CN218226660U - Based on wire drawing transmission arm - Google Patents

Abstract

The utility model discloses a based on wire drawing transmission arm, the test platform comprises a support, the rotatory upper bracket that installs of frame upside, first arm is installed to the upper bracket upside, first arm one end articulates through the connecting axle has the second arm, second arm one end articulates has the third arm, pneumatic clamping jaw is installed to third arm one end, between first arm and the second arm, all adjust the processing through wire drawing transmission mechanism slope between second arm and the third arm, be connected with first motor through the gear train transmission between frame and the upper bracket, the utility model discloses because between first arm and the second arm, all adjust the processing through wire drawing transmission mechanism slope between second arm and the third arm for the transmission is steady, and control is convenient, and connection structure stability is higher between each arm, is favorable to improving the accuracy that the arm was got and was put article.

Description

Based on wire drawing transmission arm

Technical Field

The utility model relates to an arm technical field specifically is a based on wire drawing transmission arm.

Background

The mechanical arm joint generally adopts a transmission mechanism directly connected with a motor, a gear reducer and a joint shaft, the transmission mechanism requires the motor and the gear reducer to be arranged near the mechanical arm joint, the mechanism is simple, but the structure is not compact, and the appearance is not neat. Most of the existing mechanical arms adopt joint motors to drive the motion of each joint, each joint needs one joint motor, and the installation structure is complex and the weight is heavier.

In the prior art, the application number of CN202011534329.8 is the stay wire transmission mechanism of the mechanical arm and the mechanical arm, so that joint motors of all joints are omitted, the weight of the mechanical arm is reduced, and the efficiency and the flexibility of the mechanical arm are improved. The problem of the arm of taking joint motor's weight height, structure complicacy and inefficiency is solved, however, the transmission stationarity is relatively poor, and connection structure stability is general between each arm, acts as go-between moreover and easily becomes flexible, influences the security of using.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a based on wire drawing transmission arm to it is relatively poor to solve among the prior art transmission stationarity, and connection structure stability is general between each arm, acts as go-between moreover and easily becomes flexible, influences the problem of the security of using.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a based on wire drawing transmission arm, includes the frame, the frame upside is rotatory to be installed the upper bracket, first arm is installed to the upper bracket upside, first arm one end articulates through the connecting axle has the second arm, second arm one end articulates has the third arm, pneumatic clamping jaw is installed to third arm one end, all adjust the processing through wire drawing drive mechanism slope between first arm and the second arm, between second arm and the third arm, be connected with first motor through the gear train transmission between frame and the upper bracket, locking mechanical system is all installed to first arm and second arm inboard.

Furthermore, wire drawing drive mechanism includes the spacing wheel that the connecting axle middle part outside was equipped with, the locating lever is all installed to second arm and third arm one side, rolling roller and leading wheel are installed to first arm and second arm one side, and are connected with the wire drawing rope between rolling roller and the locating lever.

Furthermore, the wire drawing rope adopts wire rope, wire drawing rope one end winding is on the rolling roller, and wire drawing rope one end wears to establish leading wheel and spacing round in proper order and establishes with the rotatory cover of locating lever, and rolling roller one end transmission is connected with the second motor.

Furthermore, locking mechanical system is including the pneumatic cylinder that is equipped with, the holding down piece is installed to pneumatic cylinder one end.

Furthermore, the pressing sheet is arranged to be an arc-shaped sheet and is pressed outside the rolling roller.

Furthermore, the gear train is including setting up the driven gear in the upper bracket outside, first motor one end transmission is connected with the driving gear, and driven gear and driving gear meshing are connected, the PLC switch board is installed to frame one end.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the utility model discloses because between first arm and the second arm, all adjust the processing through wire drawing drive mechanism slope between second arm and the third arm, wire drawing drive mechanism includes the spacing round that the connecting axle middle part outside was equipped with, the locating lever is all installed to second arm and third arm one side, rolling roller and leading wheel are installed to first arm and second arm one side, and be connected with the wire drawing rope between rolling roller and the locating lever, rolling roller one end transmission is connected with the second motor, receive and release the wire drawing rope through second motor drive rolling roller positive and negative rotation, thereby can adjust the angle of use of pneumatic clamping jaw, and the transmission is steady, and control is convenient, connection structure stability is higher between each arm, be favorable to improving the accuracy that the arm was got and is put article.

