CN216781811U

CN216781811U - Multi-joint linkage mechanical arm

Info

Publication number: CN216781811U
Application number: CN202122281993.2U
Authority: CN
Inventors: 李德明; 居延超; 朱建龙
Original assignee: Changzhou Fulcrum Robot Technology Co ltd
Current assignee: Changzhou Fulcrum Robot Technology Co ltd
Priority date: 2021-09-22
Filing date: 2021-09-22
Publication date: 2022-06-21
Anticipated expiration: 2031-09-22

Abstract

The utility model discloses a multi-joint linkage mechanical arm, which comprises a rotating box, a main shaft driver and a setting seat, wherein the bottom of the main shaft driver is provided with a main shaft, the top part of the rotating box, which is close to the right end, is connected with the main shaft through a bolt, the right end of the inner wall of the rotating box is connected with a transverse driving box through a bolt, the inner wall of the transverse driving box is provided with an air cavity, the transverse driving box is provided with a transverse driving rod through the air cavity, the periphery of the inner wall of the rotating box is provided with a sliding groove, the left end of the transverse driving rod is connected with a supporting slide block through a bolt, the supporting slide block is connected with the sliding groove in a sliding manner, the bottom of the supporting slide block is welded with the setting seat, the left end of the setting seat is provided with a first angle shaft driver through a bracket, the right end of the setting seat is provided with a second angle shaft driver through a bracket, the technical field of mechanical arm is provided, the transverse parallel stability when large-weight objects are clamped and driven is improved, the bottom lifting support property when clamping heavy objects is improved.

Description

Multi-joint linkage mechanical arm

Technical Field

The utility model relates to the technical field of mechanical arms, in particular to a multi-joint linkage mechanical arm.

Background

The industrial mechanical arm is a mechanical electronic device with anthropomorphic arm, wrist and hand functions, and can move any object or tool according to the time-varying requirement of the space pose (position and posture), so as to meet the operation requirement of certain industrial production, such as clamping a welding tongs or a welding gun, carrying out spot welding or arc welding on the automobile or motorcycle body, carrying die-cast or punch-formed parts or components, and carrying out laser cutting; spraying; the mechanical arm with multi-joint linkage is also one type of mechanical arm, such as assembling mechanical parts and the like, but the existing mechanical arm with multi-joint linkage still has many problems in the using process.

The existing multi-joint linkage mechanical arm has the following problems in the use process:

1. because the multi-joint multi-axis device is arranged, when a heavy object is clamped and driven, the problem of insufficient transverse parallel stability exists;

2. the problem of insufficient supporting force exists when the bottom clamping is lifted while the transverse parallel stability is insufficient.

SUMMERY OF THE UTILITY MODEL

Technical problem to be solved

Aiming at the defects of the prior art, the utility model provides the multi-joint linkage mechanical arm, which improves the transverse parallel stability when clamping and driving heavy objects, and improves the bottom lifting support property when clamping the heavy objects.

(II) technical scheme

In order to achieve the purpose, the utility model is realized by the following technical scheme: the utility model provides an arm of many joints linkage, is including rotating case, main shaft driver and setting up the seat, main shaft driver bottom is equipped with the main shaft, it passes through the bolted connection main shaft to rotate roof portion near right-hand member department, it passes through bolted connection horizontal drive case to rotate incasement wall right-hand member, horizontal drive incasement wall is equipped with the air cavity, horizontal drive case is equipped with horizontal actuating lever through the air cavity, it is equipped with the spout to rotate incasement wall a week, the horizontal actuating lever left end passes through bolted connection supporting slide block, supporting slide block sliding connection spout, the welding of supporting slide block bottom sets up the seat, it is equipped with first angle axle driver through the support to set up a left end, it is equipped with second angle axle driver through the support to set up a right-hand member.

Preferably, the left end of the first angle shaft driver is connected with a first type of top position arm lever in a meshed mode, and the right end of the second angle shaft driver is connected with a second type of top position arm lever in a meshed mode.

Preferably, a first type middle position arm rod is arranged on the periphery of the bottom of the first type top position arm rod, and a second type middle position arm rod is arranged on the periphery of the bottom of the second type top position arm rod.

Preferably, a first type of bottom arm lever is arranged around the bottom of the first type of middle arm lever, and a second type of bottom arm lever is arranged around the bottom of the second type of middle arm lever.

