CN203738815U - Novel twisting arm - Google Patents
Novel twisting arm Download PDFInfo
- Publication number
- CN203738815U CN203738815U CN201320891278.3U CN201320891278U CN203738815U CN 203738815 U CN203738815 U CN 203738815U CN 201320891278 U CN201320891278 U CN 201320891278U CN 203738815 U CN203738815 U CN 203738815U
- Authority
- CN
- China
- Prior art keywords
- mentioned
- work
- arm
- bar shaped
- shaped open
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model provides a novel twisting arm comprising twisting arm frames, base plates and twisting arm devices. Strip through holes are formed in the base plates, and guide grooves including linear segments and arc segments are formed in the inner sides; the twisting arm devices comprise rotating arms, sliders, connecting rods and drive devices; the connecting rods are pivoted to the sliders, and the length of the connecting rod is larger than the distance between the linear segments and the strip through holes. Thus, the structure mode of a traditional twisting arm is broke through, the rotating arms are driven by the drive device to move along the strip through holes and drives the sliders to slide along the linear segments through the connecting rods, when the rotating arms moves and the sliders slide into the arc segments gradually, the sliders wrench the rotary shafts of the rotating arms through the connecting rods to drive the rotating arms to twist, and the defect of complex structure that an traditional twisting arm is driven to twist through an additional motor is overcome; compared with the prior art, the novel twisting arm has the advantages that the novel twisting arm is capable of twisting simply, easily and smoothly, structure is simple, novel and reasonable, operation is flexible, cost is low, and practicality is high.
Description
Technical field
The utility model relates to the reverse arm structure of mechanical field, be specifically related to a kind of can be simply, realize the Novel torsional arm reversing easily, swimmingly.
Background technology
Reverse arm is applied to the technology of manipulator for known, as Chinese utility model patent CN201220587956.2 discloses a kind of five axle puma manipulators, comprise support, vertical movement mechanism, swing arm motion, horicontal motion mechanism, flip-flop movement mechanism and actuating station rotating mechanism; Vertical movement mechanism is carried and is held in frame, swing arm motion carries and holds in vertical movement mechanism, horicontal motion mechanism carries and holds on swing arm motion, and flip-flop movement mechanism carries and holds on horicontal motion mechanism, and actuating station rotating mechanism carries and holds in flip-flop movement mechanism.Vertical movement mechanism is made up of the first motor, down-feed screw, vertical nut and guide pillar; Down-feed screw coordinates the vertical nut-screw rod pair of formation with vertical nut; The free degree that vertical nut moves is in the vertical direction limited, and the first motor carries out transmission to vertical nut; Down-feed screw and guide pillar link together, and guide pillar is done elevating movement with down-feed screw.Swing arm motion is made up of the second motor, decelerator and connecting plate; The second motor carries out transmission to decelerator, and the output of connecting plate and decelerator links together, and connecting plate rotates with the output of decelerator.Swing arm motion is made up of the second motor, decelerator and connecting plate; The second motor carries out transmission to decelerator, and the output of connecting plate and decelerator links together, and connecting plate rotates with the output of decelerator; The second motor and decelerator are arranged on the inside of guide pillar, and decelerator and guide pillar are fixed together.Horicontal motion mechanism is made up of the 3rd motor, horizontal lead screw, horizontal nut, horizontal tray and horizontal planker; Between horizontal planker and horizontal tray, lead by guide pillar guide pin bushing pair; Horizontal lead screw coordinates the horizontal nut screw pair of formation with horizontal nut; The 3rd motor is fixed on horizontal tray, and horizontal lead screw is carried out to transmission; Horizontal nut and horizontal planker link together.Flip-flop movement mechanism is made up of the 4th motor, upset axle bed and boatswain chair; The 4th motor is fixed on boatswain chair, and upset axle bed is arranged on boatswain chair; The boatswain chair rotation relatively of upset axle bed; The rotation axis of upset axle bed is in horizontal plane; The 4th motor carries out transmission to upset axle bed.Actuating station rotating mechanism is made up of the 5th motor, actuating station axle bed and execution arm; The 5th motor is fixed on to be carried out on arm, and actuating station axle bed is arranged on to be carried out on arm; Actuating station axle bed can be carried out arm rotation relatively; The 5th motor carries out transmission to actuating station axle bed.
