CN105835054A - Rotary driving mechanism for manipulator - Google Patents
Rotary driving mechanism for manipulator Download PDFInfo
- Publication number
- CN105835054A CN105835054A CN201610368304.2A CN201610368304A CN105835054A CN 105835054 A CN105835054 A CN 105835054A CN 201610368304 A CN201610368304 A CN 201610368304A CN 105835054 A CN105835054 A CN 105835054A
- Authority
- CN
- China
- Prior art keywords
- motor
- fixing seat
- rotation dish
- rotary shaft
- mechanical arm
- 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.)
- Granted
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Classifications
-
- 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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a rotary driving mechanism for a manipulator. The rotary driving mechanism for the manipulator comprises a base, a fixing seat, a first motor, a rotary disc, a swinging mechanism and a lower arm body, wherein the fixing seat is connected to the base through a damping mechanism; the first motor is installed in the fixing seat; the rotary disc is movably connected in the fixing seat; the shaft outlet end of the first motor is connected with the bottom of the rotary disc; a positioning mechanism is arranged between the rotary disc and the fixing seat; the swinging mechanism is installed on the rotary disc; and the lower arm body is connected with the swinging mechanism. The rotary driving mechanism for the manipulator has the advantages of simple structure, easiness in manufacturing, practicability and high efficiency.
Description
Technical field
The present invention relates to mechanical arm technical field, a kind of rotary drive mechanism for mechanical arm.
Background technology
Mechanical arm is the automated machine device obtaining broad practice in robot technical field,
The fields such as industry manufacture, therapeutic treatment, entertainment service, military affairs, semiconductor manufacturing and space probation can
See its figure.Although their form is had nothing in common with each other, but they have a common feature, it is simply that
Instruction can be accepted, be precisely positioned to three-dimensional (or two dimension) certain point spatially and carry out operation, arm one
As have 3 motions: stretch, rotate and lift.Realize rotation, elevating movement is to have been gone by transverse arm and product post.
But in gas cutting field, the driving means rotated for mechanical arm also exists significant limitation, and it cannot
Meeting and modernize industrial needs, just seeming so designing a kind of rotary drive mechanism for mechanical arm
Particularly important.
Summary of the invention
The technical issues that need to address of the present invention are by arranging detent mechanism between fixing seat and rotation dish,
Utilize detent mechanism to reduce inertia, mechanical arm rotary motion to be impacted, improve the rotation essence of mechanical arm
Degree；A kind of rotary drive mechanism for mechanical arm is provided.
For solving above-mentioned technical problem, the structure of the present invention includes
Base,
Fixing seat, described fixing seat is connected on base by damping,
First motor, the first described motor is arranged in fixing seat,
Rotation dish, described rotation disk activity is connected in fixing seat, and the axle head that goes out of the first described motor connects
It is connected on the bottom of rotation dish, between described rotation dish and fixing seat, is provided with detent mechanism,
Swing mechanism, described swing mechanism is arranged on the top of rotation dish,
Underarm body, described underarm body is connected with swing mechanism.
Further: described damping includes linear bearing, the first spring and antivibrator, described straight line
Bearing and antivibrator are arranged between base and fixing seat, and the upper end of described linear bearing stretches to fixing seat
In, the first described ring spring is wound on the outside of linear bearing, the two ends of the first described spring respectively with the end
Seat is connected with fixing seat.
Further: described detent mechanism mechanism includes the hemispherical draw-in groove being opened in inside fixing seat, opens
It is located at the gathering sill outside rotation dish, spherical dop and the second spring, described two ends, fixing seat left and right interior
Side respectively offers a hemispherical draw-in groove, and described spherical dop is connected in gathering sill by the second spring,
Described spherical dop snaps in hemispherical draw-in groove under the effect of the second spring, it is achieved fixing seat and rotation dish
Between location.
Further: described swing mechanism includes swinging housing, the second motor, the first rotary shaft and first
Locking nut, the second described motor is arranged in swing housing, the described sidewall swinging housing is offered
The first connecting hole, the outside of the first described rotary shaft is had to be provided with external connection screw, the first described rotary shaft
One end be connected through the first connecting hole and the second motor, the other end of the first described rotary shaft passes underarm
Body, in the first rotary shaft of described underarm body both sides, there is first locking nut each connection, described under
Arm body is fixed connected by the first locking nut and first rotary shaft of both sides.
