Mechanical arm structure

Abstract

The utility model belongs to the technical field of mechanical arm equipment, and provides a mechanical arm structure which comprises a fixed beam assembly, a sliding table assembly and a rotating arm assembly. The sliding table assembly comprises a first driving device, a first rotating device, a second rotating device and a synchronous output device; the first driving device is used for driving the sliding table assembly to move relative to the fixed beam assembly; the synchronous output device is provided with a first output end and a second output end, the rotating arm assembly comprises a first-stage rotating arm assembly and a second-stage rotating arm assembly, the first rotating device drives the first-stage rotating arm assembly to rotate relative to the sliding table assembly through the first output end, and the second rotating device drives the second-stage rotating arm assembly to rotate relative to the first-stage rotating arm assembly through the second output end. Work such as clamping, grinding and transferring of the workpiece is achieved in the grinding and polishing operation, an expensive industrial robot can be replaced, and therefore unnecessary motion control and mechanical functions are reduced, the automatic grinding and polishing operation efficiency can be improved, the cost is saved for enterprises, and the production efficiency is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of mechanical arm equipment, and in particular relates to a mechanical arm structure. Background Art

[0002] In the process of industrial automated grinding and polishing, industrial robots are usually used to complete the clamping, grinding and transfer of workpieces. However, this technology of grinding and polishing using industrial robots is not only complex to operate, inefficient, and has high equipment costs, but also occupies a large space. It has poor economic benefits for factories and is not conducive to large-scale batch operations of workpieces. Utility Model Content

[0003] In order to overcome the above-mentioned shortcomings of the prior art, the purpose of the utility model is to provide a mechanical arm structure.

[0004] The technical solution adopted by the utility model to solve its technical problems is:

[0005] A mechanical arm structure comprises a fixed beam assembly, a slide assembly and a rotating arm assembly;

[0006] The slide assembly includes a first driving device, a first rotating device, a second rotating device and a synchronous output device;

[0007] The first driving device is used to drive the slide assembly to move relative to the fixed beam assembly;

[0008] The synchronous output device has a first output end and a second output end, the swivel arm assembly includes a primary swivel arm assembly and a secondary swivel arm assembly, the first rotating device drives the primary swivel arm assembly to rotate relative to the slide assembly through the first output end, and the second rotating device drives the secondary swivel arm assembly to rotate relative to the primary swivel arm assembly through the second output end.

[0009] Preferably, the fixed beam assembly includes a crossbeam, a guide rail member and a guide slide, the guide slide is slidably matched with the guide rail member, the guide rail member is arranged on the crossbeam, and the guide slide is connected to the slide assembly.

[0010] Preferably, a gear condition is provided on the crossbeam, and the gear condition is arranged parallel to the guide rail member;

[0011] The slide assembly further comprises a slide bracket, and the first driving device, the first rotating device, the second rotating device and the synchronous output device are arranged on the slide bracket;

[0012] The first driving device includes a first driving motor, a driving gear and a driven gear. The driving gear is connected to the output end of the first driving motor, the driven gear is rotatably matched with the slide bracket, and the driving gear and the driven gear are meshed with the gear.

[0013] Preferably, a limit block is provided on each side of the crossbeam and located at the gear condition, and an anti-collision block is provided on each side of the slide bracket and located at the driving gear part and the driven gear part, and the two anti-collision blocks are located between the two limit blocks.

[0014] Preferably, the first rotating device is a first rotating motor, and the second rotating device is a second rotating motor;

[0015] The synchronous output device comprises a rotating shaft, a rotary shaft, a first bearing component and a second bearing component, wherein the rotating shaft is sleeved on the rotary shaft through the first bearing component, and the rotating shaft is arranged on the slide bracket through the second bearing component, a first synchronous pulley is arranged at the input end of the rotating shaft, and the first synchronous pulley and the rotating shaft form the first output end, and a second synchronous pulley is arranged at the input end and the output end of the rotary shaft, and the second synchronous pulley and the rotary shaft form the second output end;

[0016] The output end of the first rotating motor is provided with a synchronous belt matched with the first synchronous belt pulley, and the output end of the second rotating motor is provided with a synchronous belt matched with the second synchronous belt pulley at the input end of the rotating shaft;

[0017] The output end of the rotating shaft is connected to the primary rotating arm assembly;

[0018] A transmission assembly is provided between the secondary swing arm assembly and the primary swing arm assembly, the input end of the transmission assembly is provided with a synchronous belt that cooperates with the second synchronous pulley at the output end of the rotating shaft, and the output end of the transmission assembly is connected to the secondary swing arm assembly.

