CN216359580U

CN216359580U - Driving mechanism of mechanical arm device

Info

Publication number: CN216359580U
Application number: CN202122712252.5U
Authority: CN
Inventors: 牛张琪; 张义杰; 郑康乾
Original assignee: Changan University
Current assignee: Changan University
Priority date: 2021-11-08
Filing date: 2021-11-08
Publication date: 2022-04-22
Anticipated expiration: 2031-11-08

Abstract

The utility model discloses a driving mechanism of a mechanical arm device, which relates to the technical field of mechanical arms and comprises a base and a driving box, wherein a hydraulic rod is fixedly connected to the upper surface of the base, a fixed seat is fixedly connected to one end, far away from the base, of the hydraulic rod, the driving box is positioned inside the fixed seat, a rotating motor is fixedly connected inside the driving box, and the output end of the rotating motor penetrates through the upper surface of the driving box and extends to the outer surface of the driving box. It is through the cooperation between first stop gear and the second stop gear, can convenient and fast dismantle the arm body from the fixing base to can make things convenient for more to maintain the arm body, through setting up first guide bar, can make first slide can not skew direction when reciprocating, through setting up the second guide bar, can make the second slide can not skew direction when reciprocating, through setting up first baffle, can restrict the distance that first limiting plate removed to keeping away from the fixing base direction.

Description

Driving mechanism of mechanical arm device

Technical Field

The utility model relates to the technical field of mechanical arms, in particular to a driving mechanism of a mechanical arm device.

Background

The mechanical arm is an automatic mechanical device which is widely applied in the technical field of robots, and the body shadow of the mechanical arm can be seen in the fields of industrial manufacturing, medical treatment, entertainment service, military, semiconductor manufacturing, space exploration and the like, although the shapes of the mechanical arm are different, the mechanical arm has a common characteristic that the mechanical arm can receive an instruction and can be accurately positioned to a certain point on a three-dimensional or two-dimensional space for operation, and the mechanical arm generally has 3 motions of stretching, rotating and lifting.

Through retrieval, a rotary driving mechanism for a mechanical arm with the patent number of CN10583505B is characterized in that a positioning mechanism is arranged between a fixed seat and a rotating disc, and the positioning mechanism is utilized to reduce the influence of inertia on the rotary motion of the mechanical arm and improve the rotary precision of the mechanical arm; and the design also has the advantages of simple structure, easy manufacture, practicality and high efficiency.

The above prior art solutions have the following drawbacks: the mechanical arm is inconvenient to detach from the fixed seat for maintenance; to this end, we provide a drive mechanism for a robot arm device that solves the above problems.

SUMMERY OF THE UTILITY MODEL

The utility model aims to make up the defects of the prior art and provides a driving mechanism of a mechanical arm device.

In order to achieve the purpose, the utility model provides the following technical scheme: the utility model provides an actuating mechanism of arm device, includes base and drive box, the last fixed surface of base is connected with the hydraulic stem, the one end fixedly connected with fixing base of base is kept away from to the hydraulic stem, the drive box is located the inside of fixing base, the inside fixedly connected with rotating electrical machines of drive box, the output of rotating electrical machines runs through the upper surface of drive box and extends to the surface of drive box, the output fixedly connected with arm body of rotating electrical machines, the top of base is provided with four first stop gear, four first stop gear's below all is provided with second stop gear.

Further, first stop gear includes first backup pad, a side of first backup pad is connected with the fixed surface of fixing base, the inside sliding connection of first backup pad has first limiting plate, the last fixed surface of first limiting plate is connected with first baffle, a side of first baffle is laminated with the surface of first backup pad mutually.

Furthermore, a side fixedly connected with second backup pad of first limiting plate, a side fixedly connected with four first springs of second backup pad, four the one end that the second backup pad was kept away from to first spring all is connected with the external surface fixed of first backup pad.

