CN110154083A - It is a kind of can own rotation and keep horizontal equilibrium mechanical arm - Google Patents
It is a kind of can own rotation and keep horizontal equilibrium mechanical arm Download PDFInfo
- Publication number
- CN110154083A CN110154083A CN201910525378.6A CN201910525378A CN110154083A CN 110154083 A CN110154083 A CN 110154083A CN 201910525378 A CN201910525378 A CN 201910525378A CN 110154083 A CN110154083 A CN 110154083A
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- mechanical arm
- rotation
- lid
- cabinet
- box body
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to mechanical arm technical fields, it is especially a kind of own rotation and the mechanical arm of horizontal equilibrium to be kept, including mechanical arm body, the machinery arm body is welded on lid upper end, the lid is arranged in cabinet upper end, and cabinet is rounded, the cabinet lower end is welded with bearing plate, multiple threaded holes through bearing plate are uniformly provided on the bearing plate, for the fixation to bearing plate, the other end of the machinery arm body is fixedly installed with box body, clamping device is provided on the inside of the box body, fixing card is equipped with rotary electric machine in the middle part of the box inside lower end, the output shaft terminal horizontal of the rotary electric machine is fixedly connected with support plate, Liang Zu bindiny mechanism is additionally provided between support plate upper end two sides and lid, two groups of position-limit mechanisms are additionally provided between the lid portion inside two sides and cabinet outer upper end.Structure of the invention is stablized, and to the good clamping effect of object, it is convenient to operate.
Description
Technical field
The present invention relates to mechanical arm technical field, more particularly to a kind of own rotation and the machinery of horizontal equilibrium can be kept
Arm.
Background technique
In recent years, with the development of robot technology, using high speed, high-precision, high load is self-possessed the robot knot of ratio
Structure is made to tie by industry and the concern of aerospace field due to the increase in joint in motion process and the flexible effect of connecting rod
Structure deforms to reduce the precision of task execution.So robot arm structural flexibility feature must pay attention to,
Realize that the effectively control of flexible mechanical arm high-precision also must be considered that system dynamics.Flexible mechanical arm is one extremely complex
Dynamic system, kinetics equation has non-linear, the features such as close coupling, consolidation, and carries out flexible arm dynamics problem
Research, the foundation of model is extremely important.
Flexible mechanical arm is not only the nonlinear system of a Coupled Rigid-flexible, and is also system dynamics and control
Characteristic intercouples the nonlinear system of i.e. mechanical-electric coupling.The purpose of Dynamic Modeling is set for control system description and controller
Meter provides foundation.The description transmission function of state space description and frequency domain including time domain (describe) of general control systems with
The kinetic characteristics of the positioning of sensor, actuator, information transmitting and mechanical arm from actuator to sensor are closely related.
Mechanical arm refer to high-precision, high speed glue dispensing machine hand, mechanical arm be a multiple-input and multiple-output, nonlinearity,
The complication system of close coupling.Because of its unique operating flexibility, in industry assembling, the fields such as safety anti-explosive are answered extensively
With, mechanical arm is a complication system, there is uncertainties such as Parameter Perturbation, external interference and Unmarried pregnancies, thus machine
The modeler model of tool arm, for different tasks, needs to plan the movement rail in joint of mechanical arm space there is also uncertainty
Mark.
Mechanical arm on existing market can make mechanical arm pedestal shift when realizing own rotation, though offset
Less, clamping of the mechanical arm to object was affected at that time, affected the stability of device entirety, and the effect of mechanical rotation is not
It is good, the working efficiency of goods movement is influenced, therefore be unfavorable for promoting.
Summary of the invention
The purpose of the present invention is to solve disadvantages existing in the prior art, and the one kind proposed can own rotation and guarantor
Hold the mechanical arm of horizontal equilibrium.