Aforementioned utility model mainly realizes the torsion of the corresponding reverse arm of manipulator by motor, be widely used, but its structure is too complicated, it is clumsy that total seems, operation underaction is smooth and easy, and device cost taken by themselves and match appliance and installation cost, and maintenance cost is all very high, practicality has much room for improvement.
Given this, this case inventor further investigate the problems referred to above, then has this case to produce.
Utility model content
The purpose of this utility model is to provide a kind of can realize the Novel torsional arm reversing simply, easily, swimmingly, simple in structure, new reasonable, goes slick, and cost is low, practical.
In order to achieve the above object, the utility model adopts such technical scheme:
A kind of Novel torsional arm, comprises reverse arm support body, is fixed on the substrate of reverse arm support body active side, and by the reverse arm device of described base plate carrying; Described substrate is formed with bar shaped open-work, and medial surface is formed with gathering sill, and described gathering sill comprises the straightway paralleling with described bar shaped open-work, and is communicated with straightway also towards the segmental arc away from the bending of described bar shaped open-work direction; Described reverse arm device comprises the rotation arm being stretched out by described bar shaped open-work, with the slide block that described gathering sill matches, and the connecting rod of the rotating shaft of connection sliding block and rotation arm, and the drive unit that drives rotation arm to move along bar shaped open-work; Described connecting rod and described slider pivot are connected together, and the length of described connecting rod is greater than the distance between described straightway center line and the center line of described bar shaped open-work.
The tangent line of above-mentioned segmental arc end is vertical with above-mentioned straightway, and described segmental arc end is corresponding to the length of the distance between the center line of above-mentioned bar shaped open-work and above-mentioned connecting rod.
Above-mentioned segmental arc is circular arc.
The end of above-mentioned segmental arc is communicated with the extension of extending along end tangential direction.
Above-mentioned slide block is parallel with aforesaid substrate and coupling embeds the bearing in above-mentioned gathering sill.
Above-mentioned gathering sill is surrounded by the guide plate being fixedly arranged on aforesaid substrate.
Above-mentioned drive unit comprises is located at the driving synchronous pulley in above-mentioned bar shaped open-work one end on aforesaid substrate, in the driven synchronous pulley of the above-mentioned bar shaped open-work other end, is disposed in the Timing Belt between the two, and the motor that drives synchronous pulley to rotate; The inner of above-mentioned rotation arm is provided with connecting plate, and on described substrate, corresponding this connecting plate is provided with the slide rail parallel with described bar shaped open-work, and described connecting plate is provided with the sliding sleeve that slide rail matches therewith; Described connecting plate is connected with described Timing Belt.
Aforesaid substrate is the rectangle vertically arranging, and above-mentioned bar shaped open-work vertically arranges, and above-mentioned motor is in bottom.
Adopt after technique scheme, Novel torsional arm of the present utility model, break through the structural form of traditional reverse arm, can be applicable to all kinds of machinery as the reverse arm as manipulator in two-chamber or multi-cavity injection moulding machine, in the time of work, drive unit drives rotation arm to move along bar shaped open-work, rotating arm first moves along straightway by connecting rod band movable slider, realize the rectilinear movement of rotating arm, when slide block slips into after segmental arc, along with the movement and the slide block that rotate arm slip into segmental arc gradually, slide block can be pulled the rotating shaft drive rotation arm torsion of rotating arm gradually by connecting rod, realize the torsion of rotating arm with this, overcoming traditional reverse arm separately needs motor to drive the labyrinth defect of reversing, compared with prior art, Novel torsional arm of the present utility model, it can be simple, easily, realize and reversing swimmingly, simple and compact for structure, new reasonable, linkage is strong, go slick, energy-conservation, cost is low, practical.
Brief description of the drawings
Fig. 1 is internal structure schematic diagram of the present utility model;
Fig. 2 is the structural representation of another angle of the utility model;
Fig. 3 is plane perspective structural representation of the present utility model;
Fig. 4 is that schematic diagram is looked on the right side of Fig. 3;
Fig. 5 is use status architecture schematic diagram of the present utility model.
In figure:
1-reverse arm support body 2-substrate
21-bar shaped open-work 22-gathering sill
221-straightway 222-segmental arc
2221-extension 23-slide rail
31-rotates arm 311-connecting plate
312-sliding sleeve 32-slide block
33-connecting rod 34-drive unit
341-drives the driven synchronous pulley of synchronous pulley 342-
343-Timing Belt 344-motor
4-guide plate 5-five axis robot main bodys
Detailed description of the invention
Be described in detail the technical solution of the utility model below by specific embodiment in order further to explain.
