CN215701826U

CN215701826U - Industrial mechanical arm with built-in driving source

Info

Publication number: CN215701826U
Application number: CN202121728321.5U
Authority: CN
Inventors: 冯刚
Original assignee: Meijiang Robot Technology Hubei Co ltd
Current assignee: Meijiang Robot Technology Hubei Co ltd
Priority date: 2021-07-27
Filing date: 2021-07-27
Publication date: 2022-02-01
Anticipated expiration: 2031-07-27

Abstract

The utility model discloses a built-in driving source type industrial mechanical arm which comprises a first rotating arm, a second rotating arm and a third rotating arm, wherein a first motor is fixed inside the first rotating arm, and two output ends of the first motor penetrate through the first rotating arm and the second rotating arm and extend to the inside of the second rotating arm. According to the utility model, the relative fixation of the positions of the first rotating arm and the base in the front-back and left-right directions can be realized through the matching among the third motor, the threaded rod, the threaded cylinder, the first triangular plate, the second triangular plate, the positioning groove and the L-shaped plate, the fixation of the positions of the first rotating arm and the base in the up-down direction can be realized through the matching among the limiting hole, the second spring, the positioning pin and the L-shaped plate, and further the assembly between the mechanical arm and the base is completed.

Description

Industrial mechanical arm with built-in driving source

Technical Field

The utility model relates to the technical field of mechanical arms, in particular to an industrial mechanical arm with a built-in driving source.

Background

The mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling, and has been widely applied to the fields of industrial assembly, safety explosion prevention and the like due to the unique operation flexibility.

According to patent No. CN207874263U, a six-axis industrial robot is disclosed, which comprises a first rotating arm, a second rotating arm, and a third rotating arm; the grabbing distance and height can be adjusted through rotation of the three rotating arms, meanwhile, the first rotating arm is hinged to the first supporting arm, and the grabbing direction can be adjusted through rotation of the first supporting arm on the rotating platform; therefore, the six-axis industrial mechanical arm can realize the adjustment of 6 degrees of freedom in space.

Although the existing device solves the problem that the traditional mechanical arm is complex to control, the existing mechanical arm is inconvenient to mount and dismount with a base; therefore, the built-in driving source type industrial mechanical arm solves the problems.

SUMMERY OF THE UTILITY MODEL

The utility model aims to make up the defects of the prior art and provides an industrial mechanical arm with a built-in driving source.

In order to achieve the purpose, the utility model provides the following technical scheme:

a built-in driving source type industrial mechanical arm comprises a first rotating arm, a second rotating arm and a third rotating arm, wherein a first motor is fixed inside the first rotating arm, two output ends of the first motor penetrate through the first rotating arm and the second rotating arm and extend into the second rotating arm, a second motor is fixed inside the second rotating arm, two output ends of the second motor penetrate through the second rotating arm and the third rotating arm and extend into the third rotating arm, and an installation mechanism is arranged below the first rotating arm;

the inner wall of the second rotating arm is fixedly connected with two output ends of the first motor, and the inner wall of the third rotating arm is fixedly connected with two output ends of the second motor.

Furthermore, installation mechanism includes the L template and installs the box of first transfer arm bottom surface, the surface fixed connection of L template has two cylinder axles.

Furthermore, two one end fixedly connected with backup pad that the L template was kept away from to the cylinder axle, the one side fixedly connected with first set square that two cylinder axles were kept away from to the backup pad, the right side of first set square is equipped with the second set square.

Further, installation mechanism is still including installing the third motor at the box surface, the output fixedly connected with threaded rod of third motor, threaded rod threaded connection has a screw thread section of thick bamboo, the one end that the threaded rod was kept away from to the screw thread section of thick bamboo rotates with the second set-square to be connected.

Further, the right side of L template is equipped with the supporting shoe, two the surface that the supporting shoe was all run through and extended to the supporting shoe is all run through to the one end of cylinder axle, the bottom surface fixedly connected with first spring of supporting shoe, the one end fixedly connected with cushion that the supporting shoe was kept away from to the spring, the bottom surface of cushion and the interior diapire fixed connection of box.

