CN217168504U

CN217168504U - Mechanical arm for machine-building

Info

Publication number: CN217168504U
Application number: CN202220180133.1U
Authority: CN
Inventors: 刘威
Original assignee: Jilin Institute of Chemical Technology
Current assignee: Jilin Institute of Chemical Technology
Priority date: 2022-01-24
Filing date: 2022-01-24
Publication date: 2022-08-12
Anticipated expiration: 2032-01-24

Abstract

The utility model discloses an arm for machine-building, including the removal subassembly, the removal subassembly includes two crossbeams that are symmetrically arranged, and sliding connection has the first festival arm between two crossbeams, and first festival arm top is equipped with first motor, and the first festival arm rotates and is connected with the second festival arm, is equipped with the second motor in the first festival arm, and the second festival arm is connected with the second motor transmission, and the second festival arm rotates and is connected with the third festival arm; a first hydraulic cylinder is hinged between the second section arm and the third section arm; the centre gripping subassembly includes the mounting panel, mounting panel and third section arm fixed connection install the second pneumatic cylinder on the mounting panel, and the transmission of second pneumatic cylinder is connected with two symmetries and sets up first supporting rod, and two first supporting rod difference fixedly connected with splint. This device can realize the transport to the product, reduces the time of the long-term repetition same transport action of workman, avoids the long-term repetition same transport action to exert an influence to workman's health.

Description

Mechanical arm for machine-building

Technical Field

The utility model relates to a machine-building technical field especially relates to a mechanical arm for machine-building.

Background

The mechanical manufacturing refers to the industry of various power machines, hoisting and transporting machines, chemical machines, textile machines, machine tools, instruments, meters and other mechanical equipment. In the mechanical manufacturing production, a flow line production mode is usually adopted, the production efficiency is high, the yield is high, in the production process, semi-finished products or finished products can be carried or transferred, particularly when the semi-finished products or the finished products are transferred outwards from a production line, manual operation is usually carried out, workers can often repeat the same carrying action when carrying the semi-finished products or the finished products, the working time is long, certain influence can be caused on the health of the workers, and industrial injuries can be seriously caused.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a mechanical arm for machine-building to solve the problem that above-mentioned prior art exists, adopt the arm during transport product, reduce the long-term time of same transport action of repetition of workman, avoid producing certain influence to the workman is healthy.

In order to achieve the above object, the utility model provides a following scheme: the utility model provides a mechanical arm for machine-building, include:

the moving assembly comprises two symmetrically arranged cross beams, a first knuckle arm is connected between the two cross beams in a sliding manner, a first motor is arranged at the top end of the first knuckle arm, the first motor is movably connected with the cross beams, the first knuckle arm is rotatably connected with a second knuckle arm, a second motor is arranged in the first knuckle arm, the second knuckle arm is in transmission connection with the second motor, and the second knuckle arm is rotatably connected with a third knuckle arm; a first hydraulic cylinder is hinged between the second section arm and the third section arm;

the centre gripping subassembly, the centre gripping subassembly includes the mounting panel, the mounting panel with third section arm fixed connection, install the second pneumatic cylinder on the mounting panel, the transmission of second pneumatic cylinder is connected with two symmetries and sets up first supporting rod, two first supporting rod is kept away from second pneumatic cylinder one end fixedly connected with splint respectively.

Preferably, the cross beam is provided with first grooves, the two first grooves are arranged oppositely, the top end of the first knuckle arm is fixedly connected with a flat plate, the bottom end of the flat plate is fixedly connected with a plurality of supports, the two supports are rotatably connected with pulleys, the pulleys are located in the first grooves, the bottom end of each first groove is fixedly connected with a supporting plate, and the pulleys are abutted to the supporting plates.

Preferably, the first motor is installed at the top end of the flat plate, the output end of the first motor is fixedly connected with a gear, the top end of any cross beam is fixedly connected with a rack, and the gear is meshed with the rack.