[0019] Preferably, the transmission assembly comprises a first rotating shaft, a second rotating shaft, a first transmission arm and a second transmission arm, one end of the first transmission arm is rotationally matched with the primary rotating arm assembly, and both ends of the second transmission arm are rotationally matched with the other end of the first transmission arm and the secondary rotating arm assembly respectively;

[0020] The first rotating shaft is arranged in the first transmission arm, and a third synchronous pulley is provided at one end of the first rotating shaft. The third synchronous pulley and the first rotating shaft form the input end of the transmission assembly. The second rotating shaft is arranged in the second transmission arm, and a first bevel gear is provided at the other end of the first rotating shaft. A second bevel gear is provided at one end of the second rotating shaft, and the other end is connected to the secondary rotating arm assembly. The first bevel gear is meshed with the second bevel gear, and the second rotating shaft is the output end of the transmission assembly.

[0021] Preferably, a tensioning wheel for tightening the synchronous belt is provided in the primary swing arm assembly.

[0022] Preferably, the slide bracket is provided with a motor seat for mounting the first rotating device and the second rotating device, and the motor seat is provided with a waist-shaped hole for tightening the synchronous belt.

[0023] Preferably, a third bearing is provided between the first transmission arm and the primary rotating arm assembly and the second transmission arm to achieve rotational cooperation.

[0024] Preferably, a clamp is provided on the secondary rotating arm assembly.

[0025] Compared with the prior art, the beneficial effects of the utility model include:

[0026] The robotic arm structure of the present application realizes the position movement of the rotating arm assembly relative to the fixed beam assembly through the first driving device, and at the same time cooperates with the structure of the first rotating device, the second rotating device and the synchronous output device to realize the rotation of the rotating arm assembly compared to the slide assembly and the internal relative rotation, thereby changing the working range and working position of the robotic arm structure. The above structure can realize the clamping, grinding, and transfer processes of the workpiece during grinding and polishing operations, can replace expensive industrial robots, thereby reducing unnecessary motion control and mechanical functions, and can improve the efficiency of automated grinding and polishing operations, saving costs for enterprises and increasing production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 It is a three-dimensional view of the utility model.

[0029] Figure 2 It is a three-dimensional view of the fixed beam assembly of the utility model.

[0030] Figure 3 It is a three-dimensional view of the slide assembly of the utility model.

[0031] Figure 4 It is a cross-sectional view of the synchronous output device of the present utility model.

[0032] Figure 5 It is a cross-sectional view of the rotating arm assembly of the utility model.

[0033] in:

[0034] 1-first rotating device, 2-second rotating device, 3-crossbeam, 4-guide rail, 5-guide slide, 6-tooth condition, 7-slide bracket, 8-first drive motor, 9-driving gear, 10-driven gear, 11-limiting block, 12-anti-collision block, 13-rotating shaft, 14-slewing shaft, 15-first bearing, 16-second bearing, 17-first synchronous pulley, 18-second synchronous pulley, 19-synchronous belt, 20-first pivot arm assembly, 21-second pivot arm assembly, 22-first rotating shaft, 23-second rotating shaft, 24-first transmission arm, 25-second transmission arm, 26-first bevel gear, 27-second bevel gear, 28-tensioning wheel, 29-motor seat, 30-clamp. DETAILED DESCRIPTION

[0035] In order to more clearly understand the above-mentioned purposes, features and advantages of the utility model, the utility model is described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other. In the following description, many specific details are set forth in order to fully understand the utility model, and the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0037] Example:

[0038] like Figure 1-5 As shown, a mechanical arm structure is provided in this embodiment, including a fixed beam assembly, a slide assembly and a rotating arm assembly;

[0039] The slide assembly includes a first driving device, a first rotating device 1, a second rotating device 2 and a synchronous output device;

[0040] The first driving device is used to drive the slide assembly to move relative to the fixed beam assembly;

[0041] The synchronous output device has a first output end and a second output end, and the arm assembly includes a primary arm assembly 20 and a secondary arm assembly 21. The first rotating device 1 drives the primary arm assembly 20 to rotate relative to the slide assembly through the first output end, and the second rotating device 2 drives the secondary arm assembly 21 to rotate relative to the primary arm assembly 20 through the second output end.

