CN105563477A - Rotary adapter and mechanical hand with same - Google Patents
Rotary adapter and mechanical hand with same Download PDFInfo
- Publication number
- CN105563477A CN105563477A CN201610066432.1A CN201610066432A CN105563477A CN 105563477 A CN105563477 A CN 105563477A CN 201610066432 A CN201610066432 A CN 201610066432A CN 105563477 A CN105563477 A CN 105563477A
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- CN
- China
- Prior art keywords
- mechanical arm
- drive motor
- harmonic gear
- rom drive
- manipulator
- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1025—Harmonic drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Abstract
The invention belongs to the field of industrial robots, and particularly relates to a rotary adapter and a mechanical hand with the same. The mechanical hand comprises a first mechanical arm, a second mechanical arm, a first harmonic gear, a first drive motor and the rotary adapter. A wave generator of the first harmonic gear is directly connected with an output shaft of the first drive motor. An upper connecting plate of the rotary adapter is fixedly connected with the lower end of the second mechanical arm, and a lower connecting plate of the rotary adapter is fixedly connected with a flexible gear of the first harmonic gear. The output shaft of the drive motor is directly connected with the wave generator of the corresponding harmonic gear, the harmonic gears directly drive the corresponding mechanical arms, and therefore the mechanical arms can be located at the moment that the drive motor is stopped, the locating precision of the mechanical hand is effectively improved, the size and load of the mechanical hand are reduced, and the sensitivity of the mechanical hand is improved. Due to the arranged rotary adapter, a convenient channel is provided for wiring of the drive motor, and the appearance of the whole mechanical hand is tidier and more attractive.
Description
Technical field
The invention belongs to industrial robot field, be specifically related to a kind of swivel adapter and there is the manipulator of this swivel adapter.
Background technology
Industrial robot is widely used in various industry now, such as, get/put part, such as, be applied to plastic cement industry, or assembles or pack or freeze, or oil spout, or other operational sequences, such as semicon industry and auto manufacturing.
Wherein a kind of general industrial robot is six axis robot.In brief, a robot has six mechanical arms.That means that it can rotate on six different axles.Each joint mechanical arm is by a servo motor driven.Robot performs different tasks by programme-control, such as assembly process or printing process, or the operation that freezes, or packaging process or other operations get/put part.Outside part or instrument, such as pliers, or electric torch, or sucker can add to robot Section of six arm performs above-mentioned in those tasks.
Each joint arm of six axis robot is all indirectly be connected to servo motor by reduction gearing independently.Motor shaft is first connected to a gear, is then connected to and another gear of the connection of the driven wheel of harmonic gear by a plastic cement or rubber synchronous cog belt.Each joint arm can carry out different angles rotation in the horizontal direction or in constant direction.
Usually there are two kinds of problems in this robot.The first, manipulator stop place is inaccurate, and positioning precision is low.Briefly, can find when a robot arm moves to the action terminal that it presets in practice, gear intermeshes, and motor will stop at once on accurate position, but next joint motion arm but can not be stopped by the cog belt connected on accurate position.Due to may gap be there is between the plastic cement gear teeth on synchronous cog belt and the metal gear teeth on belt pulley, or, at one end stopped by motor, the other end be transmitted gear and work bear a heavy burden toward pull-up time, belt can be stretched, thus causes next joint arm can not rest on accurately on position.There is above-mentioned situation in synchronous cog belt and belt, when causing robot arm to rest on inaccurate position, can have influence on the accuracy of action of robot.Meanwhile, cog belt applies the aging accuracy that equally also can affect arm stop place of tension force and telescopic belt.
The second, the volume of mechanical arm is large, and sensitivity is low; Meanwhile, owing to requiring high to the accuracy of manufacture of motor, harmonic gear, synchronous cog belt etc. and installation accuracy, production cost is improved.Conveniently connect up, the motor of existing machinery arm and harmonic gear need to be installed separately, and then use the connections such as synchronous cog belt connection.To ensure that then the electric wire of front end motor through the harmonic gear centre bore of rear end arm, can be connected to the control panel on the first segment arm shell being positioned at bottom.Motor and harmonic gear are installed separately, and use synchronous cog belt connecting motor and harmonic gear, make the complicated integral structure of mechanical arm and huge.And the installation of the parts such as motor, harmonic gear, synchronous cog belt, need high-precision manufacturing process, manufacturing cost is improved greatly.
