CN219854646U

CN219854646U - Mechanical arm with rotating structure

Info

Publication number: CN219854646U
Application number: CN202320171779.8U
Authority: CN
Inventors: 徐锦标; 廖福; 张伟
Original assignee: Jiangsu Zunsion Automation Technology Co ltd
Current assignee: Jiangsu Zunsion Automation Technology Co ltd
Priority date: 2023-02-10
Filing date: 2023-02-10
Publication date: 2023-10-20
Anticipated expiration: 2033-02-10

Abstract

The utility model relates to the technical field of mechanical arms and discloses a mechanical arm with a rotating structure, which comprises a connecting arm and a shell, wherein the shell is fixedly arranged on the outer side of the connecting arm, a first baffle is fixedly arranged at one end of the shell, a second baffle is fixedly arranged at one side of the shell and close to the first baffle, a servo motor is fixedly arranged between the first baffle and the second baffle, and a connecting shaft is fixedly arranged on an output shaft of the servo motor. This arm with revolution mechanic to through the stop mechanism who sets up, and the drive mechanism that the cooperation set up, through stop mechanism to the centre gripping of pipe fitting during the use, and drive mechanism to the rotation of pipe fitting, realized that the arm can be fixed the pipe fitting of multiple size, and can rotate the pipe fitting, avoid the fixed pipe fitting size of arm to restrict, eliminated the limitation that the arm used, simultaneously, the fixed pipe fitting of arm can rotate, improved the polishing efficiency of pipe fitting.

Description

Mechanical arm with rotating structure

Technical Field

The utility model belongs to the technical field of mechanical arms, and particularly relates to a mechanical arm with a rotating structure.

Background

The mechanical arm refers to a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Because of its unique operational flexibility, it has been widely used in the fields of industrial assembly, safety explosion protection, etc.

The mechanical arm is a complex system, and uncertainty such as parameter perturbation, external interference, unmodeled dynamics and the like exists in the mechanical arm, so that uncertainty exists in a modeling model of the mechanical arm, and for different tasks, a motion track of a joint space of the mechanical arm needs to be planned, so that the terminal pose is formed in a cascading manner.

The mechanical arm is widely applied to the preparation process of production line parts, in terms of the processing of precise pipe fittings, the precision of processing is improved through cooperation of the mechanical arm, the polishing action of the pipe fittings is included, the pipe fittings are clamped through the mechanical arm, and then the pipe fittings are close to the polishing device, so that the polishing roller polishes the outer wall of the pipe fittings, and the processing efficiency of the precise pipe fittings is improved, but when the mechanical arm on the market at present is used, the mechanical arm can only fix the pipe fittings with fixed sizes, the pipe fittings cannot be rotated, the pipe fittings fixed by the mechanical arm are limited in size, the use limitation of the mechanical arm is larger, and meanwhile, the pipe fittings fixed by the mechanical arm cannot be rotated, so that the polishing efficiency of the pipe fittings can be reduced.

Disclosure of Invention

In view of the above, in order to overcome the defects of the prior art, the utility model provides the mechanical arm with the rotary structure, which can fix pipes with various sizes and rotate the pipes, and effectively solves the problems that the fixed pipes of the mechanical arm are limited in size, the use limitation of the mechanical arm is large, and the polishing efficiency of the pipes is reduced.

The utility model is realized by the following technical scheme:

the mechanical arm with the rotating structure effectively solves the problems in the background art.

In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a mechanical arm with revolution mechanic, includes linking arm and casing, the outside fixed mounting of linking arm has the casing, the one end fixed mounting of casing has first baffle, one side of casing and be close to the position fixed mounting of first baffle has the second baffle, fixed mounting has servo motor between first baffle and the second baffle, servo motor's output shaft fixed mounting has the connecting axle, peg graft in the outside of connecting axle has the pipe fitting, the inner wall movable mounting of connecting axle has stop gear for the centre gripping the pipe fitting, the spout has been seted up to the inner wall of casing, the inboard swing joint of spout has the transmission lead screw, the inner wall of second baffle is provided with drive mechanism, and drive mechanism is used for driving the rotation of transmission lead screw, the opposite side swing joint of casing has can be followed the connecting plate that the transmission lead screw removed, the outside fixedly connected with cover piece of connecting plate, the through-hole that can supply the pipe fitting passed is seted up to the inner wall of cover piece. .

Preferably, the inner wall of the second baffle plate is provided with a rotary groove, and a first gear is fixedly connected to the outer side of the connecting shaft and positioned in the rotary groove.

Preferably, the transmission mechanism comprises a second gear, a first electric telescopic rod and a first bearing, the first electric telescopic rod is fixedly arranged on the inner side of the sliding groove, the first bearing is fixedly arranged on the outer side of the first electric telescopic rod, the inner shaft of the first bearing is fixedly connected with the transmission screw rod, the end part of the transmission screw rod is fixedly connected with a second gear, the second gear is located at the corresponding position of the first gear, and the second gear and the first gear can be meshed for transmission.

