CN110883767B

CN110883767B - A robotic arm assembly for automated production

Info

Publication number: CN110883767B
Application number: CN201911225737.2A
Authority: CN
Inventors: 卢志珍; 张振宇
Original assignee: Jiangsu Vocational College of Electronics and Information
Current assignee: Hebei Boxline Smart Equipment Polytron Technologies Inc; Tai'an Xinheng Technology Service Co ltd
Priority date: 2019-12-04
Filing date: 2019-12-04
Publication date: 2021-04-20
Anticipated expiration: 2039-12-04
Also published as: CN110883767A

Abstract

The invention discloses a robotic arm assembly for automated production, belonging to the field of automated robotic arms. The worm wheel is meshed with a worm on one side, and the worm is connected to the first motor through the driving shaft; the middle support plate and the lifting plate are arranged directly above the box body, and the four intersection corners of the box body are provided with screw shafts and sliders. The lead screw slider structure composed of blocks, the four sliders are all fixed on the lifting plate; the connecting ends of the driving shaft and the worm are respectively built with the first electromagnet and the first iron block, and the gap type set on the driving shaft There is a driving gear, and the inside of the driving gear and the driving shaft are respectively provided with a second electromagnet and a second iron block which are matched. The present invention is provided with a structure that only realizes height adjustment, no displacement in the horizontal direction occurs during the adjustment process, the adjustment is convenient, and the original motor is used for driving, and the structure design is ingenious.

Description

Mechanical arm assembly for automatic production

Technical Field

The invention relates to the field of automatic mechanical arms, in particular to a mechanical arm assembly for automatic production.

Background

The arm is that the arm of a replacement people carries out the machinery of processing, and can carry on the singlechip and use, realizes automated control, and orderly completion processing operation accomplishes the centre gripping of treating the product of processing, operation such as transport and spot welding, and for the manual work, arm work efficiency is high, can bear great working strength, and the error that appears at the during operation is less, can be accurate and quick completion to the processing of product, is one of the current important machinery that replaces manual work.

At present, in the prior art, a CN 109760037 a patent discloses a mechanical arm assembly for automated production, which includes a bottom plate, a box body is fixedly mounted on the upper surface of the bottom plate, a translational frame is fixedly mounted on the lower surface of the bottom plate, a fixed disk is arranged on the upper surface of the box body, a driving disk is connected to the upper surface of the fixed disk, a short arm is connected to the upper part of the driving disk, a support arm is connected to the inner side of the short arm, and a connecting arm is arranged on one side of the support arm; the invention discloses a mechanical arm assembly for automatic production, which can realize the adjustment of the transverse position of the mechanical arm assembly after the mechanical arm assembly is installed and fixed, is convenient to adapt to different working areas, can effectively reduce the pressure born by an arm end joint when the arm end joint clamps an object, plays a better protection role, and can reinforce a support arm and an arm rod, so that the firmness degree between the support arm and the arm rod is better, and the condition of looseness between the support arm and the arm rod is effectively avoided. However, it has the following problems: it only relies on the rotation of support arm to realize the regulation of height, and can produce the displacement of horizontal direction at the in-process of adjusting, and it is comparatively inconvenient to adjust.

Disclosure of Invention

1. Technical problem to be solved

The invention aims to solve the technical problem of providing a mechanical arm assembly for automatic production, which is provided with a structure only realizing height adjustment, cannot generate horizontal displacement in the adjustment process, is convenient to adjust, is driven by an original motor, and is ingenious in structural design.

