CN106002984A - Articulated arm type manipulator - Google Patents
Articulated arm type manipulator Download PDFInfo
- Publication number
- CN106002984A CN106002984A CN201610587187.9A CN201610587187A CN106002984A CN 106002984 A CN106002984 A CN 106002984A CN 201610587187 A CN201610587187 A CN 201610587187A CN 106002984 A CN106002984 A CN 106002984A
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- CN
- China
- Prior art keywords
- arm body
- arm
- servo motor
- reductor
- electric cabinet
- 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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- 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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- 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 discloses an articulated arm type manipulator which comprises an electric control box and a mechanical arm assembly connected to the electric control box, wherein the mechanical arm assembly comprises a first arm body, a second arm body and a catching assembly for catching an object; the first arm body and the second arm body are both transversely arranged strip-type structure bodies; the first arm body can be adjustably connected to the electric control box through a lifting driving mechanism relative to the vertical position of the electric control box, and can also rotate relative to the electric control box; the second arm body is connected to one end in the length direction of the first arm body in a supporting manner, and can rotate relative to the first arm body; the catching assembly is connected to one end, far away from the first arm body, of the second arm body, and can also rotate relative to the second arm body. The moving trace of the catching assembly of the articulated arm type manipulator is a circumferential surface, and the catching assembly can touch any point on the circumferential surface, so that the catching area of the catching assembly is greatly enlarged; the articulated arm type manipulator can be used for a production line with various layout forms, and is high in applicability.
Description
Technical field
The present invention relates to mechanical hand technical field, a kind of articulated arm mechanical hand of concrete offer.
Background technology
Mechanical hand, can imitate some holding function of staff and arm, in order to capture by fixed routine, to carry object or operation
The automatic pilot of instrument.It can replace the heavy labor of people to realize the mechanization and the automatization that produce, can be at harmful ring
Operate to protect personal safety under border, thus be widely used in machine-building, metallurgy, electronics, light industry and atomic energy department.
Mechanical hand mostly is articulated structure, and it is movable i.e. to include between multiple mechanical arm, and adjacent two mechanical arms
Connect, it is possible to realize mechanical hand walking between multiple stations；But existing articulated robot manipulator structure there are following
It is not enough: the movement locus of grabbing assembly generally remains point-blank, although the production line no-float arranged with linear type,
But the production line that nonlinear type is arranged can not be effectively applicable to, thus the application of existing articulated mechanical hand there are one
Fixed limitation.
In view of this, the special proposition present invention.
Summary of the invention
In order to overcome drawbacks described above, the invention provides a kind of articulated arm mechanical hand, this mechanical hand is the most rational in infrastructure,
Compact, positioning precision is high, flexible operation and safety；Could be applicable to the production line of variform, the suitability is wide.
The present invention is to solve that its technical problem be the technical scheme is that a kind of articulated arm mechanical hand, including electricity
Control case and the mechanical arm assembly that is connected on described electric cabinet, this mechanical arm assembly include the first arm body, the second arm body, with
And one for capture object grabbing assembly, described first arm body and the second arm body are the list structure body in lateral arrangement；Institute
State the first arm body and can be adjustably connected to described electric cabinet by the most described electric cabinet vertical position by a lift drive mechanism
On, the most described first arm body can also rotate relative to described electric cabinet；It is long that described second arm body is undertaken in described first arm body
On the one end in degree direction, and can rotate relative to described first arm body；Described grabbing assembly be undertaken in described second arm body away from
On one end of described first arm body, and described grabbing assembly can also rotate relative to described second arm body.
As a further improvement on the present invention, described lift drive mechanism includes the first servo motor, the first ball screw
The fixing seat of assembly, the first belt pulley set, the first synchronous belt, the first linear slide rail and lifting, wherein, described first servo motor
Location is built in described electric cabinet, described first ball screw assembly include one be vertically built in described electric cabinet the
One screw rod and one is slidedly arranged on the first nut on described first screw rod, and described first belt pulley set is by a pair first belt pulley set
Becoming, the first belt pulley fixed cover respectively is located at output shaft and an axle head of described first screw rod of described first servo motor by this
On, and this to the first belt pulley also by described first synchronous belt drive connect；Described first linear slide rail is the most fixed
Position is built in described electric cabinet, and described lifting is fixed seat and is undertaken on described first linear slide rail, and first linear with described
Slide rail composition matches and is slidably connected, and the most described lifting is fixed seat and is also located by connecting with described first nut；
It addition, described first arm body is undertaken in described lifting and fixes on seat, and the band of seat can also be fixed in described lifting
Under Dong, the most described electric cabinet moves up and down location.
