CN217728728U

CN217728728U - Range-extending type mechanical arm structure

Info

Publication number: CN217728728U
Application number: CN202221354105.3U
Authority: CN
Inventors: 吴元吉; 王珺; 叶宝春
Original assignee: Hangzhou Jieyi Biotechnology Co ltd
Current assignee: Hangzhou Jieyi Biotechnology Co ltd
Priority date: 2022-06-01
Filing date: 2022-06-01
Publication date: 2022-11-04
Anticipated expiration: 2032-06-01

Abstract

The utility model provides an extend form arm structure, which comprises a mounting bas, the actuating arm, drive arrangement, driven arm and slave unit, actuating arm slidable mounting is on the mount pad, drive arrangement installs on the mount pad, and be connected with the actuating arm, the driven arm, slave unit installs respectively on the actuating arm, slave unit respectively with the mount pad, the driven arm is connected, through the actuating arm, the form of driven arm dual drive removes the manipulator, reduce the overall dimension of arm, make the structure of arm more compact, and this arm has bigger removal stroke, in order to satisfy the work demand of big stroke.

Description

Range-extending type mechanical arm structure

Technical Field

The utility model belongs to the technical field of the manipulator, concretely relates to increase form arm structure.

Background

A robot is an automatic operating device that simulates the functions of a human hand and arm in order to grasp, carry objects or operate tools in a fixed sequence, and can be programmed to perform a variety of desired tasks, with the advantages of both human and robot machines in construction and performance.

When needs move the manipulator on a large scale, need increase the removal stroke of manipulator, then need increase the length of the translation driving piece of manipulator, lead to the whole size increase of manipulator, also influence the removal precision of manipulator simultaneously.

Disclosure of Invention

Not enough more than to, the utility model aims to solve the technical problem that a range extending type arm structure is provided, this arm increases the removal formation of manipulator through two stroke driven form, and the structure is more compact to the motion accuracy is high.

In order to solve the technical problems, the utility model adopts the technical proposal that,

the utility model provides a range extending type arm structure, includes mount pad, drive arm, drive arrangement, driven arm and slave unit, and the drive arm slidable mounting is on the mount pad, and drive arrangement installs on the mount pad, and is connected with the drive arm, and driven arm, slave unit install respectively on the drive arm, and slave unit is connected with mount pad, driven arm respectively, and the drive arm takes place to move and drives slave unit work, and then from the slave unit drive driven arm removal.

Furthermore, the driven device comprises an idler wheel, a synchronous belt, a base connecting piece and a driven arm connecting piece, wherein the idler wheel is rotatably installed on the driving arm, the synchronous belt is sleeved on the adjacent idler wheel and is fixedly connected with the installation base through the base connecting piece, and the synchronous belt is connected with the driven arm through the driven arm connecting piece.

Furthermore, an idler wheel mounting seat is fixedly mounted on the driving arm, and the idler wheel is rotatably mounted on the idler wheel mounting seat through a fixed shaft.

Further, base connecting piece, driven arm connecting piece all include connection piece and holding piece, and the hold-in range passes through the fixed centre gripping of holding piece on the connection piece.

Further, the mount pad includes arm mounting panel, arm installed part and drive installed part, and arm installed part, drive installed part are fixed mounting respectively on the arm mounting panel, and the actuating arm passes through slide rail slider spare slidable mounting on the arm installed part, and drive arrangement installs on the drive installed part.

Further, drive arrangement includes driving motor, rack and gear, and driving motor fixed mounting is on the drive installed part, and the gear is installed on driving motor, and rack fixed mounting is on the actuating arm, rack and gear adaptation.

Further, fixed mounting has spacing sensor on the drive installed part, installs spacing separation blade on the actuating arm, spacing separation blade and spacing sensor adaptation.

Furthermore, an installation cavity is formed in the driving arm, a sliding block is fixedly installed on the side wall of the installation cavity, and the driven arm is installed on the sliding block in a sliding mode.