2. Technical scheme

In order to solve the problems, the invention adopts the following technical scheme:

a mechanical arm assembly for automatic production comprises a bottom plate, a box body horizontally and slidably connected to the upper end face of the bottom plate, a driving disc rotatably connected with the upper end face of the box body, a support arm obliquely positioned above the driving disc, a support arranged at the upper end of the support arm, a rotary joint connected to the upper end face of the support seat, and an arm rod connected to one side of the rotary joint, wherein a driving shaft connected to the bottom of the driving disc is arranged in the box body;

a horizontally arranged middle support plate is arranged right above the box body, the lower end of the support arm is hinged to one end side of the middle support plate, a vertically and upwardly extending screw shaft is arranged at each of four corners of the box body, a sliding block matched with the screw shaft is sleeved on each screw shaft, a horizontally arranged annular lifting plate is connected between the four sliding blocks, the periphery of the lifting plate is aligned with the driving disc, and the lifting plate is supported at the bottom of the middle support plate;

the first motor is a positive and negative rotation motor, a protective shell fixed on the outer side of the box body is arranged on the outer side of the first motor, a driving shaft is connected between the worm and the first motor, first electromagnets and first iron blocks matched with each other are respectively arranged in connecting ends of the driving shaft and the worm, a driving gear is sleeved on the driving shaft in a clearance type manner, at least two slots are arranged on the inner ring surface of the driving gear at equal intervals along the peripheral side of the driving shaft, mounting grooves corresponding to the slots in a one-to-one and aligned manner are arranged on the driving shaft at equal intervals along the peripheral side of the driving shaft, inserting blocks connected with the mounting grooves through springs are arranged in the mounting grooves, the inserting blocks are matched with the slots, second electromagnets and second iron blocks matched with each other are respectively arranged in positions of the inserting blocks corresponding to the slots of the driving gear and in the inserting blocks, and a driven, the center of the driven gear is fixed with a middle connecting shaft which is vertically arranged and is connected to the inner top of the protective shell through a bearing, the lower end of the screw shaft extends into the box body and is connected to the inner bottom of the box body through a bearing, the middle connecting shaft is in transmission connection with the screw shaft beside the middle connecting shaft through a belt transmission structure, and the screw shaft is in transmission connection with other three screw shafts through the belt transmission structure.

Two first strip plates which are arranged in parallel are fixed on the upper end face of the driving disc, two ends of each first strip plate are respectively provided with a first hinge shaft which penetrates through the two first strip plates simultaneously, two strip plates which extend upwards in an inclined manner are respectively sleeved on the two first hinge shafts, the two strip plates are distributed in a crossed manner, and a positioning rod penetrates through the middle parts of the two strip plates together; the bottom of middle extension board is fixed with two second slats that align with first slat, the both ends of second slat all are equipped with the second articulated shaft that runs through two second slats simultaneously, and two second articulated shafts run through the upper end of corresponding bar shaped plate respectively, set up the spout that supplies two first articulated shaft lateral shifting on the first slat, set up the spout that supplies two second articulated shaft lateral shifting on the second slat. When the middle support plate rises along with the lifting plate, the end parts of the two strip-shaped plates which are arranged in a crossed manner are close to each other, and the first articulated shaft and the second articulated shaft move in opposite directions along the corresponding sliding grooves; when the middle extension board reduces along with the lifter plate, the tip of two bar plates of cross arrangement can be kept away from each other, and first articulated shaft and second articulated shaft all can follow corresponding spout and carry on the back mutually and remove, and the bar plate can be supporting middle extension board throughout promptly to can strengthen the stability of lifter plate height position.

Furthermore, two third strips which are parallel to each other are fixed on the upper end surface of the middle support plate, a third hinge shaft which simultaneously penetrates through the two third strips is arranged at the hinged position of the lower end of the support arm and the middle support plate, a double-shaft motor is connected to the middle of the third hinge shaft, support arms are fixed at two ends of the third hinge shaft, a fourth hinge shaft is arranged at the upper ends of the two support arms in a penetrating mode, and two ends of the fourth hinge shaft are hinged to the support. The double-shaft motor is started, the third hinge shaft parts on two sides can be driven to synchronously rotate at the same time, so that the support arm can be driven to rotate, the support arm and the support seat are connected through the fourth hinge shaft, and the structure is simple and convenient to control.

3. Advantageous effects

(1) The middle support plate used for connecting the support arm and the lifting plate used for supporting the middle support plate are arranged right above the box body, the four corners of the box body are respectively provided with a vertically and upwardly extending screw shaft, each screw shaft is sleeved with a sliding block matched with the screw shaft, and the four sliding blocks are fixed on the lifting plate.