Preferably, a through hole is axially formed in the first knuckle arm, the second motor is fixedly mounted in the through hole, a second groove is formed in the bottom end of the first knuckle arm, a planar thrust bearing is mounted in the second groove, a retainer ring is fixedly connected to the bottom end of the second groove, a lower ring of the planar thrust bearing is fixedly connected with the retainer ring, an upper ring of the planar thrust bearing is fixedly connected with the second knuckle arm, and an output end of the second motor is fixedly connected with the second knuckle arm.

Preferably, the second knuckle arm and the third knuckle arm are respectively provided with a rotating shaft hole, a rotating shaft penetrates through the rotating shaft hole, and the second knuckle arm and the third knuckle arm are rotatably connected through the rotating shaft.

Preferably, the output end of the first hydraulic cylinder is hinged to the third section arm through a hinge seat, and the fixed end of the first hydraulic cylinder is hinged to the second section arm through the hinge seat.

Preferably, second pneumatic cylinder output fixedly connected with fixed block, the fixed block rotates and is connected with two second supporting rods, two the second supporting rod is in the symmetry sets up on the fixed block, the second supporting rod is kept away from fixed block one end is rotated and is connected with the transfer line, the transfer line with first supporting rod fixed connection, the transfer line with the mounting panel is rotated and is connected.

Preferably, first mounting holes have been seted up respectively at second supporting rod both ends, two first pins of fixedly connected with on the fixed block, two first pin wears to establish two respectively arbitrary of second supporting rod in the first mounting hole, the transfer line is close to second supporting rod one end has seted up the second mounting hole, the second supporting rod is kept away from fixed block one end first mounting hole with wear to be equipped with the second pin in the second mounting hole, the third mounting hole has been seted up on the transfer line, wear to be equipped with the third pin in the third mounting hole, the third pin with mounting panel fixed connection.

The utility model discloses a following technological effect: this device is provided with two crossbeams, swing joint through first motor and crossbeam, it moves on the crossbeam to drive first festival arm, can realize long distance removal when carrying article, the second motor drives second festival arm and rotates, angle adjustment can be carried out when carrying article, also can realize the demand of short distance transport article, first pneumatic cylinder drives third festival arm and lifts up or falls down, can realize carrying article in the direction of height, the second pneumatic cylinder drives first supporting rod and opens or closed, first supporting rod and splint fixed connection, press from both sides article or put down through splint. This device can realize the transport to the product, reduces the time of the long-term repetition same transport action of workman, avoids the long-term repetition same transport action to exert an influence to workman's health.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor.

FIG. 1 is a schematic view of a mechanical arm for machine manufacturing according to the present invention;

FIG. 2 is a partial enlarged view of a in FIG. 1;

FIG. 3 is a partial enlarged view of b in FIG. 1;

fig. 4 is a front view of the clamping assembly of the present invention;

fig. 5 is a side view of the clamping assembly of the present invention;

wherein, 1, a beam; 2. a first joint arm; 3. a first motor; 4. a second joint arm; 5. a second motor; 6. a third arm section; 7. a first hydraulic cylinder; 8. mounting a plate; 9. a second hydraulic cylinder; 10. a first clamping rod; 11. a splint; 12. a first groove; 13. a flat plate; 14. a support; 15. a pulley; 16. a support plate; 17. a gear; 18. a rack; 19. a second groove; 20. a planar thrust bearing; 21. a retainer ring; 22. a rotating shaft; 23. a hinged seat; 24. a fixed block; 25. a second clamping rod; 26. a transmission rod; 27. a first pin; 28. a second pin; 29. a third pin.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description.