As a further improvement on the present invention, described first arm body can also be relative to the structure that described electric cabinet rotates:
Being additionally provided with the first rotary drive mechanism, this first rotary drive mechanism includes the second servo motor, the first reductor and rotates main
Axle, described second servo motor location is arranged at described lifting and fixes on seat, and the power shaft of described first reductor is connected to institute
Stating the output shaft of the second servo motor, the output shaft of described first reductor is located by connecting in an axle side of described rotation main shaft,
And another axle side of described rotation main shaft also other end with described first arm body length direction is located by connecting.
As a further improvement on the present invention, described first arm body and the second arm body are hollow form；And described second arm
Body is undertaken on the one end in described first arm body length direction, and can be relative to the structure that described first arm body rotates: also set
Having the second rotary drive mechanism, this second rotary drive mechanism includes the 3rd servo motor, the second reductor, the second belt pulley set
With the second synchronous belt, wherein said 3rd servo motor location is inserted in described rotation main shaft, and the most described 3rd watches
The output shaft also activity taking motor is inserted in the described first arm body other end；Described second reductor location is built in described the
In one arm body one end, and the output shaft of the second reductor also to stretch out in described first arm external；Described second belt pulley set is by one
To the second belt pulley composition, the second belt pulley fixed cover respectively is located at the output shaft and described the of described 3rd servo motor by this
On the power shaft of two reductors, and the second belt pulley is connected by this also by described second synchronous belt drive；
It addition, the other end of described second arm body is located by connecting on the output shaft of described second reductor.
As a further improvement on the present invention, described grabbing assembly is undertaken in described second arm body away from described first arm body
One end on, and described grabbing assembly can also be relative to the structure that described second arm body rotates: is additionally provided with the 3rd rotation and drives
Mechanism, the 3rd rotary drive mechanism includes that the 4th servo motor and the 3rd reductor, described 4th servo motor location are planted
In one end of described second arm body, it is external that described 3rd reductor is placed in described second arm, and described 3rd reductor is defeated
The output shaft entering axle and described 4th servo motor is located by connecting, and the output shaft of described 3rd reductor is located by connecting and grabs in described
Take assembly.
As a further improvement on the present invention, described grabbing assembly include jib and grippers, described jib be by all in
The T-type structure body that first linking arm of long strip-board shape and the second linking arm are connected and constitute, and described first linking arm is dorsad
One end of described second linking arm is located by connecting on the output shaft of described 3rd reductor；Described grippers is sucker, jaw
With the one in electric magnet, and described grippers is located by connecting on described second linking arm.
As a further improvement on the present invention, described electric cabinet is vertical placement, and it has a setting housing, a collecting shell
Body and a case, described case location is arranged on the top of described setting housing, and described lift drive mechanism is contained in
In described case；Also being provided with a vertical U-shaped breach on described case, described case location is inserted in described
In U-shaped breach, and the most described case also covers at outside described first rotary drive mechanism；
It addition, described first rotary drive mechanism also includes one the 3rd Timing Belt, the power shaft of described first reductor
It is in transmission connection by the output shaft of described 3rd Timing Belt with described second servo motor；And described rotation spindle mobility is arranged at
Described lifting is fixed on seat.
As a further improvement on the present invention, described electric cabinet is the hollow rectangular structure of horizontal placement, described lifting
Drive mechanism is contained in this hollow rectangular structure, also the upper surface in this hollow rectangular structure offer one with its inner chamber
The impenetrating mouth connected, described lifting is fixed seat and can be stretched out and bounce back by the most described impenetrating mouth；
It addition, described second servo motor location is arranged at described lifting and fixes on the top of seat, described rotation main shaft position
In the top of described second servo motor, the lower axle side of described rotation main shaft is by described first reductor and described second servo
The output shaft of motor is located by connecting, and the upper shaft side of described rotation main shaft connects with the other end location in described first arm body length direction
Connect.