(2) The invention is characterized in that a driving shaft is connected between a worm and a first motor, a first electromagnet and a first iron block which are matched with each other are respectively arranged in the connecting ends of the driving shaft and the worm, the driving shaft is sleeved with a driving gear in a clearance manner, at least two slots are arranged on the inner ring surface of the driving gear along the circumferential side of the driving gear at equal intervals, mounting grooves which are in one-to-one correspondence with the slots and are aligned with the slots are arranged on the driving shaft along the circumferential side of the driving gear at equal intervals, inserting blocks which are connected with the, the insertion block is matched with the insertion slot, the position of the driving gear, which corresponds to the insertion slot and is over against the insertion block, and the inside of the insertion block are respectively provided with a second electromagnet and a second iron block which are matched with each other, the upper part of the driving gear is engaged with a driven gear which is transversely arranged, the center of the driven gear is fixedly provided with a middle connecting shaft, the middle connecting shaft is in transmission connection with the screw shaft beside the middle connecting shaft through a belt transmission structure, and the screw shaft is in transmission connection with the other three screw shafts through the belt transmission structure. When the lifting plate is applied, if the second electromagnet is electrified, magnetic attraction force to the second iron block is generated, so that the second iron block drives the insertion block to overcome the elasticity of the spring and insert into the corresponding slot, the clamping connection of the driving gear and the driving shaft is realized, the first motor is started again, the driving shaft can be directly driven to rotate, the driving gear rotates along with the driving gear, the driven gear can be driven to rotate, the middle connecting shaft rotates along with the middle connecting shaft, and the four screw rod shafts are driven to rotate through the belt transmission structure, so that the lifting plate is driven; if energize for first electro-magnet 35, then produce the magnetic attraction to first iron plate for driving shaft and worm link together, restart first motor, accessible driving shaft drives the worm and rotates, drives the worm wheel rotation again, thereby drives the driving shaft and rotates, realizes the drive to the driving-disc.

In conclusion, the invention is provided with the structure only realizing height adjustment, the displacement in the horizontal direction can not be generated in the adjustment process, the adjustment is more convenient, the structure is driven by the original motor, and the structural design is ingenious.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the present invention taken along the main central plane;

FIG. 3 is a schematic view of the structure of section A-A in FIG. 1;

fig. 4 is a plan view of the internal structure of the case 17;

fig. 5 is a front view of the internal structure of the case 17;

FIG. 6 is a schematic view of the connection between the driving shaft 28 and the driving gear 29;

fig. 7 is a top view of the connection between the intermediate support plate 8 and the support arm 9.

Reference numerals: 1. a worm gear; 2. a drive disc; 3. a first hinge shaft; 4. a lifting plate; 5. a second hinge shaft; 6. a chute; 7. a second strip plate; 8. a middle support plate; 9. a support arm; 10. a rotary joint; 11. an arm lever; 12. a third hinge shaft; 13. a double-shaft motor; 14. a slider; 15. a screw shaft; 16. a strip plate; 17. a box body; 18. a belt drive structure; 19. a drive shaft; 20. a bearing; 21. positioning a rod; 22. a protective housing; 23. a fourth hinge shaft; 24. a support; 25. a first ribbon board; 26. a third strip plate; 27. a base plate; 28. a drive shaft; 29. a driving gear; 30. a first motor; 31. a driven gear; 32. a middle connecting shaft; 33. a worm; 34. a first iron block; 35. a first electromagnet; 36. inserting a block; 37. a second iron block; 38. mounting grooves; 39. a spring; 40. a second electromagnet; 41. and (4) a slot.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples.