Referring to fig. 1-5, the utility model provides a mechanical arm for machine-building, include:

the moving assembly comprises two symmetrically arranged cross beams 1, a first knuckle arm 2 is connected between the two cross beams 1 in a sliding mode, a first motor 3 is arranged at the top end of the first knuckle arm 2, the first motor 3 is movably connected with the cross beams 1, the first knuckle arm 2 is rotatably connected with a second knuckle arm 4, a second motor 5 is arranged in the first knuckle arm 2, the second knuckle arm 4 is in transmission connection with the second motor 5, and the second knuckle arm 4 is rotatably connected with a third knuckle arm 6; a first hydraulic cylinder 7 is hinged between the second section arm 4 and the third section arm 6; with crossbeam 1 installation work area's top, drive first festival arm 2 through first motor 3 and slide between two crossbeams 1, change in the realization position when carrying the product, second festival arm 4 rotates with first festival arm 2 to be connected, drive second festival arm 4 through second motor 5 and rotate, realize the change of angle in the horizontal direction when carrying the product, third festival arm 6 rotates with second festival arm 4 and connects, change the contained angle between third festival arm 6 and the second festival arm 4 through first pneumatic cylinder 7, realize the change of vertical direction position when carrying the product.

The clamping assembly comprises a mounting plate 8, the mounting plate 8 is fixedly connected with the third section arm 6, a second hydraulic cylinder 9 is mounted on the mounting plate 8, the second hydraulic cylinder 9 is in transmission connection with two symmetrically arranged first clamping rods 10, and one ends of the two first clamping rods 10, which are far away from the second hydraulic cylinder 9, are respectively and fixedly connected with a clamping plate 11; in this embodiment, mounting panel 8 fixed connection is in the one end that second festival arm 4 was kept away from to third festival arm 6, and second pneumatic cylinder 9 stretches out or contracts, changes the distance between two first supporting poles 10, and first supporting pole 10 fixedly connected with splint 11 presss from both sides the product or puts down through splint 11.

According to the further optimization scheme, the beam 1 is provided with first grooves 12, the two first grooves 12 are arranged oppositely, the top end of the first arm section 2 is fixedly connected with a flat plate 13, the bottom end of the flat plate 13 is fixedly connected with a plurality of supports 14, the two supports 14 are rotatably connected with pulleys 15, the pulleys 15 are located in the first grooves 12, the bottom end of the first groove 12 is fixedly connected with a supporting plate 16, and the pulleys 15 are abutted to the supporting plate 16; the first arm section 2 is rotatably connected with a pulley 15 through a support 14, the pulley 15 is positioned in the first groove 12 and slides on the supporting plate 16, the first arm section 2 is driven to move through the movement of the flat plate 13, and the position change is realized when a product is carried.

According to the further optimized scheme, the first motor 3 is arranged at the top end of the flat plate 13, the output end of the first motor 3 is fixedly connected with a gear 17, the top end of any cross beam 1 is fixedly connected with a rack 18, and the gear 17 is meshed with the rack 18; the first motor 3 drives the gear 17 to rotate, and the gear 17 moves on the rack 18, so that the movement of the flat plate 13 is realized.

According to the further optimized scheme, a through hole is axially formed in the first knuckle arm 2, the second motor 5 is fixedly installed in the through hole, a second groove 19 is formed in the bottom end of the first knuckle arm 2, a planar thrust bearing 20 is installed in the second groove 19, a retainer ring 21 is fixedly connected to the bottom end of the second groove 19, a lower ring of the planar thrust bearing 20 is fixedly connected with the retainer ring 21, an upper ring of the planar thrust bearing 20 is fixedly connected with the second knuckle arm 4, and an output end of the second motor 5 is fixedly connected with the second knuckle arm 4; the second section arm 4 passes through plane thrust bearing 20 and with upper circle fixed connection, and first section arm 2 and second section arm 4 can realize free rotation between the two through plane thrust bearing 20, drive second section arm 4 through second motor 5 and rotate when carrying the product, realize the position adjustment on the small circle when getting the product, in this embodiment, second motor 5 optional servo motor, rotation angle is more accurate.

