connection with the second wheel 3 of the front connecting arm 1.

Further, the connecting arm positioned at the most upstream in the power transmission direction is a first connecting arm, and a driving device 7 is arranged on the first connecting arm;

the driving device 7 comprises a driving motor 71 and a driving speed reducer 72; an input shaft of the speed reducer 72 is in transmission connection with the driving motor 71, and an output shaft of the speed reducer 72 is in transmission connection with the first wheel 2 on the head connecting arm.

Further, a transmission mechanism 6 is also arranged on the first connecting arm;

the transmission mechanism 6 comprises a driving wheel 61 rotatably arranged on the head connecting arm 101; the driving wheel 61 is in transmission connection with the first wheel 2 on the head connecting arm;

preferably, the transmission mechanism 6 comprises a first transmission wheel 62 and a second transmission wheel 63 both rotatably arranged on the head connection arm 101;

the first driving wheel 62 and the second driving wheel 63 are coaxial and fixedly connected in the center; the first driving wheel 62 is in belt transmission connection with the driving wheel 61; the second transmission wheel 63 is in transmission connection with the first wheel 2 on the head connecting arm 101.

The utility model provides a connecting arm device, which comprises a working arm 9 for fixing a working head 11 and the connecting arm component;

the connecting arm positioned at the most downstream in the power transmission direction is a tail connecting arm 102, and a first wheel on the tail connecting arm 102 is in transmission connection with the working arm so as to drive the working arm 9 to rotate;

preferably, the connecting arm device further comprises a swing mechanism 8; the swing mechanism 8 is connected with the head connecting arm 101 and is used for driving the connecting arm 1 to rotate, and the operation end point of the operation head is positioned on the rotation central line of the swing mechanism;

preferably, the work head 11 is a plasma cutting gun or a laser cutting gun or a welding gun.

Further, the working arm 9 includes a first arm 91 and a second arm 92 for fixing the working head 11; a driving wheel 10 is rotatably arranged on the first arm 91; the first arm 91 is in transmission connection with the first wheel 2 on the tail connecting arm so as to drive the first arm 91 to rotate;

the drive wheel 10 is in driving connection with the first wheel 2 of the trailing link arm, while the drive wheel 10 is in driving connection with the second arm 92.

The utility model provides a working device, which comprises a frame 12, a vertical lifting part 14 and a transverse moving part 13 which are arranged on the frame 12, a working head 11 and the connecting arm device;

the working head 11 is arranged on the working arm 9;

the vertical lifting part 14 is connected with the frame 12 through the transverse moving part 13; the vertical lifting part 14 is fixed with the connecting arm 1 device to drive the connecting arm 1 device to vertically move; the lateral moving part 13 serves to drive the vertical elevating part 14 to move laterally.

The utility model provides a connecting arm assembly, which comprises N connecting arms 1 which are sequentially arranged, wherein each connecting arm 1 is rotatably provided with a first wheel 2, the front N-1 connecting arms are provided with second wheels 3, and N is a positive integer greater than 1; the front connecting arm is positioned at the upstream of the power transmission direction in the two adjacent connecting arms, and the other connecting arm is positioned at the rear connecting arm; the first wheel 2 in the front connecting arm is in transmission connection with the rear connecting arm and is used for driving the rear connecting arm to rotate; the first wheel 2 in the rear connecting arm is in driving connection with the second wheel 3 in the front connecting arm.

In the power transmission process, a first wheel in the front connecting arm is driven in two adjacent connecting arms, and the first wheel in the front connecting arm drives the rear connecting arm to move relative to the front connecting arm; the second wheel in the front connecting arm is fixed relative to the front connecting arm, then the second wheel in the back connecting arm relative to the front connecting arm moves, and then the second wheel in the first wheel in the back connecting arm relative to the front connecting arm moves, and the transmission connection between the two, the first wheel in the back connecting arm obtains the drive.

