CN216830885U - Multi-plane control device for mechanical arm - Google Patents
Multi-plane control device for mechanical arm Download PDFInfo
- Publication number
- CN216830885U CN216830885U CN202123094548.1U CN202123094548U CN216830885U CN 216830885 U CN216830885 U CN 216830885U CN 202123094548 U CN202123094548 U CN 202123094548U CN 216830885 U CN216830885 U CN 216830885U
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- arm
- rod
- guide
- telescopic
- gear
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- 238000009434 installation Methods 0.000 claims abstract description 9
- 230000001105 regulatory effect Effects 0.000 claims abstract description 4
- 210000000078 claw Anatomy 0.000 claims description 13
- 230000001681 protective effect Effects 0.000 claims description 6
- 230000001276 controlling effect Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 4
- 230000000694 effects Effects 0.000 abstract description 2
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Abstract
The utility model belongs to the technical field of the arm technique and specifically relates to many planar control of arm device. The device's vertical regulating arm includes the bracing piece, a bearing, the installation pole, the guide bar, first telescopic machanism, spacing dish, flexible arm and rotary driving mechanism, the bracing piece is connected with the base, the bearing is installed to the upper end of bracing piece, the rotation of installation pole is installed in the bearing, the upper end of installation pole is seted up flutedly downwards, first telescopic machanism's cylinder is installed in the recess, recess installation pole up end all around is provided with the guide bar, be connected with spacing dish between the top of guide bar, first telescopic machanism's piston rod upper end is connected with the lower terminal surface of flexible arm, flexible arm includes guide disc and connecting rod, the guide bar passes two guide discs of upper and lower spaced, the lower extreme of connecting rod and the middle part fixed connection of guide disc, the upper end of connecting rod passes spacing dish, the installation pole is connected with rotary driving mechanism. The utility model discloses can realize multi-angle activity control, the flexible in-process stationarity of longitudinal regulation arm is good.
Description
Technical Field
The utility model belongs to the technical field of the arm technique and specifically relates to a multi-surface control device of arm.
Background
The mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Because of its unique operational flexibility, it has been widely used in the fields of industrial assembly, safety and explosion protection. In the mechanical arm controlled by multiple planes, the stability of the extension and the rotation of a longitudinal arm rod is particularly important. The existing multi-position control device for the mechanical arm has the advantages that the longitudinal arm rod of the existing multi-position control device is more flexible to realize the multi-position control with an air cylinder or a hydraulic rod, and the smoothness of the longitudinal arm rod needs to be improved when the mechanical arm clamps a heavy object.
Disclosure of Invention
An object of the utility model is to provide a manipulator many level controlling means overcomes the not enough of aforementioned prior art, and structural design is reasonable, can realize multi-angle activity control, and the flexible in-process stationarity of vertical regulating arm is good.
The utility model provides a technical scheme that its technical problem adopted is: a multi-position control device for a mechanical arm comprises a base, a longitudinal adjusting arm, a transverse adjusting arm and a mechanical claw.
The longitudinal adjusting arm comprises a supporting rod, a bearing, a mounting rod, a guide rod, a first telescopic mechanism, a limiting disc, a telescopic arm and a rotary driving mechanism, the lower end of the supporting rod is connected with the upper end face of the base, the upper end of the supporting rod is provided with a bearing, the lower end of the mounting rod is rotatably mounted in the bearing, the upper end of the mounting rod is downwards provided with a groove, a cylinder barrel of the first telescopic mechanism is mounted in the groove, guide rods are distributed on the upper end face of the mounting rod around the groove along a circular array, a limiting disc is connected between the tops of the guide rods, the upper end of a piston rod of the first telescopic mechanism is connected with the lower end face of a telescopic arm, the telescopic arm comprises guide discs and connecting rods, the guide discs are arranged at intervals, the guide rods penetrate through the two guide discs at intervals, the lower end of each connecting rod is fixedly connected with the middle of the corresponding guide disc, the upper end of each connecting rod penetrates through the limiting disc, and the mounting rod is connected with the rotary driving mechanism; the upper end of the connecting rod is connected with one end of a transverse adjusting arm, and the other end of the transverse adjusting arm is connected with the mechanical claw; when the telescopic arm is used, the rotary driving mechanism drives the supporting rod to rotate, and further drives the telescopic arm, the transverse adjusting arm connected with the telescopic arm and the mechanical claw to rotate; when first telescopic machanism is flexible, the guide disc steadily shifts up along the guide bar for the stationarity that the connecting rod reciprocated greatly improves, and then ensures that the stationarity that transverse adjustment arm and gripper reciprocated improves.