As a further improvement on the present invention, being also provided with multiple regulation lower margin on the bottom surface of described electric cabinet, these are many
Individual regulation lower margin can drive described electric cabinet to carry out running fix the most a little.
The invention has the beneficial effects as follows: compared to prior art, the motion rail of grabbing assembly in this articulated arm mechanical hand
Mark is a side face, and grabbing assembly can touch the arbitrfary point on this side face, thus be greatly expanded grabbing of grabbing assembly
Take face；Thus, this articulated arm mechanical hand is applicable to the production line of multiple layout form, and the suitability is wide.Additionally, this joint arm
The quick action of formula mechanical hand, flexible operation, and positioning precision is high, stationarity, safety are good.
Accompanying drawing explanation
Fig. 1 is that the first embodiment of articulated arm mechanical hand of the present invention is when zero-bit state (under off working state)
Perspective view；
Fig. 2 is the side-looking structural representation of articulated arm mechanical hand shown in Fig. 1；
Fig. 3 is the plan structure schematic diagram of articulated arm mechanical hand shown in Fig. 1；
Fig. 4 is the annexation structural representation of each drive mechanism in articulated arm mechanical hand shown in Fig. 1；
Fig. 5 is the structural representation of lift drive mechanism described in articulated arm mechanical hand shown in Fig. 1；
Fig. 6 is the structural representation of the first rotary drive mechanism described in articulated arm mechanical hand shown in Fig. 1；
Fig. 7 is the structural representation of the second rotary drive mechanism described in articulated arm mechanical hand shown in Fig. 1；
Fig. 8 is the structural representation of the 3rd rotary drive mechanism described in articulated arm mechanical hand shown in Fig. 1；
Fig. 9 is that the second embodiment of articulated arm mechanical hand of the present invention is when zero-bit state (under off working state)
Perspective view；
Figure 10 is the main TV structure schematic diagram of articulated arm mechanical hand shown in Fig. 9；
Figure 11 is the annexation structural representation of each drive mechanism in articulated arm mechanical hand shown in Fig. 9；
Figure 12 is the structural representation of lift drive mechanism described in articulated arm mechanical hand shown in Fig. 9；
Figure 13 is the structural representation of the first rotary drive mechanism described in articulated arm mechanical hand shown in Fig. 9；
Figure 14 is the structural representation of the second rotary drive mechanism described in articulated arm mechanical hand shown in Fig. 9；
Figure 15 is the structural representation of the 3rd rotary drive mechanism described in articulated arm mechanical hand shown in Fig. 9.
In conjunction with accompanying drawing, make the following instructions:
1 first arm body 2 second arm body
3 grabbing assembly 30 jibs
31 grippers 4 electric cabinets
40 erect housing 41 case
42 case 5 lift drive mechanisms
50 first servo motor 51 first screw rods
52 first nut 53 first synchronous belts
The 54 first fixing seats of linear slide rail 55 lifting
6 first rotary drive mechanism 60 second servo motors
61 first reductors 62 rotate main shaft
7 second rotary drive mechanism 70 the 3rd servo motors
71 second reductor 72 second synchronous belts
8 the 3rd rotary drive mechanism 80 the 4th servo motors
81 the 3rd reductors 9 regulate lower margin
Detailed description of the invention
Referring to figure to a preferred embodiment of the present invention will be described in detail.
The invention discloses a kind of articulated arm mechanical hand, including electric cabinet 4 and the machinery being connected on described electric cabinet 4
Arm assembly, this mechanical arm assembly includes that first arm body the 1, second arm body 2 and a confession capture the grabbing assembly 3 of object, institute
State the first arm body 1 and the second arm body 2 is in lateral arrangement and cross section is pancake list structure body (such as finger-type)；Described
One arm body 1 can be adjustably connected to described electric cabinet 4 by the most described electric cabinet 4 vertical position by a lift drive mechanism 5
On, the most described first arm body 1 can also rotate relative to described electric cabinet 4；Described second arm body 2 is undertaken in described first arm body
On one end of 1 length direction, and can rotate relative to described first arm body 1；Described grabbing assembly 3 is undertaken in described second arm body
On 2 one end away from described first arm body 1, and described grabbing assembly 3 can also rotate relative to described second arm body 2.