Summary of the invention
The technical problem to be solved in the present invention is, for the above-mentioned defect of prior art, provides a kind of swivel adapter and has the manipulator of this swivel adapter, the stop place having solved existing machinery hand is inaccurate, the defects such as volume is large, and sensitivity is low, and production cost is high.
The technical solution adopted for the present invention to solve the technical problems is: provide a kind of swivel adapter, comprise upper junction plate, lower connecting plate and connect the connector of described upper junction plate and lower connecting plate, and described upper junction plate, between lower connecting plate and connector, formed line space, described upper junction plate be provided with and described cross that line space is connected cross line three-way hole.
Further preferred version of the present invention is: described lower connecting plate was provided with line three-way hole, and described connector comprises at least two joint pins, and the two ends of described joint pin are fixedly connected with lower connecting plate with described upper junction plate respectively.
Further preferred version of the present invention is: described upper junction plate, lower connecting plate and connector are made by metal or carbon fibre material.
The present invention solves another technical scheme that its technical problem adopts: a kind of manipulator, at least comprise the first mechanical arm, the second mechanical arm, first harmonic gear and the first CD-ROM drive motor that is installed in described first mechanical arm that are provided with control panel, the wave producer of described first harmonic gear is directly connected with the output shaft of the first CD-ROM drive motor, this manipulator also comprises the arbitrary described swivel adapter of claim 1-3, the upper junction plate of swivel adapter is fixedly connected with described second mechanical arm lower end, and lower connecting plate is fixedly connected with the flexbile gear of first harmonic gear.
Further preferred version of the present invention is: be provided with the first installation cavity in described first mechanical arm, and the firm wheel of described first CD-ROM drive motor and first harmonic gear is fixedly mounted by a flange and described first installation cavity.
Further preferred version of the present invention is: also comprise three-mechanical arm, and the lower end of this three-mechanical arm is fixedly connected with the upper junction plate of a swivel adapter; Described second mechanical arm is provided with second harmonic gear and the second CD-ROM drive motor, the wave producer of described second harmonic gear is directly connected with the output shaft of the second CD-ROM drive motor, and the flexbile gear of described second harmonic gear is fixedly connected with the lower connecting plate of the swivel adapter of three-mechanical arm lower end.
Further preferred version of the present invention is: the power line of described second CD-ROM drive motor is connected with described control panel with line space excessively through the line three-way hole of crossing of the upper junction plate of the swivel adapter is connected with first harmonic gear.
Further preferred version of the present invention is: described second mechanical arm is provided with the second installation cavity, and the firm wheel of described second CD-ROM drive motor and second harmonic gear is fixedly mounted by a flange and described second installation cavity.
Further preferred version of the present invention is: also comprise the 4th mechanical arm, the 3rd CD-ROM drive motor and third harmonic gear is provided with in 4th mechanical arm, the wave producer of described third harmonic gear is directly connected with the output shaft of described 3rd CD-ROM drive motor, and the flexbile gear of described third harmonic gear is fixedly connected with by the upper end of a swivel adapter with described three-mechanical arm.
Further preferred version of the present invention is: described three-mechanical arm comprises a hollow cavity, the power line of described 3rd CD-ROM drive motor successively through the swivel adapter is connected with three-mechanical arm upper end cross line space, upper junction plate cross line three-way hole, three-mechanical arm hollow cavity, be connected with first harmonic gear the upper junction plate of swivel adapter line three-way hole and line space, be connected with described control panel.
Further preferred version of the present invention is: described 4th mechanical arm is provided with the 3rd installation cavity, and the firm wheel of described 3rd CD-ROM drive motor and third harmonic gear is fixedly mounted by a flange and described 3rd installation cavity.
