CN105835054B - A kind of rotary drive mechanism for mechanical arm - Google Patents
A kind of rotary drive mechanism for mechanical arm Download PDFInfo
- Publication number
- CN105835054B CN105835054B CN201610368304.2A CN201610368304A CN105835054B CN 105835054 B CN105835054 B CN 105835054B CN 201610368304 A CN201610368304 A CN 201610368304A CN 105835054 B CN105835054 B CN 105835054B
- Authority
- CN
- China
- Prior art keywords
- fixed seat
- motor
- rotating disc
- mechanical arm
- rotary shaft
- 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.)
- Expired - Fee Related
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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 present invention relates to a kind of rotary drive mechanism for mechanical arm, including base, fixed seat, the first motor, rotating disc, swing mechanism and underarm body, described fixed seat is connected on base by damping, the first described motor is arranged in fixed seat, described rotating disc is movably connected in fixed seat, the bottom for going out shaft end and being connected to rotating disc of the first described motor, detent mechanism is provided between described rotating disc and fixed seat, described swing mechanism is arranged on the top of rotating disc, and described underarm body is connected with swing mechanism.The design has the advantages of simple in construction, easily fabricated and practicality and high efficiency.
Description
Technical field
The present invention relates to mechanical arm technical field, particularly a kind of rotary drive mechanism for mechanical arm.
Background technology
Mechanical arm is the automated machine device that most broad practice is obtained in robot technical field, is made in industry
Make, therapeutic treatment, entertainment service, military affairs, the field such as semiconductor manufacturing and space probation can see its figure.Although it
Form have nothing in common with each other, but they have one it is common the characteristics of, can exactly receive instruction, be precisely positioned to three-dimensional
The certain point of (or two dimension) spatially carries out operation, and arm typically has 3 motions:Flexible, rotation and lifting.Realize rotation, rise
Drop motion is to go to complete by transverse arm and production post.But in gas cutting field, there is very for the drive device rotated for mechanical arm
Big limitation, it can not meet the needs of modernization industry production, so designing a kind of rotary driving machine for mechanical arm
Structure is just particularly important.
The content of the invention
The technical problem to be solved in the invention is by setting detent mechanism between fixed seat and rotating disc, using calmly
Position mechanism impacts to reduce inertia to mechanical arm rotary motion, improves the running accuracy of mechanical arm；One kind is provided to be used for
The rotary drive mechanism of mechanical arm.
To solve above-mentioned technical problem, structure of the invention includes
Base,
Fixed seat, described fixed seat are connected on base by damping,
First motor, the first described motor are arranged in fixed seat,
Rotating disc, described rotating disc are movably connected in fixed seat, the first described motor go out shaft end be connected to turn
The bottom of Moving plate, detent mechanism is provided between described rotating disc and fixed seat,
Swing mechanism, described swing mechanism are arranged on the top of rotating disc,
Underarm body, described underarm body are connected with swing mechanism.
Further：Described damping includes linear bearing, the first spring and damper, described linear bearing and resistance
Buddhist nun's device is arranged between base and fixed seat, and the upper end of described linear bearing is stretched in fixed seat, the first described spring
The outside of linear bearing is looped around, the both ends of the first described spring are connected with base and fixed seat respectively.
Further：Described detent mechanism mechanism includes being opened in the hemispherical neck on the inside of fixed seat, is opened in and turns
Guide groove, spherical dop and second spring on the outside of Moving plate, the inner side of described fixed seat left and right ends respectively offers one and half
Spherical neck, described spherical dop are connected in guide groove by second spring, and described spherical dop is in second spring
It is caught under effect in hemispherical neck, realizes the positioning between fixed seat and rotating disc.
Further：Described swing mechanism includes swinging housing, the second motor, the first rotary shaft and the first locking screw
Mother, the second described motor, which is arranged on, to be swung in housing, and the first connecting hole is offered in the side wall of described swing housing, described
The first rotary shaft on the outside of be provided with external connection screw, one end of the first described rotary shaft is electric with second through the first connecting hole
Machine is connected, and the other end of the first described rotary shaft passes through underarm body, respectively connects in the first rotary shaft of described underarm body both sides
First locking nut is connected to, described underarm body is fixedly connected by the first locking nut of both sides with the first rotary shaft.