To achieve the goals above, present invention employs following technical solutions:
Design it is a kind of own rotation and the mechanical arm of horizontal equilibrium can be kept, including mechanical arm body, the machinery arm body weldering
It connects in lid upper end, the lid is arranged in cabinet upper end, and cabinet is rounded, and the cabinet lower end is welded with bearing plate, institute
It states and is uniformly provided with multiple threaded holes through bearing plate on bearing plate, for the fixation to bearing plate, the machinery arm body
The other end be fixedly installed with box body, clamping device, fixing card in the middle part of the box inside lower end are provided on the inside of the box body
Equipped with rotary electric machine, the output shaft terminal horizontal of the rotary electric machine is fixedly connected with support plate, support plate upper end two sides
It is additionally provided with Liang Zu bindiny mechanism between lid, is additionally provided with two groups between the lid portion inside two sides and cabinet outer upper end
Position-limit mechanism.
Preferably, the clamping device includes being mounted on the motor box of box portion outside side and being mounted on tray interior one
The axle bed of side middle-end, the box body other side offer the circular hole through box body and motor box, are placed in the motor box
The output shaft of slow speed motor, the slow speed motor through circular hole and extends in axle bed, the output shaft appearance of the slow speed motor
Face offers thread groove, is arranged with the second threaded sleeve and the first threaded sleeve on the output shaft of the slow speed motor respectively,
And first threaded sleeve it is contrary with the internal screw thread of the second threaded sleeve, first threaded sleeve and the second threaded sleeve
It is welded with straight panel vertically in the middle part of lower end.
Preferably, the box body lower end offers square hole, and the straight panel lower end is through square hole and extends to outside box body
Side-lower, and straight panel and square hole clearance fit.
Preferably, the equal compound sticking in two sides has cushion inside the square hole.
Preferably, straight panel opposite side lower end is coated with wearing layer, and the wearing layer is specially tungsten nickel layer, and
The material rate of tungsten and nickel in wearing layer is 2:8, and two wearing layer opposite sides are welded with multiple convex blocks.
Preferably, the bindiny mechanism includes being fixedly mounted on the circular block of bearing plate upper end side and being welded on vertically
The cylinder of lid lower end side, the circular block upper center offer circular trough, and the cylinder lower end extends in circular trough
Side, and cylinder lower end extends to circular trough inside lower end, and cylinder and circular trough clearance fit.
Preferably, the position-limit mechanism includes on level is provided with the annular groove on the inside of lid and is connected on the outside of cabinet
The sliding block at end, the sliding block are slidably arranged in annular groove, and annular groove and space of slider cooperate.
One kind proposed by the present invention own rotation and can keep the mechanical arm of horizontal equilibrium, and beneficial effect is: this can from
The mechanical arm of body rotation and holding horizontal equilibrium still can keep stable state while realizing own rotation, answer simultaneously
Two straight panels are realized using lead screw to the clamping of object to clamp object, substitute original sliding block rocker device, so as to
It is enough to improve to the clamping effect of object and the service life of equipment, therefore be conducive to promote.
Detailed description of the invention
Fig. 1 be one kind proposed by the present invention can own rotation and keep horizontal equilibrium mechanical arm structure front view.
Fig. 2 be one kind proposed by the present invention can own rotation and keep horizontal equilibrium mechanical arm cabinet structure overlook
Figure.
Fig. 3 be one kind proposed by the present invention can own rotation and keep horizontal equilibrium mechanical arm clamping device structure
Enlarged drawing.
Fig. 4 be one kind proposed by the present invention can own rotation and keep horizontal equilibrium mechanical arm bindiny mechanism structure
Enlarged drawing.