Examples

As shown in fig. 1 and 2, the robot arm assembly for automatic production comprises a bottom plate 27, a box 17 horizontally slidably connected to the upper end surface of the bottom plate 27, a driving disk 2 rotatably connected to the upper end surface of the box 17, a supporting arm 9 obliquely positioned above the driving disk 2, a support 24 mounted at the upper end of the supporting arm 9, a rotary joint 10 connected to the upper end surface of the support 24, and an arm 11 connected to one side of the rotary joint 10, wherein a driving shaft 19 connected to the bottom of the driving disk 2 is arranged in the box 17, a worm wheel 1 is fixedly sleeved on the driving shaft 19, a worm 33 engaged with the worm wheel 1 is arranged at one side of the worm wheel 1, one end of the worm 33 is connected to a first motor 30, and the other end of the worm 33 is connected to the inner wall of;

as shown in fig. 1 and 2, a horizontally arranged middle support plate 8 is arranged right above the box 17, the lower end of the support arm 9 is hinged to one end side of the middle support plate 8, as shown in fig. 3 and 4, four corners of the box 17 are respectively provided with a screw shaft 15 extending vertically and upwardly, each screw shaft 15 is sleeved with a slider 14 adapted to the screw shaft 15, a horizontally arranged annular lifting plate 4 is connected between the four sliders 14, the periphery of the lifting plate 4 is aligned with the driving disc 2, and the lifting plate 4 is supported at the bottom of the middle support plate 8;

as shown in fig. 3 and 5, the first motor 30 is a forward and reverse rotation motor, the protective housing 22 fixed outside the box 17 is disposed outside the first motor 30, the driving shaft 28 is connected between the worm 33 and the first motor 30, the connection ends of the driving shaft 28 and the worm 33 are respectively provided with a first electromagnet 35 and a first iron block 34 which are matched with each other, the driving shaft 28 is sleeved with the driving gear 29 in a clearance manner, as shown in fig. 6, at least two slots 41 are formed on the inner ring surface of the driving gear 29 along the circumferential side thereof at equal intervals, the driving shaft 28 is provided with mounting grooves 38 which are corresponding to and aligned with the slots 41 one by one along the circumferential side thereof at equal intervals, the mounting grooves 38 are internally provided with the insertion blocks 36 connected with the mounting grooves 38 through the springs 39, the insertion blocks 36 are matched with the slots 41, the positions of the driving gear 29 corresponding to the insertion blocks 36 and the inside of the insertion blocks 36 are respectively provided with the second electromagnets 40 and the second iron blocks 37 which are, the upper part of the driving gear 29 is engaged with a driven gear 31 which is transversely arranged, a middle connecting shaft 32 which is vertically arranged and is connected to the inner top part of the protective shell 22 through a bearing 20 is fixed at the center of the driven gear 31, the lower end of the screw shaft 15 extends into the box body 17 and is connected to the inner bottom part of the box body 17 through the bearing 20, the middle connecting shaft 32 is in transmission connection with the screw shaft 15 beside the middle connecting shaft through a belt transmission structure 18, and the screw shaft 15 is in transmission connection with the other three screw shafts 15 through the belt transmission structure 18 in sequence.

In this embodiment, as shown in fig. 3, two first strip plates 25 arranged in parallel are fixed on the upper end surface of the driving disc 2, and two ends of each first strip plate 25 are respectively provided with a first hinge shaft 3 penetrating through the two first strip plates 25 at the same time, and each of the two first hinge shafts 3 is respectively sleeved with a strip-shaped plate 16 extending obliquely upward, as shown in fig. 1 and 2, the two strip-shaped plates 16 are distributed in a crossed manner, and a positioning rod 21 penetrates through the middle part of each of the two strip-shaped plates 16; two second plates 7 aligned with the first plates 25 are fixed at the bottom of the middle support plate 8, second hinge shafts 5 penetrating through the two second plates 7 simultaneously are arranged at two ends of each second plate 7, the two second hinge shafts 5 respectively penetrate through the upper ends of the corresponding strip-shaped plates 16, sliding grooves 6 for enabling the two first hinge shafts 3 to move transversely are formed in the first plates 25, and sliding grooves 6 for enabling the two second hinge shafts 5 to move transversely are formed in the second plates 7. When the middle support plate 8 rises along with the lifting plate 4, the end parts of the two strip-shaped plates 16 which are arranged in a crossed manner are close to each other, and the first articulated shaft 3 and the second articulated shaft 5 move oppositely along the corresponding sliding grooves 6; when middle extension board 8 reduces along with lifter plate 4, the tip of two strip shaped plate 16 of cross arrangement can keep away from each other, and first articulated shaft 3 and second articulated shaft 5 all can follow corresponding spout 6 and move back to back of the body, and strip shaped plate 16 can support middle extension board 8 throughout promptly to can strengthen the stability of lifter plate 4 high position.

