CN215701835U - Mechanical arm with limiting protection - Google Patents
Mechanical arm with limiting protection Download PDFInfo
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- CN215701835U CN215701835U CN202122289257.1U CN202122289257U CN215701835U CN 215701835 U CN215701835 U CN 215701835U CN 202122289257 U CN202122289257 U CN 202122289257U CN 215701835 U CN215701835 U CN 215701835U
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- steering engine
- vertical rod
- mechanical arm
- horizontal cantilever
- bearing
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Abstract
The utility model relates to a mechanical arm with limiting protection.A first steering engine is connected with a first vertical rod, the first vertical rod is connected with a horizontal cantilever bearing, and the tail end of a horizontal cantilever is detachably provided with a clamping module; a bearing at one end of the horizontal cantilever, which is far away from the clamping module, is connected with a second vertical rod, and a connecting point of the first vertical rod and the horizontal cantilever is positioned between the second vertical rod and the clamping module; the tail end of the second vertical rod is further connected with a limiting piece, the limiting piece is connected with the second steering engine to form a crank mechanism, and a protruding portion is formed at the connecting point of the limiting piece and the second vertical rod and protrudes to one side of the rotating holder; through the curved bar mechanism that second vertical pole and locating part formed for can drive horizontal cantilever luffing motion when the locating part swings, and be provided with the bellying on the locating part, can directly support and hold rotatory cloud platform on the swing stroke, thereby restrict the swing range of horizontal cantilever, and be the bearing connection between each connecting rod, the operation is more smooth.
Description
Technical Field
The utility model relates to the technical field of mechanical arms, in particular to a mechanical arm with limiting protection.
Background
The mechanical arm is a complex system with multiple inputs and multiple outputs, high nonlinearity and strong coupling, is widely applied to the fields of industrial assembly, safety explosion prevention and the like due to unique operation flexibility, is a complex system, and has uncertainty in parameter perturbation, external interference, unmodeled dynamic state and the like, so that a modeling model of the mechanical arm has uncertainty, and for different tasks, the motion trajectory of a joint space of the mechanical arm needs to be planned, so that the tail end pose is formed by cascading.
The existing mechanical arm is insufficient in a limiting structure of the device in the using process, the mechanical arm is easily over-limited in the moving process, the mechanical claw easily drops articles in the article clamping process, meanwhile, the extrusion force of the mechanical claw and the articles easily causes the articles to be damaged, the use requirements of people cannot be well met, and technical innovation is performed on the basis of the existing mechanical arm according to the condition. Although some of the prior art adopts the air pressure rod to realize the control of the mechanical arm, and then the mechanical arm is limited by the sliding block and the sliding groove in the transmission of the air pressure rod, the structural complexity and instability factors are added, and virtual constraint is added for the mechanical arm which has multiple degrees of freedom, so that the phenomena of instability and unsmooth operation of the mechanism are easy to occur. In addition, in the prior art, a mechanical arm adopting a link mechanism is adopted, but the axis of the mechanical arm is a metal rod, so that the abrasion problem is easily caused, the gap is larger and larger, and the running accuracy is not sufficient and is not smooth; therefore, a mechanical arm structure which runs smoothly and is reasonable in limit is needed.
SUMMERY OF THE UTILITY MODEL
In order to solve the existing problems, the utility model provides a mechanism which realizes multi-dimensional operation through two groups of four-bar mechanisms, and then the tail end of one group of four-bar mechanisms is provided with a limiting rod, so that the limiting rod is limited by a horizontal holder when rotating on a vertical surface, and the limiting effect of the lifting height of a mechanical arm is realized.
In order to achieve the purpose, the utility model provides a mechanical arm with limiting protection, which comprises a rotating holder, a first steering engine and a second steering engine, wherein the first steering engine and the second steering engine are fixed on the rotating holder; a bearing at one end of the horizontal cantilever, which is far away from the clamping module, is connected with a second vertical rod, and a connecting point of the first vertical rod and the horizontal cantilever is positioned between the second vertical rod and the clamping module; the tail end of the second vertical rod is further connected with a limiting part, the limiting part is connected with the second steering engine to form a crank mechanism, a protruding part protrudes from the connecting point of the limiting part and the second vertical rod to one side of the rotating holder, and when the protruding part abuts against the holder, the horizontal cantilever is lifted to the limit height.