[0042] The robotic arm structure of the present embodiment realizes the position movement of the rotating arm assembly relative to the fixed beam assembly through the first driving device, and at the same time cooperates with the structure of the first rotating device 1, the second rotating device 2 and the synchronous output device to realize the rotation of the rotating arm assembly compared to the slide assembly and the internal relative rotation, thereby changing the working range and working position of the robotic arm structure. The above structure can realize the clamping, grinding, and transfer processes of the workpiece in the grinding and polishing operations through a robotic arm structure of the present embodiment, and can replace expensive industrial robots, thereby reducing unnecessary motion control and mechanical functions, and can improve the efficiency of automated grinding and polishing operations, saving costs for enterprises and increasing production efficiency.

[0043] The specific structure of the fixed beam assembly of this embodiment is as follows:

[0044] It includes a crossbeam 3, a guide rail member 4 and a guide slide 5. The guide slide 5 is slidably matched with the guide rail member 4. The guide rail member 4 is arranged on the crossbeam 3, and the guide slide 5 is connected to the slide assembly.

[0045] A gear member 6 is provided on the crossbeam 3, and the gear member 6 is arranged parallel to the guide rail member 4;

[0046] The slide assembly further includes a slide bracket 7, and the first driving device, the first rotating device 1, the second rotating device 2 and the synchronous output device are arranged on the slide bracket 7;

[0047] The first driving device includes a first driving motor 8, a driving gear member 9 and a driven gear member 10. The driving gear member 9 is connected to the output end of the first driving motor 8, the driven gear member 10 is rotationally matched with the slide bracket 7, and the driving gear member 9 and the driven gear member 10 are meshed with the gear condition 6.

[0048] Specifically, a limit block 11 is provided on the crossbeam 3 and on both sides of the gear condition 6 , and an anti-collision block 12 is provided on the slide bracket 7 and on both sides of the driving gear member 9 and the driven gear member 10 , respectively. The two anti-collision blocks 12 are located between the two limit blocks 11 .

[0049] According to the above structure, the relative movement between the fixed beam assembly and the slide assembly is achieved by the first drive motor 8 driving the active gear member 9 to interact with the gear condition 6, and cooperating with the driven gear member 10 and the guide slide 5 and the guide rail member 4 to slide together. The active gear member 9 and the driven gear member 10 are meshed with the gear condition 6 to achieve accurate adjustment of the moving distance between the fixed beam assembly and the slide assembly, and the sliding cooperation structure of the guide slide 5 and the guide rail member 4 can ensure the stability of the relative movement between the fixed beam assembly and the slide assembly.

[0050] The anti-collision block 12 and the limit block 11 set at the same time can limit the relative movement distance between the fixed beam assembly and the slide assembly, which can ensure that the entire robotic arm structure works within an effective working range. The anti-collision block 12 also has a buffering effect, increasing the stability of the overall structure.

[0051] The first rotating device 1 of this embodiment is a first rotating motor, and the second rotating device 2 is a second rotating motor;

[0052] According to the above structure, the synchronous output device of this embodiment includes a rotating shaft 13, a rotating shaft 14, a first bearing member 15 and a second bearing member 16. The rotating shaft 13 is sleeved on the rotating shaft 14 through the first bearing member 15, and the rotating shaft 13 is arranged on the slide bracket 7 through the second bearing member 16. The input end of the rotating shaft 13 is provided with a first synchronous pulley 17, and the first synchronous pulley 17 and the rotating shaft 13 form a first output end. The input end and the output end of the rotating shaft 14 are each provided with a second synchronous pulley 18, and the second synchronous pulley 18 and the rotating shaft 14 form a second output end;

[0053] The output end of the first rotating motor is provided with a synchronous belt 19 matched with the first synchronous belt pulley 17, and the output end of the second rotating motor is provided with a synchronous belt matched with the second synchronous belt pulley 18 at the input end of the rotating shaft 14;

[0054] The output end of the rotating shaft 13 is connected to the primary rotating arm assembly 20;

[0055] A transmission assembly is provided between the secondary arm assembly 21 and the primary arm assembly 20 . The input end of the transmission assembly is provided with a synchronous belt that matches the second synchronous pulley 18 at the output end of the rotating shaft 14 . The output end of the transmission assembly is connected to the secondary arm assembly 21 .