In this embodiment, as shown in fig. 7, two third strip plates 26 parallel to each other are fixed on the upper end surface of the middle support plate 8, a third hinge shaft 12 penetrating through the two third strip plates 26 simultaneously is arranged at a position where the lower end of the support arm 9 is hinged to the middle support plate 8, a dual-shaft motor 13 is connected to the middle portion of the third hinge shaft 12, the support arms 9 are fixed on both ends of the third hinge shaft 12, a fourth hinge shaft 23 is arranged at the upper ends of the two support arms 9 in a penetrating manner, and both ends of the fourth hinge shaft 23 are hinged to the support 24. The double-shaft motor 13 is started, the third hinge shafts 12 on the two sides can be driven to synchronously rotate, so that the support arm 9 can be driven to rotate, the support arm 9 and the support 24 are connected through the fourth hinge shaft 23, the structure is simple, and the control is simple.

The mechanical arm assembly for automatic production has the following specific action principle:

when the horizontal position needs to be adjusted, the horizontal sliding between the box body 17 and the bottom plate 27 can be realized, and the horizontal position can also be realized through the rotation of the support arm 9, but in the process of the rotation of the support arm 9, the displacement in the height direction can be generated, and then whether the height is adjusted through the matching action of the screw shaft 15 and the slide block 14 can be determined according to actual needs;

when the height is only required to be adjusted, the second electromagnet 40 is electrified, the first electromagnet 35 is kept not electrified, the second electromagnet 40 generates magnetic attraction force on the second iron block 37, so that the second iron block 37 drives the insert block 36 to be inserted into the corresponding slot 41 against the elastic force of the spring 39, the clamping connection between the driving gear 29 and the driving shaft 28 is realized, the first motor 30 is started, the driving shaft 28 can be directly driven to rotate, the driving gear 29 rotates along with the driving gear 31, the middle connecting shaft 32 rotates along with the middle connecting shaft, the four screw rod shafts 15 are driven to rotate through the belt transmission structure 18, the slide block 14 is lifted or lowered along the screw rod shafts 15 by the rotation of the screw rod shafts 15 (because the four slide blocks 14 are fixedly connected with the lifting plate 4 and mutually dragged, the slide blocks 14 can be effectively driven to move only in the longitudinal direction without arranging a guide action component), thereby driving the lifting plate 4 to move up or down and pushing the middle support plate 8 to move up or down, and realizing the height adjustment of the device;

when the angle needs to be adjusted, the first electromagnet 35 is powered on, and the second electromagnet 40 is kept not powered on, so that the first electromagnet 35 generates magnetic attraction force on the first iron block 34, the driving shaft 28 and the worm 33 are connected together, the first motor 30 is started, the worm 33 can be driven to rotate through the driving shaft 28, the worm wheel 1 is driven to rotate, the driving shaft 19 is driven to rotate, and the driving disc 2 rotates accordingly.

The invention is characterized in that the structure only realizes height adjustment, displacement in the horizontal direction can not be generated in the adjustment process, the adjustment is more convenient, the motor is driven by the original motor, and the structure design is ingenious.

It should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as a limitation of the present invention, and that changes and modifications to the above embodiments are within the scope of the claims of the present invention as long as they are within the spirit and scope of the present invention.