Preferably, the top welding of main shaft driver left end has the extension mounting panel, extension mounting panel left side has welded first extension fastening strip in proper order.

Preferably, the welding of main shaft driver right-hand member top has general mounting panel, the welding has the second extension fastening strip in proper order on general mounting panel right side.

(III) advantageous effects

The utility model provides a multi-joint linkage mechanical arm. The method has the following beneficial effects:

(1) the multi-joint linkage mechanical arm is provided with a rotating box and a transverse driving box, when the multi-joint linkage mechanical arm runs, the spindle driver is electrified to drive the spindle to rotate, the rotating box area can be driven to rotate and adjust the parallel angle through the rotation of the spindle, meanwhile, the multiple shafts at the bottom can start to run, because the multiple shafts at the bottom are all arranged through the bottom of the setting seat, therefore, after clamping the object, the transverse driving box can be electrically operated to drive the pressure change of the internal air cavity through air adsorption pressurization, the displacement of the transverse driving rod is controlled by the pressure change of the internal air cavity, the displacement of the transverse driving rod can drive the supporting slide block to stably slide in the sliding chute, the setting seat is welded at the bottom of the supporting slide block, so that additional transverse parallel stability can be obtained, and the transverse parallel stability when a heavy object is clamped and driven is improved through the mutual matching operation of related structural parts;

(2) the multi-joint linkage mechanical arm is provided with a setting seat, most of the existing multi-joint linkage mechanical arms are provided with single clamping claws, so that the mechanical arm is provided with double clamping structures at two ends of the setting seat, a first angle shaft driver and a second angle shaft driver are arranged, the first angle shaft driver can drive a first class of top position arm rods through mechanical meshing in operation, a first class of top position arm rods can control a first class of middle position arm rods through servo motor meshing, a first class of middle position arm rods can control a first class of bottom position arm rods through servo motor meshing, meanwhile, the second angle shaft driver can drive a second class of top position arm rods through mechanical meshing, a second class of top position arm rods can control a second class of middle position arm rods through servo motor meshing, a second class of middle position arm rods can control a second class of bottom position arm rods through servo motor meshing, so that the bottoms of the first class of bottom position arm rods and the second class of bottom position arm rods can be provided with the clamping claws for stable lifting clamping, the bottom lifting support property when clamping heavy objects is improved through the mutual matching operation of related structural parts.

Drawings

FIG. 1 is an overall structural view of the present invention;

FIG. 2 is a fragmentary cross-sectional view of a portion of the rotating box of the present invention;

FIG. 3 is a partial cross-sectional view of a transverse drive housing area of the present invention;

FIG. 4 is a schematic top view of the spindle driver according to the present invention.

In the figure: 1. a rotating box; 2. a main shaft; 3. a spindle driver; 4. a lateral drive box; 5. arranging a seat; 6. a first angular axis drive; 7. a second angular axis drive; 8. a kind of top position arm lever; 9. a second type of top position arm lever; 10. a class of mid-position arm levers; 11. a second middle-position arm lever; 12. a kind of bottom position arm lever; 13. a second type of bottom arm; 14. an air cavity; 15. a transverse drive rod; 16. a support slide block; 17. a chute; 18. extending the mounting plate; 19. a universal mounting plate; 20. a first elongate fastening strip; 21. a second elongate fastening strip.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.

Referring to fig. 1-4, an embodiment of the present invention provides a technical solution: a multi-joint linkage mechanical arm comprises a rotating box 1, a main shaft driver 3 and a setting seat 5, wherein a main shaft 2 is arranged at the bottom of the main shaft driver 3, the top of the rotating box 1 is close to the right end and is connected with the main shaft 2 through a bolt, the main shaft driver 3 is electrified to drive the main shaft 2 to rotate, the main shaft 2 can drive the rotating box 1 to rotate in a parallel and opposite angle, the right end of the inner wall of the rotating box 1 is connected with a transverse driving box 4 through a bolt, an air cavity 14 is arranged on the inner wall of the transverse driving box 4, the transverse driving box 4 is provided with a transverse driving rod 15 through the air cavity 14, a sliding groove 17 is arranged on one circle of the inner wall of the rotating box 1, the left end of the transverse driving rod 15 is connected with a supporting slide block 16 through a bolt, the supporting slide block 16 is connected with the sliding groove 17 in a sliding manner, after an object is clamped, the transverse driving box 4 can be electrified to operate and is pressurized through air adsorption, order about 14 pressure variations in inside air cavity, through 14 pressure variations control horizontal drive pole 15 displacements in inside air cavity, horizontal drive pole 15 displacements can drive support slider 16 and pass through spout 17 internal stability and slide, support slider 16 bottom welding has and sets up seat 5, will set up seat 5 and weld in support slider 16 bottom, can obtain extra horizontal parallel stability, it is equipped with first angle axle driver 6 through the support to set up 5 left ends of seat, it is equipped with second angle axle driver 7 through the support to set up 5 right-hand members of seat, the setting of double angle axle driver can be convenient for the two many joint subassemblies of bottom installation.