The rotary driving mechanism comprises a driving motor, a first gear and a second gear, the driving motor is installed on the base, the first gear is installed on a rotating shaft of the driving motor, the second gear is fixedly sleeved on the outer wall of the installation rod, the first gear is meshed with the second gear, the first gear is driven to rotate by the rotation of the driving motor, the first gear drives the second gear which is meshed with the first gear to rotate, and the second gear drives the supporting rod and the mechanism which is directly and indirectly installed on the supporting rod to rotate.
The transverse adjusting arm comprises a connecting plate, a rotating motor and a second telescopic mechanism, the connecting plate is connected with the upper end face of the connecting rod, the rotating motor is arranged on the connecting plate, a cylinder barrel of the transversely arranged second telescopic mechanism is rotatably connected with the rotating motor, the tail end of a piston rod of the second telescopic mechanism is connected with the mechanical claw, the rotating motor enables the second telescopic mechanism to rotate along the axial direction of the second telescopic mechanism, the mechanical claw is driven to rotate, and the second telescopic mechanism stretches and retracts to drive the mechanical claw.
The first telescopic mechanism and the second telescopic mechanism are both cylinders, or electric telescopic rods, or hydraulic rods.
3 guide bars are arranged along the circumference array.
The base is provided with a protective cover, and the rotary driving mechanism covers the protective cover.
The utility model has the advantages that: compared with the prior art, the utility model discloses a multi-surface control device of arm has following advantage: the multi-angle movable control device has reasonable structural design, can realize multi-angle movable control, and drives the supporting rod to rotate through the rotary driving mechanism so as to drive the telescopic arm, the transverse adjusting arm connected with the telescopic arm and the mechanical claw to rotate; when first telescopic machanism is flexible, the guide disc steadily shifts up along the guide bar for the stationarity that the connecting rod reciprocated greatly improves, and then ensures that the stationarity that transverse adjustment arm and gripper reciprocated improves.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic view of another angle overall structure of the present invention.
The device comprises a base 1, a longitudinal adjusting arm 2, a supporting rod 201, a bearing 202, an installation rod 203, a guide rod 204, a first telescopic mechanism 205, a limiting disc 206, a guide disc 207, a connecting rod 208, a motor 209, a first gear 210, a second gear 211, a transverse adjusting arm 3, a connecting plate 301, a rotating motor 302 and a second telescopic mechanism 303.
Detailed Description
In order to make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the drawings in the embodiments of the present invention will be combined below to clearly and completely describe the technical solutions in the embodiments of the present invention.
In the embodiment shown in fig. 1 and 2, the multi-position control device for the mechanical arm comprises a base 1, a longitudinal adjusting arm 2, a transverse adjusting arm 3 and a mechanical claw; the longitudinal adjusting arm 2 comprises a support rod 201, a bearing 202, a mounting rod 203, a guide rod 204, a first telescopic mechanism 205, a limiting disc 206, a telescopic arm and a rotary driving mechanism, wherein the lower end of the support rod 201 is connected with the upper end surface of the base 1, the bearing 202 is mounted at the upper end of the support rod 201, the lower end of the mounting rod 203 is rotatably mounted in the bearing 202, a groove is formed in the upper end of the mounting rod 203 downwards, a cylinder of the first telescopic mechanism 205 is mounted in the groove, the guide rods 204 are distributed on the upper end surface of the mounting rod 203 around the groove along a circular array, the limiting disc 206 is connected between the tops of the guide rods 204, the upper end of a piston rod of the first telescopic mechanism 205 is connected with the lower end surface of the telescopic arm, the telescopic arm comprises a guide disc 207 and a connecting rod 208, the guide disc 207 is arranged at intervals, the guide rod 204 penetrates through the two guide discs 207 which are arranged at intervals up and down, and the lower end of the connecting rod 208 is fixedly connected with the middle part of the guide disc 207, the upper end of the connecting rod 208 penetrates through the limiting disc 206, and the mounting rod 203 is connected with the rotary driving mechanism; the upper end of the connecting rod 208 is connected with one end of the transverse adjusting arm 3, and the other end of the transverse adjusting arm 3 is connected with the mechanical claw; when the telescopic arm is used, the rotary driving mechanism drives the supporting rod 201 to rotate, and further drives the telescopic arm, the transverse adjusting arm 3 connected with the telescopic arm and the mechanical claw to rotate; when the first telescoping mechanism 205 is telescoped, the guide disc 207 moves up smoothly along the guide rod 204, so that the up-and-down movement stability of the connecting rod 208 is greatly improved, and the up-and-down movement stability of the transverse adjusting arm 3 and the mechanical claw is further improved.