Claims

1. A robotic arm assembly for automated production, comprising a base plate (27), a box body (17) horizontally slidably connected to the upper end face of the base plate (27), and a drive plate (2) rotatably connected to the upper end face of the box body (17) , tilt the support arm (9) above the drive plate (2), the support (24) mounted on the upper end of the support arm (9), the rotary joint (10) connected to the upper end face of the support (24), and the connection The arm rod (11) on the side of the rotary joint (10), the box body (17) is provided with a drive shaft (19) connected to the bottom of the drive plate (2), and the drive shaft (19) is fixedly sleeved There is a worm wheel (1), one side of the worm wheel (1) is provided with a worm (33) meshing with the worm wheel (1), one end of the worm (33) is connected to the first motor (30), and the worm (33) The other end is connected to the inner wall of the box body (17) through a bearing (20); it is characterized in that a horizontally arranged intermediate support plate (8) is arranged directly above the box body (17), and the support arm (9) ) is hinged on one end side of the middle support plate (8), and each of the four intersecting corners of the box body (17) is provided with a vertically upwardly extending lead screw shaft (15). (15) A sliding block (14) matching the screw shaft (15) is sheathed on each, and a horizontally arranged annular lifting plate (4) is commonly connected between the four sliding blocks (14). , the periphery of the lift plate (4) is aligned with the drive plate (2), and the lift plate (4) is supported on the bottom of the middle support plate (8);

The first motor (30) is a forward and reverse rotation motor, the outer side of the first motor (30) is provided with a protective casing (22) fixed on the outer side of the box body (17), and the worm (33) is connected to the first motor (30). A drive shaft (28) is connected between a motor (30), and a first electromagnet (35) and a first iron block ( 34), the driving shaft (28) is sleeved with a driving gear (29) in a clearance type, and at least two slots (41) are provided on the inner ring surface of the driving gear (29) at equal intervals along its peripheral side, The drive shaft (28) is provided with installation grooves (38) that are in equal spacing along the circumference of the drive shaft (28) and are in one-to-one correspondence with the slots (41). An insert block (36) connected to the slot (38) is installed, and the insert block (36) is adapted to the slot (41), and the drive gear (29) corresponds to the slot (41) and faces the insert block (36). ) position and the inside of the insert block (36) are respectively provided with a second electromagnet (40) and a second iron block (37) that are matched, and the upper part of the driving gear (29) is engaged with a laterally arranged driven gear A gear (31), a central connecting shaft (32) vertically arranged at the center of the driven gear (31) and connected to the inner top of the protective housing (22) through a bearing (20), the screw shaft The lower end of (15) extends into the box body (17) and is connected to the inner bottom of the box body (17) through the bearing (20), and the middle connecting shaft (32) and the screw shaft (15) beside it pass through. The belt transmission structure (18) is in transmission connection, and the screw shaft (15) and the other three screw shafts (15) are in transmission connection through the belt transmission structure (18) in turn;

Two first strips (25) arranged in parallel are fixed on the upper end surface of the drive disk (2), and both ends of the first strips (25) are provided with two first strips penetrating simultaneously. (25) of the first hinge shaft (3), the two first hinge shafts (3) are respectively sheathed with a strip plate (16) extending obliquely upward, and the two strip plates (16) intersect distribution, and a positioning rod (21) is passed through the middle of the two strip-shaped plates (16); the bottom of the middle support plate (8) is fixed with two second strips (25) aligned with the first strip plate (25). Two strips (7), both ends of the second strips (7) are provided with second hinge shafts (5) passing through the two second strips (7) at the same time, and the two second hinge shafts are respectively Passing through the upper end of the corresponding strip plate (16), the first strip plate (25) is provided with a chute (6) for lateral movement of the two first hinge shafts (3), the second strip plate (7) ) is provided with a chute (6) for the lateral movement of the two second hinge shafts (5).

2 . The robotic arm assembly for automated production according to claim 1 , wherein two third strips ( 26 ) parallel to each other are fixed on the upper end surface of the intermediate support plate ( 8 ). 3 . The position where the lower end of the support arm (9) is hinged with the middle support plate (8) is provided with a third hinge shaft (12) penetrating through the two third strips (26) at the same time, and the third hinge shaft (12) A biaxial motor (13) is connected to the middle part of the hinge shaft, support arms (9) are fixed at both ends of the third hinge shaft (12), and the upper ends of the two support arms (9) are provided with a first Four hinge shafts (23), two ends of the fourth hinge shaft (23) are hinged with the support (24).