The left end of the first angle shaft driver 6 is meshed with one type of top position arm rod 8, the right end of the second angle shaft driver 7 is meshed with two types of top position arm rods 9, and the two top position arm rods can drive the bottom multi-joint assembly to stably clamp.

One kind of middle position armed lever 10 is equipped with in 8 bottoms of one kind of top position armed lever a week, two kinds of top position armed lever 9 bottoms a week are equipped with two kinds of middle position armed lever 11, one kind of top position armed lever 8 can be through one kind of middle position armed lever 10 of servo motor meshing control, two kinds of top position armed lever 9 can be through two kinds of middle position armed lever 11 of servo motor meshing control, and the servo motor in connection area all can adopt the arm motor that the market passes through to install the debugging and use, non-restriction specific product.

One type of bottom position arm rod 12 is arranged on the periphery of the bottom of the first type of middle position arm rod 10, two types of bottom position arm rods 13 are arranged on the periphery of the bottom of the second type of middle position arm rod 11, the first type of bottom position arm rod 12 can be controlled by the first type of middle position arm rod 10 through servo motor engagement, the second type of bottom position arm rod 13 can be controlled by the second type of middle position arm rod 11 through servo motor engagement, servo motors in a connection area can be installed and debugged through mechanical arm motors passing through the market, and specific products are not limited.

3 left end top welding of main shaft driver has extension mounting panel 18, extension mounting panel 18 left side has welded first extension mounting strip 20 in proper order, and left end region welds and sets up extension mounting panel 18, and when can keeping arm bottom centre gripping, the left end supported intensity forms counter weight formula extension fastening with the right-hand member region, squeezes in the bolt-up through first extension mounting strip 20 region.

3 right-hand member top welding of spindle driver has general mounting panel 19, the second extension mounting strip 21 has been welded in proper order on general mounting panel 19 right side, and right-hand member regional welding sets up general mounting panel 19, and when can keeping arm bottom centre gripping, the right-hand member supported intensity forms stable support intensity contrast distribution with the left end region, squeezes in bolt-up through second extension mounting strip 21 region, and both ends fastening structure keeps the arm setting jointly and the stable support intensity when moving.

The working principle is as follows: before use, the installation is needed, the left end area of the main shaft driver 3 is welded with an extension installation plate 18 which can keep the left end support strength and the right end area to form counterweight type extension fastening, the right end area is welded with a general installation plate 19 which can form stable support strength contrast distribution with the left end area, bolts are driven into the first extension fastening strip 20 and the second extension fastening strip 21 area to fasten, the two-end fastening structure jointly keeps the stable support strength when the mechanical arm is arranged and operated, when in operation, the main shaft driver 3 is electrified to drive the main shaft 2 to rotate, the main shaft 2 can drive the rotating box 1 area to carry out parallel angle rotation adjustment, and simultaneously, the multiple shafts at the bottom can start to operate, because the multiple shafts at the bottom are all arranged through the bottom of the arrangement seat 5, the transverse driving box 4 can be electrified to operate after clamping objects, the pressure of the internal air cavity 14 is driven to change through air adsorption pressurization, the displacement of the transverse driving rod 15 is controlled through the pressure change of the internal air cavity 14, the displacement of the transverse driving rod 15 can drive the supporting slide block 16 to stably slide in the sliding groove 17, so the setting seat 5 is welded at the bottom of the supporting slide block 16, additional transverse parallel stability can be obtained, the mechanical arm is provided with a double-clamping structure through two ends of the setting seat 5, the first angle shaft driver 6 and the second angle shaft driver 7 are arranged, the first angle shaft driver 6 can drive one type of top position arm rod 8 through mechanical meshing during operation, one type of top position arm rod 8 can control one type of middle position arm rod 10 through servo motor meshing, one type of middle position arm rod 10 can control one type of bottom position arm rod 12 through servo motor meshing, and the second angle shaft driver 7 can drive the second type of top position arm rod 9 through mechanical meshing, second type top position armed lever 9 can be through two types of medium armed lever 11 of servo motor meshing control, and second type medium armed lever 11 then can be through two types of end position armed lever 13 of servo motor meshing control, so one type end position armed lever 12 and two types end position armed lever 13 bottoms all can set up the gripper jaw and carry out the steady centre gripping that rises, and the servo motor of linking area all can take the arm motor that the market passes through to install and debug the use, non-limited specific product.