2. The utility model discloses a frame upside is rotatory to be installed and to have the upper bracket, is connected with first motor through the gear train transmission between frame and the upper bracket, and the gear train is including setting up the driven gear in the upper bracket outside, and first motor one end transmission is connected with the driving gear, and driven gear and driving gear meshing are connected for can drive the horizontal rotation regulation of upper bracket through first motor and gear train and handle, thereby satisfy getting of different horizontal angle and put article use and handle.

3. The utility model discloses and install locking mechanical system on the arm through the rolling roller outside, locking mechanical system is including the pneumatic cylinder that is equipped with, the holding-down strip is installed to pneumatic cylinder one end, the holding-down strip sets the arc piece, and the holding-down strip is pressed and is established in the rolling roller outside for pneumatic cylinder drive holding-down strip removes to adjust to press and establishes in the rolling roller outside, be convenient for adjust the rolling roller after targetting in place to the arm and carry out the locking processing, prevent that the not hard up pneumatic clamping jaw of wire drawing rope from removing when the non-operation, improve the safety in utilization.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a front view of the internal structure of the robot arm of the present invention;

fig. 3 is a schematic structural diagram of the locking mechanism of the present invention.

In the figure: 1. a machine base; 2. an upper support; 3. a first robot arm; 4. a connecting shaft; 5. a second mechanical arm; 6. a hydraulic cylinder; 7. a third mechanical arm; 8. a pneumatic clamping jaw; 9. a second motor; 10. a compression sheet; 11. a driven gear; 12. a driving gear; 13. a first motor; 14. a limiting wheel; 15. positioning a rod; 16. drawing a wire rope; 17. a guide wheel; 18. a rolling roller; 19. PLC switch board.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the 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, 2 and 3, in an embodiment of the present invention, a mechanical arm based on wire drawing transmission includes a frame 1, an upper support 2 is rotatably mounted on an upper side of the frame 1, a first mechanical arm 3 is mounted on an upper side of the upper support 2, one end of the first mechanical arm 3 is hinged to a second mechanical arm 5 through a connecting shaft 4, one end of the second mechanical arm 5 is hinged to a third mechanical arm 7, one end of the third mechanical arm 7 is mounted with a pneumatic clamping jaw 8, a wire drawing transmission mechanism is used for tilt adjustment between the first mechanical arm 3 and the second mechanical arm 5 and between the second mechanical arm 5 and the third mechanical arm 7, the wire drawing transmission mechanism includes a limiting wheel 14 arranged on an outer side of a middle portion of the connecting shaft 4, a positioning rod 15 is mounted on one side of each of the second mechanical arm 5 and the third mechanical arm 7, a rolling roller 18 and a mechanical arm guide wheel 17 are mounted on one side of the first mechanical arm 3 and the second mechanical arm 5, and be connected with wire drawing rope 16 between rolling roller 18 and locating lever 15, rolling roller 18 one end transmission is connected with second motor 9, receive and release wire drawing rope 16 through second motor 9 drive rolling roller 18 positive and negative rotation, thereby can adjust the angle of use of pneumatic clamping jaw 8, and the transmission is steady, and control is convenient, connection structure stability is higher between each arm, be favorable to improving the arm and get the accuracy of putting article, be connected with first motor 13 through the gear train transmission between frame 1 and the upper bracket 2 and make and can drive upper bracket 2 horizontal rotation regulation through first motor 13 and gear train and handle, thereby satisfy the use of getting of different level angles and put article and handle, locking mechanical system is all installed to first arm 3 and second arm 5 inboards, prevent that wire drawing rope becomes flexible pneumatic clamping jaw from removing when the inoperative, improve the safety in utilization.

Preferably, the wire drawing rope 16 adopts wire rope, 16 one ends of wire drawing rope twine on rolling roller 18, and 16 one ends of wire drawing rope wear to establish leading wheel 17 and spacing wheel 14 in proper order and establish with the rotatory cover of locating lever 15, and 16 one ends of wire drawing rope set the circular closed becket, are convenient for establish the rotatory cover of 16 one ends of wire drawing rope in the locating lever 15 outside.

