CN218082793U

CN218082793U - Stable mechanical arm for live working

Info

Publication number: CN218082793U
Application number: CN202222900417.6U
Authority: CN
Inventors: 杨坤; 李楠楠; 姚铮; 代世达; 庄炳昌
Original assignee: Tianqin Technology Co ltd
Current assignee: Tianqin Technology Co ltd
Priority date: 2022-11-02
Filing date: 2022-11-02
Publication date: 2022-12-20
Anticipated expiration: 2032-11-02

Abstract

The utility model discloses a live working stable form arm relates to arm technical field, has solved current technique in the course of the work, and when there is a cantilever rotation swing, another end also can produce and rotate and swing, is difficult to guarantee the stable technical problem of end, including base and working head, the wall rotates on the base and installs the carousel, the wall hinge is connected with first cantilever on the carousel, first cantilever one end is rotated and is installed first axis of rotation, the utility model discloses a swing structure and rotating-structure on the first cantilever guarantee first cantilever swing in-process, and the structure more than first cantilever keeps the translation and does not take place the swing, and rotating-structure through the base and the rotating-structure of carousel, auxiliary machinery arm rotates, and the position of the operating personnel of being convenient for adjustment working head through the arm structure that can accomodate, can reduce work arm occupation space to be favorable to not using and the protection of adjusting the working head when the position.

Description

Stable mechanical arm for live working

Technical Field

The utility model relates to an arm technical field specifically is a live working stable form arm.

Background

The utility model relates to a mechanical arm technique, no matter be industrial field or service area, the use of arm is more and more popularized. At present, most mechanical arms are controlled by a single joint or run along a fixed track in a teaching mode, and the mode is complex to operate and can only be used in a specific environment. For the mechanical arm capable of guiding positioning, vision or a pan-tilt head is mostly adopted to carry out three-dimensional positioning operation at present, the operation amount of positioning and inverse solution is large and complex, the whole occupied space of the mechanical arm is large, and the charged working mechanical arm requires working to have certain stability and the requirement of keeping the working head of the charged working mechanical arm stable.

For example, a utility model is called a mechanical arm, and is published as CN207858834U, this kind of traditional mechanical arm is in the course of the work, when having a cantilever rotation swing, another end also can produce and rotate and swing, is difficult to guarantee the stable technical problem of end.

SUMMERY OF THE UTILITY MODEL

Not enough to prior art, the utility model provides a live working stable form arm has solved current technique in the course of the work, when having a cantilever rotation swing, another end also can produce rotation and swing, is difficult to guarantee the stable technical problem of end.

In order to achieve the above purpose, the utility model discloses a following technical scheme realizes: the utility model provides a live working stable form arm, includes base and working head, its characterized in that, the wall rotates on the base and installs the carousel, the wall hinge is connected with first cantilever on the carousel, first cantilever one end is rotated and is installed first axis of rotation, fixed mounting has the connecting seat in the first axis of rotation, rotate on the connecting seat and install the rotation platform, fixed mounting has the second fixed axle on the rotation platform, rotate on the second fixed axle and install the second cantilever, rotate on the second cantilever and install the working shaft, fixed mounting has the working arm on the working shaft, working head fixed mounting is in working arm one end.

Preferably, a first motor is fixedly mounted in the turntable, a first driving gear is fixedly mounted at a driving end of the first motor, a first driven gear is fixedly mounted outside the base, and the first driving gear is meshed with the first driven gear.

Preferably, the wall rotates and installs first pneumatic cylinder on the carousel, the flexible end of first pneumatic cylinder rotates and installs wall under first cantilever, wall fixed mounting has a supporting bench on the carousel.

Preferably, a second motor is fixedly installed in the first cantilever, a second gear reducer is fixedly installed in the first cantilever, a driving end of the second motor is fixedly connected to an input end of the second gear reducer, an output end of the second gear reducer is fixedly installed with a second driving bevel gear, a second driven bevel gear is fixedly installed on the first rotating shaft, the second driving bevel gear is meshed with the second driven bevel gear, and the connecting seat is fixedly connected with the second driven bevel gear.

Preferably, a fourth motor is fixedly mounted in the connecting seat, a fourth driving gear is fixedly mounted at a driving end of the fourth motor, a fourth driven gear is fixedly mounted on the lower wall surface of the rotating platform, and the fourth driving gear is meshed with the fourth driven gear.

Preferably, a third driven bevel gear is fixedly mounted on the second fixing shaft, a third motor is fixedly mounted in the second cantilever, a third gear reducer is fixedly mounted in the second cantilever, a driving end of the third motor is fixedly connected to an input end of the third gear reducer, an output end of the third gear reducer is fixedly mounted with a third driving bevel gear, and the third driving bevel gear is in meshed connection with the third driven bevel gear.

Preferably, a servo motor is fixedly mounted on the side wall surface of the second cantilever, and a driving end of the servo motor is fixedly connected to one end of the working shaft.

Preferably, the lower wall surface of the base is fixedly provided with a mounting foot.