According to the further optimized scheme, the second knuckle arm 4 and the third knuckle arm 6 are respectively provided with a rotating shaft hole, a rotating shaft 22 penetrates through the rotating shaft hole, and the second knuckle arm 4 and the third knuckle arm 6 are rotatably connected through the rotating shaft 22; the pivot hole on the second festival arm 4 is seted up in the one end of keeping away from first festival arm 2, and the pivot hole of third festival arm 6 is seted up in the one end of keeping away from mounting panel 8, and second festival arm 4 and third festival arm 6 can realize free rotation through pivot 22.

According to the further optimized scheme, the output end of the first hydraulic cylinder 7 is hinged with the third section arm 6 through a hinge seat 23, and the fixed end of the first hydraulic cylinder 7 is hinged with the second section arm 4 through the hinge seat 23; when the first hydraulic cylinder 7 stretches, the third section arm 6 is driven to move, and products can be lifted or put down when being carried.

According to a further optimization scheme, the output end of the second hydraulic cylinder 9 is fixedly connected with a fixing block 24, the fixing block 24 is rotatably connected with two second clamping rods 25, the two second clamping rods 25 are symmetrically arranged on the fixing block 24, one ends, far away from the fixing block 24, of the second clamping rods 25 are rotatably connected with a transmission rod 26, the transmission rod 26 is fixedly connected with the first clamping rods 10, and the transmission rod 26 is rotatably connected with the mounting plate 8; when the second hydraulic cylinder 9 stretches, the fixing block 24 pushes or pulls the two second clamping rods 25, and since the transmission rods 26 are rotatably connected with the mounting plate 8, when the two second clamping rods 25 drive one ends of the two transmission rods 26 to move, the two transmission rods 26 can rotate around the connection point with the mounting plate 8, so that the first clamping rods 10 are far away from or close to each other, and the clamping plate 11 is driven to put down or clamp up a product.

According to a further optimization scheme, two ends of a second clamping rod 25 are respectively provided with a first mounting hole, two first pins 27 are fixedly connected to a fixing block 24, the two first pins 27 are respectively arranged in any one first mounting hole of the two second clamping rods 25 in a penetrating manner, one end, close to the second clamping rod 25, of a transmission rod 26 is provided with a second mounting hole, a second pin 28 is arranged in the first mounting hole and the second mounting hole of one end, far away from the fixing block 24, of the second clamping rod 25 in a penetrating manner, a third mounting hole is arranged on the transmission rod 26, a third pin 29 is arranged in the third mounting hole in a penetrating manner, and the third pin 29 is fixedly connected with a mounting plate 8; the second clamping rod 25 is rotatably connected with the fixing block 24 through the first pin 27, the second clamping rod 25 is rotatably connected with the transmission rod 26 through the second pin 28, and the transmission rod 26 is rotatably connected with the mounting plate 8 through the third pin 29.

The device using method includes that two cross beams 1 are installed above a working area, the first motor 3 drives the first section arm 2 to move on the cross beam 1, the first section arm moves to the position above a product to be carried, the second motor 5 drives the second section arm 4 to rotate, adjustment of clamping angles is achieved, the first hydraulic cylinder 7 drives the third section arm 6 to move, a clamping assembly is close to the product to be clamped, the second hydraulic cylinder 9 drives the first clamping rod 10 to move, the first clamping rod 10 drives the transmission rod 26 to rotate, the transmission rod 26 drives the first clamping rod 10 to be far away from or close to the product, and therefore the clamping assembly 11 can take and place the product.

In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description of the present invention, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

The above-mentioned embodiments are only intended to describe the preferred embodiments of the present invention, but not to limit the scope of the present invention, and those skilled in the art should also be able to make various modifications and improvements to the technical solution of the present invention without departing from the spirit of the present invention, and all such modifications and improvements are intended to fall within the scope of the present invention as defined in the appended claims.