According to the connecting arm assembly provided by the utility model, the plurality of connecting arms 1 are transmitted in the above manner, and the plurality of connecting arms can be linked only by inputting power to the first connecting arm, so that the connecting arm assembly is simple in structure, low in control difficulty of an electric appliance and simple in control program, and achieves the effects of economy, practicability, simplicity and convenience. Meanwhile, the requirements of various processing precision can be stably and reliably met, the processing working time is shortened, and the production efficiency is improved; the production cost is reduced; the line labor intensity is reduced and the processing can be performed by lower skill level workers.

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 view of a connecting arm assembly according to an embodiment of the present invention;

FIG. 2 is a schematic structural view of a connecting arm assembly according to another embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a transmission reducer in the connecting arm assembly shown in FIG. 2;

FIG. 4 is a schematic structural diagram of a connecting arm device according to an embodiment of the present invention;

FIG. 5 is a cross-sectional view of the connecting arm arrangement shown in FIG. 4;

fig. 6 is a schematic structural diagram of a working head of the boom device according to the embodiment of the present invention, in which the working direction is vertical;

fig. 7 is a schematic structural diagram of a working direction of a working head of the connecting arm device provided by the embodiment of the utility model when the working head is turned by 90 degrees to the left;

fig. 8 is a schematic structural diagram of a working direction of a working head of the connecting arm device provided by the embodiment of the utility model when the working head is turned at 90 degrees to the right;

fig. 9 is a schematic structural diagram of a working device according to an embodiment of the present invention;

fig. 10 is another schematic structural diagram of a working device according to an embodiment of the present invention.

Reference numerals: 1-a linker arm; 2-a first round; 3-a second round; 4-a transmission sleeve; 5, fixing a shaft; 6-a transmission mechanism; 7-a drive device; 8-a slewing mechanism; 9-a working arm; 10-a transmission wheel; 11-a working head; 12-a frame; 13-a lateral moving part; 14-a vertical lift; 15-reducer body; 16-a hollow input shaft; 17-an output flange; 18-a third transmission wheel; 19-a fourth transmission wheel; 20-a fifth transmission wheel; 61-a drive wheel; 62-a first drive wheel; 63-a second transmission wheel; 71-a drive motor; 72-a speed reducer; 91-a first arm; 92-a second arm; 101-first connecting arm; 102-tail connecting arm.

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.

As shown in fig. 1 and 2, the connecting arm assembly provided by the embodiment of the present invention includes N connecting arms 1 arranged in sequence, each connecting arm 1 is rotatably provided with a first wheel 2, the front N-1 connecting arms are provided with second wheels 3, and N is a positive integer greater than 1; the front connecting arm is positioned at the upstream of the power transmission direction in the two adjacent connecting arms, and the other connecting arm is positioned at the rear connecting arm; a first wheel 2 in the front connecting arm 1 is in transmission connection with the rear connecting arm 1 and is used for driving the rear connecting arm 1 to rotate; the first wheel 2 of the rear connecting arm 1 is in transmission connection with the second wheel 3 of the front connecting arm 1.

The embodiment of the present invention provides a connecting arm assembly, which includes N connecting arms 1 arranged in sequence, and when in use, the connecting arm is directed to the foremost one of the N connecting arms 1 (i.e., the connecting arm located at the most upstream in the power transmission direction, which is the same as the first connecting arm 101 in the following). First wheel 2 on the first linking arm 101 of drive rotates, first wheel 2 on the first linking arm 101 drives the first linking arm 1 of the back that is adjacent with first linking arm 101 and rotates, first linking arm 1 of the back moves first linking arm 101 relatively along with the rotation of first wheel 2 of first linking arm 101, and simultaneously, the second wheel on the first linking arm 101 is first linking arm 101 relatively motionless, thereby make second wheel 3 on the first linking arm 101 and first wheel 2 relative position on the first linking arm 1 of the back change, first wheel 2 on the first linking arm 1 of the back begins the transmission with second wheel 3 on the first linking arm 101, thereby make first wheel 2 on the first linking arm 1 of the back rotate, so on.