Further, the outer fixed surface of first backup pad is connected with the third backup pad, the last fixed surface of third backup pad is connected with the second spring, the first slide of one end fixedly connected with of third backup pad is kept away from to the second spring, the first gag lever post of last fixed surface of first slide is connected with, the one end that first slide was kept away from to first gag lever post runs through first limiting plate and extends to the surface of first limiting plate.

Furthermore, the bottom surface fixedly connected with first guide bar of first slide, the one end that first slide was kept away from to first guide bar runs through the inside of pegging graft at the third backup pad, the one side fixedly connected with fourth backup pad of first backup pad is kept away from to the third backup pad, a side of first slide and a side sliding connection of fourth backup pad.

Furthermore, the second limiting mechanism comprises a second sliding plate which is connected to the outer surface of the fourth supporting plate in a sliding mode, a fourth spring is fixedly connected to the upper surface of the second sliding plate, one end, far away from the second sliding plate, of the fourth spring is fixedly connected with the bottom surface of the third supporting plate, a second guide rod is fixedly connected to the upper surface of the second sliding plate, and one end, far away from the second sliding plate, of the second guide rod is inserted into the third supporting plate.

Further, second stop gear is still including seting up rectangular channel and the fifth backup pad at the fixing base surface, a side of fifth backup pad is connected with the external fixed surface of fixing base, the external fixed surface of fifth backup pad is connected with the third spring, the one end fixedly connected with second limiting plate of fifth backup pad is kept away from to the third spring, the external fixed surface of fixing base is connected with the second baffle, a side of second baffle is laminated with the surface of second limiting plate mutually, the second limiting plate is located the inside of rectangular channel, the external fixed surface of second limiting plate is connected with the sixth backup pad, the bottom surface fixedly connected with second gag lever post of second slide, the one end that the second slide was kept away from to the second gag lever post runs through the sixth backup pad and extends to the surface of sixth backup pad.

Compared with the prior art, the driving mechanism of the mechanical arm device has the following beneficial effects:

1. according to the utility model, through the matching between the first limiting mechanism and the second limiting mechanism, the mechanical arm body can be conveniently and rapidly detached from the fixed seat, so that the mechanical arm body can be maintained more conveniently.

2. According to the utility model, the first guide rod is arranged, so that the first sliding plate cannot deviate from the direction when moving up and down, the second guide rod is arranged, so that the second sliding plate cannot deviate from the direction when moving up and down, the first baffle plate is arranged, so that the moving distance of the first limiting plate to the direction far away from the fixed seat can be limited, and the second baffle plate is arranged, so that the moving distance of the second limiting plate to the direction far away from the fixed seat can be limited.

Drawings

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

FIG. 2 is an exploded schematic view of the present invention;

FIG. 3 is an exploded view of the concealed drive cassette of the present invention;

fig. 4 is a schematic perspective view of the first and second limiting mechanisms of the present invention.

In the figure: the automatic positioning device comprises a base 1, a hydraulic rod 2, a fixed seat 3, a driving box 4, a rotating motor 5, a mechanical arm body 6, a first limiting mechanism 7, a first supporting plate 701, a first limiting plate 702, a second supporting plate 703, a first spring 704, a third supporting plate 705, a second spring 706, a first sliding plate 707, a first limiting rod 708, a first guide rod 709, a fourth supporting plate 710, a first baffle 711, a second limiting mechanism 8, a rectangular groove 801, a fifth supporting plate 802, a third spring 803, a second limiting plate 804, a sixth supporting plate 805, a second sliding plate 806, a fourth spring 807, a second limiting rod 808, a second guide rod 809 and a second baffle 810.

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.

The embodiment provides a driving mechanism of a mechanical arm device, the device is used for driving a mechanical arm body 6, and the mechanical arm body 6 can be conveniently and quickly detached from a fixing seat 3 for maintenance through a first limiting mechanism 7 and a second limiting mechanism 8 which are arranged.