[0056] The synchronous output device provided in the present embodiment integrates the first output end and the second output end into an integral structure through the coaxial and sleeve-matched rotating shaft 13 and rotary shaft 14 structures. This can save the overall occupied area of ​​the synchronous output device and ensure the lightweight structure. At the same time, in combination with the synchronous belt and synchronous pulley, the stability of the synchronization process can be guaranteed.

[0057] Its working principle is:

[0058] The first rotating motor and the second rotating motor are synchronously connected with the first synchronous pulley 17 and the second synchronous pulley 18 through the synchronous belt, respectively, to realize the control of the rotation state of the rotating shaft 13 and the rotating shaft 14, thereby further realizing the control of the rotation of the swing arm assembly. The relative rotation structure between the primary swing arm assembly 20 and the secondary swing arm assembly 21 of the swing arm assembly is realized by setting a transmission assembly, and the specific structure is as follows:

[0059] It includes a first rotating shaft 22, a second rotating shaft 23, a first transmission arm 24 and a second transmission arm 25. One end of the first transmission arm 24 is rotationally matched with the primary rotating arm assembly 20, and the two ends of the second transmission arm 25 are rotationally matched with the other end of the first transmission arm 24 and the secondary rotating arm assembly 21 respectively.

[0060] The first rotating shaft 22 is arranged in the first transmission arm 24, and a third synchronous pulley is provided at one end of the first rotating shaft 22. The third synchronous pulley and the first rotating shaft 22 form the input end of the transmission assembly. The second rotating shaft 23 is arranged in the second transmission arm 25. A first bevel gear 26 is provided at the other end of the first rotating shaft 22. A second bevel gear 27 is provided at one end of the second rotating shaft 23, and the other end is connected to the secondary rotating arm assembly 21. The first bevel gear 26 is meshed with the second bevel gear 27. The second rotating shaft 23 is the output end of the transmission assembly.

[0061] Its working principle is:

[0062] The rotary shaft 14 rotates, driving the first rotary shaft 22 to rotate through the synchronous belt, and then the meshing structure of the first bevel gear 26 and the second bevel gear 27 realizes the rotation of the secondary rotating arm assembly 21 relative to the primary rotating arm assembly 20.

[0063] At the same time, in order to ensure the stability of the synchronization process, a tensioning wheel 28 for tightening the synchronous belt is provided in the primary arm assembly 20. In addition, a motor seat 29 for installing the first rotating device 1 and the second rotating device 2 is provided on the slide bracket 7, and a waist-shaped hole for tightening the synchronous belt is provided on the motor seat 29.

[0064] In this embodiment, a third bearing is provided between the first transmission arm 24 and the primary rotating arm assembly 20 and the second transmission arm 25 to achieve rotational cooperation.

[0065] Specifically, a clamp 30 is provided on the secondary rotating arm assembly 21 , and the clamp 30 is used to clamp the workpiece.

[0066] To sum up, the robotic arm structure of the present application can realize the lateral movement of the clamp 30 and the axial multi-angle rotation compared to the fixed beam assembly. Compared with the industrial robot, the overall structure has low cost and can replace expensive industrial robots, thereby reducing unnecessary motion control and mechanical functions, and can improve the efficiency of automated grinding and polishing operations, saving costs and increasing production efficiency for enterprises.

[0067] The above description is only a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Therefore, any modification, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A mechanical arm structure, characterized in that: include: Fixed beam assembly, slide assembly and swivel arm assembly; The slide assembly includes a first driving device, a first rotating device, a second rotating device and a synchronous output device; The first driving device is used to drive the slide assembly to move relative to the fixed beam assembly; The synchronous output device has a first output end and a second output end, the swivel arm assembly includes a primary swivel arm assembly and a secondary swivel arm assembly, the first rotating device drives the primary swivel arm assembly to rotate relative to the slide assembly through the first output end, and the second rotating device drives the secondary swivel arm assembly to rotate relative to the primary swivel arm assembly through the second output end.