Further preferred version of the present invention is: also comprise the 5th mechanical arm; Described 4th mechanical arm is also provided with the 4th harmonic gear and four-wheel drive motor, and the wave producer of described 4th harmonic gear is directly connected with the output shaft of described four-wheel drive motor; Described 5th mechanical arm is fixedly connected with by the flexbile gear of a swivel adapter with the 4th harmonic gear.
Further preferred version of the present invention is: the power line of described four-wheel drive motor is connected along the path that the 3rd CD-ROM drive motor power line is identical with described control panel.
Further preferred version of the present invention is: described 5th mechanical arm comprises the shell and outwardly directed connecting portion that cover at described 4th harmonic gear outside.
Further preferred version of the present invention is: described 4th mechanical arm is also provided with the 4th installation cavity, and the firm wheel of described four-wheel drive motor and the 4th harmonic gear is fixedly mounted by a flange and described 4th installation cavity.
Further preferred version of the present invention is: also comprise the 6th mechanical arm, and one end of the 6th mechanical arm and the connecting portion of described 5th mechanical arm are rotationally connected.
Further preferred version of the present invention is: be provided with the 5th harmonic gear and the 5th CD-ROM drive motor in described 6th mechanical arm, the coaxial that the connecting portion of the 5th CD-ROM drive motor and the 6th mechanical arm and the 5th mechanical arm is rotationally connected is installed, and the wave producer of the 5th harmonic gear directly connects described in its output shaft, the firm wheel of described 5th harmonic gear is fixedly connected with described connecting portion.
Further preferred version of the present invention is: the other end of described 6th mechanical arm is provided with the 6th CD-ROM drive motor and the 6th harmonic gear, the wave producer of described 6th harmonic gear is directly connected with the output shaft of the 6th CD-ROM drive motor, and its steel wheel is fixedly connected with described 6th mechanical arm.
Beneficial effect of the present invention is, by the wave producer of the output shaft of each CD-ROM drive motor with corresponding harmonic gear is directly connected, each harmonic gear mechanical arm that Direct driver is corresponding again, thus the moment location that each mechanical arm can be stopped at each CD-ROM drive motor, effectively raise the positioning precision of manipulator, and the output shaft of CD-ROM drive motor and the wave producer of corresponding harmonic gear directly connect the volume and load that also effectively reduce manipulator, improve the sensitivity of manipulator; And be arranged on swivel adapter on correspondence position, the passage that the wiring for CD-ROM drive motor is provided convenience, make the outward appearance of whole manipulator more neat and artistic.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:
Fig. 1 is the swivel adapter perspective view of the embodiment of the present invention one;
Fig. 2-Fig. 4 is the difform swivel adapter perspective view of the embodiment of the present invention two;
Fig. 5 is the stereochemical structure intention of manipulator of the present invention;
Fig. 6 is the part section structural representation of manipulator of the present invention;
Fig. 7 is the structural representation of manipulator of the present invention;
Fig. 8 is the first mechanical arm position detonation configuration intention of manipulator of the present invention;
Fig. 9 is the first mechanical arm position internal structure schematic diagram of manipulator of the present invention;
Figure 10 is A position close-up schematic view in Fig. 5;
Figure 11 is B position close-up schematic view in Fig. 5.
Detailed description of the invention
Now by reference to the accompanying drawings, preferred embodiment of the present invention is elaborated.