Furthermore, the upper surface of cushion fixedly connected with spring post, the one end that the cushion was kept away from to the spring post runs through the supporting shoe and extends to the surface of supporting shoe.

Further, installation mechanism still includes the base, the constant head tank with L template looks adaptation is seted up to the base, the locating hole has been seted up to the L template, spacing hole has been seted up to the inside of constant head tank.

Furthermore, the inner bottom wall of the limiting hole is fixedly connected with a second spring, and one end of the second spring, far away from the limiting hole, is fixedly connected with a positioning pin.

Has the advantages that:

1. the utility model can realize the relative fixation of the front and back direction positions between the first rotating arm and the base through the matching between the positioning groove and the L-shaped plate, can realize the relative fixation of the left and right direction positions between the first rotating arm and the base through the matching between the third motor, the threaded rod, the threaded cylinder, the first triangular plate, the second triangular plate, the positioning groove and the L-shaped plate by starting the third motor to enable the L-shaped plate to vertically move downwards and be inserted into the positioning groove, can realize the fixation of the up and down direction positions between the first rotating arm and the base through the matching between the limiting hole, the second spring, the positioning pin and the L-shaped plate when the L-shaped plate moves downwards to the maximum distance, and can be inserted into the positioning hole arranged on the L-shaped plate, thereby completing the assembly between the mechanical arm and the base, compared with the manual screw for completing the assembly between the mechanical arm and the base, and time and labor are saved.

2. According to the utility model, through the matching among the first spring, the cushion block and the spring column, when the third motor drives the second triangular plate to remove the thrust on the first triangular plate, the first spring can drive the first triangular plate, the L-shaped plate and the like to reset, so that the fixed relation between the mechanical arm and the base is removed, and compared with the manual method of removing the assembly between the mechanical arm and the base by screws, the method is more time-saving and labor-saving.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic perspective view of a hidden box according to the present invention;

FIG. 3 is a schematic perspective view of an L-shaped board according to the present invention;

FIG. 4 is a cross-sectional view of a top view of the base of the present invention;

FIG. 5 is an enlarged view of the structure at A in FIG. 2 according to the present invention;

fig. 6 is an enlarged view of the structure at B in fig. 4 according to the present invention.

In the figure: 1 a first rotating arm, 2 a second rotating arm, 3 a third rotating arm, 4 a first motor, 5 a second motor, 6 a mounting mechanism, 601L-shaped plates, 602 box bodies, 603 cylindrical shafts, 604 supporting plates, 605 a first triangular plate, 606 a third motor, 607 threaded rods, 608 threaded cylinders, 609 a second triangular plate, 610 supporting blocks, 611 a first spring, 612 cushion blocks, 613 spring columns, 614 bases, 615 positioning grooves, 616 limiting holes, 617 a second spring and 618 positioning pins.

Detailed Description

The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the utility model.

As shown in fig. 1 to 6, the industrial robot with a built-in driving source of the present embodiment includes a first rotating arm 1, a second rotating arm 2 and a third rotating arm 3, a first motor 4 is fixed inside the first rotating arm 1, two output ends of the first motor 4 both penetrate through the first rotating arm 1 and the second rotating arm 2 and extend to the inside of the second rotating arm 2, and the first rotating arm 1 and the second rotating arm 2 both have a first through hole adapted to the first motor 4;

a second motor 5 is fixed in the second rotating arm 2, two output ends of the second motor 5 penetrate through the second rotating arm 2 and the third rotating arm 3 and extend into the third rotating arm 3, second through holes matched with the second motor 5 are formed in the second rotating arm 2 and the third rotating arm 3, the inner wall of the second rotating arm 2 is fixedly connected with two output ends of the first motor 4, and the inner wall of the third rotating arm 3 is fixedly connected with two output ends of the second motor 5;

the first motor 4 rotates to drive the second rotating arm 2 to rotate, and the second motor 5 rotates to drive the third rotating arm 3 to rotate

The length of the first arm 1 is optionally set to be greater than the length of the third arm 3, and the length of the first arm 1 is designed to be less than the length of the second arm 2. Specifically, the design can be carried out according to the actual use requirement.

As shown in fig. 1, 4 to 6, a mounting mechanism 6 is provided below the first boom 1.