In figure: lid 1, annular groove 2, clamping device 3, slow speed motor 31, axle bed 32, the first threaded sleeve 33, thread groove
34, the second threaded sleeve 35, straight panel 36, circular hole 37, motor box 38, bearing plate 4, rotary electric machine 5, bindiny mechanism 6, cylinder 61,
Circular trough 62, circular block 63, cabinet 7, threaded hole 8, sliding block 9, support plate 10, mechanical arm body 11, square hole 12, convex block 13,
Wearing layer 14, cushion 15, box body 16.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Referring to Fig.1-4, a kind of own rotation and to keep the mechanical arm of horizontal equilibrium, including mechanical arm body 11 is mechanical
Arm body 11 is welded on 1 upper end of lid, and lid 1 is arranged in 7 upper end of cabinet, and cabinet 7 is rounded, 1 inside two sides of lid and case
Two groups of position-limit mechanisms are additionally provided between 7 outer upper end of body, position-limit mechanism includes the horizontal annular groove 2 for being provided with 1 inside of lid
And it is connected to the sliding block 9 of 7 outer upper end of cabinet, sliding block 9 is slidably arranged in annular groove 2, and annular groove 2 and 9 gap of sliding block
Cooperation, by the rotation of lid 1, can be realized the rotation of mechanical arm body 11, is slidably arranged in annular groove 2 by sliding block 9,
So that mechanical arm body 11 can effectively ensure that mechanical arm body 11 keeps horizontal equilibrium while own rotation
State, so that the stability of mechanical arm body 11 is improved, it is more stable to the control of clamping device 3, be conducive to improve to object
The clamping effect of body.
7 lower end of cabinet is welded with bearing plate 4, and multiple threaded holes 8 through bearing plate 4, spiral shell are uniformly provided on bearing plate 4
The design of pit 8 so that whole device is more stable, and loads and unloads convenient, stability for the fixation to bearing plate 4
It is good.
The other end of mechanical arm body 11 is fixedly installed with box body 16, and clamping device 3, clamping machine are provided on the inside of box body 16
Structure 3 is including being mounted on the motor box 38 of 16 outside side of box body and being mounted on the axle bed 32 of 16 interior side middle-end of box body, box
16 other side of body offers the circular hole 37 through box body 16 and motor box 38, is placed with slow speed motor 31 in motor box 38, slowly
The output shaft of speed motor 31 is through circular hole 37 and extends in axle bed 32, and the output shaft outer surface of slow speed motor 31 offers screw thread
Slot 34 is arranged with the second threaded sleeve 35 and the first threaded sleeve 33, and the first spiral shell on the output shaft of slow speed motor 31 respectively
Line casing 33 is contrary with the internal screw thread of the second threaded sleeve 35, the lower end of the first threaded sleeve 33 and the second threaded sleeve 35
Middle part is welded with straight panel 36 vertically, and slow speed motor 31 is connected by conducting wire with power supply unit, and is equipped on conducting wire external
Switch, with the rotation of the output shaft of slow speed motor 31, due to the internal screw thread of the first threaded sleeve 33 and the second threaded sleeve 35
It is contrary, the moving direction of the first threaded sleeve 33 and the second threaded sleeve 35 is enabled on the contrary, to which cooperation is electric at a slow speed
The positive and negative rotation of machine 31, so as to effectively adjust the distance between two straight panels 36, so as to the folder realized to object
It holds and puts, which stablizes, and to the good clamping effect of object, and axle bed 32 can be played to the defeated of slow speed motor 31
Shaft plays the role of support and limit, so that the overall stability of mechanism is higher.
16 lower end of box body offers square hole 12, and 36 lower end of straight panel is through square hole 12 and extends under 16 outside of box body
Side, and straight panel 36 and 12 clearance fit of square hole, the design of square hole 12, can to straight panel 36 and the first threaded sleeve 33 with
There is limit in the position of second threaded sleeve 35, so that the first threaded sleeve 33 and the second threaded sleeve 35 are when moving,
It can not relatively rotate between the output shaft of slow speed motor 31, to improve the stability of two straight panels 36 movement.
The 12 equal compound sticking in inside two sides of square hole has cushion 15, and the design of cushion 15 can be avoided effectively straight
Plate 36 and square hole are in contact between 12 inside two sides, so as to play the role of protection to straight panel 36, extend straight panel
36 service life.
Two 36 opposite side lower ends of straight panel are coated with wearing layer 14, and wearing layer 14 is specially tungsten nickel layer, and wear-resisting
The material rate of tungsten and nickel in layer 14 is 2:8, and two 14 opposite sides of wearing layer are welded with multiple convex blocks 13, tungsten nickel tool
There are high-intensitive, high-melting-point and feature resistant to high temperature, is prepared by 2:8 according to the material rate of tungsten and nickel, improves tungsten nickel
The physical characteristic of alloy, so that straight panel 36 will not be worn during clamping to article, to be conducive to
The design of protection to straight panel 36, convex block 13 can be improved and clamp the frictional force between object, to improve to object
Clamping effect.