Embodiment one
As shown in Figure 1, the swivel adapter 1 of the present embodiment, comprise upper junction plate 11, lower connecting plate 12 and connect the connector 13 of described upper junction plate 11 and lower connecting plate 12, and described upper junction plate 11, between lower connecting plate 12 and connector 13, formed line gap 14, described upper junction plate 11 be provided with and described cross that line gap 14 is connected cross line three-way hole 15.This swivel adapter 1 is for being arranged between two relatively turnable mechanical arms, and described upper junction plate 11 is for connecting a mechanical arm, and described lower connecting plate 12 is for being fixedly connected with the harmonic gear in another mechanical arm.Described line three-way hole 15 excessively and excessively line gap 14 are then the passage that the wiring of CD-ROM drive motor or other parts is provided convenience.Described lower connecting plate 12 was provided with line three-way hole 15, and described connector 13 comprises at least two joint pins, and the two ends of described joint pin are fixedly connected with lower connecting plate 12 with described upper junction plate 11 respectively.In the present embodiment, described joint pin is three, and be mutually 120 degree of angles and be uniformly distributed between described upper junction plate 11 and lower connecting plate 12, be mutually 120 degree of equally distributed joint pins in angle formed between any two one be comparatively bigger than line gap 14, when described swivel adapter 1 rotates with mechanical arm, be arranged in and describedly cross line gap 14 and cross line (power line or other line) in line three-way hole 15 and not affected close in the scope of 120 degree, thus the reliability of work can be effectively raised.Further, after described lower connecting plate 12 arranged line three-way hole 15, described lower connecting plate 12 forms the structure consistent with upper junction plate 11, in the assembling process of manipulator, can not consider the forward and reverse of swivel adapter 1, is conducive to improving efficiency of assembling.Described upper junction plate 11, lower connecting plate 12 and connector 13 are made by metal or carbon fibre material.
Embodiment two
As in Figure 2-4, described swivel adapter 1 upper junction plate 11 and lower connecting plate 12 be not defined as the toroidal shown in embodiment one, it also can be figure triangle, regular polygon or other shape.Described connector 13 is not defined as the joint pin shown in embodiment one yet, it also can be the linking arm being arranged at and not exclusively closing between upper junction plate 11 and lower connecting plate 12, or other is provided with the connector 13 of the position, hole (namely crossing line gap 14) for cabling.
Embodiment three
As viewed in figures 5-8, the manipulator of the present embodiment, at least comprise the first mechanical arm 2, second mechanical arm 3, first harmonic gear 22 and the first CD-ROM drive motor 23 that is installed in described first mechanical arm 2 that are provided with control panel 21, the wave producer of described first harmonic gear 22 is directly connected with the output shaft of the first CD-ROM drive motor 23, this manipulator also comprises any one swivel adapter 1 in embodiment one or two, the upper junction plate 11 of swivel adapter 1 is fixedly connected with described second mechanical arm 3 lower end, and lower connecting plate 12 is fixedly connected with the flexbile gear of first harmonic gear 22.Certainly, flexbile gear or the firm wheel of harmonic gear all can be used as output wheel, and the firm wheel or the flexbile gear that serve as non-output wheel are then directly or indirectly fixedly connected with the mechanical arm installing corresponding CD-ROM drive motor.Described second mechanical arm 3 can arrange the external tools such as pliers, electric torch or sucker, also another mechanical arm can be set.The setting of described swivel adapter 1, make the inner space of described first mechanical arm 2 and the inner space of the second mechanical arm 3 cross line gap 14 by described and cross line three-way hole 15 mutual conduction, thus provide a passage connected up for the external tools such as pliers, electric torch, sucker or another mechanical arm be arranged on described second mechanical arm 3.Further, be provided with the first installation cavity 24 in described first mechanical arm 2, the firm wheel of described first CD-ROM drive motor 23 and first harmonic gear 22 is fixedly mounted with described first installation cavity 24 by a flange 8.The installation that the setting of described first installation cavity 24 can be described first CD-ROM drive motor 23 and first harmonic gear 22 provides guiding, reduces the requirement of in this manipulator assembling process, staff being assembled to experience, is conducive to improving efficiency of assembling, reduces production cost.