Preferably, the inner wall of the shell and located at the outer side of the sliding groove are provided with connecting grooves, the outer side of the transmission screw rod is connected with a threaded sleeve in a threaded mode, the outer side of the threaded sleeve is fixedly connected with a connecting block located at the inner side of the connecting groove, and the threaded sleeve is fixedly connected with the connecting block.

Preferably, the limiting mechanism comprises a second electric telescopic rod, a sleeve shaft, a corner bracket, a first clamping block, a connecting rod and a second clamping block, wherein the inner wall of the connecting shaft is provided with a groove, the sleeve shaft is fixedly installed in the groove and positioned on the inner wall of the connecting shaft, the corner bracket is hinged to the outer side of the sleeve shaft, the first clamping block is hinged to the outer side of the corner bracket, the second electric telescopic rod is fixedly installed on the inner wall of the connecting shaft and positioned on the outer side of the sleeve shaft, the telescopic end of the second electric telescopic rod is hinged to the corner bracket, the connecting rod is elastically connected to the inner side of the groove, and the second clamping block is hinged to the end part of the connecting rod.

Preferably, the sleeve shaft is in a cylindrical structure, the corner brackets are distributed circularly along the circumferential direction of the sleeve shaft, the first clamping blocks and the second clamping blocks are made of rubber materials, and the first clamping blocks and the second clamping blocks are attached to the pipe fitting.

Preferably, the outside fixedly connected with lantern ring of cover piece, the inner wall elastic connection of cover piece has the limiting plate, the inner wall of limiting plate rotates and is connected with the ball, the ball with the inner wall laminating of pipe fitting.

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

in operation, through the stop gear who sets up to and the drive mechanism that the cooperation set up, through stop gear's centre gripping to the pipe fitting during the use, and drive mechanism to the rotation of pipe fitting, realized that the arm can be fixed the pipe fitting of multiple size, and can rotate the pipe fitting, avoid the fixed pipe fitting size of arm to restrict, eliminated the limitation that the arm used, simultaneously, the fixed pipe fitting of arm can rotate, improved the polishing efficiency of pipe fitting.

Drawings

The accompanying drawings are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate the utility model and together with the embodiments of the utility model, serve to explain the utility model. In the drawings:

FIG. 1 is a schematic view of the overall structure of the present utility model;

FIG. 2 is a schematic cross-sectional view of the present utility model;

FIG. 3 is a schematic view of the structure of FIG. 2 at A according to the present utility model;

FIG. 4 is a schematic view of the structure of FIG. 2 at B according to the present utility model;

fig. 5 is a schematic diagram of the structure at C in fig. 2 according to the present utility model.

In the figure: 1. a connecting arm; 2. a housing; 3. a first baffle; 4. a second baffle; 5. a servo motor; 6. a connecting shaft; 7. a pipe fitting; 8. a chute; 9. a transmission screw rod; 10. sleeving blocks; 11. a connecting plate; 12. a connecting groove; 13. a thread sleeve; 14. a connecting block; 15. a first gear; 16. a second gear; 17. a first electric telescopic rod; 18. a first bearing; 19. a second electric telescopic rod; 20. a sleeve shaft; 21. a corner bracket; 22. a first clamping block; 23. a connecting rod; 24. a second clamping block; 25. a collar; 26. a limiting plate; 27. and (3) rolling balls.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model; all other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

1-5, the utility model comprises a connecting arm 1 and a shell 2, wherein the outer side of the connecting arm 1 is fixedly provided with the shell 2, the inner wall of the shell 2 is provided with a connecting groove 12 positioned at the outer side of a chute 8, the outer side of a transmission screw rod 9 is in threaded connection with a threaded sleeve 13, the outer side of the threaded sleeve 13 is fixedly connected with a connecting block 14 positioned at the inner side of the connecting groove 12, the threaded sleeve 13 is fixedly connected with the connecting plate 11, one end of the shell 2 is fixedly provided with a first baffle plate 3, one side of the shell 2 is fixedly provided with a second baffle plate 4 at a position close to the first baffle plate 3, the inner wall of the second baffle plate 4 is provided with a rotating groove, the outer side of the connecting shaft 6 is fixedly connected with a first gear 15 positioned in the rotating groove, a servo motor 5 is fixedly arranged between the first baffle plate 3 and the second baffle plate 4, the output shaft of the servo motor 5 is fixedly provided with the connecting shaft 6, the outer side of the connecting shaft 6 is inserted with a pipe fitting 7, and the inner wall of the connecting shaft 6 is movably provided with a limiting mechanism for clamping the pipe fitting 7;