Further: between the second described motor and rotation dish, be additionally provided with height adjustment mechanism, described
Height adjustment mechanism includes the 3rd motor, the first leading screw, feed screw nut and gripper shoe, the second described motor
Installing on the supporting plate, the 3rd described motor is arranged on rotation dish, the 3rd described motor and first
Thick stick is connected, and described gripper shoe is connected by feed screw nut and the first leading screw.
Further: the second described motor and the first rotary shaft=between be provided with the first torque force limiting device.
After using said structure, the present invention, by arranging detent mechanism between fixing seat and rotation dish, utilizes
Detent mechanism reduces inertia and impacts mechanical arm rotary motion, improves the running accuracy of mechanical arm；
And the design also has simple in construction, the easily fabricated and advantage of practicality and high efficiency.
Accompanying drawing explanation
The present invention is further detailed explanation with detailed description of the invention below in conjunction with the accompanying drawings.
Fig. 1 is present invention structural representation when not rotating.
Fig. 2 is the structural representation after half-twist of the present invention.
Fig. 3 is the enlarged drawing of A in Fig. 2.
Fig. 4 is the structural representation of height adjustment mechanism.
Detailed description of the invention
A kind of rotary drive mechanism for mechanical arm as shown in Figure 1, including base 1, fixing seat 2, the
One motor 6, rotation dish 3, swing mechanism 4 and underarm body 5, described fixing seat 2 is by damping even
Being connected on base 1, the first described motor 6 is arranged in fixing seat 2, and described rotation dish 3 is movable even
Being connected in fixing seat 2, the axle head that goes out of the first described motor 6 is connected to the bottom of rotation dish 3, described
Being provided with detent mechanism between rotation dish 3 and fixing seat 2, described swing mechanism is arranged on rotation dish 3
Top, described underarm body 5 is connected with swing mechanism.Starting the first motor 6 during work makes it with rotation
Dish 3 rotates, thus underarm body 5 is turned to corresponding workbench, then starts swing mechanism and makes it
Rotate with underarm body 5, complete the regulation to underarm body 5 angle.The design have simple in construction,
The easily fabricated advantage with practicality and high efficiency.
Damping as depicted in figs. 1 and 2 includes linear bearing the 7, first spring 8 and antivibrator 9, institute
The linear bearing 7 stated and antivibrator 9 are arranged between base 1 and fixing seat 2, described linear bearing 7
Upper end stretch in fixing seat 2, the first described spring 8 is looped around the outside of linear bearing 7, described
The two ends of the first spring 8 be connected with base 1 and fixing seat 2 respectively.The design passes through the first spring 8 He
Antivibrator 9 reduces vibration and impacts mechanical arm main body.
Detent mechanism mechanism as shown in Figures 2 and 3 includes being opened in the hemispherical draw-in groove inside fixing seat 2
11, it is opened in the gathering sill 12 outside rotation dish 3, spherical dop 13 and the second spring 14, described consolidates
The inner side at reservation about 2 two ends respectively offers a hemispherical draw-in groove 11, and described spherical dop 13 is by the
Two springs 14 are connected in gathering sill 12, and described spherical dop 13 blocks under the effect of the second spring 14
Enter in hemispherical draw-in groove 11, it is achieved fixing location between seat 2 and rotation dish 3.The design is by fixing
Between seat and rotation dish, detent mechanism is set, utilizes detent mechanism to reduce inertia, mechanical arm rotary motion to be made
Become impact, improve the running accuracy of mechanical arm.
Swing mechanism 4 as shown in Figure 1 and Figure 4 includes that swinging housing the 17, second motor 16, first rotates
Axle 15 and the first locking nut 10, the second described motor 16 is arranged in swing housing 17, described pendulum
The first connecting hole is offered, outside the outside of the first described rotary shaft 15 is provided with on the sidewall of dynamic housing 17
Connecing screw thread, one end of the first described rotary shaft 15 is connected through the first connecting hole and the second motor 16, institute
The other end of the first rotary shaft 15 stated passes underarm body 5, the first rotary shaft of described underarm body 5 both sides
On 15, there is first locking nut 10 each connection, the described underarm body 5 first locking nut by both sides
10 fixing with the first rotary shaft 15 are connected.Start the second motor 16 during work and be passed to the first rotary shaft 15
Drive underarm body 5 to rotate, complete the regulation to underarm body 5 angle.