A kind of Novel torsional arm of the present utility model, as Figure 1-5, comprises reverse arm support body 1, substrate 2 and reverse arm device.
Substrate 2 is fixed on the active side (the action outlet side of reverse arm) of reverse arm support body 1, and reverse arm device is carried by substrate 2;
Substrate 2 is formed with bar shaped open-work 21, and the medial surface of substrate 2 is formed with gathering sill 22, and gathering sill 22 comprises the straightway 221 paralleling with bar shaped open-work 21, and is communicated with straightway 221 also towards the segmental arc 222 away from the 21 direction bendings of bar shaped open-work;
Reverse arm device comprises the rotation arm 31 being stretched out by bar shaped open-work 21, the slide block 32 matching with gathering sill 22, the connecting rod 33 of the rotating shaft of connection sliding block 32 and rotation arm 31, and the drive unit 34 that drives rotation arm 31 to move along bar shaped open-work 21; Connecting rod 33 is articulated with slide block 32, and the length of connecting rod 33 is greater than the distance between straightway 221 center lines and the center line of bar shaped open-work 21.The utility model can be applicable to all kinds of machinery as the reverse arm as manipulator in two-chamber or multi-cavity injection moulding machine, in the present embodiment as the reverse arm of five axis robot main bodys 5 of two-chamber injection moulding machine, in the time of work, drive unit 34 drives rotation arm 31 to move along bar shaped open-work 21, rotating arm 31 is first with movable slider 32 to move along straightway 221 by connecting rod 33, realize the rectilinear movement of rotating arm 31, when slide block 32 slips into after segmental arc 222, along with the movement and the slide block 32 that rotate arm 31 slip into segmental arc 222 gradually, the rotating shaft that slide block 32 meetings are pulled rotation arm 31 gradually by connecting rod 33 drives rotation arm 31 to reverse, realize the torsion of rotating arm 31 with this, overcoming traditional reverse arm separately needs motor to drive the labyrinth defect of reversing.In the time that drive unit 34 reverse drive are rotated arm 31, slide block 32 exits segmental arc 222 gradually, slide block 32 is oppositely pulled gradually and is rotated arm 31 by connecting rod 33, until slide block 32 exits after segmental arc 222 completely, rotate arm 31 recover initially towards, and oppositely moving back to initial position along bar shaped open-work 21, the one-period of realizing reverse arm with this moves.Rotate the rotating shaft end corresponding with connecting rod 33 of arm 31 and specifically can form semicircle, the respective ends of connecting rod 33 is formed with mates sheathed semicircle orifice, simple in structure and driven nature is strong.
Preferably, the tangent line of segmental arc 222 ends is vertical with straightway 221, and segmental arc 222 ends are corresponding to the length of the distance between the center line of bar shaped open-work 21 and connecting rod 33, in the time that slide block 32 moves to the end of segmental arc 222, connecting rod 33 is also just vertical with bar shaped open-work 21, and connecting rod 33 will rotate arm 31 and rotate 90 °.
In order to make segmental arc 222 more level and smooth, be more convenient to the smooth and easy movement of slide block 32, preferably, segmental arc 222 is circular arc.
Preferably, the end of segmental arc 222 is communicated with the extension 2221 of extending along end tangential direction, and this extension 2221 can be slipped into and fully ensure that slide block 32 arrives the end of segmental arc 222 for slide block 32, makes to rotate arm 31 and forwards 90 ° completely to.
In order to strengthen the smooth degree of slide block 32 in gathering sill 22 interior slips, preferably, slide block 32 is parallel with substrate 2 and coupling embeds the bearing in gathering sill 22, and now connecting rod 33 is connected with the inner ring of the slide block 32 of bearing type.
For basis specifically and easily realizes gathering sill 22, preferably, gathering sill 22 is surrounded by the guide plate 4 being fixedly arranged on substrate 2.