Fixing card is equipped with rotary electric machine 5 in the middle part of 7 inside lower end of cabinet, and the output shaft terminal horizontal of rotary electric machine 5 is fixed to be connected
It is connected to support plate 10, Liang Zu bindiny mechanism 6 is additionally provided between 10 upper end two sides of support plate and lid 1, bindiny mechanism 6 includes solid
Circular block 63 and the vertical cylinder 61 that is welded on lid 1 lower end side of the Dingan County mounted in 4 upper end side of bearing plate, circular block 63
Upper center offers circular trough 62, and 61 lower end of cylinder extends to 62 inside of circular trough, and 61 lower end of cylinder extends to circular trough
62 inside lower ends, and cylinder 61 and 62 clearance fit of circular trough, rotary electric machine 5 improves conducting wire and is connected with power supply unit, and leads
Outside connected switch is installed, the rotation of rotary electric machine 5 is able to drive the rotation of support plate 10, so that in support plate 10 on line
Two circular blocks 63 at end rotate, and extend to 62 inside lower end of circular trough by 61 lower end of cylinder, lid 1 is sent out
Raw to relatively rotate, to realize the rotation of mechanical arm body 11, the rotation process is stable and efficient, the control to mechanical arm body 11
System preferably, is conducive to the position for adjusting clamping device 3, and realization clamps the object of different direction.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (7)
1. one kind own rotation and can keep the mechanical arm of horizontal equilibrium, including mechanical arm body (11), the machinery arm body
(11) it is welded on lid (1) upper end, the lid (1) is arranged in cabinet (7) upper end, and cabinet (7) is rounded, the cabinet
(7) lower end is welded with bearing plate (4), and multiple threaded holes (8) through bearing plate (4) are uniformly provided on the bearing plate (4),
For the fixation to bearing plate (4), which is characterized in that the other end of the machinery arm body (11) is fixedly installed with box body
(16), it is provided with clamping device (3) on the inside of the box body (16), fixing card is equipped with rotation in the middle part of cabinet (7) inside lower end
The output shaft terminal horizontal of motor (5), the rotary electric machine (5) is fixedly connected with support plate (10), on the support plate (10)
It is additionally provided with Liang Zu bindiny mechanism (6) between end two sides and lid (1), on the internal two sides of the lid (1) and cabinet (7) outside
Two groups of position-limit mechanisms are additionally provided between end.
2. one kind according to claim 1 can own rotation and keep horizontal equilibrium mechanical arm, which is characterized in that it is described
Clamping device (3) includes being mounted on the motor box (38) of the external side of box body (16) and being mounted in box body (16) interior side
The axle bed (32) at end, box body (16) other side offer the circular hole (37) through box body (16) and motor box (38), institute
It states and is placed with slow speed motor (31) in motor box (38), the output shaft of the slow speed motor (31) through circular hole (37) and extends to
In axle bed (32), the output shaft outer surface of the slow speed motor (31) is offered thread groove (34), the slow speed motor (31)
It is arranged with the second threaded sleeve (35) and the first threaded sleeve (33) on output shaft respectively, and the first threaded sleeve (33) and the
The internal screw thread of two threaded sleeves (35) is contrary, in the lower end of first threaded sleeve (33) and the second threaded sleeve (35)
Portion is welded with straight panel (36) vertically.
3. one kind according to claim 2 can own rotation and keep horizontal equilibrium mechanical arm, which is characterized in that it is described
Box body (16) lower end offers square hole (12), and straight panel (36) lower end is through square hole (12) and extends to box body (16) outside
Side-lower, and straight panel (36) and square hole (12) clearance fit.
4. one kind according to claim 3 can own rotation and keep horizontal equilibrium mechanical arm, which is characterized in that it is described
The internal equal compound sticking in two sides of square hole (12) has cushion (15).