Further：Height adjustment mechanism is additionally provided between the second described motor and rotating disc, described height is adjusted
Section mechanism includes the 3rd motor, the first leading screw, feed screw nut and supporting plate, and the second described motor is installed on the supporting plate, institute
The 3rd motor stated is arranged on rotating disc, and the 3rd described motor is connected with the first leading screw, and described supporting plate passes through leading screw
Nut is connected with 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 said structure, the present invention utilizes localization machine by setting detent mechanism between fixed seat and rotating disc
Structure impacts to reduce inertia to mechanical arm rotary motion, improves the running accuracy of mechanical arm；And the design also has
The advantages of simple in construction, easily fabricated and practicality and high efficiency.
Brief description of the drawings
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description.
Fig. 1 is the structural representation when present invention does not rotate.
Fig. 2 is the structural representation after the present invention is rotated by 90 °.
Fig. 3 is the enlarged drawing of A in Fig. 2.
Fig. 4 is the structural representation of height adjustment mechanism.
Embodiment
A kind of rotary drive mechanism for mechanical arm as shown in Figure 1, including base 1, fixed seat 2, the first motor 6,
Rotating disc 3, swing mechanism 4 and underarm body 5, described fixed seat 2 are connected on base 1 by damping, and described first
Motor 6 is arranged in fixed seat 2, and described rotating disc 3 is movably connected in fixed seat 2, and the first described motor 6 goes out shaft end
The bottom of rotating disc 3 is connected to, detent mechanism, described swing mechanism peace are provided between described rotating disc 3 and fixed seat 2
Mounted in the top of rotating disc 3, described underarm body 5 is connected with swing mechanism.Starting the first motor 6 during work makes it with rotation
Disk 3 is rotated, and so that underarm body 5 is turned to corresponding workbench, then starting swing mechanism makes it enter with underarm body 5
Row rotation, completes the regulation to the angle of underarm body 5.The design has the advantages of simple in construction, easily fabricated and practicality and high efficiency.
Damping as depicted in figs. 1 and 2 includes linear bearing 7, the first spring 8 and damper 9, described linear axis
Hold 7 and damper 9 be arranged between base 1 and fixed seat 2, the upper end of described linear bearing 7 is stretched in fixed seat 2, institute
The first spring 8 stated is looped around the outside of linear bearing 7, the both ends of the first described spring 8 respectively with base 1 and fixed seat 2
It is connected.The design is impacted by the first spring 8 and damper 9 to reduce vibration to mechanical arm main body.
Detent mechanism mechanism as shown in Figures 2 and 3 includes being opened in the hemispherical neck 11 of the inner side of fixed seat 2, opens up
Guide groove 12, spherical dop 13 and second spring 14 in the outside of rotating disc 3, the inner side of the described left and right ends of fixed seat 2 are each
A hemispherical neck 11 is offered, described spherical dop 13 is connected in guide groove 12 by second spring 14, described
Spherical dop 13 is caught in the presence of second spring 14 in hemispherical neck 11, is realized and is determined between fixed seat 2 and rotating disc 3
Position.The design reduces inertia to mechanical arm by setting detent mechanism between fixed seat and rotating disc using detent mechanism
Rotary motion impacts, and improves the running accuracy of mechanical arm.
Swing mechanism 4 as shown in Figure 1 and Figure 4 includes swinging housing 17, the second motor 16, the first rotary shaft 15 and first
Locking nut 10, the second described motor 16, which is arranged on, to be swung in housing 17, is offered in the side wall of described swing housing 17
First connecting hole, the outside of the first described rotary shaft 15 are provided with external connection screw, and one end of the first described rotary shaft 15 is worn
Cross the first connecting hole with the second motor 16 to be connected, the other end of the first described rotary shaft 15 passes through underarm body 5, described underarm
Respectively be connected with first locking nut 10 in first rotary shaft 15 of the both sides of body 5, described underarm body 5 pass through both sides first
Locking nut 10 is fixedly connected with the first rotary shaft 15.Start the second motor 16 during work and be passed to the first rotary shaft 15 and drive
Underarm body 5 is rotated, and completes the regulation to the angle of underarm body 5.