the limiting mechanism comprises a second electric telescopic rod 19, a sleeve shaft 20, corner brackets 21, a first clamping block 22, a connecting rod 23 and a second clamping block 24, wherein a groove is formed in the inner wall of the connecting shaft 6, the sleeve shaft 20 is fixedly installed in the groove and positioned on the inner wall of the connecting shaft 6, the sleeve shaft 20 is of a cylindrical structure, the corner brackets 21 are circularly distributed along the circumferential direction of the sleeve shaft 20, the first clamping block 22 and the second clamping block 24 are made of rubber materials, the first clamping block 22 and the second clamping block 24 are attached to the pipe fitting 7, the corner brackets 21 are hinged to the outer sides of the sleeve shaft 20, the first clamping block 22 is hinged to the outer sides of the corner brackets 21, the second electric telescopic rod 19 is fixedly installed on the inner wall of the connecting shaft 6 and positioned on the outer sides of the sleeve shaft 20, the telescopic ends of the second electric telescopic rod 19 are hinged to the corner brackets 21, the inner sides of the groove are elastically connected with the connecting rod 23, and the end parts of the connecting rod 23 are hinged to the second clamping blocks 24.

1-5, a chute 8 is formed in the inner wall of the shell 2, a transmission screw rod 9 is movably connected to the inner side of the chute 8, a transmission mechanism is arranged on the inner wall of the second baffle 4 and comprises a second gear 16, a first electric telescopic rod 17 and a first bearing 18, the first electric telescopic rod 17 is fixedly arranged on the inner side of the chute 8, the first bearing 18 is fixedly arranged on the outer side of the first electric telescopic rod 17, the inner shaft of the first bearing 18 is fixedly connected with the transmission screw rod 9, a second gear 16 is fixedly connected to the end part of the transmission screw rod 9, the second gear 16 is positioned at a corresponding position of the first gear 15, and the second gear 16 and the first gear 15 can be meshed for transmission;

the transmission mechanism is used for driving the rotation of transmission lead screw 9, and the opposite side swing joint of casing 2 has connecting plate 11 that can follow transmission lead screw 9 and remove, and the outside fixedly connected with cover piece 10 of connecting plate 11, the outside fixedly connected with lantern ring 25 of cover piece 10, the inner wall elastic connection of cover piece 10 has limiting plate 26, and the inner wall rotation of limiting plate 26 is connected with ball 27, and ball 27 is laminated with the inner wall of pipe fitting 7, and the through-hole that can supply pipe fitting 7 to pass is seted up to the inner wall of cover piece 10.

Working principle: when the electric telescopic connecting device works, firstly, the connecting arm 1 is moved to drive the shell 2 to move to a working position, the connecting shaft 6 and the sleeve block 10 are aligned with the pipe fitting 7, then the pipe fitting 7 is inserted into the connecting shaft 6, at the moment, the pipe fitting 7 can extrude a limiting mechanism in the connecting shaft 6, then the connecting rod 23 can shrink under the extrusion force of the pipe fitting 7, the second clamping block 24 is tightly attached to the outer wall of the pipe fitting 7, meanwhile, the pipe fitting 7 wraps the sleeve shaft 20, then the second electric telescopic rod 19 is started again, the telescopic end of the second electric telescopic rod 19 is shrunk, the corner frame 21 is further driven to shrink, and the first clamping block 22 is driven to be tightly attached to the inner wall of the pipe fitting 7, so that the pipe fitting 7 is finally fixed;

then, according to the length of the pipe fitting, the position of the connecting plate 11 is moved, when the connecting plate 11 needs to be moved, the telescopic end of the first electric telescopic rod 17 is stretched by driving the first electric telescopic rod 17, the first bearing 18 is pushed to move, the transmission screw rod 9 moves downwards, the second gear 16 at the end part of the transmission screw rod 9 is in contact engagement with the first gear 15, the servo motor 5 is driven, the output shaft of the servo motor 5 rotates clockwise, the connecting shaft 6 rotates along with the rotation of the first gear 15, the transmission screw rod 9 is driven to rotate, the transmission screw rod 9 is connected with the thread sleeve 13 in a threaded manner, the connecting block 14 is positioned in the connecting groove 12, the rotation of the transmission screw rod 9 drives the thread sleeve 13 to move close to the second gear 16, and the connecting plate 11 drives the sleeve block 10 to approach the connecting shaft 6;

meanwhile, the pipe fitting 7 passes through the lantern ring 25 to enter the inner side of the sleeve block 10, the pipe fitting 7 extrudes the limiting plate 26 to enter the inner side of the sleeve block 10 under the action of the balls 27, and meanwhile, the balls 27 are attached to the outer wall of the pipe fitting 7, so that the clamping of the pipe fitting 7 is realized;