In summary, in the power transmission process, in two adjacent connecting arms 1, the first wheel in the front connecting arm is driven, and the first wheel in the front connecting arm drives the rear connecting arm to move relative to the front connecting arm; the second wheel in the front connecting arm is fixed relative to the front connecting arm, then the second wheel in the back connecting arm relative to the front connecting arm moves, and then the second wheel in the first wheel in the back connecting arm relative to the front connecting arm moves, and the transmission connection between the two, the first wheel in the back connecting arm obtains the drive.

According to the connecting arm assembly provided by the utility model, the plurality of connecting arms 1 are transmitted in the above manner, and the plurality of connecting arms 1 can be linked only by inputting power to the first connecting arm 101, so that the connecting arm assembly is simple in structure, low in control difficulty of an electric appliance and simple in control program, and achieves the effects of economy, practicability and simplicity. Meanwhile, the requirements of various processing precision can be stably and reliably met, the processing working time is shortened, and the production efficiency is improved; the production cost is reduced; the line labor intensity is reduced and the processing can be performed by lower skill level workers.

When the working head on the working arm uses different working equipment, such as a laser head, a plasma cutting head, a spray head and other working equipment, the utility model can be applied to the technical fields of cleaning and blowing, shot blasting, high-end spraying, laser cladding, cutting, welding and the like.

Wherein, N can be 2, 3, 4 or 5, etc. positive integer more than 1. The figure takes N as an example of 3, namely the number of the connecting arms is three.

As shown in fig. 1, on the basis of the above-described embodiment, further, for the first wheel 2 and the second wheel 3 on the same connecting arm 1, the first wheel 2 is located inside the connecting arm 1, and the second wheel 3 is located in the next connecting arm adjacent to the connecting arm, it can be understood that the first wheel 2 of the front connecting arm is located inside the front connecting arm, and the second wheel 3 of the front connecting arm is located inside the rear connecting arm.

In this embodiment, such arrangement mode makes first wheel 2 and second wheel 3 be located different linking arm 1, and make full use of linking arm 1's inner space can play the guard action to first wheel 2 and second wheel 3 simultaneously, avoids receiving the outside to collide with, also can improve user's security when improving stability.

Wherein, realize that first wheel 2 in the preceding linking arm is connected with the back linking arm transmission, and the mode that the second wheel 3 of preceding linking arm is located the back linking arm can be multiple, for example: two connecting shafts which are arranged in parallel are adopted, one end of one connecting shaft is fixedly connected with the first wheel 2 of the front connecting arm, and the other end of the connecting shaft is fixedly connected with the rear connecting arm; one end of the other connecting arm is fixedly connected with the front connecting arm, the other end of the other connecting arm extends into the rear connecting arm, the second wheel of the front connecting arm is rotatably connected to the other end of the connecting shaft, and the second wheel of the front connecting arm is not in contact with the inner wall of the rear connecting arm. The first wheel 2 and the second wheel 3 on the same connecting arm are now not arranged coaxially.

As an alternative, as shown in fig. 1, the first wheel 2 of the front connecting arm is fixedly connected with the rear connecting arm through a transmission sleeve 4, specifically, one end of the transmission sleeve 4 is fixedly connected with the first wheel of the front connecting arm coaxially (for example, by welding, clamping, or screwing), and the other end of the transmission sleeve 4 is fixedly connected with the rear connecting arm (for example, by welding, clamping, or screwing). The second wheel 3 is fixed with the connecting arm 1 through a fixed shaft 5; the fixed shaft 5 is arranged in the transmission sleeve 4 in a penetrating mode, specifically, one end of the fixed shaft 5 is fixedly connected with the front connecting arm (connected in a welding mode, a clamping mode or a threaded connection mode and the like), the other end of the fixed shaft extends into the rear connecting arm, and the second wheel of the front connecting arm is rotatably connected to the other end of the fixed shaft and is not in contact with the inner wall of the rear connecting arm.

In this embodiment, the mode that transmission cover 4 and fixed axle 5 cup jointed is convenient for the second wheel 3 and is connected and fixed of linking arm 1, and the structure is compacter. Meanwhile, the first wheel 2 and the second wheel 3 can be coaxially arranged, and the first wheel 2 and the second wheel 3 are coaxially arranged, so that the arrangement is compact, and the space is saved.