Claims

1. A robot arm for machine manufacturing, comprising:

the moving assembly comprises two symmetrically arranged cross beams (1), a first knuckle arm (2) is connected between the two cross beams (1) in a sliding mode, a first motor (3) is arranged at the top end of the first knuckle arm (2), the first motor (3) is movably connected with the cross beams (1), the first knuckle arm (2) is rotatably connected with a second knuckle arm (4), a second motor (5) is arranged in the first knuckle arm (2), the second knuckle arm (4) is in transmission connection with the second motor (5), and the second knuckle arm (4) is rotatably connected with a third knuckle arm (6); a first hydraulic cylinder (7) is hinged between the second knuckle arm (4) and the third knuckle arm (6);

the centre gripping subassembly, the centre gripping subassembly includes mounting panel (8), mounting panel (8) with third section arm (6) fixed connection, install second pneumatic cylinder (9) on mounting panel (8), second pneumatic cylinder (9) transmission is connected with two symmetries and sets up first supporting rod (10), two first supporting rod (10) are kept away from second pneumatic cylinder (9) one end fixedly connected with splint (11) respectively.

2. The robot arm for machine manufacturing according to claim 1, wherein: set up first recess (12) on crossbeam (1), two first recess (12) opposite direction sets up, first festival arm (2) top fixedly connected with is dull and stereotyped (13), dull and stereotyped (13) bottom fixedly connected with a plurality of supports (14), two support (14) rotate and are connected with pulley (15), pulley (15) are located in first recess (12), first recess (12) bottom fixedly connected with layer board (16), pulley (15) with layer board (16) butt.

3. The robot arm for machine manufacturing according to claim 2, wherein: the first motor (3) is installed on the top end of the flat plate (13), a gear (17) is fixedly connected to the output end of the first motor (3), a rack (18) is fixedly connected to the top end of any one of the cross beams (1), and the gear (17) is meshed with the rack (18).

4. The robot arm for machine manufacturing according to claim 1, wherein: a through hole is axially formed in the first section arm (2), the second motor (5) is fixedly installed in the through hole, a second groove (19) is formed in the bottom end of the first section arm (2), a planar thrust bearing (20) is installed in the second groove (19), a check ring (21) is fixedly connected to the bottom end of the second groove (19), a lower ring of the planar thrust bearing (20) is fixedly connected with the check ring (21), an upper ring of the planar thrust bearing (20) is fixedly connected with the second section arm (4), and an output end of the second motor (5) is fixedly connected with the second section arm (4).

5. The robot arm for machine manufacturing according to claim 1, wherein: the second knuckle arm (4) with the third knuckle arm (6) has seted up the pivot hole respectively, pivot (22) are worn to be equipped with in the pivot hole, the second knuckle arm (4) with the third knuckle arm (6) pass through pivot (22) rotate the connection.

6. The robot arm for machine manufacturing according to claim 5, wherein: the output of first pneumatic cylinder (7) with third festival arm (6) are articulated through articulated seat (23), the stiff end of first pneumatic cylinder (7) is through articulated seat (23) with second festival arm (4) are articulated.

7. The robot arm for machine manufacturing according to claim 6, wherein: second pneumatic cylinder (9) output end fixedly connected with fixed block (24), fixed block (24) are rotated and are connected with two second supporting rods (25), two second supporting rods (25) are in symmetry setting on fixed block (24), keep away from second supporting rods (25) fixed block (24) one end is rotated and is connected with transfer line (26), transfer line (26) with first supporting rods (10) fixed connection, transfer line (26) with mounting panel (8) are rotated and are connected.

8. The robot arm for machine manufacturing according to claim 7, wherein: first mounting hole has been seted up respectively at second supporting rod (25) both ends, two first pins (27) of fixedly connected with on fixed block (24), two first pin (27) wear to establish two respectively second supporting rod (25) arbitrary in the first mounting hole, transfer line (26) are close to the second mounting hole has been seted up to second supporting rod (25) one end, second supporting rod (25) are kept away from fixed block (24) one end first mounting hole with wear to be equipped with second pin (28) in the second mounting hole, the third mounting hole has been seted up on transfer line (26), wear to be equipped with third pin (29) in the third mounting hole, third pin (29) with mounting panel (8) fixed connection.