The mounting mechanism 6 comprises an L-shaped plate 601 and a box body 602 mounted on the bottom surface of the first rotating arm 1, two cylindrical shafts 603 are fixedly connected to the outer surface of the L-shaped plate 601, the two cylindrical shafts 603 penetrate through the box body 602 and extend to the inside of the box body 602, a supporting plate 604 is fixedly connected to one end, far away from the L-shaped plate 601, of each cylindrical shaft 603, a first triangular plate 605 is fixedly connected to one side, far away from the two cylindrical shafts 603, of the supporting plate 604, and the supporting plate 604 and the first triangular plate 605 are both located inside the box body 602.

In addition, a second triangle 609 is provided on the right side of the first triangle 605, and the second triangle 609 moves to the left side to drive the first triangle 605 to move downward.

The mounting mechanism 6 further comprises a third motor 606 mounted on the outer surface of the box 602, a threaded rod 607 is fixedly connected to an output end of the third motor 606, the third motor 606 rotates to drive the threaded rod 607 to rotate, the threaded rod 607 is in threaded connection with a threaded cylinder 608, one end of the threaded cylinder 608, which is far away from the threaded rod 607, is rotatably connected with a second triangular plate 609, the threaded rod 607 rotates to drive the threaded cylinder 608 to move horizontally, and the threaded cylinder 608 moves horizontally to drive the second triangular plate 609 to move horizontally.

The right side of L type board 601 is equipped with supporting shoe 610, the one end of two cylinder axles 603 all runs through supporting shoe 610 and extends to the surface of supporting shoe 610, supporting shoe 610 sets up the third through-hole with two cylinder axle 603 looks adaptations, the bottom surface fixedly connected with first spring 611 of supporting shoe 610, the one end fixedly connected with cushion 612 that supporting shoe 610 was kept away from to first spring 611, the bottom surface of cushion 612 and the interior diapire fixed connection of box 602, first set-square 605 moves down can drive cylinder axle 603 and supporting shoe 610 and move down, supporting shoe 610 moves down and drives first spring 611.

The upper surface of the compression cushion block 612 is fixedly connected with a spring post 613, one end of the spring post 613, which is far away from the cushion block 612, penetrates through the support block 610 and extends to the outer surface of the support block 610, the support block 610 is provided with a fourth through hole matched with the spring post 613, and the spring post 613 can guide the support block 610 to move downwards.

As shown in fig. 4 and 6, the mounting mechanism 6 further includes a base 614, the base 614 is provided with a positioning groove 615 adapted to the L-shaped plate 601, the L-shaped plate 601 is provided with positioning holes, the positioning groove 615 is L-shaped, the number of the positioning holes is two, and the two positioning holes are symmetrical with respect to a center point of the L-shaped plate 601.

In addition, the inside of the positioning groove 615 is provided with a limiting hole 616, the inner bottom wall of the limiting hole 616 is fixedly connected with a second spring 617, one end of the second spring 617, which is far away from the limiting hole 616, is fixedly connected with a positioning pin 618, the number of the limiting hole 616, the number of the second spring 617 and the number of the positioning pins 618 are two, and the two positioning pins 618 are respectively matched with the two positioning holes.

When the L-shaped plate 601 moves downward to the maximum distance, the positioning pin 618 will be inserted into the positioning hole formed in the L-shaped plate 601 under the action of the second spring 617, and at this time, the position of the first rotating arm 1 and the base 614 in the up-down direction is relatively fixed.