As shown in fig. 1, preferably, a bearing chamber may be disposed in the connecting arm 1, a transmission sleeve 4 is disposed in a bearing hole of the bearing chamber, the transmission sleeve 4 may rotate in the bearing chamber, one end of the transmission sleeve 4 is fixedly connected with the first wheel 2, and the other end is fixedly connected with the housing of the rear connecting arm 1 through a screw. One end of the fixed shaft 5 is fixed with the front connecting arm 1 through a screw, is coaxial with the transmission sleeve 4 and is not contacted with the transmission sleeve, the distance between the two ends is preferably more than or equal to 1mm, and the other end of the fixed shaft 5 extends into the rear connecting arm 1 and is fixedly connected with the second wheel 3. Preferably, the fixed shaft 5 is connected with the second wheel 3 through an expansion sleeve, the fixed shaft 5 is sleeved in an inner hole of the expansion sleeve, an inner hole of the second wheel 3 is sleeved on an excircle of the expansion sleeve, and the expansion sleeve is tightened through a fastening screw. Wherein the cover that expands includes: the inner taper sleeve, the outer taper sleeve, the locking screw and the dismounting screw. The connection mode of the expansion sleeve can generate huge holding force between the inner ring and the shaft and between the outer ring and the hub through the action of the high-strength tension bolt so as to realize the key-free connection of the belt wheel and the shaft. The centering device has the advantages of high centering precision, convenient installation, debugging and disassembly, high strength and stable and reliable connection.

As another alternative, as shown in fig. 2 and 3, the first wheel 2 in the front connecting arm is in transmission connection with the rear connecting arm through a transmission reducer; the transmission speed reducer comprises a speed reducer body 15, a hollow input shaft 16 and an output flange 17; the speed reducer body 15 is fixedly connected with a front connecting arm, a hollow input shaft 16 is in transmission connection with a first wheel 2 in the connecting arm, an output flange 17 is coaxial and synchronous in rotation with the hollow input shaft, and the output flange 17 is fixedly connected with a rear connecting arm; the connecting shafts of the first wheel 2 and the second wheel 3 are arranged in the hollow input shaft 16 in a penetrating mode, and the first wheel 2 and the second wheel 3 rotate synchronously.

In this embodiment, speed reducer body 15 and preceding linking arm fixed connection, hollow input shaft 16 wears to establish in the speed reducer body, the one end of hollow input shaft 16 is connected with the first round 2 transmission of preceding linking arm (can direct coaxial fixed connection, realize that hollow input shaft follows first round and rotates), the other end of hollow input shaft 16 is connected with output flange 17 coaxial and synchronous rotation (accessible interference connection or modes such as joint make output flange and hollow input shaft coaxial fixed, thereby realize both synchronous rotations), the connecting axle between the first round of preceding linking arm and the second round passes the input hollow shaft, the one end and the first round fixed connection of this connecting axle, the other end can stretch into in the back linking arm, the second round of preceding linking arm is fixed at the other end of connecting axle, realize the coaxial synchronous rotation setting of first round and second round through the connecting axle.

In the power transmission process, the first wheel of the front connecting arm is driven to rotate, so that the input hollow shaft and the connecting shaft are driven to rotate, the input hollow shaft drives the rear connecting arm to move, the connecting shaft drives the second wheel of the front connecting arm to rotate, and the rest can be done in the same way. Through using the speed reducer transmission, can make the simplified structure, make the structure compacter, bearing capacity is stronger, and turned angle is more accurate, and the return stroke error is little. And the second wheel and the first wheel rotate synchronously, so that the second wheel in the front connecting arm drives the first wheel in the rear connecting arm to rotate, and the transmission of power is facilitated.