Advantageous effects

The utility model provides a live working stable form arm, the utility model discloses an oscillating structure and rotating-structure on the first cantilever guarantee first cantilever swing in-process, the structure above the first cantilever keeps the translation and does not take place the swing, rotating-structure through the base and the rotating-structure of carousel, auxiliary machinery arm rotates, the position of the operating personnel adjustment working head of being convenient for, through the work arm structure that can accomodate, can reduce work arm occupation space to be favorable to not using and the protection to the working head in the time of adjusting the position.

Drawings

Fig. 1 is a schematic view of a live working stable mechanical arm according to the present invention.

Fig. 2 is a side-looking structural schematic diagram of a stable mechanical arm for live working.

Fig. 3 is the utility model discloses a local structure schematic diagram of hot-line work stable form arm.

In the figure: 1. a base; 2. a working head; 3. a turntable; 4. a first cantilever; 5. a first rotating shaft; 6. a connecting seat; 7. rotating the platform; 8. a second fixed shaft; 9. a second cantilever; 10. a working shaft; 11. a working arm; 12. a first motor; 13. a first drive gear; 14. a first driven gear; 15. a first hydraulic cylinder; 16. a support table; 17. a second motor; 18. a second gear reducer; 19. a second drive bevel gear; 20. a second driven bevel gear; 21. a fourth motor; 22. a fourth driving gear; 23. a fourth driven gear; 24. a third driven bevel gear; 25. a third motor; 26. a third gear reducer; 27. a third drive bevel gear; 28. a servo motor; 29. and (7) mounting the feet.

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.

Referring to fig. 1-3, the present invention provides a technical solution: a stable type mechanical arm for live working comprises a base 1 and a working head 2 and is characterized in that a rotary table 3 is installed on the base 1 in a rotating mode through the upper wall surface of the base 1, a first cantilever 4 is connected to the rotary table 3 through a hinge, a first rotating shaft 5 is installed at one end of the first cantilever 4 in a rotating mode, a connecting seat 6 is fixedly installed on the first rotating shaft 5, a rotating platform 7 is installed on the connecting seat 6 in a rotating mode, a second fixing shaft 8 is fixedly installed on the rotating platform 7, a second cantilever 9 is installed on the second fixing shaft 8 in a rotating mode, a working shaft 10 is installed on the second cantilever 9 in a rotating mode, a working arm 11 is fixedly installed on the working shaft 10, the working head 2 is fixedly installed at one end of the working arm 11, a first motor 12 is fixedly installed in the rotary table 3, and a first driving gear 13 is fixedly installed at a driving end of the first motor 12, a first driven gear 14 is fixedly arranged outside the base 1, the first driving gear 13 is meshed with the first driven gear 14, a first hydraulic cylinder 15 is rotatably arranged on the upper wall surface of the rotary disc 3, the telescopic end of the first hydraulic cylinder 15 is rotatably arranged on the lower wall surface of the first cantilever 4, a support table 16 is fixedly arranged on the upper wall surface of the rotary disc 3, a second motor 17 is fixedly arranged in the first cantilever 4, a second gear reducer 18 is fixedly arranged in the first cantilever 4, the driving end of the second motor 17 is fixedly connected to the input end of the second gear reducer 18, the output end of the second gear reducer 18 is fixedly provided with a second driving bevel gear 19, a second driven bevel gear 20 is fixedly arranged on the first rotating shaft 5, the second driving bevel gear 19 is meshed with the second driven bevel gear 20, and the connecting seat 6 is fixedly connected with the second driven bevel gear 20, the utility model discloses a rotary platform, including connecting seat 6, fixed mounting has fourth motor 21 in the connecting seat 6, fourth motor 21 drive end fixed mounting has fourth driving gear 22, rotary platform 7 lower wall face fixed mounting has fourth driven gear 23, fourth driving gear 22 is connected with fourth driven gear 23 meshing, fixed mounting has third driven bevel gear 24 on the second fixed axle 8, fixed mounting has third motor 25 in the second cantilever 9, fixed mounting has third gear reducer 26 in the second cantilever 9, third motor 25 drive end fixed connection is in third gear reducer 26 input, third gear reducer 26 output end fixed mounting has third drive bevel gear 27, third drive bevel gear 27 and third driven bevel gear 24 meshing are connected, second cantilever 9 face fixed mounting has servo motor 28, servo motor 28 drive end fixed connection is in lower wall 10 one end, base 1 face fixed mounting has installation foot 29.

The detailed connection means is a technique known in the art, and the following mainly describes the working principle and process, and the specific operation is as follows.

