CN218428348U

CN218428348U - Electrically-driven mechanical arm

Info

Publication number: CN218428348U
Application number: CN202221963359.5U
Authority: CN
Inventors: 张松; 周志鹏; 张子茂
Original assignee: Once Top Motor Manufacture Co ltd
Current assignee: Once Top Motor Manufacture Co ltd
Priority date: 2022-07-28
Filing date: 2022-07-28
Publication date: 2023-02-03
Anticipated expiration: 2032-07-28

Abstract

The utility model discloses an electrically driven mechanical arm, which comprises a bracket, a rotating platform, a first speed reducing motor, a screw mechanism, a guide rod, a moving arm and an electric clamping jaw, wherein the bracket is arranged on the rotating platform and is used for driving the bracket to rotate around a vertical line; the guide rods are respectively arranged on the bracket, and each guide rod is vertically arranged; the bracket is provided with the first speed reducing motor and a lead screw of the lead screw mechanism, the lead screw of the lead screw mechanism is vertically arranged, an output shaft of the first speed reducing motor is connected with the lead screw of the lead screw mechanism, a transmission nut of the lead screw mechanism is fixedly connected with the movable arm, and the movable arm is provided with the electric clamping jaw; the moving arm is provided with a plurality of ear parts, and each ear part is movably arranged on one guide rod in a penetrating mode. The utility model discloses a vertical movement and the rotary motion independent control of removal arm can open alone and can make up the use again, provide the variety for the motion of arm.

Description

Electrically-driven mechanical arm

Technical Field

The utility model belongs to the arm field, more specifically relates to an electric drive arm.

Background

As is well known, robots and equipment play more and more roles in helping human beings to produce and live, along with the development of science and technology, the types of robots and the industries used in the robots are more and more, and in the industries of mechanical manufacturing, metallurgy, electronics, light industry and the like, a lot of robots are used for replacing heavy labor of human beings.

The mechanical arm is the most important component of the robot, the mechanical clamping jaw is commonly adopted on the mechanical arm at present, and the grabbing, carrying, clamping and other work are all completed by the mechanical arm. However, the mechanical clamping jaw generally adopts a pneumatic clamping jaw, and the whole movement of the mechanical clamping jaw is controlled pneumatically, which all need to provide an air source, and the pneumatic control has poor movement stability, so that the movement of the mechanical clamping jaw is not accurately controlled, and the noise is relatively large.

SUMMERY OF THE UTILITY MODEL

Defect or improvement demand more than to prior art, the utility model provides an electric drive arm, it can rotate, and height-adjusting from top to bottom, convenient to use, control accuracy is high.

In order to achieve the above object, according to the utility model discloses an aspect provides an electrically driven mechanical arm, a serial communication port, including support, revolving stage, first gear motor, screw mechanism, guide arm, carriage arm and electronic clamping jaw, wherein:

the bracket is arranged on the rotating platform and is used for driving the bracket to rotate around a vertical line;

the guide rods are respectively arranged on the bracket, and each guide rod is vertically arranged;

the bracket is provided with the first speed reducing motor, a lead screw of the lead screw mechanism is vertically arranged, an output shaft of the first speed reducing motor is connected with the upper end of the lead screw mechanism, the lower end of the lead screw mechanism is rotatably arranged on the rotating platform, a transmission nut of the lead screw mechanism is fixedly connected with the moving arm, and the moving arm is provided with the electric clamping jaw;

the movable arm is provided with a plurality of ear parts, and each ear part is movably arranged on one guide rod in a penetrating mode.

Preferably, the revolving stage includes casing, second gear motor, worm gear mechanism, transmission shaft, bearing platform and rotating disc, second gear motor sets up in the casing, worm gear mechanism includes intermeshing's worm and worm wheel, the worm is connected second gear motor, the vertical setting of central line of worm wheel and the worm wheel with transmission shaft coaxial coupling, the top of casing sets up the bearing platform, rotating disc level sets up and passes through the bearing platform accepts, the upper end of transmission shaft is passed connect behind the bearing platform rotating disc, and the transmission shaft with bearing platform rotatable coupling, the last installation of rotating disc the lower extreme of support with the lower extreme of screw mechanism, in order to be used for driving the support with screw mechanism rotates.