Furthermore, an upper idler groove and a lower idler groove are formed in the side wall of the driving arm, the driven device is matched with the upper idler groove and the lower idler groove respectively, and adjusting mounting holes are formed in the two sides of the lower idler groove.

Furthermore, a manipulator mounting support is installed at the lower end of the driven arm and comprises a manipulator mounting block and a manipulator mounting plate, the manipulator mounting block is fixedly installed on the driven arm, and the manipulator mounting plate is fixedly installed on the driven arm.

The beneficial effects of the utility model are that, form through actuating arm, driven arm dual drive removes the manipulator, reduces the whole size of arm for the structure of arm is more compact, and this arm has bigger removal stroke, with the work demand that satisfies the long-range stroke.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic view of the structure with the drive arm hidden.

Fig. 3 is a schematic view of the structure of fig. 2 after being rotated by a certain angle.

Figure 4 is a schematic view of the drive arm construction.

Fig. 5 is a schematic view of the structure of the base connector.

Reference numerals: the mechanical arm comprises a mounting base 1, a mechanical arm support plate 1-1, a mechanical arm mounting part 1-2, a driving mounting part 1-3, a sliding rail sliding block part 1-4, a limiting sensor 1-5, a limiting blocking piece 1-6, a driving arm 2, a mounting cavity 2-1, a sliding block 2-2, an upper idler groove 2-3, a lower idler groove 2-4, an adjusting mounting hole 2-5, a driving device 3, a driving motor 3-1, a rack 3-2, a gear 3-3, a driven arm 4, a driven device 5, an idler 5-1, a synchronous belt 5-2, a base connecting part 5-3, a driven arm connecting part 5-4, an idler mounting base 5-5, a fixing shaft 5-6, a connecting piece 5-7, a clamping piece 5-8, a mechanical arm mounting block 6 and a mechanical arm mounting plate 7.

Detailed Description

The present invention will be further described with reference to the accompanying drawings.

The utility model provides an extend form arm structure, including mount pad 1, drive arm 2, drive arrangement 3, driven arm 4 and slave unit 5, drive arm 2 slidable mounting is on mount pad 1, drive arrangement 3 installs on mount pad 1, and be connected with drive arm 2, driven arm 4, slave unit 5 installs respectively on drive arm 2, slave unit 5 respectively with mount pad 1, driven arm 4 is connected, move manipulator 8 through drive arm 2, driven arm 4 dual drive's form, reduce the overall size of arm, make the structure of arm more compact, and this arm has bigger displacement stroke, with the work demand that satisfies big stroke.

The driving device 3 works to drive the driving arm 2 to move upwards or downwards, the driven device 5 works when the position between the driving arm 2 and the mounting seat 1 changes due to the connection of the driven device 5 and the mounting seat 1, and the driven device 5 is connected with the driven arm to drive the driven arm 4 to move upwards or downwards when the driven device works.

The driven device 5 comprises an idler 5-1, a synchronous belt 5-2, a base connecting piece 5-3 and a driven arm connecting piece 5-4, the idler 5-1 is rotatably installed on the driving arm 2, the synchronous belt 5-2 is sleeved on the adjacent idler 5-1, the synchronous belt 5-2 is fixedly connected with the installation base 1 through the base connecting piece 5-3, the synchronous belt 5-2 is connected with the driven arm 4 through the driven arm connecting piece 5-4, transmission is carried out in a mode of the synchronous belt 5-2, and the motion precision of the manipulator can be effectively improved.

The driving principle of the driven device 5 is as follows,

when the driving arm 2 moves up or down, the distance between the connecting point of the synchronous belt 5-2 and the mounting seat 1 and the idle wheel 5-1 is changed, so that the height of the connecting point of the synchronous belt 5-2 and the driven arm 4 is changed, and the driven arm 4 is driven to move up and down.