Referring to fig. 1 to 4, a driving mechanism of a mechanical arm device includes a base 1 and a driving box 4, wherein the base 1 is fixedly connected with a hydraulic rod 2, the hydraulic rod 2 is far away from one end of the base 1 and is fixedly connected with a fixing seat 3, the driving box 4 is located inside the fixing seat 3, the driving box 4 is fixedly connected with a rotating motor 5, an output end of the rotating motor 5 penetrates through the upper surface of the driving box 4 and extends to the outer surface of the driving box 4, and an output end of the rotating motor 5 is fixedly connected with a mechanical arm body 6.

Through starting hydraulic stem 2, can drive fixing base 3, drive box 4, rotating electrical machines 5 and arm body 6 and reciprocate, through starting rotating electrical machines 5, can drive arm body 6 rotatory.

The top of base 1 is provided with four first stop gear 7, first stop gear 7 includes first backup pad 701, a side of first backup pad 701 is connected with the external fixed surface of fixing base 3, the inside sliding connection of first backup pad 701 has first limiting plate 702, the last fixed surface of first limiting plate 702 is connected with first baffle 711, a side of first baffle 711 is laminated with the surface of first backup pad 701 mutually, through setting up first baffle 711, can restrict the distance of first limiting plate 702 to keeping away from 3 direction movements of fixing base.

One side of the first limiting plate 702 is fixedly connected with the second supporting plate 703, one side of the second supporting plate 703 is fixedly connected with four first springs 704, one ends of the four first springs 704, which are far away from the second supporting plate 703, are fixedly connected with the outer surface of the first supporting plate 701, and when the driving box 4 and the mechanical arm body 6 are not fixed, the first springs 704 are in a compressed state.

The outer fixed surface of first backup pad 701 is connected with third backup pad 705, the last fixed surface of third backup pad 705 is connected with second spring 706, the first slide 707 of one end fixedly connected with of third backup pad 705 is kept away from to second spring 706, the first gag lever post 708 of last fixed surface of first slide 707, the one end that first gag lever post 708 was kept away from first slide 707 runs through first limiting plate 702 and extends to the surface of first limiting plate 702, the first spacing hole with first gag lever post 708 looks adaptation is seted up to the inside of first limiting plate 702.

A first guide rod 709 is fixedly connected to the bottom surface of the first sliding plate 707, one end of the first guide rod 709, which is far away from the first sliding plate 707, is inserted into the third support plate 705, a fourth support plate 710 is fixedly connected to one surface of the third support plate 705, which is far away from the first support plate 701, and one side surface of the first sliding plate 707 is slidably connected to one side surface of the fourth support plate 710.

The first guide bar 709 is located inside the second spring 706, and the third support plate 705 is provided with a first guide hole adapted to the first guide bar 709, so that the first slide plate 707 does not deviate from the vertical direction when moving up and down by providing the first guide bar 709.

The second limiting mechanisms 8 are arranged below the four first limiting mechanisms 7, each second limiting mechanism 8 comprises a second sliding plate 806 which is connected to the outer surface of the corresponding fourth supporting plate 710 in a sliding mode, a fourth spring 807 is fixedly connected to the upper surface of each second sliding plate 806, one end, far away from the second sliding plate 806, of each fourth spring 807 is fixedly connected to the bottom surface of the corresponding third supporting plate 705, a second guide rod 809 is fixedly connected to the upper surface of each second sliding plate 806, and one end, far away from the second sliding plate 806, of each second guide rod 809 is inserted into the corresponding third supporting plate 705.

The second guide rod 809 is located inside the fourth spring 807, the third support plate 705 is provided with a second guide hole adapted to the second guide rod 809, and the second slide plate 806 does not deviate from the direction when moving up and down by providing the second guide rod 809.