Preferably, the first vertical rod comprises a first connecting lug and a second connecting lug, the first connecting lug is connected with the first steering engine, the second connecting lug is in bearing connection with the first fixing plate, and the other end of the first fixing plate is fixedly connected with the rotating holder; and the first steering engine and the second steering engine are positioned on two sides of the first vertical rod.
Preferably, the device further comprises a third vertical rod, one end of the third vertical rod is connected with a second fixing plate bearing, and the second fixing plate is clamped on the first steering engine and is fixedly connected with the rotating holder; the bearing at the other end of the third vertical rod, which is far away from the first steering engine, is connected with a first horizontal cross rod, the bearing at the other end of the first horizontal cross rod is connected with a second horizontal cross rod, and the second horizontal cross rod is connected with a clamping module.
Preferably, the first horizontal cross rod is a triangular piece, two end points of the first horizontal cross rod are respectively connected with the third vertical rod and the second horizontal cross rod through bearings, and the other end point of the first horizontal cross rod is coaxially connected with a connecting point of the first vertical rod and the horizontal cantilever.
Preferably, the rotating holder comprises a protective shell, a rotating part and a third steering engine, the third steering engine is connected with the rotating part, and the protective shell is nested outside the rotating part and wraps the third steering engine.
Preferably, the clamping module comprises a clamping mechanism and a camera mechanism, and the clamping mechanism and the camera mechanism are both connected with the horizontal cantilever.
Preferably, the device further comprises a control device, and the control device is electrically connected with the first steering engine, the second steering engine and the rotating holder.
Preferably, the control device comprises a shell, a control panel, a communication interface and a heat dissipation module; the shell is connected with the rotating holder; the control panel is connected with a communication interface and is accommodated in an accommodating space formed by the shell, and the heat dissipation module is arranged on the shell.
The utility model has the beneficial effects that: the utility model provides a mechanical arm with limiting protection, which comprises a rotating holder, a first steering engine and a second steering engine, wherein the first steering engine and the second steering engine are fixed on the rotating holder; a bearing at one end of the horizontal cantilever, which is far away from the clamping module, is connected with a second vertical rod, and a connecting point of the first vertical rod and the horizontal cantilever is positioned between the second vertical rod and the clamping module; the tail end of the second vertical rod is further connected with a limiting piece, the limiting piece is connected with the second steering engine to form a crank mechanism, a connecting point of the limiting piece and the second vertical rod protrudes to one side of the rotating holder to form a protruding portion, and when the protruding portion abuts against the holder, the horizontal cantilever is lifted to the limit height; through the curved bar mechanism that second vertical pole and locating part formed for can drive horizontal cantilever luffing motion when the locating part swings, and be provided with the bellying on the locating part, can directly support and hold rotatory cloud platform on the swing stroke, thereby restrict the swing range of horizontal cantilever, and be the bearing connection between each connecting rod, the operation is more smooth.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a schematic view of the transmission mechanism of the present invention;
FIG. 3 is a schematic view of a first vertical rod configuration of the present invention;
FIG. 4 is a second vertical rod of the present invention;
FIG. 5 is a schematic side view of the transmission of the present invention;
FIG. 6 is a schematic view of another perspective of the transmission of the present invention;
FIG. 7 is a schematic view of a downward state of the camera head of the present invention;
fig. 8 is a schematic view of the forward state of the camera of the present invention.
Symbolic illustration of components
1. Rotating the holder; 11. a protective shell; 12. a rotating part; 13. a third steering engine;
2. a first steering engine; 21. a first vertical rod; 211. a first connecting lug; 212. a second engaging lug; 22. a first fixing plate; 23. a third vertical rod; 231. a first horizontal cross bar; 232. a second horizontal cross bar; 24. a second fixing plate;
3. a second steering engine; 31. a second vertical rod; 32. a limiting member; 321. a boss portion;
4. a horizontal cantilever;
5. a clamping module; 51. a clamping mechanism; 52. a camera;
6. and a control device.
Detailed Description
In order to more clearly describe the present invention, the present invention will be further described with reference to the accompanying drawings.
In the following description, details of general examples are given to provide a more thorough understanding of the present invention. It is to be understood that the described embodiments are merely exemplary of the utility model, and not restrictive of the full scope of the utility model. It should be understood that the specific embodiments are illustrative of the utility model and are not to be construed as limiting the utility model.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or groups thereof.