Embodiment four
As shown in Figure 5-10, the manipulator of the present embodiment adds a three-mechanical arm 4 on the basis of embodiment three, and the lower end of described three-mechanical arm 4 is fixedly connected with the upper junction plate 11 of a swivel adapter 1; And second harmonic gear 31 and the second CD-ROM drive motor 32 is provided with on described second mechanical arm 3, the wave producer of described second harmonic gear 31 is directly connected with the output shaft of the second CD-ROM drive motor 32, and the flexbile gear of described second harmonic gear 31 is fixedly connected with the lower connecting plate 12 of the swivel adapter 1 of three-mechanical arm 4 lower end.Preferably, described second CD-ROM drive motor 32 is installed perpendicular to described first CD-ROM drive motor 23.Described three-mechanical arm 4 can arrange the external tools such as pliers, electric torch or sucker, also another mechanical arm can be set.The power line of described second CD-ROM drive motor 32 is connected with described control panel 21 with line gap 14 excessively through the line three-way hole 15 of crossing of the swivel adapter 1 is connected with first harmonic gear 22.Further, described second mechanical arm 3 is provided with the second installation cavity 33, and the firm wheel of described second CD-ROM drive motor 32 and second harmonic gear 31 is fixedly mounted with described second installation cavity 33 by a flange 8.The effect of described second installation cavity 33 is identical with the effect of the first installation cavity 24, repeats no more herein.
Embodiment five
As shown in Figure 11-Figure 5, the manipulator of the present embodiment adds the 4th mechanical arm 5 on the basis of embodiment four, the 3rd CD-ROM drive motor 51 and third harmonic gear 52 is provided with in 4th mechanical arm 5, the wave producer of described third harmonic gear 52 is directly connected with the output shaft of described 3rd CD-ROM drive motor 51, and the flexbile gear of described third harmonic gear 52 is fixedly connected with the upper end of described three-mechanical arm 4 by a swivel adapter 1.Preferably, described 3rd CD-ROM drive motor 51 is installed perpendicular to described second CD-ROM drive motor 32.For convenience of wiring, described three-mechanical arm 4 comprises a hollow cavity 41, the power line of described 3rd CD-ROM drive motor 51 successively through the swivel adapter 1 is connected with three-mechanical arm 4 upper end cross line gap 14, upper junction plate 11 cross line three-way hole 15, three-mechanical arm 4 hollow cavity 41, be connected with first harmonic gear 22 the upper junction plate 11 of swivel adapter 1 line three-way hole 15 and line gap 14, be connected with described control panel 21.Further, described 4th mechanical arm 5 is provided with the 3rd installation cavity 53, and the firm wheel of described 3rd CD-ROM drive motor 51 and third harmonic gear 52 is fixedly mounted with described 3rd installation cavity 53 by a flange 8.The effect of described 3rd installation cavity 53 is identical with the effect of the first installation cavity 24, repeats no more herein.
Embodiment six
As shown in Figure 11-Figure 5, the manipulator of the present embodiment adds the 5th mechanical arm 6 on the basis of embodiment five; Described 4th mechanical arm 5 is also provided with the 4th harmonic gear 54 and four-wheel drive motor 55, and the wave producer of described 4th harmonic gear 54 is directly connected with the output shaft of described four-wheel drive motor 55; Described 5th mechanical arm 6 is fixedly connected with by the flexbile gear of a swivel adapter 1 with the 4th harmonic gear 54.Preferably, described four-wheel drive motor 55 is installed perpendicular to described 3rd CD-ROM drive motor 51.The power line of described four-wheel drive motor 55 is connected along the path that the 3rd CD-ROM drive motor 51 power line is identical with described control panel 21.Described 5th mechanical arm 6 comprises the shell 61 and outwardly directed connecting portion 62 that cover at described 4th harmonic gear 54 outside.Described 4th mechanical arm 5 is also provided with the 4th installation cavity 56 adapted with described four-wheel drive motor 55, and the firm wheel of described four-wheel drive motor 55 and the 4th harmonic gear 54 is fixedly mounted with described 4th installation cavity 56 by a flange 8.Further, the connecting portion 62 of the manipulator of the present embodiment one end and described 5th mechanical arm 6 of also comprising the 6th mechanical arm the 7, six mechanical arm 7 is rotationally connected.The 5th harmonic gear 71 and the 5th CD-ROM drive motor 72 is provided with in described 6th mechanical arm 7, the coaxial that the connecting portion of the 5th CD-ROM drive motor 72 and the 6th mechanical arm 7 and the 5th mechanical arm 6 is rotationally connected is installed, and its output shaft is directly connected with the wave producer of described 5th harmonic gear 71, the firm wheel of described 5th harmonic gear 71 is fixedly connected with described connecting portion.Preferably, described 