Preferably, the transmission shaft with bearing platform clearance fit, the top of bearing platform is provided with annular groove A, install many ball A in the annular groove A, the bottom of rotating disc is in the position that corresponds to annular groove A is provided with the annular groove B that is used for preventing these ball A from dropping, and all ball A all stretch into in the annular groove B.

Preferably, a protective cover is installed on the casing;

the top of rotating disc is provided with annular groove C, install many balls B in the annular groove C, the bottom of visor is corresponding to annular groove C's position is provided with the annular groove D that is used for preventing these balls B from dropping, and all balls B all stretch into in the annular groove D.

Preferably, the second reduction motor includes a second drive motor and a second gear box, an input shaft of the second gear box is connected with an output shaft of the second drive motor, and an output shaft of the second gear box is connected with the worm.

Preferably, the end of the moving arm far away from the screw rod is installed through an installation table on the electric clamping jaw, and the electric clamping jaw is detachably connected with the installation table.

Preferably, the first speed reducing motor comprises a first driving motor and a first gear box, an input shaft of the first gear box is connected with an output shaft of the first driving motor, and an output shaft of the first gear box is connected with a lead screw of the lead screw mechanism.

Preferably, the gearbox further comprises a mounting plate a mounted in the casing, the second gearbox being mounted on the mounting plate a.

Preferably, the casing includes a housing, a bottom cover and a top cover, the bottom cover receiving the housing and the top cover.

Generally, through the utility model discloses above technical scheme that conceive compares with prior art, can gain following beneficial effect:

1) The utility model discloses the first gear motor of accessible drives the carriage release arm and reciprocates, and it is rotatory to drive the carriage release arm on support and the support through second gear motor, realizes the accurate position control of carriage release arm through gear motor, and what also install on the carriage release arm moreover is electronic clamping jaw, as long as there is the place of electricity just can let arm work, convenient to use.

2) The utility model discloses a move about the upper and lower motion of removal arm and rotary motion are respectively through first gear motor and second gear motor independent control, can open alone and can make up the use again, provide the variety for the motion of arm.

3) The utility model discloses a set up ball A between rotating disc and the bearing platform, can reduce friction, can not set up the bearing moreover between transmission shaft and bearing platform, make things convenient for the dismantlement of the installation of transmission shaft.

4) The utility model discloses an electronic clamping jaw passes through the installation piece with the carriage arm and connects, can press from both sides the difference of getting article and change different electronic clamping jaw according to the institute, and it is very convenient to dismantle, change.

5) The utility model discloses a screw mechanism's drive nut and lead screw mutually support, can play self-locking function, can protect a gear motor, have increased moving arm overall structure's life.

6) The transmission nut on the movable arm and the two lug parts are arranged in a triangular mode, and stability of the movable arm is improved.

Drawings

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

Fig. 2 is a cross-sectional view of the present invention.

Fig. 3 is an exploded view of the actuator of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. Furthermore, the technical features mentioned in the embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

Referring to fig. 1 to 3, an electrically driven mechanical arm includes a bracket 4, a rotary table, a first speed reduction motor, a screw mechanism, a guide rod 5, a moving arm 7, and an electrically driven gripping jaw 9, wherein:

the bracket 4 is arranged on the rotating table and is used for driving the bracket 4 to rotate around a vertical line; the rotary table can be of an existing structure as long as the rotary table can drive the bracket 4 to rotate.

The guide rods 5 are respectively arranged on the support 4, each guide rod 5 is vertically arranged, and the guide rods 5 are used for guiding.