The scheme provides a mechanical arm with limiting protection, please refer to fig. 1-6, and comprises a rotating pan-tilt 1, and a first steering engine 2 and a second steering engine 3 which are fixed on the rotating pan-tilt 1, wherein the first steering engine 2 is connected with a first vertical rod 21, the first vertical rod 21 is in bearing connection with a horizontal cantilever 4, and a clamping module 5 is detachably arranged at the tail end of the horizontal cantilever 4; a second vertical rod 31 is connected to one end, far away from the clamping module 5, of the horizontal cantilever 4 through a bearing, and a connection point of the first vertical rod 21 and the horizontal cantilever 4 is located between the second vertical rod 31 and the clamping module 5, so that the first vertical rod serves as a supporting point of the horizontal cantilever and a lever effect is formed; the end of the second vertical rod 31 is further connected with a limiting part 32, the limiting part 32 is connected with the second steering engine to form a crank mechanism, a connecting point of the limiting part 32 and the second vertical rod protrudes to one side of the rotating holder to form a protruding part 321, and when the protruding part 321 abuts against the holder, the horizontal cantilever is lifted to a limit height.
The working process is that the rotating motion of the whole structure on the horizontal plane is controlled by the rotating holder, the first steering engine works to drive the first vertical rod to swing, the first vertical rod and the horizontal cantilever are of crank structures connected by bearings, so that the first steering engine can make the horizontal cantilever linearly move in the horizontal direction, the second vertical rod and the horizontal cantilever are also of crank structures connected by bearings, and the second vertical rod and the limiting piece are also connected by bearings, so that when the horizontal cantilever vertically displaces, although the second vertical rod can swing, the motion of the horizontal cantilever cannot be restricted, and the horizontal cantilever can only swing along with the second vertical rod; make the locating part swing at first when second steering wheel during operation, the locating part swing drives the motion of second vertical pole, because the horizontal cantilever fulcrum that first vertical pole formed, consequently horizontal cantilever can carry out the luffing motion to make the centre gripping module can reach preset position, and there is the bellying on the locating part, consequently rotatory stroke is direct by the cloud platform restriction, makes the horizontal cantilever lift up the contained angle also by the restriction, and the most preferred extreme value is 105. Meanwhile, a third vertical rod, a first horizontal cross rod and a second horizontal cross rod are added, so that the rotation stability of the mechanism can be enhanced.
In this embodiment, the first vertical rod 21 includes a first connection lug 211 and a second connection lug 212, the first connection lug 211 is connected with the first steering engine 2, the second connection lug 212 is connected to the first fixing plate 22 through a bearing, and the other end of the first fixing plate 22 is fixedly connected with the rotating pan/tilt head 1; and the first steering engine and the second steering engine are positioned on two sides of the first vertical rod. The size of the whole connecting rod mechanism can be reduced, and the equipment can be ensured to run more smoothly. And the fixed plate can form restraint to ensure that the first vertical rod swings in place without deviation.
In this embodiment, the device further comprises a third vertical rod 23, one end of the third vertical rod 23 is in bearing connection with a second fixing plate 24, and the second fixing plate 24 is clamped on the first steering engine 2 and is fixedly connected with the rotating holder 1; the bearing of the other end of the third vertical rod 24, which is far away from the first steering engine 2, is connected with a first horizontal cross rod 231, the bearing of the other end of the first horizontal cross rod 231 is connected with a second horizontal cross rod 232, and the second horizontal cross rod 232 is connected with a clamping module.
In this embodiment, the first horizontal cross bar 231 is a triangular piece, two end points of which are respectively connected with the third vertical bar and the second horizontal cross bar bearing, and the other end point of which is coaxially connected with the connection point of the first vertical bar 21 and the horizontal cantilever 4. The triangular piece can be used for adding a rotation restraint, the stability of the whole connecting rod mechanism can be improved, and all actions are guaranteed to be accurate and in place.
In this embodiment, the rotating tripod head 1 includes a protective shell 11, a rotating part 12 and a third steering engine 13, the third steering engine 13 is connected with the rotating part 12, and the protective shell 11 is nested outside the rotating part and wraps up the third steering engine. The occupied area and the volume of the used space can be reduced.
In this embodiment, the clamping module 5 includes a clamping mechanism 51 and a camera mechanism 52, and both the clamping mechanism 51 and the camera mechanism 52 are connected to the horizontal cantilever; because the clamping module can be disassembled and replaced, the clamping hand can adopt various forms. The shooting direction of the camera can also be independently adjusted, and as shown in fig. 7 and 8, the shooting direction is schematic diagrams of the camera at different positions, so that images at various angles can be conveniently shot.