when the pipe fitting 7 needs to be processed in a rotating mode, the first electric telescopic rod 17 is started again, so that the telescopic end of the first electric telescopic rod 17 is contracted, the first bearing 18 moves upwards, the second gear 16 is separated from the first gear 15, the servo motor 5 between the first baffle 3 and the second baffle 4 is driven again at the moment, the connecting shaft 6 drives the pipe fitting 7 to rotate, polishing of the pipe fitting 7 is achieved, and efficiency is improved;

when the processing is completed, the drive transmission screw rod 9 rotates, the telescopic end of the second electric telescopic rod 19 stretches, the connecting plate 11 moves to the outermost side of the sliding groove 8, the pipe fitting 7 is separated from the shell 2, and the processing of the pipe fitting 7 can be completed.

It is noted that relational terms such as first and second, and the like are 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. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. Mechanical arm with rotating structure, including linking arm (1) and casing (2), its characterized in that: the outer side of the connecting arm (1) is fixedly provided with a shell (2), one end of the shell (2) is fixedly provided with a first baffle plate (3), one side of the shell (2) is fixedly provided with a second baffle plate (4) at a position close to the first baffle plate (3), a servo motor (5) is fixedly arranged between the first baffle plate (3) and the second baffle plate (4), the output shaft of the servo motor (5) is fixedly provided with a connecting shaft (6), the outer side of the connecting shaft (6) is inserted with a pipe fitting (7), the inner wall of the connecting shaft (6) is movably provided with a limiting mechanism, be used for the centre gripping pipe fitting (7), spout (8) have been seted up to the inner wall of casing (2), the inboard swing joint of spout (8) has transmission lead screw (9), the inner wall of second baffle (4) is provided with drive mechanism, and drive mechanism is used for driving the rotation of transmission lead screw (9), the opposite side swing joint of casing (2) have can be followed connecting plate (11) that transmission lead screw (9) removed, the outside fixedly connected with cover piece (10) of connecting plate (11), the through-hole that can supply pipe fitting (7) pass has been seted up to the inner wall of cover piece (10).

2. The mechanical arm with rotating structure according to claim 1, wherein: the inner wall of the second baffle (4) is provided with a rotary groove, and a first gear (15) is fixedly connected to the outer side of the connecting shaft (6) and positioned in the rotary groove.

3. The mechanical arm with rotating structure according to claim 2, wherein: the transmission mechanism comprises a second gear (16), a first electric telescopic rod (17) and a first bearing (18), wherein the first electric telescopic rod (17) is fixedly arranged on the inner side of the sliding groove (8), the first bearing (18) is fixedly arranged on the outer side of the first electric telescopic rod (17), the inner shaft of the first bearing (18) is fixedly connected with the transmission screw rod (9), the second gear (16) is fixedly connected with the end part of the transmission screw rod (9), the second gear (16) is positioned at the corresponding position of the first gear (15), and the second gear (16) and the first gear (15) can be in meshed transmission.

4. The mechanical arm with rotating structure according to claim 1, wherein: the inner wall of casing (2) just is located connecting groove (12) have been seted up in the outside of spout (8), the outside threaded connection of transmission lead screw (9) has thread bush (13), the outside of thread bush (13) just is located the inboard fixedly connected with connecting block (14) of connecting groove (12), thread bush (13) with connecting plate (11) fixed connection.

5. The mechanical arm with rotating structure according to claim 1, wherein: stop gear includes second electric telescopic handle (19), sleeve (20), angle frame (21), first grip block (22), connecting rod (23) and second grip block (24), the recess is seted up to the inner wall of connecting axle (6), the inner wall of connecting axle (6) and be located recess internal fixation and install sleeve (20), the outside of sleeve (20) articulates there is angle frame (21), the outside of angle frame (21) articulates there is first grip block (22), the inner wall of connecting axle (6) just is located the outside fixed mounting of sleeve (20) has second electric telescopic handle (19), the flexible end of second electric telescopic handle (19) with angle frame (21) are articulated, the inboard elastic connection connecting rod (23) of recess, the tip of connecting rod (23) articulates there is second grip block (24).

6. The mechanical arm with rotating structure according to claim 5, wherein: the sleeve shaft (20) is of a cylindrical structure, the corner brackets (21) are distributed circularly along the circumference of the sleeve shaft (20), the first clamping blocks (22) and the second clamping blocks (24) are made of rubber, and the first clamping blocks (22) and the second clamping blocks (24) are attached to the pipe fitting (7).

7. The mechanical arm with rotating structure according to claim 1, wherein: the outside fixedly connected with lantern ring (25) of cover piece (10), the inner wall elastic connection of cover piece (10) has limiting plate (26), the inner wall rotation of limiting plate (26) is connected with ball (27), ball (27) with the inner wall laminating of pipe fitting (7).