The mounting on the support 4 first gear motor, lead screw mechanism's 3 vertical settings of lead screw, first gear motor's output shaft with lead screw mechanism's lead screw 3 is connected, the rotatable installation of lead screw mechanism's 3 lower extremes on the revolving stage, lead screw mechanism's drive nut 13 with removal arm 7 fixed connection, install on the removal arm 7 electric clamping jaw 9. The first speed reducing motor comprises a first driving motor 1 and a first gear box 2, an input shaft of the first gear box 2 is connected with an output shaft of the first driving motor 1, and an output shaft of the first gear box 2 is connected with a lead screw 3 of the lead screw mechanism. The utility model discloses an electronic clamping jaw 9 indicates driving motor and indicates many clamps of driving motor driven by pressing from both sides including pressing from both sides, and both accessible drive mechanism connect. When the first speed reducing motor rotates, the inner teeth of the transmission nut 13 are meshed with the outer teeth of the lead screw 3, the spiral motion is converted into linear motion, the transmission nut 13 moves up and down, and the moving arm 7 can be driven to move up and down by the up-and-down movement of the transmission nut 13. Preferably, the moving arm 7 is provided with a lightening groove to reduce the weight of the moving arm 7, so that the moving arm 7 can move up and down quickly. The screw rod mechanism has a self-locking function. The utility model discloses a guide arm 5 is preferred to be provided with two, is triangle-shaped with lead screw 3 and sets up and be parallel to each other.

A plurality of ear parts 6 are arranged on the moving arm 7, and each ear part 6 is movably arranged on one guide rod 5 in a penetrating mode. The ear 6 can cooperate with the guide rod 5 to guide and allow the moving arm 7 to move stably underground. The guide rod 5 limits the moving arm 7 to move up and down only, and the bracket 4 can limit the stroke of the moving arm 7 moving up and down. Preferably, two guide rods 5 are arranged, the rear end of the transmission nut 13 is provided with two lugs 6, and the two lugs 6 are respectively arranged on the two guide rods 5 in a penetrating way and slide on the guide rods 5 along with the up-and-down movement of the transmission nut 13.

Further, the revolving stage includes casing 10, second gear motor, worm gear mechanism, transmission shaft 16, bearing platform 22 and rotating disc 12 worm gear mechanism includes intermeshing's worm 15 and worm wheel 17, worm 15 connects second gear motor, second gear motor sets up in casing 10, second gear motor includes second driving motor 20 and second gear box 19, mounting panel A23 that is provided with in the casing 10, second gear box 19 installs on the mounting panel A23. An input shaft of the second gear box 19 is connected to an output shaft of the second drive motor 20, and an output shaft of the second gear box 19 is connected to the worm 15. The central line of the worm wheel 17 is vertically arranged, the worm wheel 17 is coaxially connected with the transmission shaft 16, the top end of the casing 10 is provided with the bearing table 22, the rotating disc 12 is horizontally arranged and is supported by the bearing table 22, the upper end of the transmission shaft 16 penetrates through the bearing table 22 and is connected with the rotating disc 12, the transmission shaft 16 is rotatably connected with the bearing table 22, and the lower end of the bracket 4 and the lower end of the lead screw 3 of the lead screw mechanism are mounted on the rotating disc 12 to drive the bracket 4 and the lead screw mechanism to rotate. The second driving motor 20 is transversely arranged in the casing 10, the rear end of the second driving motor 20 is provided with an encoder, the front end of the second driving motor is provided with a second gear box 19, and the second gear box 19 is fixedly arranged on an installation plate A23 in the casing 10 and is fixed through screws. The worm 15 protrudes from the through hole of the mounting plate a23 and is horizontally disposed in the casing 10. The worm and gear mechanism has a self-locking function and is matched with the self-locking function of the screw rod mechanism, so that the electric mechanical claw is effectively prevented from shifting due to uncontrollable factors. The second speed reducing motor drives the rotating disc 12 to rotate through the worm gear mechanism, and then the rotation of the rotating disc 12 can drive the bracket 4 and the first speed reducing motor and the moving arm 7 on the bracket 4 to rotate.