Alternatively, as shown in fig. 2, in the tail connecting arm 102, a first wheel in the tail connecting arm is in transmission connection with the working arm, and a transmission shaft may be arranged to realize that the first wheel 2 is coaxially and synchronously arranged at one end of the transmission shaft in a rotating manner, and the other end of the transmission shaft is fixedly connected with the working arm; an intermediate transmission member may also be provided: a third driving wheel 18, a fourth driving wheel 19 and a fifth driving wheel 20, wherein the first wheel 2 in the tail connecting arm 102 is in transmission connection with the third driving wheel 18 through a transmission belt, the third driving wheel 18 and the fourth driving wheel 19 are coaxially and synchronously arranged in a rotating mode, the fourth driving wheel 19 and the fifth driving wheel 20 are in transmission connection through a belt, and the fifth driving wheel 20 is in transmission connection with the working arm.

On the basis of the above-mentioned embodiments, further, the transmission manner of the first wheel 2 on the rear connecting arm and the second wheel 3 on the front connecting arm can be various, for example, the first wheel 2 is in transmission connection with the second wheel 3 of the front connecting arm through gear transmission or chain transmission.

As an alternative, the first wheel 2 in the rear connecting arm is in belt-driven connection with the second wheel 3 in the front connecting arm, as shown in fig. 1.

In the embodiment, the first wheel 2 and the second wheel 3 are driven in a belt driving mode, so that the weight of the connecting arm assembly can be reduced.

As shown in fig. 1, in addition to the above-described embodiment, further, the connecting arm positioned most upstream in the power transmission direction is the first connecting arm 101, and the driving device 7 is provided on the first connecting arm 101; the driving device 7 comprises a driving motor 71 and a speed reducer 72; the input end of the speed reducer 72 is connected with the driving motor 71, and the output end of the speed reducer 72 is in transmission connection with the first wheel 2 on the head connecting arm 101.

In this embodiment, the driving device 7 is disposed on the first connecting arm 101, and the driving motor 71 on the first connecting arm 101 can simultaneously drive the plurality of connecting arms 1 behind to rotate simultaneously, so that the control difficulty of the electric appliance is low, and the control procedure is simple.

As shown in fig. 1, on the basis of the above embodiment, further, the first connecting arm 101 is provided with a transmission mechanism 6; the transmission mechanism 6 comprises a driving wheel 61 rotatably arranged on the connecting arm 1; the driving wheel 61 is in driving connection with the first wheel 2 on the connecting arm 1.

Preferably, the transmission mechanism 6 comprises a first transmission wheel 62 and a second transmission wheel 63 both rotatably arranged on the head connection arm 101; the first driving wheel 62 and the second driving wheel 63 are coaxial and fixedly connected in the center; the first driving wheel 62 is in belt transmission connection with the driving wheel 61; the second transmission wheel 63 is in transmission connection with the first wheel 2 on the head connecting arm 101. The two ends of the connecting shaft of the first driving wheel 62 and the second driving wheel 63 are rotatably connected inside the first connecting arm 1.

In this embodiment, the first wheel 2 on the first connecting arm 101 is connected to the driving device 7 through the transmission mechanism 6, so that the first wheel 2 and the driving device 7 can have a space therebetween, which facilitates the installation of the driving device 7. The first driving wheel 62 and the second driving wheel 63 play a role in transition, and simultaneously play a role in shortening the length of the synchronous belt, preventing the second, third and fourth connecting arms 1 on the rear side from vibrating, playing a role in increasing rigidity, and simultaneously lightening the weight of the transmission mechanism 6.

As shown in fig. 2 to 8, on the basis of the above-described embodiments, further, the present invention provides a connecting arm device including a working arm 9 for fixing a working head 11 and a connecting arm assembly of the present invention; the connecting arm positioned at the most downstream in the power transmission direction is a tail connecting arm 102, and a first wheel on the tail connecting arm 102 is in transmission connection with the working arm so as to drive the working arm 9 to rotate; preferably, the work head 11 is a plasma cutting gun or a laser cutting gun or a welding gun.

The present embodiment provides a connecting arm device, the working principle of the connecting arm 1 is the same as above, the first wheel 2 on the last connecting arm 1 drives the working arm 9 to rotate, the working arm 9 drives the working head 11 thereon to rotate, and the working head 11 performs the work.