Height adjustment mechanism, the regulation of described height are additionally provided between the second motor 16 and rotating disc 3 as shown in Figure 4
Mechanism includes the 3rd motor 19, the first leading screw 20, feed screw nut 21 and supporting plate 18, and the second described motor 16 is arranged on support
On plate 18, the 3rd described motor 19 is arranged on rotating disc 3, and the 3rd described motor 19 is connected with the first leading screw 20, described
Supporting plate 18 be connected by feed screw nut 21 with the first leading screw 20.During work by start the 3rd motor 19, using its with
First leading screw 20 is rotated, and supporting plate 18 carries out the motion on vertical direction under the drive of feed screw nut 21, so as to complete
Regulation to the height of the second motor 16, the shaft of the second motor 16 is set to rectify against the first connecting hole, by using above-mentioned design,
Reduce influence of the mismachining tolerance to the design, enable mechanical arm normal mounting and work.
The first torque force limiting device is provided between the second motor 16 and the first rotary shaft 15 in the design, is turned round by first
Force-limiting device plays a part of self-protection, prevents the stuck structure to the second motor 16 and causes to damage.
Claims (5)
- A kind of 1. rotary drive mechanism for mechanical arm, it is characterised in that：Including base (1), fixed seat (2), the first motor (6), rotating disc (3), swing mechanism (4) and underarm body (5), described fixed seat (2) are connected to base (1) by damping On, described the first motor (6) is arranged in fixed seat (2), and described rotating disc (3) is movably connected in fixed seat (2), institute The bottom for going out shaft end and being connected to rotating disc (3) for the first motor (6) stated, sets between described rotating disc (3) and fixed seat (2) Detent mechanism is equipped with, described swing mechanism (4) is arranged on the top of rotating disc (3), described underarm body (5) and swing mechanism It is connected；Described detent mechanism includes being opened in the hemispherical neck (11) on the inside of fixed seat (2), is opened on the outside of rotating disc (3) Guide groove (12), spherical dop (13) and second spring (14), the inner side of described fixed seat (2) left and right ends respectively offers One hemispherical neck (11), described spherical dop (13) is connected in guide groove (12) by second spring (14), described Spherical dop (13) be caught in the presence of second spring (14) in hemispherical neck (11), realize fixed seat (2) with rotating Positioning between disk (3).
- A kind of 2. rotary drive mechanism for mechanical arm according to claim 1, it is characterised in that：Described damping machine Structure includes linear bearing (7), the first spring (8) and damper (9), and described linear bearing (7) and damper (9) are arranged on bottom Between seat (1) and fixed seat (2), the upper end of described linear bearing (7) is stretched in fixed seat (2), the first described spring (8) be looped around the outside of linear bearing (7), the both ends of described the first spring (8) respectively with base (1) and fixed seat (2) phase Even.
- A kind of 3. rotary drive mechanism for mechanical arm according to claim 1, it is characterised in that：Described oscillating machine Structure (4) includes swinging housing (17), the second motor (16), the first rotary shaft (15) and the first locking nut (10), and described the Two motors (16), which are arranged on, to be swung in housing (17), and the first connecting hole, institute are offered in the side wall of described swing housing (17) External connection screw is provided with the outside of the first rotary shaft (15) stated, one end of described the first rotary shaft (15) connects through first Hole is connected with the second motor (16), and the other end of described the first rotary shaft (15) passes through underarm body (5), described underarm body (5) first locking nut (10) is respectively connected with the first rotary shaft (15) of both sides, described underarm body (5) passes through both sides The first locking nut (10) be fixedly connected with the first rotary shaft (15).
- A kind of 4. rotary drive mechanism for mechanical arm according to claim 3, it is characterised in that：The second described electricity Be additionally provided with height adjustment mechanism between machine (16) and rotating disc (3), described height adjustment mechanism include the 3rd motor (19), First leading screw (20), feed screw nut (21) and supporting plate (18), described the second motor (16) are arranged in supporting plate (18), institute The 3rd motor (19) stated is arranged on rotating disc (3), and the 3rd described motor (19) is connected with the first leading screw (20), described Supporting plate (18) is connected by feed screw nut (21) with the first leading screw (20).
- A kind of 5. rotary drive mechanism for mechanical arm according to claim 3, it is characterised in that：The second described electricity The first torque force limiting device is provided between machine (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 CN105835054A (en) | 2016-08-10 |
| CN105835054B true 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) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105835054A (en) | 2016-08-10 |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
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Granted publication date: 20180403 Termination date: 20190527 |