2. The mechanical arm structure according to claim 1, characterized in that: The fixed beam assembly includes a crossbeam, a guide rail member and a guide slide. The guide slide is slidably matched with the guide rail member. The guide rail member is arranged on the crossbeam, and the guide slide is connected to the slide assembly.

3. The mechanical arm structure according to claim 2, characterized in that: The crossbeam is provided with a gear condition, and the gear condition is arranged parallel to the guide rail member; The slide assembly further comprises a slide bracket, and the first driving device, the first rotating device, the second rotating device and the synchronous output device are arranged on the slide bracket; The first driving device includes a first driving motor, a driving gear and a driven gear. The driving gear is connected to the output end of the first driving motor, the driven gear is rotatably matched with the slide bracket, and the driving gear and the driven gear are meshed with the gear.

4. The mechanical arm structure according to claim 3, characterized in that: A limit block is respectively arranged on the crossbeam and on both sides of the gear condition, and an anti-collision block is respectively arranged on the slide bracket and on both sides of the driving gear part and the driven gear part, and the two anti-collision blocks are located between the two limit blocks.

5. The mechanical arm structure according to claim 3, characterized in that: The first rotating device is a first rotating motor, and the second rotating device is a second rotating motor; The synchronous output device comprises a rotating shaft, a rotary shaft, a first bearing component and a second bearing component, wherein the rotating shaft is sleeved on the rotary shaft through the first bearing component, and the rotating shaft is arranged on the slide bracket through the second bearing component, a first synchronous pulley is arranged at the input end of the rotating shaft, and the first synchronous pulley and the rotating shaft form the first output end, and a second synchronous pulley is arranged at the input end and the output end of the rotary shaft, and the second synchronous pulley and the rotary shaft form the second output end; The output end of the first rotating motor is provided with a synchronous belt matched with the first synchronous belt pulley, and the output end of the second rotating motor is provided with a synchronous belt matched with the second synchronous belt pulley at the input end of the rotating shaft; The output end of the rotating shaft is connected to the primary rotating arm assembly; A transmission assembly is provided between the secondary swing arm assembly and the primary swing arm assembly, the input end of the transmission assembly is provided with a synchronous belt that cooperates with the second synchronous pulley at the output end of the rotating shaft, and the output end of the transmission assembly is connected to the secondary swing arm assembly.

6. The mechanical arm structure according to claim 5, characterized in that: The transmission assembly comprises a first rotating shaft, a second rotating shaft, a first transmission arm and a second transmission arm, one end of the first transmission arm is rotationally matched with the primary rotating arm assembly, and both ends of the second transmission arm are rotationally matched with the other end of the first transmission arm and the secondary rotating arm assembly respectively; The first rotating shaft is arranged in the first transmission arm, and a third synchronous pulley is provided at one end of the first rotating shaft. The third synchronous pulley and the first rotating shaft form the input end of the transmission assembly. The second rotating shaft is arranged in the second transmission arm, and a first bevel gear is provided at the other end of the first rotating shaft. A second bevel gear is provided at one end of the second rotating shaft, and the other end is connected to the secondary rotating arm assembly. The first bevel gear is meshed with the second bevel gear, and the second rotating shaft is the output end of the transmission assembly.

7. The mechanical arm structure according to claim 5, characterized in that: A tensioning wheel for tightening the synchronous belt is arranged in the primary rotating arm assembly.

8. The mechanical arm structure according to claim 5, characterized in that: The slide bracket is provided with a motor seat for mounting the first rotating device and the second rotating device, and the motor seat is provided with a waist-shaped hole for tightening the synchronous belt.

9. The mechanical arm structure according to claim 6, characterized in that: A third bearing is provided between the first transmission arm and the primary rotating arm assembly and the second transmission arm to achieve rotational cooperation.

10. The mechanical arm structure according to claim 1, characterized in that: A clamp is provided on the secondary rotating arm assembly.

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