An idler wheel mounting seat 5-5 is fixedly arranged on the driving arm 2, and the idler wheel 5-1 is rotatably arranged on the idler wheel mounting seat 5-5 through a fixed shaft 5-6, so that the idler wheel 5-1 can be conveniently mounted.

The fixed shaft 5-6 is connected with the idle wheel 5-1 through a bearing, through holes are formed in two ends of the fixed shaft 5-6 respectively, studs are installed in the through holes, and the fixed shaft 5-6 is installed in the idle wheel installation seat 5-5 through the studs.

An upper idler groove 2-3 and a lower idler groove 2-4 are formed in the side wall of the driving arm 2, a driven device 5 (an idler mounting seat 5-5) is respectively matched with the upper idler groove 2-3 and the lower idler groove 2-4, adjusting mounting holes 2-5 are formed in two sides of the lower idler groove 2-4, and the mounting positions of the idler mounting seats 5-5 in the lower idler grooves 2-4 can be conveniently adjusted by adjusting the arrangement of the mounting holes 2-5.

The base connecting piece 5-3 and the driven arm connecting piece 5-4 respectively comprise a connecting piece 5-7 and a clamping piece 5-8, the synchronous belt 5-2 is fixedly clamped on the connecting piece 5-7 through the clamping piece 5-8, and the connecting piece 5-7 is fixedly connected with the mounting base 1 or the driven arm.

The mounting seat 1 comprises a mechanical arm support plate 1-1, a mechanical arm mounting part 1-2 and a driving mounting part 1-3, the mechanical arm mounting part 1-2 and the driving mounting part 1-3 are respectively and fixedly mounted on the mechanical arm support plate 1-1, the driving arm 2 is slidably mounted on the mechanical arm mounting part 1-2 through a sliding rail sliding block part 1-4, and the driving device 3 is mounted on the driving mounting part 1-3.

The driving device 3 comprises a driving motor 3-1, a rack 3-2 and a gear 3-3, the driving motor 3-1 is fixedly arranged on a driving installation part 1-3, the gear 3-3 is arranged on the driving motor 3-1, the rack 3-2 is fixedly arranged on a driving arm 2, the rack 3-2 is matched with the gear 3-3, and the gear 3-3 is driven by the driving motor 3-1 to rotate, so that the rack 3-2 is driven to move up and down, and the driving arm 2 is driven to move up and down.

The driving installation part 1-3 is fixedly provided with a limit sensor 1-5, the driving arm 2 is provided with a limit baffle plate 1-6, and the limit baffle plate 1-6 is matched with the limit sensor 1-5.

The limit sensors 1-5 and the limit separation blades 1-6 are respectively installed on the driving installation parts 1-3 in pairs, so that the upward moving stroke and the downward moving stroke of the driving arm 2 are conveniently limited, and the over-stroke movement of the driving arm 2 is prevented.

A mounting cavity 2-1 is formed in the driving arm 2, a sliding block 2-2 is fixedly mounted on the side wall of the mounting cavity 2-1, and the driven arm 4 is slidably mounted on the sliding block 2-2, so that the driven arm 4 can be conveniently mounted in the driving arm 2, and the size of the mechanical arm is further reduced.

The manipulator installing support is installed to the lower extreme of driven arm 4, and the manipulator installing support includes manipulator installation piece 6 and

manipulator mounting panel

7, and 6 fixed mounting of manipulator installation piece are on driven arm 4, and manipulator mounting panel 7 fixed mounting is on driven arm 4, and manipulator fixed mounting is on manipulator mounting panel 7, through manipulator installation piece 6 with the manipulator and the drive arm 2 between produce the clearance, prevent manipulator and drive arm 2 collision.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention; thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Although the terms corresponding to the reference numerals in the figures are used more herein, the possibility of using other terms is not excluded; these terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed in a manner that is inconsistent with the spirit of the invention.