The articulated arm mechanical hand realizing above-mentioned functions can have various shapes and structure, is illustrated below:
First embodiment:
Referring to shown in accompanying drawing 1-8, it is the first embodiment structure of articulated arm mechanical hand of the present invention.
In the present embodiment, described electric cabinet 4 is vertical placement, and it has setting housing 40, case 41 and
One case 42, described case 41 location is arranged on the top of described setting housing 40, also on described case 41
Being provided with a vertical U-shaped breach, described case 42 location is inserted in described U-shaped breach.
Described lift drive mechanism 5 is contained in described case 41, and described lift drive mechanism 5 includes that first watches
Take motor the 50, first ball screw assembly, the first belt pulley set, first synchronous belt the 53, first linear slide rail 54 and lifting solid
Reservation 55, wherein, described first servo motor 50 location is built in described electric cabinet 4, described first ball screw assembly bag
Include first screw rod 51 and being vertically built in described electric cabinet 4 and be slidedly arranged on the first nut on described first screw rod 51
52, described first belt pulley set is made up of a pair first belt pulleys, and the first belt pulley fixed cover respectively is located at described first by this
On the output shaft of servo motor 50 and an axle head of described first screw rod 51, and this is same also by described first to the first belt pulley
Step belt 53 is in transmission connection；Described first linear slide rail 54 the most vertically positions and is built in described electric cabinet 4, and described lifting is solid
Reservation 55 is undertaken on described first linear slide rail 54, and constitutes with described first linear slide rail 54 and match and be slidably connected, and
The most described lifting is fixed seat 55 and is also located by connecting with described first nut 52；
It addition, described first arm body 1 is undertaken in described lifting and fixes on seat 55, and seat 55 can also be fixed in described lifting
Drive under the most described electric cabinet 4 move up and down location.
In the present embodiment, described first arm body 1 can also be relative to the structure that described electric cabinet 4 rotates: is additionally provided with
One rotary drive mechanism 6, this first rotary drive mechanism 6 is contained in described case 42 and (is described case 42 and covers at institute
State the first rotary drive mechanism 6 outer), and this first rotary drive mechanism 6 include second servo motor the 60, first reductor 61,
3rd Timing Belt and rotate main shaft 62, described second servo motor 60 location is arranged at described lifting and fixes on seat 55, and described the
The power shaft of one reductor 61 is in transmission connection by the output shaft of described 3rd Timing Belt with described second servo motor 60, described
The output shaft of the first reductor 61 is located by connecting in an axle side of described rotation main shaft 62, and described rotation main shaft 62 is movably set in
Described lifting is fixed on seat 55, and another axle side of described rotation main shaft 62 also with another of described first arm body 1 length direction
End is located by connecting.
Preferably, described first arm body 1 and the second arm body 2 are hollow form；And described second arm body 2 is undertaken in described
On one end of one arm body 1 length direction, and can be relative to the structure that described first arm body 1 rotates: be additionally provided with the second rotation and drive
Motivation structure 7, this second rotary drive mechanism 7 includes the 3rd servo motor the 70, second reductor the 71, second belt pulley set and second
Synchronous belt 72, wherein said 3rd servo motor 70 location is inserted in described rotation main shaft 62 that (described rotation main shaft 62 is
Hollow structure), and the output shaft also activity of the most described 3rd servo motor 70 is inserted in described first arm body 1 other end；
Described second reductor 71 location is built in described first arm body 1 one end, and the output shaft of the second reductor 71 also stretches out in
Outside described first arm body 1；Described second belt pulley set is made up of a pair second belt pulleys, and this is to the second belt pulley fixed cover respectively
It is located on the output shaft of described 3rd servo motor 70 and the power shaft of described second reductor 71, and this is to the second belt pulley also
It is in transmission connection by described second synchronous belt 72；Subtract it addition, the other end of described second arm body 2 is located by connecting in described second
On the output shaft of speed machine 71.