As shown in fig. 5, on the basis of the above embodiment, further, the working arm 9 includes a first arm 91 and a second arm 92 for fixing the working head 11; a driving wheel 10 is rotatably arranged on the first arm 91; the first arm 91 is in transmission connection with the first wheel 2 on the tail connecting arm 102 so as to drive the first arm 91 to rotate; the transmission wheel 10 is in driving connection with the second wheel 3 of the tail link arm 102, while the transmission wheel 10 is in driving connection with the second arm 92.

In this embodiment, the first wheel 2 on the last connecting arm 1 drives the first arm 91 to rotate, and meanwhile, due to the cooperation between the driving wheel 10 and the second wheel 3 on the last connecting arm 1, the driving wheel 10 rotates, the driving wheel 10 drives the second arm 92 to rotate, and the second arm 92 drives the working head 11 to rotate for working.

In this embodiment, the first arm 91 and the second arm 92 are arranged in such a manner that the connecting arm device can simultaneously drive the first arm 91 and the second arm 92 to rotate, so that the connecting arm device is driven by one driving motor 71 while the rotation amplitude of the working head 11 is increased, and the structure is simple and convenient to control.

Further, the connecting arm device also comprises a slewing mechanism 8; the swing mechanism 8 is connected with the first connecting arm 1 and is used for driving the connecting arm 1 to rotate. The swing mechanism 8 can realize the integral rotation of the connecting arm device, thereby enlarging the operation range of the operation head 11 and realizing the multi-angle operation of the operation head 11.

The number of the synchronous belts in each connecting arm 1 can be more than or equal to 1, and the number of the belt wheels is correspondingly increased by 1. For example, the number of belts in the first link arm 1 may be 1, and the number of timing belts in this case is 2. Or the number of the timing belts in the second link arm 1, the first arm 91 and the second arm 92 is 2.

Further, the first wheel 2 and the second wheel 3 are of a gear structure with equal number of teeth and module. Therefore, the rotation angles of the connecting arms 1 are the same, the two spaced connecting arms 1 are parallel, the connecting arms 1 can form a straight line after being contracted, and the occupied space is small.

Further, the first wheel 2, the second wheel 3 and the transmission wheel 10 are of a gear structure (as shown in fig. 2) with equal number of teeth and module, and preferably, the second connecting arm 1 and the second arm 92 are parallel, so that the second connecting arm 1 is parallel to the working head 11 and rotates by the same degree.

Taking the connecting arm 1 as two, the length of the second connecting arm 1 is preferably required to be not interfered with the upper end of a workpiece (such as a profile to be cut) to be processed or worked when the connecting arm is at a 0 degree schematic (as shown in figure 6). When rotated 90 ° to the right (as in fig. 7) or 90 ° to the left (as in fig. 8), the work head 11 (e.g., a cutting gun) does not interfere with the right or left end of the workpiece being machined or worked (e.g., a profile being cut).

The first arm 91 is required to be of a length such that it does not interfere with the upper end of a workpiece (e.g. a profile to be cut) being machined or worked on when in the 0 deg. view (as in figure 5). When the cutting tool is rotated by 90 ° to the right or 90 ° to the left, the working head 11 (such as a cutting gun) does not interfere with the right or left end of the workpiece to be machined or worked (such as a profile to be cut).

As shown in fig. 9 and 10, on the basis of the above embodiment, further, the present invention provides a working device, which includes a frame 12, a vertical lifting part 14 and a lateral moving part 13 provided on the frame 12, a working head 11, and the connecting arm device provided by the present invention; the working head 11 is arranged on the working arm 9; the vertical lifting part 14 is connected with the frame 12 through the transverse moving part 13; the vertical lifting part 14 is fixed with the connecting arm device to drive the connecting arm device to vertically move; the lateral moving part 13 serves to drive the vertical elevating part 14 to move laterally.