It is additionally provided with height adjustment mechanism between the second motor 16 and rotation dish 3 as shown in Figure 4, described
Height adjustment mechanism includes the 3rd motor the 19, first leading screw 20, feed screw nut 21 and gripper shoe 18, described
The second motor 16 be arranged in gripper shoe 18, the 3rd described motor 19 is arranged on rotation dish 3, institute
The 3rd motor 19 stated is connected with the first leading screw 20, and described gripper shoe 18 is by feed screw nut 21 and the
One leading screw 20 is connected.By starting the 3rd motor 19 during work, it is utilized to revolve with the first leading screw 20
Turning, gripper shoe 18 carries out the motion on vertical direction under the drive of feed screw nut 21, thus completes the
The regulation of two motor 16 height, makes the shaft of the second motor 16 rectify facing to the first connecting hole, by using
Above-mentioned design, decreases the mismachining tolerance impact on the design, enables mechanical arm normal mounting and work.
It is provided with the first torque force limiting device between the second motor 16 and the first rotary shaft 15 in the design, logical
Cross the first torque force limiting device to play the effect of self-protection, prevent the stuck structure to the second motor 16
Cause damage.
Claims (6)
1. the rotary drive mechanism for mechanical arm, it is characterised in that: include
Base (1),
Fixing seat (2), described fixing seat (2) is connected on base (1) by damping,
First motor (6), described the first motor (6) is arranged in fixing seat (2),
Rotation dish (3), described rotation dish (3) is movably connected in fixing seat (2), described the first motor (6)
The axle head that goes out be connected to the bottom of rotation dish (3), between described rotation dish (3) and fixing seat (2), be provided with location
Mechanism,
Swing mechanism (4), described swing mechanism (4) is arranged on the top of rotation dish (3),
Underarm body (5), described underarm body (5) is connected with swing mechanism.
A kind of rotary drive mechanism for mechanical arm the most according to claim 1, it is characterised in that:
Described damping includes linear bearing (7), the first spring (8) and antivibrator (9), described linear bearing
(7) being arranged between base (1) and fixing seat (2) with antivibrator (9), the upper end of described linear bearing (7) is stretched
Entering to fixing seat (2), described the first spring (8) is looped around the outside of linear bearing (7), described first
The two ends of spring (8) are connected with base (1) and fixing seat (2) respectively.
A kind of rotary drive mechanism for mechanical arm the most according to claim 1, it is characterised in that:
Described detent mechanism mechanism includes the hemispherical draw-in groove (11) being opened in fixing seat (2) inner side, is opened in and turns
Gathering sill (12), spherical dop (13) and second spring (14) in Moving plate (3) outside, described
The inner side at fixing seat (2) two ends, left and right respectively offers a hemispherical draw-in groove (11), described spherical dop
(13) being connected in gathering sill (12) by the second spring (14), described spherical dop (13) is at the second spring
(14) snap in hemispherical draw-in groove (11) under effect, it is achieved fixing seat (2) and rotation dish (3)
Between location.
A kind of rotary drive mechanism for mechanical arm the most according to claim 1, it is characterised in that:
Described swing mechanism (4) includes swinging housing (17), the second motor (16), the first rotary shaft
(15) and the first locking nut (10), described the second motor (16) is arranged in swing housing (17), described
Swing housing (17) sidewall on offer the first connecting hole, the outside of described the first rotary shaft (15) sets
Being equipped with external connection screw, one end of described the first rotary shaft (15) passes the first connecting hole and the second motor (16)
Being connected, the other end of described the first rotary shaft (15) passes underarm body (5), described underarm body (5) both sides
The upper each connection of the first rotary shaft (15) have first locking nut (10), described underarm body (5) passes through two
First locking nut (10) of side is fixing with the first rotary shaft (15) to be connected.