Preferably, drive unit 34 comprises is located at the driving synchronous pulley 341 in bar shaped open-work 21 one end on substrate 2, in the driven synchronous pulley 342 of bar shaped open-work 21 other ends, be disposed in the Timing Belt 343 driving between synchronous pulley 341 and driven synchronous pulley 342, and the motor 344 that drives synchronous pulley 341 to rotate; The inner of rotating arm 31 is provided with connecting plate 311, and on substrate 2, corresponding this connecting plate 311 is provided with the slide rail parallel with bar shaped open-work 21 23, and connecting plate 311 is provided with the sliding sleeve 312 that slide rail 23 matches therewith; Connecting plate 311 is connected with Timing Belt 343.In the time of work, motor 344 drivings drive synchronous pulleys 341 to rotate, and Timing Belt 343 runnings drive driven synchronous pulley 342 to rotate, and then Timing Belt 343 drives connecting plate 311 and rotation arm 31 to rely on slideway 312 smoothly to move along slide rail 23.
Preferably, substrate 2 is the rectangle vertically arranging, bar shaped open-work 21 vertically arranges, motor 344 is in bottom, and whole reverse arm vertically arranges, and segmental arc 222 is in top, specifically, motor 344 is in the interior bottom of reverse arm support body 1, and output shaft is parallel to the lower limb setting of substrate 2, drives synchronous pulley 341 and driven synchronous pulley 342 all to arrange perpendicular to substrate 2.Can realize rotation arm 31 and move up and down, and realize and reversing in the upper end of bar shaped open-work 21.
Novel torsional arm of the present utility model, the form of drive unit also can be adjusted and design according to actual requirement; The concrete form of substrate and setting party to etc. can adjust and design according to actual requirement; The end of bar shaped open-work and gathering sill is preferably rounding form, and the concrete form of the two can be adjusted and design according to actual requirement; Gathering sill preferably surrounds by guide plate, also can adopt other form of the composition according to actual requirement; Slide block is preferably bearing, and concrete form also can be adjusted and design according to actual requirement; Segmental arc is preferably 1/4 circular arc, and is furnished with extension, and concrete form also can be adjusted and design according to actual requirement; Drive unit drives and rotates the direction that moves of arm and can adjust and design according to actual requirement, and slide block can first move from straightway, also can first move from segmental arc, and then rotate arm and can first move linearly and rotate, also can first rotate and move linearly; The utility model is preferred for five axis robot of bimodulus injection moulding machine, also can do to be as requested applied in other machinery after accommodation.
Product form of the present utility model is not limited to this case diagram and embodiment, and anyone carries out suitable variation or the modification of similar thinking to it, all should be considered as not departing from patent category of the present utility model.
Claims (10)
1. a Novel torsional arm, is characterized in that: comprises reverse arm support body, is fixed on the substrate of reverse arm support body active side, and by the reverse arm device of described base plate carrying; Described substrate is formed with bar shaped open-work, and medial surface is formed with gathering sill, and described gathering sill comprises the straightway paralleling with described bar shaped open-work, and is communicated with straightway also towards the segmental arc away from the bending of described bar shaped open-work direction; Described reverse arm device comprises the rotation arm being stretched out by described bar shaped open-work, with the slide block that described gathering sill matches, and the connecting rod of the rotating shaft of connection sliding block and rotation arm, and the drive unit that drives rotation arm to move along bar shaped open-work; Described connecting rod and described slider pivot are connected together, and the length of described connecting rod is greater than the distance between described straightway center line and the center line of described bar shaped open-work.
2. a kind of Novel torsional arm according to claim 1, is characterized in that: the tangent line of above-mentioned segmental arc end is vertical with above-mentioned straightway, and described segmental arc end is corresponding to the length of the distance between the center line of above-mentioned bar shaped open-work and above-mentioned connecting rod.
3. a kind of Novel torsional arm according to claim 2, is characterized in that: above-mentioned segmental arc is circular arc.
4. a kind of Novel torsional arm according to claim 3, is characterized in that: the end of above-mentioned segmental arc is communicated with the extension of extending along end tangential direction.
5. according to a kind of Novel torsional arm described in any one in claim 1-4, it is characterized in that: above-mentioned slide block is parallel with aforesaid substrate and coupling embeds the bearing in above-mentioned gathering sill.
6. a kind of Novel torsional arm according to claim 5, is characterized in that: above-mentioned gathering sill is surrounded by the guide plate being fixedly arranged on aforesaid substrate.