5th CD-ROM drive motor 72 is installed perpendicular to described four-wheel drive motor 55.The other end of described 6th mechanical arm 7 is provided with the 6th CD-ROM drive motor 73 and the 6th harmonic gear 74, and the wave producer of described 6th harmonic gear 74 is directly connected with the output shaft of the 6th CD-ROM drive motor 73, and its steel wheel is fixedly connected with described 6th mechanical arm 7.Preferably, described 6th CD-ROM drive motor 73 is installed perpendicular to described 5th CD-ROM drive motor 72.The flexbile gear of described 6th harmonic gear 74 then for installing the external tools such as pliers, electric torch, sucker, to complete as assembly process or printing process, or the operation that freezes, or packaging process or other operations get/put the work such as part.The manipulator of the present embodiment is six axis robot, due to its each joint, mechanical arm is all direct is connected with CD-ROM drive motor by a harmonic gear, the positioning precision of this six axis robot is improved greatly with respect to the positioning precision of conventional robot (belt transmission or gear train transmission), also reduce volume and the own load of manipulator, improve sensitivity.The each rotation establishing device arranged then makes the power line of respective drive motor can be connected internally to control panel 21 from this manipulator; Meanwhile, power line after rotating establishing device is set and passes without the need to the centre from harmonic gear, therefore can adopt the harmonic gear of volume less (or perhaps diameter is less), be also conducive to the volume and the own load that reduce manipulator, very high sensitivity.
It should be noted that, the power line etc. of each CD-ROM drive motor all adopts label 9 to represent in relevant drawings.
Should be understood that, above embodiment only in order to technical scheme of the present invention to be described, is not intended to limit, for a person skilled in the art, technical scheme described in above-described embodiment can be modified, or equivalent replacement is carried out to wherein portion of techniques feature; And all such modifications and replacement, all should belong to the protection domain of claims of the present invention.
Claims (18)
1. a swivel adapter, it is characterized in that: comprise upper junction plate, lower connecting plate and connect the connector of described upper junction plate and lower connecting plate, and described upper junction plate, between lower connecting plate and connector, formed line space, described upper junction plate be provided with and described cross that line space is connected cross line three-way hole.
2. swivel adapter according to claim 1, it is characterized in that: described lower connecting plate was provided with line three-way hole, described connector comprises at least two joint pins, and the two ends of described joint pin are fixedly connected with lower connecting plate with described upper junction plate respectively.
3. swivel adapter according to claim 2, is characterized in that: described upper junction plate, lower connecting plate and connector are made by metal or carbon fibre material.
4. a manipulator, at least comprise the first mechanical arm, the second mechanical arm, first harmonic gear and the first CD-ROM drive motor that is installed in described first mechanical arm that are provided with control panel, the wave producer of described first harmonic gear is directly connected with the output shaft of the first CD-ROM drive motor, it is characterized in that: this manipulator also comprises the arbitrary described swivel adapter of claim 1-3, the upper junction plate of swivel adapter is fixedly connected with described second mechanical arm lower end, and lower connecting plate is fixedly connected with the flexbile gear of first harmonic gear.
5. manipulator according to claim 4, it is characterized in that: be provided with the first installation cavity in described first mechanical arm, the firm wheel of described first CD-ROM drive motor and first harmonic gear is fixedly mounted by a flange and described first installation cavity.
6. manipulator according to claim 4, it is characterized in that: also comprise three-mechanical arm, the lower end of this three-mechanical arm is fixedly connected with the upper junction plate of a swivel adapter; Described second mechanical arm is provided with second harmonic gear and the second CD-ROM drive motor, the wave producer of described second harmonic gear is directly connected with the output shaft of the second CD-ROM drive motor, and the flexbile gear of described second harmonic gear is fixedly connected with the lower connecting plate of the swivel adapter of three-mechanical arm lower end.
7. manipulator according to claim 6, is characterized in that: the power line of described second CD-ROM drive motor is connected with described control panel with line space excessively through the line three-way hole of crossing of the upper junction plate of the swivel adapter is connected with first harmonic gear.