The second limiting mechanism 8 further comprises a rectangular groove 801 and a fifth supporting plate 802 which are formed in the outer surface of the fixing seat 3, one side surface of the fifth supporting plate 802 is fixedly connected with the outer surface of the fixing seat 3, a third spring 803 is fixedly connected to the outer surface of the fifth supporting plate 802, one end, far away from the fifth supporting plate 802, of the third spring 803 is fixedly connected with a second limiting plate 804, and when the driving box 4 and the mechanical arm body 6 are not fixed, the third spring 803 is in a compressed state.

The outer fixed surface of fixing base 3 is connected with second baffle 810, and a side of second baffle 810 is laminated with the surface of second limiting plate 804 mutually, and second limiting plate 804 is located the inside of rectangular channel 801, through setting up second baffle 810, can restrict the distance that second limiting plate 804 removed to keeping away from fixing base 3 direction.

A sixth supporting plate 805 is fixedly connected to the outer surface of the second limiting plate 804, a second limiting rod 808 is fixedly connected to the bottom surface of the second sliding plate 806, one end, far away from the second sliding plate 806, of the second limiting rod 808 penetrates through the sixth supporting plate 805 and extends to the outer surface of the sixth supporting plate 805, and a second limiting hole matched with the second limiting rod 808 is formed in the sixth supporting plate 805.

The working principle is as follows: when the utility model is used, the fixed seat 3, the driving box 4, the rotating motor 5 and the mechanical arm body 6 can be driven to move up and down by starting the hydraulic rod 2, the mechanical arm body 6 can be driven to rotate by starting the rotating motor 5, when the mechanical arm body 6 needs to be detached from the fixed seat 3 for maintenance, the first sliding plate 707 and the second sliding plate 806 are pressed towards the center of the fourth supporting plate 710, the first sliding plate 707 can drive the first limiting rod 708 to move towards the direction far away from the first limiting plate 702 and compress the second spring 706, when the first limiting rod 708 moves towards the direction far away from the first limiting plate 702 to the maximum distance, the second supporting plate 703 is pulled towards the direction far away from the fixed seat 3, the second supporting plate 703 can drive the first limiting plate 702 to move towards the direction far away from the fixed seat 3, when the first limiting plate 702 moves towards the direction far away from the fixed seat 3 to the maximum distance, the vertical position limitation of the drive cassette 4 and the robot body 6 is released, the first sliding plate 707 is loosened, under the action of the second spring 706, one end of the first limiting rod 708 is inserted into the first limiting plate 702, so as to fix the first limiting plate 702, the second sliding plate 806 can drive the second limiting rod 808 to move in the direction away from the sixth supporting plate 805 and compress the fourth spring 807, when the second limiting rod 808 moves to the maximum distance in the direction away from the sixth supporting plate 805, the sixth supporting plate 805 is pulled in the direction away from the fixing base 3, when the sixth supporting plate 805 drives the second limiting plate 804 to move to the maximum distance in the direction away from the fixing base 3, the front-back and left-right position limitation of the drive cassette 4 and the robot body 6 is released, the second limiting rod 808 is loosened, under the action of the fourth spring 807, one end of the second limiting rod 808 is inserted into the sixth supporting plate 805, therefore, the sixth supporting plate 805 and the second limiting plate 804 can be fixed, the drive box 4 and the robot arm body 6 are taken out from the inside of the fixing seat 3, and the robot arm body 6 is disassembled, when the robot arm body 6 needs to be installed on the fixing seat 3 again, the drive box 4 and the robot arm body 6 are firstly placed in the fixing seat 3, then the first sliding plate 707 and the second sliding plate 806 are pressed towards the center of the fourth supporting plate 710, and when the first limiting rod 708 and the second limiting rod 808 are respectively moved out from the inside of the first limiting plate 702 and the sixth supporting plate 805, the first limiting plate 702 and the second limiting plate 804 can fix the drive box 4 and the robot arm body 6 under the action of the first spring 704 and the third spring 803.