The utility model comprises the following steps: 1. a rotating box; 2. a main shaft; 3. a spindle driver; 4. a lateral drive box; 5. arranging a seat; 6. a first angular axis drive; 7. a second angular axis drive; 8. a kind of top position arm lever; 9. a second type of top position arm lever; 10. a class of mid-position arm; 11. a second middle-position arm lever; 12. a kind of bottom position arm lever; 13. a second type of base arm; 14. an air cavity; 15. a transverse drive rod; 16. a support slide block; 17. a chute; 18. extending the mounting plate; 19. a universal mounting plate; 20. a first elongate fastening strip; 21. the second extension fastening strip is a universal standard part or a part known by technicians in the field, and the structure and the principle of the extension fastening strip can be known by technicians through technical manuals or conventional experimental methods, and the problems to be solved by the utility model are 1. the existing multi-joint linkage mechanical arm has the problem of insufficient transverse parallel stability when clamping and driving a heavy object because of multi-joint multi-shaft arrangement in the use process, and 2. the existing multi-joint linkage mechanical arm has the problem of insufficient transverse parallel stability and insufficient lifting supporting force when lifting the bottom in the use process.

While there have been shown and described what are at present considered the fundamental principles and essential features of the utility model and its advantages, it will be apparent to those skilled in the art that the utility model is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The utility model provides a mechanical arm of many joints linkage which characterized in that: the device comprises a rotating box (1), a main shaft driver (3) and a setting seat (5), wherein a main shaft (2) is arranged at the bottom of the main shaft driver (3), the top of the rotating box (1) is close to the right end and is connected with the main shaft (2) through a bolt, the right end of the inner wall of the rotating box (1) is connected with a transverse driving box (4) through a bolt, an air cavity (14) is arranged on the inner wall of the transverse driving box (4), a transverse driving rod (15) is arranged on the transverse driving box (4) through the air cavity (14), a sliding groove (17) is arranged on one circle of the inner wall of the rotating box (1), the left end of the transverse driving rod (15) is connected with a supporting slide block (16) through a bolt, the supporting slide block (16) is connected with the sliding groove (17), the setting seat (5) is welded at the bottom of the supporting slide block (16), and a first angle shaft driver (6) is arranged at the left end of the setting seat (5) through a support, the right end of the setting seat (5) is provided with a second angle shaft driver (7) through a support.

2. A multi-jointed linked mechanical arm as claimed in claim 1, wherein: the left end of the first angle shaft driver (6) is connected with a first type of top position arm lever (8) in a meshed mode, and the right end of the second angle shaft driver (7) is connected with a second type of top position arm lever (9) in a meshed mode.

3. The multi-joint linkage mechanical arm according to claim 2, wherein: one kind of middle position arm rod (10) is arranged around the bottom of the one kind of top position arm rod (8), and two kinds of middle position arm rods (11) are arranged around the bottom of the two kinds of top position arm rods (9).

4. A multi-jointed linked mechanical arm as claimed in claim 3, wherein: one type of bottom position arm rod (12) is arranged on the periphery of the bottom of the first type of middle position arm rod (10), and two types of bottom position arm rods (13) are arranged on the periphery of the bottom of the second type of middle position arm rod (11).

5. A multi-jointed linked mechanical arm as claimed in claim 1, wherein: the welding of main shaft driver (3) left end top has extension mounting panel (18), extension mounting panel (18) left side has welded first extension fastening strip (20) in proper order.

6. The multi-joint linkage mechanical arm according to claim 1, wherein: the welding of main shaft driver (3) right-hand member top has general mounting panel (19), general mounting panel (19) right side has welded second extension fastening strip (21) in proper order.