8. manipulator according to claim 6 or 7, is characterized in that: described second mechanical arm is provided with the second installation cavity, and the firm wheel of described second CD-ROM drive motor and second harmonic gear is fixedly mounted by a flange and described second installation cavity.
9. manipulator according to claim 7, it is characterized in that: also comprise the 4th mechanical arm, the 3rd CD-ROM drive motor and third harmonic gear is provided with in 4th mechanical arm, the wave producer of described third harmonic gear is directly connected with the output shaft of described 3rd CD-ROM drive motor, and the flexbile gear of described third harmonic gear is fixedly connected with by the upper end of a swivel adapter with described three-mechanical arm.
10. manipulator according to claim 9, it is characterized in that: described three-mechanical arm comprises a hollow cavity, the power line of described 3rd CD-ROM drive motor successively through the swivel adapter is connected with three-mechanical arm upper end cross line space, upper junction plate cross line three-way hole, three-mechanical arm hollow cavity, be connected with first harmonic gear the upper junction plate of swivel adapter line three-way hole and line space, be connected with described control panel.
11. according to claim 9 or 10 manipulator, it is characterized in that: described 4th mechanical arm is provided with the 3rd installation cavity, the firm wheel of described 3rd CD-ROM drive motor and third harmonic gear is fixedly mounted by a flange and described 3rd installation cavity.
12. manipulators according to claim 10, is characterized in that: also comprise the 5th mechanical arm; Described 4th mechanical arm is also provided with the 4th harmonic gear and four-wheel drive motor, and the wave producer of described 4th harmonic gear is directly connected with the output shaft of described four-wheel drive motor; Described 5th mechanical arm is fixedly connected with by the flexbile gear of a swivel adapter with the 4th harmonic gear.
13., according to manipulator described in claim 12, is characterized in that: the power line of described four-wheel drive motor is connected along the path that the 3rd CD-ROM drive motor power line is identical with described control panel.
14., according to manipulator described in claim 13, is characterized in that: described 5th mechanical arm comprises the shell and outwardly directed connecting portion that cover at described 4th harmonic gear outside.
15., according to the arbitrary described manipulator of claim 12-14, is characterized in that: described 4th mechanical arm is also provided with the 4th installation cavity, and the firm wheel of described four-wheel drive motor and the 4th harmonic gear is fixedly mounted by a flange and described 4th installation cavity.
16., according to manipulator described in claim 14, is characterized in that: also comprise the 6th mechanical arm, and one end of the 6th mechanical arm and the connecting portion of described 5th mechanical arm are rotationally connected.
17. according to manipulator described in claim 16, it is characterized in that: in described 6th mechanical arm, be provided with the 5th harmonic gear and the 5th CD-ROM drive motor, the coaxial that the connecting portion of the 5th CD-ROM drive motor and the 6th mechanical arm and the 5th mechanical arm is rotationally connected is installed, and the wave producer of the 5th harmonic gear directly connects described in its output shaft, the firm wheel of described 5th harmonic gear is fixedly connected with described connecting portion.
18. according to manipulator described in claim 17, it is characterized in that: the other end of described 6th mechanical arm is provided with the 6th CD-ROM drive motor and the 6th harmonic gear, the wave producer of described 6th harmonic gear is directly connected with the output shaft of the 6th CD-ROM drive motor, and steel wheel is fixedly connected with described 6th mechanical arm.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610066432.1A CN105563477A (en) | 2016-01-29 | 2016-01-29 | Rotary adapter and mechanical hand with same |
| PCT/CN2016/113576 WO2017128923A1 (en) | 2016-01-29 | 2016-12-30 | Rotary adapter and manipulator with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610066432.1A CN105563477A (en) | 2016-01-29 | 2016-01-29 | Rotary adapter and mechanical hand with same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105563477A true CN105563477A (en) | 2016-05-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610066432.1A Pending CN105563477A (en) | 2016-01-29 | 2016-01-29 | Rotary adapter and mechanical hand with same |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN105563477A (en) |
| WO (1) | WO2017128923A1 (en) |
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