The embodiment is as follows: as shown in fig. 1-3, the first motor 12, the second motor 17, the third motor 25, the fourth motor 21, and the servo motor 28 are connected to an external controller and a power supply through wires, the first hydraulic cylinder 15 is connected to the external controller and a liquid source through a pipeline, the first motor 12 controls the rotation direction angle of the entire mechanical arm structure, the driving end of the first motor 12 rotates to drive the first driving gear 13 to rotate, the first driving gear 13 is meshed with the first driven gear 14, the base 1 is fixed to rotate the rotary table 3, when the first boom 4 needs to be lifted, the telescopic end of the first hydraulic cylinder 15 extends to enable the first hydraulic cylinder 15 to lift the first boom 4, so as to lift the first boom 4, in order to maintain the stability of the working head 2, at this time, the driving end of the second motor 17 rotates, the driving end of the second motor 17 drives the input end of the second gear reducer 18 to rotate, the speed of the working head 2 is reduced by the second gear reducer 18, the output end of the second gear reducer 18 drives the second driving bevel gear 19 to rotate, the second driving bevel gear drives the second driven bevel gear 20 to rotate, the second driven bevel gear 20 is fixedly connected with the first rotating shaft 5 and the connecting seat 6, so that an operator can always keep a certain angle and direction of the working head 2 through operation and only translate without swinging in the process of lifting the connecting seat 6 under the control of the second motor 17, the process can keep a certain stability of the working head 2 in the transportation process of clamping a container or controlling a certain object to move upwards, when the working head 2 needs to rotate and lift to be lowered, the fourth motor 21 drives the fourth driving gear 22 to rotate, and the fourth driven gear 23 is fixedly arranged on the rotating platform 7, the fourth driving gear 22 is engaged with the fourth driven gear 23, so that the fourth driven gear 23 drives the rotating platform 7 to rotate, the working head 2 and the second cantilever 9 rotate with the rotating platform 7 as a central axis, the driving end of the third motor 25 rotates to drive the input end of the third gear reducer 26 to rotate, the output end of the third gear reducer 26 drives the third driving bevel gear 27 to rotate, the third driving bevel gear 27 is engaged with the third driven bevel gear 24, the third driven bevel gear 24 is fixed, the third driving bevel gear 27 drives the second cantilever 9 to rotate, the servo motor 28 drives the working shaft 10 to rotate, the working shaft 10 drives the working arm 11 which is fixedly connected to rotate, so that the working head 2 adjusts the position, or retracts into the groove of the second cantilever 9 to perform processing.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.

Claims

1. The utility model provides a live working stable form arm, includes base (1) and working head (2), its characterized in that, base (1) is gone up the wall and is rotated and install carousel (3), the wall hinge is connected with first cantilever (4) on carousel (3), first cantilever (4) one end is rotated and is installed first axis of rotation (5), fixed mounting has connecting seat (6) on first axis of rotation (5), rotate on connecting seat (6) and install rotation platform (7), fixed mounting has second fixed axle (8) on rotation platform (7), rotate on second fixed axle (8) and install second cantilever (9), rotate on second cantilever (9) and install working shaft (10), fixed mounting has working arm (11) on working shaft (10), working head (2) fixed mounting is in working arm (11) one end.

2. The electric operation stable type mechanical arm according to claim 1, wherein a first motor (12) is fixedly installed in the rotary table (3), a first driving gear (13) is fixedly installed at a driving end of the first motor (12), a first driven gear (14) is fixedly installed outside the base (1), and the first driving gear (13) is in meshed connection with the first driven gear (14).

3. The stabilized mechanical arm for electric operation as claimed in claim 2, wherein the upper wall surface of the rotary plate (3) is rotatably mounted with a first hydraulic cylinder (15), the telescopic end of the first hydraulic cylinder (15) is rotatably mounted on the lower wall surface of the first cantilever (4), and the support table (16) is fixedly mounted on the upper wall surface of the rotary plate (3).

4. The stabilized mechanical arm for hot-line work of claim 3, wherein a second motor (17) is fixedly installed in the first cantilever (4), a second gear reducer (18) is fixedly installed in the first cantilever (4), a driving end of the second motor (17) is fixedly connected to an input end of the second gear reducer (18), an output end of the second gear reducer (18) is fixedly installed with a second driving bevel gear (19), a second driven bevel gear (20) is fixedly installed on the first rotating shaft (5), the second driving bevel gear (19) is engaged with the second driven bevel gear (20), and the connecting seat (6) is fixedly connected with the second driven bevel gear (20).

5. The stable type mechanical arm for hot-line work of claim 4, wherein a fourth motor (21) is fixedly installed in the connecting seat (6), a fourth driving gear (22) is fixedly installed at the driving end of the fourth motor (21), a fourth driven gear (23) is fixedly installed on the lower wall surface of the rotating platform (7), and the fourth driving gear (22) is meshed with the fourth driven gear (23).

6. The stabilized mechanical arm for hot-line work of claim 5, wherein a third driven bevel gear (24) is fixedly installed on the second fixed shaft (8), a third motor (25) is fixedly installed in the second cantilever (9), a third gear reducer (26) is fixedly installed in the second cantilever (9), a driving end of the third motor (25) is fixedly connected to an input end of the third gear reducer (26), an output end of the third gear reducer (26) is fixedly installed with a third driving bevel gear (27), and the third driving bevel gear (27) is engaged with the third driven bevel gear (24).

7. The stabilized mechanical arm according to claim 6, wherein the servo motor (28) is fixedly mounted on the side wall of the second suspension arm (9), and the driving end of the servo motor (28) is fixedly connected to one end of the working shaft (10).

8. The stabilized mechanical arm for hot-line work of claim 1, wherein the bottom wall of the base (1) is fixedly installed with mounting feet (29).