Claims

1. The utility model provides a range extending type arm structure, characterized in that, including mount pad (1), drive arm (2), drive arrangement (3), driven arm (4) and slave unit (5), drive arm (2) slidable mounting is on mount pad (1), drive arrangement (3) are installed on mount pad (1), and are connected with drive arm (2), driven arm (4), slave unit (5) are installed respectively on drive arm (2), slave unit (5) are connected with mount pad (1), driven arm (4) respectively, drive arm (2) take place to move and drive slave unit (5) work, rethread from slave unit (5) drive driven arm (4) and remove.

2. The range-extending mechanical arm structure as claimed in claim 1, wherein the driven device (5) comprises an idler pulley (5-1), a synchronous belt (5-2), a base connecting piece (5-3) and a driven arm connecting piece (5-4), the idler pulley (5-1) is rotatably mounted on the driving arm (2), the synchronous belt (5-2) is sleeved on the adjacent idler pulley (5-1), the synchronous belt (5-2) is fixedly connected with the mounting base (1) through the base connecting piece (5-3), and the synchronous belt (5-2) is connected with the driven arm (4) through the driven arm connecting piece (5-4).

3. The range-extended mechanical arm structure as claimed in claim 2, wherein the driving arm (2) is fixedly provided with an idler wheel mounting seat (5-5), and the idler wheel (5-1) is rotatably arranged on the idler wheel mounting seat (5-5) through a fixed shaft (5-6).

4. The range-extending mechanical arm structure as claimed in claim 2, wherein the base connecting piece (5-3) and the driven arm connecting piece (5-4) comprise a connecting piece (5-7) and a clamping piece (5-8), and the synchronous belt (5-2) is fixedly clamped on the connecting piece (5-7) through the clamping piece (5-8).

5. The range-extending type mechanical arm structure according to claim 1, wherein the mounting seat (1) comprises a mechanical arm support plate (1-1), a mechanical arm mounting part (1-2) and a driving mounting part (1-3), the mechanical arm mounting part (1-2) and the driving mounting part (1-3) are respectively and fixedly mounted on the mechanical arm support plate (1-1), the driving arm (2) is slidably mounted on the mechanical arm mounting part (1-2) through a sliding rail sliding block piece (1-4), and the driving device (3) is mounted on the driving mounting part (1-3).

6. The range-extended mechanical arm structure of claim 5, wherein the driving device (3) comprises a driving motor (3-1), a rack (3-2) and a gear (3-3), the driving motor (3-1) is fixedly arranged on the driving installation part (1-3), the gear (3-3) is arranged on the driving motor (3-1), the rack (3-2) is fixedly arranged on the driving arm (2), and the rack (3-2) is matched with the gear (3-3).

7. The range-extending type mechanical arm structure as claimed in claim 5, wherein a limit sensor (1-5) is fixedly mounted on the driving mounting part (1-3), a limit stop piece (1-6) is mounted on the driving arm (2), and the limit stop piece (1-6) is matched with the limit sensor (1-5).

8. The range-extending mechanical arm structure as claimed in claim 1, wherein a mounting cavity (2-1) is formed in the driving arm (2), a sliding block (2-2) is fixedly mounted on the side wall of the mounting cavity (2-1), and the driven arm (4) is slidably mounted on the sliding block (2-2).

9. The range-extended mechanical arm structure as claimed in claim 8, wherein an upper idler groove (2-3) and a lower idler groove (2-4) are formed in the side wall of the driving arm (2), the driven device (5) is respectively matched with the upper idler groove (2-3) and the lower idler groove (2-4), and adjusting mounting holes (2-5) are formed in two sides of the lower idler groove (2-4).

10. The range extending type mechanical arm structure is characterized in that a mechanical arm mounting support is mounted at the lower end of the driven arm (4), the mechanical arm mounting support comprises a mechanical arm mounting block (6) and a mechanical arm mounting plate (7), the mechanical arm mounting block (6) is fixedly mounted on the driven arm (4), and the mechanical arm mounting plate (7) is fixedly mounted on the driven arm (4).