Further, the transmission shaft 16 is in clearance fit with the bearing table 22, an annular groove a is formed in the top end of the bearing table 22, a plurality of balls a14-2 are installed in the annular groove a, an annular groove B for preventing the balls a14-2 from falling is formed in the bottom end of the rotating disc 12 at a position corresponding to the annular groove a, all the balls a14-2 extend into the annular groove B, and the friction between the rotating disc 12 and the bearing table 22 can be reduced through the balls a 14-2. By adopting the ball A14-2, the bearing 21 does not need to be arranged between the transmission shaft 16 and the bearing platform 22, and the transmission shaft 16, the rotating disc 12 and other parts are convenient to disassemble and assemble.

Further, a protective cover 11 is installed on the casing 10, an annular groove C is formed in the top end of the rotating disc 12, a plurality of balls B14-1 are installed in the annular groove C, an annular groove D for preventing the balls B14-1 from falling is formed in the position, corresponding to the annular groove C, of the bottom end of the protective cover 11, and all the balls B14-1 extend into the annular groove D. The rotating disk 12 is protected by the protective cover 11, and the balls B14-1 reduce the frictional force between the protective cover 11 and the rotating disk 12.

Further, the one end that lead screw 3 was kept away from to removal arm 7 is passed through the installation of mount table 8 electronic clamping jaw 9, electronic clamping jaw 9 with the connection can be dismantled to mount table 8 to can conveniently change electronic clamping jaw 9. The mounting table 8, the moving arm 7 and the transmission nut 13 are preferably integrally formed. The electric clamping jaws for clamping the articles are fixedly arranged on the mounting table 8 through screws, different electric clamping jaws can be replaced according to different shapes, sizes, properties and the like of the clamped articles, and the operation is simple.

Further, the driver electrically connected to the first and second reduction motors and the electric jaw includes a driver upper cover 26, a PCB 27 and a mounting plate B28, the driver upper cover 26 and the PCB 27 are mounted on the mounting plate B28, and the driver upper cover 26 encloses the PCB 27, so that the PCB 27 is located in the driver upper cover 26. The PCB 27 is fixedly mounted on the mounting plate B28 through four screws A25-2, the driver upper cover 26 and the mounting plate B28 are fixedly mounted through four screws B25-1, the PCB 27 is wrapped in the driver upper cover 26, the driver is integrally formed, and the position of the driver can be flexibly set.

Further, the casing includes a housing 10, a bottom cover 18 and a top cover 24, wherein the bottom cover 18 receives the housing 10 and the top cover 24. The bottom cover 18 and the housing 10 together enclose the second reduction motor inside, and the bottom cover 18 and the top cover 24 together enclose the drive inside.

The utility model discloses a working process as follows:

after the first driving motor 1 is electrified, the lead screw 3 is driven to rotate (the lead screw 3 is preferably a right-handed lead screw). From the top down, when lead screw 3 anticlockwise rotates, drive nut 13 moves down, drives whole moving arm 7 and moves down, indicates driving motor circular telegram through the clamp of giving electronic clamping jaw 9, makes the clamp of electronic clamping jaw 9 indicate to fold up, can press from both sides the article of getting the low position, also can transport the article of eminence to the low position. When the screw rod 3 rotates clockwise, the transmission nut 13 moves upwards to drive the moving arm 7 to move upwards integrally, so that articles at a lower position can be carried to a higher position, and articles at the higher position can be clamped. The guide rod 5 and the bracket 4 provide upper and lower limiting points for the transmission nut 13, so that the moving arm 7 can only move up and down freely in the limiting points.