In this embodiment, the rotation driving mechanism includes a driving motor 209, a first gear 210 and a second gear 211, the driving motor 209 is installed on the base 1, the first gear 210 is installed in the rotating shaft of the driving motor 209, the outer wall of the installation rod 203 is fixedly installed on the second gear 211, the first gear 210 is engaged with the second gear 211, the first gear 210 is driven to rotate by the rotation of the driving motor 209, the first gear 210 drives the second gear 211 engaged therewith to rotate, and the second gear 211 drives the supporting rod 201 and the mechanism directly and indirectly installed on the supporting rod 201 to rotate.
In this embodiment, the transverse adjusting arm 3 includes a connecting plate 301, a rotating electrical machine 302 and a second telescopic mechanism 303, the connecting plate 301 is connected with the upper end face of the connecting rod 208, the rotating electrical machine 302 is arranged on the connecting plate 301, a cylinder of the transversely arranged second telescopic mechanism 303 is rotatably connected with the rotating electrical machine 302, the end of a piston rod of the second telescopic mechanism 303 is connected with the gripper, the rotating electrical machine 302 enables the second telescopic mechanism 303 to rotate along the axial direction thereof, and then the gripper is driven to rotate, and the second telescopic mechanism 303 stretches and retracts when driven by the second telescopic mechanism 303.
In this embodiment, the first telescoping mechanism 205 and the second telescoping mechanism 303 are both cylinders; 3 guide rods 204 are arranged along the circumference in an array manner; a protective cover is arranged on the base 1, and the rotary driving mechanism is covered in the protective cover.
The above embodiments are only specific cases of the present invention, and the protection scope of the present invention includes but is not limited to the forms and styles of the above embodiments, and any suitable changes or modifications made thereto by those skilled in the art according to the claims of the present invention shall fall within the protection scope of the present invention.
Claims (6)
1. A kind of mechanical arm multiposition face controlling device, characterized by: including base, vertical regulating arm, horizontal regulating arm and gripper, wherein: the longitudinal adjusting arm comprises a support rod, a bearing, a mounting rod, a guide rod, a first telescopic mechanism, a limiting disc, a telescopic arm and a rotary driving mechanism, the lower end of the supporting rod is connected with the upper end face of the base, the upper end of the supporting rod is provided with a bearing, the lower end of the mounting rod is rotatably mounted in the bearing, the upper end of the mounting rod is downwards provided with a groove, a cylinder barrel of the first telescopic mechanism is mounted in the groove, guide rods are distributed on the upper end face of the mounting rod around the groove along a circular array, a limiting disc is connected between the tops of the guide rods, the upper end of a piston rod of the first telescopic mechanism is connected with the lower end face of a telescopic arm, the telescopic arm comprises guide discs and connecting rods, the guide discs are arranged at intervals, the guide rods penetrate through the two guide discs at intervals from top to bottom, the lower end of each connecting rod is fixedly connected with the middle of each guide disc, the upper end of each connecting rod penetrates through the limiting disc, and the mounting rod is connected with a rotary driving mechanism; the upper end of the connecting rod is connected with one end of a transverse adjusting arm, and the other end of the transverse adjusting arm is connected with the mechanical claw.
2. The multi-level control apparatus of a robot arm of claim 1, wherein: the rotary driving mechanism comprises a driving motor, a first gear and a second gear, the driving motor is installed on the base, the first gear is installed on a rotating shaft of the driving motor, the second gear is fixedly sleeved on the outer wall of the installation rod, and the first gear is meshed with the second gear.
3. The multi-level control apparatus of a robot arm of claim 1, wherein: the transverse adjusting arm comprises a connecting plate, a rotating motor and a second telescopic mechanism, the connecting plate is connected with the upper end face of the connecting rod, the rotating motor is arranged on the connecting plate, a cylinder barrel of the transversely arranged second telescopic mechanism is rotatably connected with the rotating motor, and the tail end of a piston rod of the second telescopic mechanism is connected with the mechanical claw.
4. A multi-level control apparatus for a robot arm according to claim 3, wherein: the first telescopic mechanism and the second telescopic mechanism are both cylinders, or electric telescopic rods, or hydraulic rods.
5. The multi-level control apparatus of a robot arm of claim 1, wherein: 3 guide bars are arranged along the circumference array.
6. The multi-level control apparatus of a robot arm of claim 1, wherein: the base is provided with a protective cover, and the rotary driving mechanism covers the protective cover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123094548.1U CN216830885U (en) | 2021-12-10 | 2021-12-10 | Multi-plane control device for mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123094548.1U CN216830885U (en) | 2021-12-10 | 2021-12-10 | Multi-plane control device for mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216830885U true CN216830885U (en) | 2022-06-28 |
Family
ID=82105867
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123094548.1U Expired - Fee Related CN216830885U (en) | 2021-12-10 | 2021-12-10 | Multi-plane control device for mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216830885U (en) |
-
2021
- 2021-12-10 CN CN202123094548.1U patent/CN216830885U/en not_active Expired - Fee Related
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20220628 |