The utility model provides a working device.A transverse moving part 13 drives a vertical lifting part 14 to move transversely, so that a working head 11 moves transversely. The vertical lifting part 14 drives the connecting arm device to move vertically, so that the work head 11 moves vertically. Preferably, in cooperation with the swing mechanism 8, the swing mechanism 8 drives the connecting arm device to rotate, so that the working head 11 can move in the direction X, Y, Z, and the connecting arm 1 rotates to realize a multi-linkage effect. The operation head 11 of the plasma cutting gun or the laser cutting equipment is clamped during cutting, and the welding gun can be converted into the welding equipment during welding.

Furthermore, the closed profile on the machine frame 12 is driven in rotation by the closed profile turning section. Preferably, the connecting arms 1 are two and cooperate with the first and second arms 91, 92, while cooperating with the vertical lift 14, the transverse movement 13, the swing mechanism 8 and the closure profile swing can achieve the effect of seven-axis six-linkage.

Further, the frame 12 includes a rail and a gantry movably disposed on the rail, and the traverse section 13 and the vertical elevating section 14 are disposed on the gantry, and the gantry is movable on the rail. The portal frame can be provided with a workbench, various workpieces to be processed or operated (such as sections and pipes to be cut) can be clamped through the workbench, and auxiliary clamping can be performed through the roller frame, the supporting frame and the like.

Further, a control system is provided to control the rotation of each link arm 1 and work head 11.

Taking the cutting of the profile by the two connecting arms 1 as an example, the specific cutting and using method is as follows:

1. clamping: the profile with the closed profile is clamped on the closed profile rotating part, and the profile can be driven to rotate.

2. A corresponding cut shape model is selected.

3. And setting basic parameters of the workpiece and setting cutting reference parameters.

4. And (6) tool setting.

5. Click the "start" button to perform the cut.

6. The connecting arm 1, under the driving of the driving motor 71, drives the cutting gun to cut on the top surface and the side surface of the profile according to a predetermined program, for example, a track in the form of an intersecting line, a three-dimensional curve, a side edge, and the like.

When cutting is performed at a certain angle, the driving motor 71 drives the pulley to rotate at a certain angle through the speed reducer 72, thereby rotating the connecting arm two. And the third connecting arm keeps a vertical state, and meanwhile, the fourth connecting arm rotates for a certain angle, so that the axial direction of the cutting gun or the welding gun is adjusted to be towards the direction to be processed.

When the three-dimensional curve cutting is performed, the driving motor 71 drives the pulley to rotate continuously along the cutting path through the speed reducer 72, thereby rotating the second connecting arm 1. The first arm 91 remains vertical while the second arm 92 is made to rotate continuously along the path of the cut, making the axial direction of the cutting gun continuously adjusted along the direction to be machined.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the utility model has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (11)

1. A connecting arm assembly is characterized by comprising N connecting arms (1) which are sequentially arranged, wherein each connecting arm (1) is rotatably provided with a first wheel (2), the front N-1 connecting arms are provided with second wheels (3), and N is a positive integer greater than 1;

the front connecting arm is positioned at the upstream of the power transmission direction in two adjacent connecting arms, and the other connecting arm is positioned at the rear of the power transmission direction;

the first wheel (2) in the front connecting arm is in transmission connection with the rear connecting arm and is used for driving the rear connecting arm to rotate;

the first wheel (2) in the rear connecting arm is in transmission connection with the second wheel (3) in the front connecting arm.

2. The connecting arm assembly according to claim 1, characterized in that the first wheel (2) and the second wheel (3) of the same connecting arm are arranged coaxially and the second wheel (3) is fixedly connected to the front connecting arm.

3. The connecting arm assembly according to claim 2, characterized in that the first wheel (2) in the front connecting arm is fixedly connected to the rear connecting arm by means of a driving sleeve (4);

the second wheel (3) in the front connecting arm is fixed with the front connecting arm through a fixed shaft (5);

one end of the fixed shaft (5) is fixedly connected with the front connecting arm, and the other end of the fixed shaft penetrates through the transmission sleeve (4) and is fixedly connected with the second wheel (3) of the front connecting arm.