5. one kind according to claim 2 can own rotation and keep horizontal equilibrium mechanical arm, which is characterized in that two
Straight panel (36) the opposite side lower end is coated with wearing layer (14), and the wearing layer (14) is specially tungsten nickel layer, and resistance to
The material rate for grinding tungsten and nickel in layer (14) is 2:8, and two wearing layer (14) opposite sides are welded with multiple convex blocks
(13).
6. one kind according to claim 1 can own rotation and keep horizontal equilibrium mechanical arm, which is characterized in that it is described
Bindiny mechanism (6) includes being fixedly mounted on the circular block (63) of bearing plate (4) upper end side and being welded under lid (1) vertically
The cylinder (61) of side is held, circular block (63) upper center offers circular trough (62), and cylinder (61) lower end extends
On the inside of to circular trough (62), and cylinder (61) lower end extends to circular trough (62) inside lower end, and cylinder (61) and circular trough
(62) clearance fit.
7. one kind according to claim 1 can own rotation and keep horizontal equilibrium mechanical arm, which is characterized in that it is described
Position-limit mechanism includes the annular groove (2) and the sliding block for being connected to cabinet (7) outer upper end that level is provided on the inside of lid (1)
(9), the sliding block (9) is slidably arranged in annular groove (2), and annular groove (2) and sliding block (9) clearance fit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910525378.6A CN110154083A (en) | 2019-06-18 | 2019-06-18 | It is a kind of can own rotation and keep horizontal equilibrium mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910525378.6A CN110154083A (en) | 2019-06-18 | 2019-06-18 | It is a kind of can own rotation and keep horizontal equilibrium mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110154083A true CN110154083A (en) | 2019-08-23 |
Family
ID=67625955
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910525378.6A Pending CN110154083A (en) | 2019-06-18 | 2019-06-18 | It is a kind of can own rotation and keep horizontal equilibrium mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110154083A (en) |
Citations (7)
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| US20150039125A1 (en) * | 2013-07-30 | 2015-02-05 | Kabushiki Kaisha Yaskawa Denki | Robot |
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| CN107175688A (en) * | 2017-06-06 | 2017-09-19 | 苏州优银机械有限公司 | A kind of mechanical arm of comprehensive flexible rotating |
| CN108312132A (en) * | 2018-04-25 | 2018-07-24 | 阜阳盛东智能制造技术研发有限公司 | A kind of multi-joint mechanical arm |
| CN108527394A (en) * | 2018-05-28 | 2018-09-14 | 佛山恩慈科技有限公司 | A kind of multi-functional household robot |
| CN208132956U (en) * | 2018-04-17 | 2018-11-23 | 刘海波 | A kind of hydraulic machinery arm for logistics handling lorry |
| CN109536758A (en) * | 2018-12-27 | 2019-03-29 | 安泰核原新材料科技有限公司 | A kind of tungsten nickel and preparation method thereof |
-
2019
- 2019-06-18 CN CN201910525378.6A patent/CN110154083A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150039125A1 (en) * | 2013-07-30 | 2015-02-05 | Kabushiki Kaisha Yaskawa Denki | Robot |
| CN206484551U (en) * | 2016-11-20 | 2017-09-12 | 温州铭泽机电科技有限公司 | A kind of industrial robot system controlled based on PLC |
| CN107175688A (en) * | 2017-06-06 | 2017-09-19 | 苏州优银机械有限公司 | A kind of mechanical arm of comprehensive flexible rotating |
| CN208132956U (en) * | 2018-04-17 | 2018-11-23 | 刘海波 | A kind of hydraulic machinery arm for logistics handling lorry |
| CN108312132A (en) * | 2018-04-25 | 2018-07-24 | 阜阳盛东智能制造技术研发有限公司 | A kind of multi-joint mechanical arm |
| CN108527394A (en) * | 2018-05-28 | 2018-09-14 | 佛山恩慈科技有限公司 | A kind of multi-functional household robot |
| CN109536758A (en) * | 2018-12-27 | 2019-03-29 | 安泰核原新材料科技有限公司 | A kind of tungsten nickel and preparation method thereof |
Non-Patent Citations (1)
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| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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Application publication date: 20190823 |