Preferably, locking mechanical system is including the pneumatic cylinder 6 that is equipped with, and pressing blade 10 is installed to 6 one ends of pneumatic cylinder for pneumatic cylinder 6 drive pressing blade 10 moves to adjust to press and establishes in the rolling roller 18 outside, is convenient for adjust the rolling roller 18 after targetting in place to the arm and locks the processing, prevents that the not hard up pneumatic clamping jaw of wire drawing rope from removing when the inoperative, improves the safety in utilization.

Preferably, the pressing sheet 10 is an arc-shaped sheet, and the pressing sheet 10 is pressed outside the winding roller 18, so that the stability of the setting and positioning of the pressing sheet 10 is improved.

Preferably, the gear train is including setting up driven gear 11 in the upper bracket 2 outside, and 13 one end transmissions of first motor are connected with driving gear 12, and driven gear 11 and driving gear 12 meshing are connected, and PLC switch board 19 is installed to 1 one end of frame, is convenient for drive 2 horizontal rotation of upper bracket regulation handles.

The utility model discloses a theory of operation and use flow: because between first arm 3 and the second arm 5, all adjust the processing through wire drawing drive mechanism slope between second arm 5 and the third arm 7, wire drawing drive mechanism includes the spacing wheel 14 that the connecting axle 4 middle part outside was equipped with, locating lever 15 is all installed to second arm 5 and third arm 7 one side, rolling roller 18 and leading wheel 17 are installed to first arm 3 and second arm 5 one side, and be connected with wire drawing rope 16 between rolling roller 18 and the locating lever 15, 18 one end transmission of rolling roller is connected with second motor 9, receive and release wire drawing rope 16 through the positive and negative rotation of second motor 9 drive rolling roller 18, thereby can adjust the angle of use of pneumatic clamping jaw 8, and the transmission is steady, and convenient control, connection structure stability is higher between each arm, be favorable to improving the arm and get the accuracy of putting article.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (6)

1. The utility model provides a based on wire drawing transmission arm, includes frame (1), its characterized in that: frame (1) upside is rotatory to be installed and is gone up support (2), first arm (3) are installed to upper support (2) upside, first arm (3) one end articulates through connecting axle (4) has second arm (5), second arm (5) one end articulates has third arm (7), pneumatic clamping jaw (8) are installed to third arm (7) one end, between first arm (3) and second arm (5), all adjust the processing through wire drawing drive mechanism slope between second arm (5) and third arm (7), be connected with first motor (13) through the gear train transmission between frame (1) and upper support (2), locking mechanical arm is all installed to first arm (3) and second arm (5) inboard.

2. The mechanical arm based on wire drawing transmission as claimed in claim 1, wherein: wire drawing drive mechanism includes connecting axle (4) middle part outside spacing wheel (14) of being equipped with, locating lever (15) are all installed to second arm (5) and third arm (7) one side, rolling roller (18) and leading wheel (17) are installed to first arm (3) and second arm (5) one side, and are connected with wire drawing rope (16) between rolling roller (18) and locating lever (15).

3. The mechanical arm based on wire drawing transmission as claimed in claim 2, wherein: the wire drawing rope (16) is a steel wire rope, one end of the wire drawing rope (16) is wound on the winding roller (18), and one end of the wire drawing rope (16) sequentially penetrates through the guide wheel (17) and the limiting wheel (14) and is rotatably sleeved with the positioning rod (15).

4. The mechanical arm based on wire drawing transmission as claimed in claim 1, wherein: locking mechanical system is including pneumatic cylinder (6) that are equipped with, pressing blade (10) are installed to pneumatic cylinder (6) one end.

5. The mechanical arm based on wire drawing transmission as claimed in claim 4, wherein: the pressing sheet (10) is arranged into an arc-shaped sheet, and the pressing sheet (10) is arranged on the outer side of the rolling roller (18) in a pressing mode.

6. The mechanical arm based on wire drawing transmission as claimed in claim 1, wherein: the gear train is including setting up driven gear (11) in upper bracket (2) outside, first motor (13) one end transmission is connected with driving gear (12), and driven gear (11) and driving gear (12) meshing are connected, PLC switch board (19) are installed to frame (1) one end.

Images