4. The connecting arm assembly according to claim 2, characterized in that the first wheel (2) in the front connecting arm is in driving connection with the rear connecting arm through a drive reducer;

the transmission speed reducer comprises a speed reducer body (15), a hollow input shaft (16) and an output flange (17);

the speed reducer body (15) is fixedly connected with the front connecting arm, the hollow input shaft (16) is in transmission connection with the first wheel (2) in the connecting arm, the output flange (17) is coaxial and synchronous with the hollow input shaft in rotation, and the output flange (17) is fixedly connected with the rear connecting arm;

the connecting shaft of the first wheel (2) and the second wheel (3) penetrates through the hollow input shaft (16), and the first wheel (2) and the second wheel (3) rotate synchronously.

5. The connecting arm assembly according to claim 2, characterized in that the first wheel (2) on the connecting arm (1) is located inside the connecting arm (1) and the second wheel (3) in the front connecting arm (1) is located inside the rear connecting arm (1).

6. The connecting arm assembly according to claim 1, characterized in that the first wheel (2) in the rear connecting arm is in belt-driven connection with the second wheel (3) in the front connecting arm;

the first wheel (2) and the second wheel (3) are synchronous wheels, and the second wheel (3) in the front connecting arm (1) is connected with the first wheel (2) in the rear connecting arm in a synchronous belt transmission mode.

7. The connecting arm assembly according to claim 1, characterized in that the connecting arm (1) located most upstream in the power transmission direction is a leading connecting arm to which the driving device (7) is connected;

the head connecting arm is provided with a driving device (7);

the driving device (7) comprises a driving motor (71) and a driving speed reducer (72); the input shaft of the speed reducer (72) is in transmission connection with the driving motor (71), and the output shaft of the speed reducer (72) is in transmission connection with the first wheel (2) on the first connecting arm.

8. The connecting arm assembly according to claim 7, characterized in that a transmission mechanism (6) is further provided on the head connecting arm;

the transmission mechanism (6) comprises a driving wheel (61) which is rotatably arranged on the head connecting arm (101); the driving wheel (61) is in transmission connection with the first wheel (2) on the head connecting arm (101);

the transmission mechanism (6) comprises a first transmission wheel (62) and a second transmission wheel (63) which are rotatably arranged on the head connecting arm (101);

the first driving wheel (62) and the second driving wheel (63) are coaxial and fixedly connected in the center; the first driving wheel (62) is in belt transmission connection with the driving wheel (61); the second transmission wheel (63) is in transmission connection with the first wheel (2) on the first connecting arm (101).

9. A link arm arrangement, characterized by comprising a work arm (9) for securing a work head (11) and a link arm assembly according to any one of claims 1-8;

the connecting arm positioned at the most downstream in the power transmission direction is a tail connecting arm (102), and the first wheel on the tail connecting arm (102) is in transmission connection with the working arm so as to drive the working arm (9) to rotate;

the connecting arm (1) positioned at the most upstream in the power transmission direction is a first connecting arm, and the connecting arm device further comprises a slewing mechanism (8); the swing mechanism (8) is connected with the head connecting arm (101) and used for driving the connecting arm (1) to rotate, and the operation end point of the operation head is positioned on the swing central line of the swing mechanism;

the operation head (11) is a plasma cutting gun or a laser cutting gun or a welding gun.

10. The connecting arm arrangement according to claim 9, characterized in that the work arm (9) comprises a first arm (91) and a second arm (92) for securing a work head (11); the first arm (91) is in transmission connection with a first wheel (2) on the tail connecting arm so as to drive the first arm (91) to rotate.

11. A working apparatus comprising a frame (12), a vertical lifting portion (14) and a lateral moving portion (13) provided on the frame (12), a working head (11), and the connecting arm device according to claim 10;

the working head (11) is arranged on the working arm (9);

the vertical lifting part (14) is connected with the frame (12) through the transverse moving part (13); the vertical lifting part (14) is fixed with the connecting arm (1) device to drive the connecting arm (1) device to vertically move; the transverse moving part (13) is used for driving the vertical lifting part (14) to move transversely.

Images