After the second driving motor 20 is electrified, the worm 15 is driven to rotate, the worm 15 rotates to drive the worm wheel 17 meshed with the worm to rotate, the worm wheel 17 rotates to drive the transmission shaft 16 fixedly installed with the worm wheel 17 to rotate, the rotating disc 12 installed at the upper end of the transmission shaft 16 is further driven to rotate, and the rotating disc 12 rotates to drive the electric clamping jaw 9 to integrally rotate.

First driving motor 1, second driving motor 20 to and electric clamping jaw 9 are the individual drive, and the independent control, mutually noninterfere can independent control electric clamping jaw 9 motion, makes electric clamping jaw 9 can the centre gripping, press from both sides, get, loosen article, can make up at will again, provides the variety for electric clamping jaw 9's motion.

If the spindle 3 is left-handed, the movement of the transmission nut 13 is reversed.

It will be understood by those skilled in the art that the foregoing is merely exemplary of the present invention, and is not intended to limit the invention to the particular forms disclosed, and all changes, equivalents and modifications that fall within the spirit and scope of the invention are intended to be embraced thereby.

Claims

1. The utility model provides an electrically-driven mechanical arm, its characterized in that includes support, revolving stage, first gear motor, screw mechanism, guide arm, carriage arm and electronic clamping jaw, wherein:

the moving arm is provided with a plurality of ear parts, and each ear part is movably arranged on one guide rod in a penetrating mode.

2. The electrically driven mechanical arm as claimed in claim 1, wherein the rotating platform comprises a housing, a second speed-reducing motor, a worm-gear mechanism, a transmission shaft, a bearing table and a rotating disc, the second speed-reducing motor is disposed in the housing, the worm-gear mechanism comprises a worm and a worm wheel meshed with each other, the worm is connected to the second speed-reducing motor, the central line of the worm wheel is vertically disposed and the worm wheel is coaxially connected to the transmission shaft, the bearing table is disposed on the top end of the housing, the rotating disc is horizontally disposed and is supported by the bearing table, the upper end of the transmission shaft passes through the bearing table and is connected to the rotating disc, and the transmission shaft is rotatably connected to the bearing table, and the lower end of the support and the lower end of the lead screw mechanism are mounted on the rotating disc for driving the support and the lead screw mechanism to rotate.

3. An electrically driven mechanical arm as claimed in claim 2, wherein said transmission shaft is in clearance fit with said bearing table, said bearing table is provided at a top end thereof with an annular groove A, a plurality of balls A are mounted in said annular groove A, a bottom end of said rotating disk is provided at a position corresponding to said annular groove A with an annular groove B for preventing said balls A from falling, and all of said balls A are inserted into said annular groove B.

4. An electrically driven robot arm as claimed in claim 2, wherein said second gear motor comprises a second drive motor and a second gear box, an input shaft of said second gear box being connected to an output shaft of said second drive motor, an output shaft of said second gear box being connected to said worm screw.

5. An electrically driven mechanical arm as claimed in claim 2 wherein a protective cover is mounted to said housing;

the top of rotating disc is provided with annular groove C, install many balls B in the annular groove C, the bottom of visor is in corresponding to the position of annular groove C is provided with the annular groove D that is used for preventing these balls B from dropping, and all balls B all stretch into in the annular groove D.

6. The electrically driven mechanical arm as claimed in claim 1, wherein the end of the moving arm far away from the lead screw is provided with the electrically driven clamping jaws through a mounting table, and the electrically driven clamping jaws are respectively detachably connected with the mounting table.

7. An electrically driven mechanical arm according to claim 1, wherein the first speed reduction motor comprises a first drive motor and a first gear box, an input shaft of the first gear box is connected with an output shaft of the first drive motor, and an output shaft of the first gear box is connected with a lead screw of the lead screw mechanism.

8. An electrically driven robotic arm as claimed in claim 4 further comprising a mounting plate A mounted within said housing, said second gearbox being mounted on said mounting plate A.

9. The electrically driven robotic arm of claim 2, wherein said housing comprises a housing, a bottom cover and a top cover, said bottom cover receiving said housing and said top cover.