The working principle is as follows: when the robot arm is required to grab objects, the first motor 4 and the second motor 5 are started to respectively drive the second rotating arm 2 and the third rotating arm 3 to rotate, and then objects with different distances and sizes can be grabbed, when the robot arm is required to be installed with the base 614, firstly, the L-shaped plate 601 moves to the maximum distance along the positioning groove 615, at the moment, the front-back direction position between the first rotating arm 1 and the base 614 is relatively fixed, then, the third motor 606 is started, the third motor 606 rotates to drive the threaded rod 607 to rotate, the threaded rod 607 rotates to drive the threaded cylinder 608 to horizontally move, the threaded cylinder 608 horizontally moves to drive the second triangular plate 609 to horizontally move, the second triangular plate 609 horizontally moves to drive the first triangular plate 605 to move downwards, and then the support plate 604, the cylindrical shaft 603 and the L-shaped plate 601 can be driven to move downwards, so that the L-shaped plate 601 can be inserted into the positioning groove 615, at this time, the left and right direction positions of the first rotating arm 1 and the base 614 are relatively fixed, when the L-shaped plate 601 moves downwards to the maximum distance, under the action of the second spring 617, the positioning pin 618 and the positioning hole formed in the L-shaped plate 601 can be inserted into the positioning hole, at this time, the up and down direction positions of the first rotating arm 1 and the base 614 are relatively fixed, and further the assembly between the mechanical arm and the base 614 is completed, when the mechanical arm needs to be detached from the base 614, firstly, the third motor 606 is reversed to drive the second triangular plate 609 to reset, under the action of the first spring 611, the first triangular plate 605, the L-shaped plate 601 and the like can reset, then the L-shaped plate 601 slides out along the positioning groove 615, and the mechanical arm is detached from the base 614.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. Built-in drive source formula industrial robot arm, including first rocking arm (1), second rocking arm (2) and third rocking arm (3), its characterized in that: a first motor (4) is fixed inside the first rotating arm (1), two output ends of the first motor (4) penetrate through the first rotating arm (1) and the second rotating arm (2) and extend into the second rotating arm (2), a second motor (5) is fixed inside the second rotating arm (2), two output ends of the second motor (5) penetrate through the second rotating arm (2) and the third rotating arm (3) and extend into the third rotating arm (3), and an installation mechanism (6) is arranged below the first rotating arm (1);

the inner wall of the second rotating arm (2) is fixedly connected with two output ends of the first motor (4), and the inner wall of the third rotating arm (3) is fixedly connected with two output ends of the second motor (5).

2. The industrial robot of claim 1, wherein: the mounting mechanism (6) comprises an L-shaped plate (601) and a box body (602) mounted on the bottom surface of the first rotating arm (1), and two cylindrical shafts (603) are fixedly connected to the outer surface of the L-shaped plate (601).

3. The industrial robot of claim 2, wherein: one end, far away from the L-shaped plate (601), of each of the two cylindrical shafts (603) is fixedly connected with a supporting plate (604), one face, far away from the two cylindrical shafts (603), of the supporting plate (604) is fixedly connected with a first triangular plate (605), and a second triangular plate (609) is arranged on the right side of the first triangular plate (605).

4. The industrial robot of claim 2, wherein: the installation mechanism (6) further comprises a third motor (606) installed on the outer surface of the box body (602), the output end of the third motor (606) is fixedly connected with a threaded rod (607), the threaded rod (607) is in threaded connection with a threaded cylinder (608), and one end, away from the threaded rod (607), of the threaded cylinder (608) is rotatably connected with a second triangular plate (609).

5. The industrial robot of claim 2, wherein: the right side of L type board (601) is equipped with supporting shoe (610), two the one end of cylinder axle (603) all runs through supporting shoe (610) and extends to the surface of supporting shoe (610), the bottom surface fixedly connected with first spring (611) of supporting shoe (610), the one end fixedly connected with cushion (612) of supporting shoe (610) are kept away from in first spring (611), the bottom surface of cushion (612) and the interior diapire fixed connection of box (602).

6. The industrial robot of claim 5, wherein: the upper surface of the cushion block (612) is fixedly connected with a spring column (613), and one end, far away from the cushion block (612), of the spring column (613) penetrates through the supporting block (610) and extends to the outer surface of the supporting block (610).

7. The industrial robot of claim 2, wherein: the installation mechanism (6) further comprises a base (614), the base (614) is provided with a positioning groove (615) matched with the L-shaped plate (601), the L-shaped plate (601) is provided with a positioning hole, and a limiting hole (616) is formed in the positioning groove (615).

8. The industrial robot of claim 7, wherein: the inner bottom wall of the limiting hole (616) is fixedly connected with a second spring (617), and one end, far away from the limiting hole (616), of the second spring (617) is fixedly connected with a positioning pin (618).