7. a kind of Novel torsional arm according to claim 6, it is characterized in that: above-mentioned drive unit comprises is located at the driving synchronous pulley in above-mentioned bar shaped open-work one end on aforesaid substrate, in the driven synchronous pulley of the above-mentioned bar shaped open-work other end, be disposed in the Timing Belt between the two, and the motor that drives synchronous pulley to rotate; The inner of above-mentioned rotation arm is provided with connecting plate, and on described substrate, corresponding this connecting plate is provided with the slide rail parallel with described bar shaped open-work, and described connecting plate is provided with the sliding sleeve that slide rail matches therewith.
8. a kind of Novel torsional arm according to claim 7, is characterized in that: aforesaid substrate is the rectangle vertically arranging, and above-mentioned bar shaped open-work vertically arranges, and above-mentioned motor is in lower end.
9. according to a kind of Novel torsional arm described in any one in claim 1-4, it is characterized in that: above-mentioned drive unit comprises is located at the driving synchronous pulley in above-mentioned bar shaped open-work one end on aforesaid substrate, in the driven synchronous pulley of the above-mentioned bar shaped open-work other end, be disposed in the Timing Belt between the two, and the motor that drives synchronous pulley to rotate; The inner of above-mentioned rotation arm is provided with connecting plate, and on described substrate, corresponding this connecting plate is provided with the slide rail parallel with described bar shaped open-work, and described connecting plate is provided with the sliding sleeve that slide rail matches therewith; Described connecting plate is connected with described Timing Belt.
10. a kind of Novel torsional arm according to claim 7, is characterized in that: aforesaid substrate is the rectangle vertically arranging, and above-mentioned bar shaped open-work vertically arranges, and above-mentioned motor is in bottom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320891278.3U CN203738815U (en) | 2013-12-30 | 2013-12-30 | Novel twisting arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320891278.3U CN203738815U (en) | 2013-12-30 | 2013-12-30 | Novel twisting arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203738815U true CN203738815U (en) | 2014-07-30 |
Family
ID=51338677
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320891278.3U Withdrawn - After Issue CN203738815U (en) | 2013-12-30 | 2013-12-30 | Novel twisting arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203738815U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103707321A (en) * | 2013-12-30 | 2014-04-09 | 泉州梅洋塑胶五金制品有限公司 | Novel torsion arm |
-
2013
- 2013-12-30 CN CN201320891278.3U patent/CN203738815U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103707321A (en) * | 2013-12-30 | 2014-04-09 | 泉州梅洋塑胶五金制品有限公司 | Novel torsion arm |
| CN103707321B (en) * | 2013-12-30 | 2016-04-27 | 泉州梅洋塑胶五金制品有限公司 | A kind of Novel torsion arm |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102283765B (en) | Rectangular coordinate and joint type combined traditional Chinese massage robot | |
| CN111376232B (en) | Double-arm transfer robot | |
| CN201741676U (en) | Silicon chip conveying and lifting structure | |
| CN203332958U (en) | Carrying mechanism | |
| CN204356224U (en) | Double-layer glass sealing machine | |
| CN202665434U (en) | Glass-wiping robot | |
| CN206506405U (en) | A kind of reciprocating mechanism with stroke enlarging function | |
| CN101293346A (en) | Shaping apparatus product extracting mechanical arm | |
| CN204054077U (en) | A kind of transfer robot | |
| CN207139620U (en) | Position guide device and positioning correcting system | |
| CN201701439U (en) | Rectangular coordinate type and articulated type combined Chinese traditional massage robot | |
| CN105965472A (en) | Movable light six-shaft universal robot | |
| CN202726920U (en) | Back mechanical arm for cleaning | |
| CN203738815U (en) | Novel twisting arm | |
| CN204658061U (en) | Axle transfer robot arm | |
| CN103737585B (en) | A kind of novel five axle plug-in manipulators | |
| CN104400781A (en) | Material feeding manipulator | |
| CN103707321B (en) | A kind of Novel torsion arm | |
| CN204300269U (en) | A kind of one-sided crank block device that rests | |
| CN208305060U (en) | A kind of globoid cam-planar trenches cam-type stepper drive type manipulator | |
| CN203903460U (en) | Motor-driven full-automatic material shifting device | |
| CN208992905U (en) | A kind of clamping transmission device | |
| CN203738790U (en) | Novel five-axis combined type mechanical arm | |
| CN205799478U (en) | A kind of six axle all-purpose robots being provided with lifting roller | |
| CN204913890U (en) | A transmission structure for manipulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20140730 Effective date of abandoning: 20160427 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |