Folding mechanical arm
By adopting an equal length connecting rod mechanism and rotary connection design in the robot arm, the problem of insufficient space in the train is solved, the compact folding and flexible operation of the robot arm is achieved, and the production cost and space occupation are reduced.
Patent Information
- Application Number
- CN202420620119.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-03-28
- Publication Date
- 2024-12-27
- Estimated Expiration
- 2034-03-28
AI Technical Summary
The existing folding robot arm is insufficiently used in the train, takes up a large space and high production costs, making it difficult to effectively fold and use in a narrow space.
A folding robotic arm design is adopted including a base, a folding assembly, a drive and a connecting rod mechanism, wherein the connecting rod mechanism consists of an equal length and parallel first link and a second link to realize the robotic arm through a rotary connection and a transmission member The folding and retracting functions save space.
It realizes compact folding and flexible operation of the robotic arm, saves space and production costs, improves work efficiency and handling convenience.
Smart Images
Figure CN222244804U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the field of automation, in particular to a folding mechanical arm. Background Art
[0002] When a train is running, it is generally necessary to fill the water tank of the train with water, and a mechanical arm is generally used to perform horizontal or vertical propulsion operations.
[0003] The robot arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Due to its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion-proof and other fields.
[0004] The existing mechanical arms generally use multiple drives and multiple connecting rod structures to control the mechanical claws. The volume of the folded mechanical arms is generally still relatively large, and the space occupied is relatively small. Therefore, the existing folding mechanical arms are difficult to use in trains. If folding is to be achieved, multiple drives are required to fold and keep the ejection mechanism vertical. Each drive must be equipped with a corresponding power supply device, which undoubtedly requires a higher production cost and will also take up additional power supply space. Utility Model Content
[0005] The utility model overcomes the deficiency of large space occupied by mechanical arms in the prior art, and provides a folding mechanical arm. To achieve the above-mentioned purpose, the technical solution adopted by the utility model is: a folding mechanical arm, wherein, a folding mechanical arm, wherein, comprises: a base, a folding assembly arranged on the base, a driving and pushing mechanism arranged on the folding assembly, and a connecting rod mechanism arranged between the folding assembly and the pushing mechanism;
[0006] The connecting rod mechanism includes a first connecting rod, a second connecting rod and a connecting plate. One end of the first connecting rod is hinged to the folding component, and the other end is hinged to the connecting plate; one section of the second connecting rod is hinged to the folding component, and the other end is hinged to the connecting plate; the first connecting rod and the second connecting rod are of equal length and parallel.
[0007] In a preferred embodiment of the present invention, the base and the folding assembly are rotatably connected.
[0008] In a preferred embodiment of the utility model, the folding assembly includes a lifting rod arranged on the base and a rotating member arranged at one end of the lifting rod away from the base.
[0009] In a preferred embodiment of the utility model, a transmission member is provided inside the lifting rod, and the rotating member includes a connecting block and a rotating block, the rotating block is connected to the transmission member, one end of the rotating block is rotationally connected to the connecting block, and the other end is hinged to the first connecting rod and the second connecting rod.
[0010] In a preferred embodiment of the utility model, the drive includes a lifting drive and a folding drive, the lifting drive is arranged on the top of the lifting rod and connected to the transmission member, and the folding drive is arranged on the rotating block.
[0011] In a preferred embodiment of the present invention, the transmission member is a worm gear.
[0012] In a preferred embodiment of the utility model, the drive also includes a rotation drive, the rotation drive is arranged in the rotating member, a gear assembly is also arranged in the rotating member, the output end of the rotation drive is connected to the gear assembly, and the gear assembly is connected to the connecting rod mechanism.
[0013] In a preferred embodiment of the present invention, the connecting plate has a vertical wall surface.
[0014] In a preferred embodiment of the utility model, the connecting plate is a right-angled trapezoidal plate, the ejection mechanism is arranged parallel to the right-angled waist of the right-angled trapezoidal plate, and the first connecting rod and the second connecting rod are hinged on the oblique waist of the right-angled trapezoidal plate.
[0015] In a preferred embodiment of the utility model, the ejection mechanism is arranged vertically or horizontally.
[0016] The utility model solves the defects existing in the background technology, and has the following beneficial effects:
[0017] The utility model adopts a driving and connecting rod mechanism to enable the mechanical arm to complete the functions of folding, telescoping, working, etc., which can save space, save production costs, facilitate transportation, and improve work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, drawings of other embodiments can be obtained based on these drawings without paying creative work.
[0019] Figure 1 It is a three-dimensional schematic diagram of a folding mechanical arm described in an embodiment of the utility model;
[0020] Figure 2 It is a schematic diagram of a transmission component in a folding mechanical arm described in an embodiment of the utility model;
[0021] Figure 3 This is a front view of a folding mechanical arm described in one embodiment of the utility model.
[0022] The reference numerals are as follows:
[0023] 10-base; 201-lifting rod; 202-connecting block; 203-rotating fast; 204-transmission member; 205-gear assembly; 301-lifting drive; 302-folding drive; 303-rotating assembly; 401-first connecting rod; 402-second connecting rod; 50-ejection mechanism; 60-connecting plate. DETAILED DESCRIPTION
[0024] In order to more clearly understand the above-mentioned purposes, features and advantages of the utility model, the utility model is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. These drawings are all simplified schematic diagrams, which only illustrate the basic structure of the utility model in a schematic manner. Therefore, they only show the structures related to the utility model. It should be noted that the embodiments in this application and the features in the embodiments can be combined with each other without conflict.
[0025] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of the present application. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the invention of the present utility model, unless otherwise specified, "multiple" means two or more.
[0026] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood by specific circumstances.
[0027] In order to facilitate the understanding of the present invention, the present invention will be described more comprehensively with reference to the relevant drawings. The drawings provide preferred embodiments of the present invention. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thoroughly and comprehensively understood.
[0028] like Figure 1 As shown, the utility model discloses a folding mechanical arm, which includes a base 10, a folding assembly arranged on the base 10, a driving and pushing mechanism 50 arranged on the folding assembly, and a connecting rod mechanism arranged between the folding assembly and the pushing mechanism 50.
[0029] The base 10 and the folding assembly are rotatably connected, that is, the folding assembly can perform horizontal rotation relative to the base 10 .
[0030] The folding assembly includes a lifting rod 201 disposed on the base 10 and a rotating member disposed at an end of the lifting rod 201 away from the base 10. Figure 2 As shown, a transmission member 204 is disposed inside the lifting rod 201. In one embodiment of the utility model, the transmission member is a worm gear. The rotating member includes a connecting block 202 and a rotating block 203. The connecting block 202 is connected to the transmission member. One end of the rotating block 203 is rotatably connected to the connecting block 202, and the other end is hinged to the connecting rod mechanism. Specifically, a long groove is disposed on the side of the lifting rod, and the transmission member can drive the rotating member to reciprocate up and down.
[0031] The drive includes a lifting drive 301 , a folding drive 302 and a rotating drive 303 . The lifting drive 301 is disposed on the top of the lifting rod 201 to control the movement of the transmission member. The folding drive 302 is disposed on the rotating block 203 .
[0032] Reference Figure 3The rotary drive 303 is arranged in the rotating member, and the output end of the rotary drive 303 is connected to the gear assembly 205, and the gear assembly 205 is connected to the connecting rod mechanism. When the rotary drive 303 moves, the gear assembly 205 is driven to move, and the gear assembly 205 drives the folding assembly to rotate in the horizontal direction.
[0033] like Figure 3 As shown, the link mechanism includes a first link 401, a second link 402 and a connecting plate 60, one end of the first link 401 is hinged on the folding assembly, and the other end is hinged on the connecting plate 60; a section of the second link 402 is hinged on the folding assembly, and the other end is hinged on the connecting plate 60; the first link 401 and the second link 402 are equal in length and parallel, and the ejection mechanism 50 is arranged vertically or horizontally. In other words, the first link, the connecting plate 60, the second link and the rotating block in the utility model generally form a parallelogram link mechanism, which has strong stability and is flexible and convenient to adjust.
[0034] Specifically, the connecting plate 60 has a vertical wall surface. In one embodiment of the utility model, the connecting plate 60 is a right-angled trapezoidal plate, the ejection mechanism 50 is arranged parallel to the right-angle waist of the right-angled trapezoidal plate, and the first connecting rod 401 and the second connecting rod 402 are hinged on the oblique waist of the right-angled trapezoidal plate. This arrangement is conducive to conveniently seeing whether the ejection mechanism 50 is set vertically or horizontally, so as to facilitate timely adjustment.
[0035] Combination Figure 1-3 As shown, when the utility model is working, the base 10 is rotated to control the ejection mechanism 50 to perform a circular motion with the base 10 as the center, that is, to control the angle of the ejection mechanism 50 relative to the base 10; the height of the ejection mechanism 50 is controlled by the lifting drive 301 on the lifting rod 201; and the distance of the ejection mechanism 50 relative to the base 10 is changed by changing the angle through the connecting rod mechanism. In this way, the ejection mechanism 50 is controlled in all directions through a drive and connecting rod mechanism.
[0036] At the same time, the lifting drive 301 and the folding drive 302 move synchronously. The movement of the lifting drive 301 drives the transmission member 204 to rotate, thereby causing the rotating member to move up and down; the folding drive 302 moves to retract the first connecting rod 401 and the second connecting rod 402 to occupy less space.
[0037] The utility model adopts the cooperation of driving and connecting rod mechanism, so that the mechanical arm can complete the functions of folding, telescoping and working, which can not only save space, but also save production costs, facilitate transportation and improve work efficiency.
[0038] The above embodiments only express several implementation methods of the utility model, and the descriptions are relatively specific and detailed, but they cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.
Claims
1. A folding robot arm, characterized in that: include: A base, a folding assembly arranged on the base, a driving and pushing mechanism arranged on the folding assembly, and a connecting rod mechanism arranged between the folding assembly and the pushing mechanism; The connecting rod mechanism includes a first connecting rod, a second connecting rod and a connecting plate. One end of the first connecting rod is hinged to the folding component, and the other end is hinged to the connecting plate; one section of the second connecting rod is hinged to the folding component, and the other end is hinged to the connecting plate; the first connecting rod and the second connecting rod are of equal length and parallel.
2. A folding robot arm according to claim 1, characterized in that: The base is rotatably connected to the folding assembly.
3. A folding robot arm according to claim 1, characterized in that: The folding assembly comprises a lifting rod arranged on a base and a rotating member arranged at an end of the lifting rod away from the base.
4. A folding mechanical arm according to claim 3, characterized in that: A transmission member is provided inside the lifting rod, and the rotating member includes a connecting block and a rotating block. The rotating block is connected to the transmission member, one end of the rotating block is rotationally connected to the connecting block, and the other end is hinged to the first connecting rod and the second connecting rod.
5. A folding mechanical arm according to claim 4, characterized in that: The drive includes a lifting drive and a folding drive. The lifting drive is arranged on the top of the lifting rod and connected with the transmission member, and the folding drive is arranged on the rotating block.
6. A folding mechanical arm according to claim 4, characterized in that: The transmission member is a worm gear.
7. A folding mechanical arm according to claim 4, characterized in that: The drive also includes a rotation drive, which is arranged in the rotating member. A gear assembly is also arranged in the rotating member. The output end of the rotation drive is connected to the gear assembly, and the gear assembly is connected to the connecting rod mechanism.
8. The folding robot arm according to claim 1, characterized in that: The connecting plate has a vertical wall surface.
9. A folding mechanical arm according to claim 8, characterized in that: The connecting plate is a right-angled trapezoidal plate, the ejection mechanism is arranged parallel to the right-angled waist of the right-angled trapezoidal plate, and the first connecting rod and the second connecting rod are hinged on the oblique waist of the right-angled trapezoidal plate.
10. The folding mechanical arm according to claim 1, characterized in that: The pushing mechanism is arranged vertically or horizontally.