A kind of rotary drive mechanism for mechanical arm the most according to claim 4, it is characterised in that:
Being additionally provided with height adjustment mechanism between described the second motor (16) and rotation dish (3), described height is adjusted
Joint mechanism includes the 3rd motor (19), the first leading screw (20), feed screw nut (21) and gripper shoe (18), described
The second motor (16) be arranged in gripper shoe (18), the 3rd described motor (19) is arranged on rotation dish (3)
On, the 3rd described motor (19) is connected with the first leading screw (20), and described gripper shoe (18) passes through leading screw spiral shell
Female (21) are connected with the first leading screw (20).
A kind of rotary drive mechanism for mechanical arm the most according to claim 4, it is characterised in that:
It is provided with the first torque force limiting device between described the second motor (16) and the first rotary shaft (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610368304.2A CN105835054B (en) | 2016-05-27 | 2016-05-27 | A kind of rotary drive mechanism for mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610368304.2A CN105835054B (en) | 2016-05-27 | 2016-05-27 | A kind of rotary drive mechanism for mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105835054A true CN105835054A (en) | 2016-08-10 |
| CN105835054B CN105835054B (en) | 2018-04-03 |
Family
ID=56595723
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610368304.2A Expired - Fee Related CN105835054B (en) | 2016-05-27 | 2016-05-27 | A kind of rotary drive mechanism for mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105835054B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107591060A (en) * | 2017-10-14 | 2018-01-16 | 冯兴溥 | A kind of student's teaching intelligent robot based on human-computer interaction |
| CN107932555A (en) * | 2017-11-03 | 2018-04-20 | 江苏新铁重工装备有限公司 | A kind of industrial robot mounting seat |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02269591A (en) * | 1989-04-10 | 1990-11-02 | Toshiba Corp | Robot |
| CN201664821U (en) * | 2010-04-07 | 2010-12-08 | 陈火生 | Rotary mechanical arm used for electric welder |
| CN102922516A (en) * | 2012-11-23 | 2013-02-13 | 莱芜精瑞模具有限公司 | Pneumatic power assisting industrial robot |
| CN105261933A (en) * | 2015-11-24 | 2016-01-20 | 曾凯涛 | Adjustable lightning rod |
| CN105500401A (en) * | 2016-01-04 | 2016-04-20 | 山东省科学院自动化研究所 | Flexible rotational joint with torque limitation function |
| CN205651349U (en) * | 2016-05-27 | 2016-10-19 | 常州嘉盈车辆部件有限公司 | A rotary driving mechanism for arm |
-
2016
- 2016-05-27 CN CN201610368304.2A patent/CN105835054B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02269591A (en) * | 1989-04-10 | 1990-11-02 | Toshiba Corp | Robot |
| CN201664821U (en) * | 2010-04-07 | 2010-12-08 | 陈火生 | Rotary mechanical arm used for electric welder |
| CN102922516A (en) * | 2012-11-23 | 2013-02-13 | 莱芜精瑞模具有限公司 | Pneumatic power assisting industrial robot |
| CN105261933A (en) * | 2015-11-24 | 2016-01-20 | 曾凯涛 | Adjustable lightning rod |
| CN105500401A (en) * | 2016-01-04 | 2016-04-20 | 山东省科学院自动化研究所 | Flexible rotational joint with torque limitation function |
| CN205651349U (en) * | 2016-05-27 | 2016-10-19 | 常州嘉盈车辆部件有限公司 | A rotary driving mechanism for arm |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107591060A (en) * | 2017-10-14 | 2018-01-16 | 冯兴溥 | A kind of student's teaching intelligent robot based on human-computer interaction |
| CN107591060B (en) * | 2017-10-14 | 2019-08-23 | 冯兴溥 | A kind of student's teaching intelligent robot based on human-computer interaction |
| CN107932555A (en) * | 2017-11-03 | 2018-04-20 | 江苏新铁重工装备有限公司 | A kind of industrial robot mounting seat |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105835054B (en) | 2018-04-03 |
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Granted publication date: 20180403 Termination date: 20190527 |
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| CF01 | Termination of patent right due to non-payment of annual fee |