The present invention is not limited to the above preferred embodiments, and any modifications, equivalent replacements, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a drive mechanism of arm device, includes base (1) and drive box (4), its characterized in that: the upper surface fixed connection of base (1) has hydraulic stem (2), the one end fixedly connected with fixing base (3) of base (1) is kept away from hydraulic stem (2), drive box (4) are located the inside of fixing base (3), the inside fixedly connected with rotating electrical machines (5) of drive box (4), the output of rotating electrical machines (5) runs through the upper surface of drive box (4) and extends to the surface of drive box (4), the output fixedly connected with arm body (6) of rotating electrical machines (5), the top of base (1) is provided with four first stop gear (7), four the below of first stop gear (7) all is provided with second stop gear (8).

2. The drive mechanism of a robot arm device according to claim 1, wherein: first stop gear (7) include first backup pad (701), a side of first backup pad (701) is connected with the surface fixed of fixing base (3), the inside sliding connection of first backup pad (701) has first limiting plate (702), the last surface fixed of first limiting plate (702) is connected with first baffle (711), a side of first baffle (711) is laminated with the surface of first backup pad (701) mutually.

3. The drive mechanism of a robot arm device according to claim 2, wherein: one side face of the first limiting plate (702) is fixedly connected with a second supporting plate (703), one side face of the second supporting plate (703) is fixedly connected with four first springs (704), and one ends, far away from the second supporting plate (703), of the first springs (704) are fixedly connected with the outer surface of the first supporting plate (701).

4. The drive mechanism of a robot arm device according to claim 2, wherein: the outer fixed surface of first backup pad (701) is connected with third backup pad (705), the last fixed surface of third backup pad (705) is connected with second spring (706), the first slide (707) of one end fixedly connected with of third backup pad (705) is kept away from in second spring (706), the last fixed surface of first slide (707) is connected with first gag lever post (708), the one end that first slide (707) was kept away from in first gag lever post (708) runs through first limiting plate (702) and extends to the surface of first limiting plate (702).

5. The drive mechanism of a robot arm device according to claim 4, wherein: the bottom surface of first slide (707) is fixedly connected with first guide bar (709), the one end that first guide bar (709) is kept away from first slide (707) runs through the inside of pegging graft in third backup pad (705), the one side fixedly connected with fourth backup pad (710) of first backup pad (701) is kept away from in third backup pad (705), a side of first slide (707) and a side sliding connection of fourth backup pad (710).

6. The drive mechanism of a robot arm device according to claim 5, wherein: the second limiting mechanism (8) comprises a second sliding plate (806) which is connected to the outer surface of a fourth supporting plate (710) in a sliding mode, a fourth spring (807) is fixedly connected to the upper surface of the second sliding plate (806), one end, far away from the second sliding plate (806), of the fourth spring (807) is fixedly connected to the bottom surface of the third supporting plate (705), a second guide rod (809) is fixedly connected to the upper surface of the second sliding plate (806), and one end, far away from the second sliding plate (806), of the second guide rod (809) is inserted into the third supporting plate (705).

7. The drive mechanism of a robot arm device according to claim 6, wherein: the second limiting mechanism (8) further comprises a rectangular groove (801) and a fifth supporting plate (802) which are formed in the outer surface of the fixing seat (3), one side surface of the fifth supporting plate (802) is fixedly connected with the outer surface of the fixing seat (3), a third spring (803) is fixedly connected to the outer surface of the fifth supporting plate (802), one end, far away from the fifth supporting plate (802), of the third spring (803) is fixedly connected with a second limiting plate (804), the outer surface of the fixing seat (3) is fixedly connected with a second baffle (810), one side surface of the second baffle (810) is attached to the outer surface of the second limiting plate (804), the second limiting plate (804) is located inside the rectangular groove (801), the outer surface of the second limiting plate (804) is fixedly connected with a sixth supporting plate (805), and a second limiting rod (808) is fixedly connected to the bottom surface of the second sliding plate (806), one end, far away from the second sliding plate (806), of the second limiting rod (808) penetrates through the sixth supporting plate (805) and extends to the outer surface of the sixth supporting plate (805).