In this embodiment, the device further comprises a control device 6, and the control device is electrically connected with the first steering engine, the second steering engine and the rotating cradle head. The control device comprises a shell, a control panel, a communication interface and a heat dissipation module; the shell is connected with the rotating holder; the control panel is connected with a communication interface and is accommodated in an accommodating space formed by the shell, and the heat dissipation module is arranged on the shell.
The utility model has the technical effects that:
1. the overturning angle can be limited without the limitation of an additional mechanism;
2. and the bearing connection is adopted, so that the abrasion gap caused by rotation is reduced.
The above disclosure is only for a few specific embodiments of the present invention, but the present invention is not limited thereto, and any variations that can be made by those skilled in the art are intended to fall within the scope of the present invention.
Claims (8)
1. A mechanical arm with limiting protection is characterized by comprising a rotating holder, a first steering engine and a second steering engine, wherein the first steering engine and the second steering engine are fixed on the rotating holder; a bearing at one end of the horizontal cantilever, which is far away from the clamping module, is connected with a second vertical rod, and a connecting point of the first vertical rod and the horizontal cantilever is positioned between the second vertical rod and the clamping module; the tail end of the second vertical rod is further connected with a limiting part, the limiting part is connected with the second steering engine to form a crank mechanism, a protruding part protrudes from the connecting point of the limiting part and the second vertical rod to one side of the rotating holder, and when the protruding part abuts against the holder, the horizontal cantilever is lifted to the limit height.
2. The mechanical arm with the limiting protection function as claimed in claim 1, wherein the first vertical rod comprises a first connecting lug and a second connecting lug, the first connecting lug is connected with the first steering engine, the second connecting lug is connected to the first fixing plate through a bearing, and the other end of the first fixing plate is fixedly connected with the rotating holder; and the first steering engine and the second steering engine are positioned on two sides of the first vertical rod.
3. The mechanical arm with the limiting protection function as claimed in claim 1, further comprising a third vertical rod, wherein one end of the third vertical rod is connected with a second fixing plate bearing, and the second fixing plate is clamped on the first steering engine and is fixedly connected with the rotating holder; the bearing at the other end of the third vertical rod, which is far away from the first steering engine, is connected with a first horizontal cross rod, the bearing at the other end of the first horizontal cross rod is connected with a second horizontal cross rod, and the second horizontal cross rod is connected with a clamping module.
4. The mechanical arm with limit protection as claimed in claim 3, wherein the first horizontal cross bar is a triangular piece, two end points of which are connected with the third vertical bar and the second horizontal cross bar respectively, and the other end point is coaxially connected with the connection point of the first vertical bar and the horizontal cantilever.
5. The mechanical arm with the limiting protection function as claimed in claim 1, wherein the rotating holder comprises a protective shell, a rotating part and a third steering engine, the third steering engine is connected with the rotating part, and the protective shell is nested outside the rotating part and wraps the third steering engine.
6. The mechanical arm with limit protection as claimed in claim 1, wherein the clamping module comprises a clamping mechanism and a camera mechanism, and both the clamping mechanism and the camera mechanism are connected with the horizontal cantilever.
7. The mechanical arm with the limiting protection function as claimed in claim 1, further comprising a control device, wherein the control device is electrically connected with the first steering engine, the second steering engine and the rotating holder.
8. The mechanical arm with limit protection as claimed in claim 7, wherein the control device comprises a housing, a control board, a communication interface and a heat dissipation module; the shell is connected with the rotating holder; the control panel is connected with a communication interface and is accommodated in an accommodating space formed by the shell, and the heat dissipation module is arranged on the shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122289257.1U CN215701835U (en) | 2021-09-22 | 2021-09-22 | Mechanical arm with limiting protection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122289257.1U CN215701835U (en) | 2021-09-22 | 2021-09-22 | Mechanical arm with limiting protection |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215701835U true CN215701835U (en) | 2022-02-01 |
Family
ID=80022936
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122289257.1U Active CN215701835U (en) | 2021-09-22 | 2021-09-22 | Mechanical arm with limiting protection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215701835U (en) |
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2021
- 2021-09-22 CN CN202122289257.1U patent/CN215701835U/en active Active
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