In the present embodiment, described grabbing assembly 3 is undertaken in described second arm body 2 one end away from described first arm body 1
On, and described grabbing assembly 3 can also be relative to the structure that described second arm body 2 rotates: it is additionally provided with the 3rd rotary drive mechanism
8, the 3rd rotary drive mechanism 8 includes that the 4th servo motor 80 and the 3rd reductor 81, described 4th servo motor 80 position
Being inserted in one end of described second arm body 2, described 3rd reductor 81 is placed in outside described second arm body 2, and the described 3rd subtracts
The speed power shaft of machine 81 is located by connecting with the output shaft of described 4th servo motor 80, and the output shaft of described 3rd reductor 81 is fixed
Position is connected to described grabbing assembly 3.
Preferably, described grabbing assembly 3 includes that jib 30 and grippers 31, described jib 30 are by all in long strip-board shape
The T-type structure body that first linking arm and the second linking arm are connected and constitute, and described first linking arm the most described second is even
The one end connecing arm is located by connecting on the output shaft of described 3rd reductor 81；Described grippers 31 is sucker, jaw and electromagnetism
One in ferrum, and described grippers 31 is located by connecting on described second linking arm.
In the present embodiment, on the bottom surface of described electric cabinet 4, be also provided with multiple regulation lower margin 9, the plurality of adjustably
Foot 9 can drive described electric cabinet 4 to carry out running fix the most a little.
Second embodiment:
Referring to shown in accompanying drawing 9-15, it is the second example structure of articulated arm mechanical hand of the present invention.
In the present embodiment, described electric cabinet 4 is the hollow rectangular structure of horizontal placement；Described lift drive mechanism 5
Being contained in this hollow rectangular structure, described lift drive mechanism 5 includes first servo motor the 50, first ball screw group
The fixing seat 55 of part, the first belt pulley set, first synchronous belt the 53, first linear slide rail 54 and lifting, wherein, described first servo
Motor 50 location be built in described electric cabinet 4, described first ball screw assembly include one be vertically built in described automatically controlled
The first screw rod 51 and in case 4 is slidedly arranged on the first nut 52 on described first screw rod 51, and described first belt pulley set is by one
To the first belt pulley composition, the first belt pulley fixed cover respectively is located at the output shaft of described first servo motor 50 and described by this
On one axle head of the first screw rod 51, and the first belt pulley is in transmission connection by this also by described first synchronous belt 53；Described
One linear slide rail 54 the most vertically positions and is built in described electric cabinet 4, and described lifting is fixed seat 55 and is undertaken in described First Line
Property slide rail 54 on, and constitute with described first linear slide rail 54 and match and be slidably connected, and the most described lifting fixes seat 55 also
It is located by connecting with described first nut 52；It addition, described first arm body 1 is undertaken in described lifting and fixes on seat 55, and can also
Under the drive of seat 55 is fixed in described lifting, the most described electric cabinet 4 moves up and down location；And also tie at this hollow cuboid
The upper surface of structure offers an impenetrating mouth connected with its inner chamber, and described lifting is fixed seat 55 and can be stretched by the most described impenetrating mouth
Go out and bounce back.
In the present embodiment, described first arm body 1 can also be relative to the structure that described electric cabinet 4 rotates: is additionally provided with
One rotary drive mechanism 6, this first rotary drive mechanism 6 includes second servo motor the 60, first reductor 61 and rotates main shaft
62, described second servo motor 60 location is arranged at described lifting and fixes on the top of seat 55, and described rotation main shaft 62 is positioned at institute
Stating the top of the second servo motor 60, the lower axle side of described rotation main shaft 62 is watched with described second by described first reductor 61
The output shaft taking motor 60 is located by connecting the (output of the power shaft of the most described first reductor 61 and described second servo motor 60
Axle is located by connecting), the upper shaft side of described rotation main shaft 62 is located by connecting with the other end of described first arm body 1 length direction.Separately
Outward, being additionally provided with an outer casing, described outer casing covers at outside described second servo motor and the first reductor, and the most described
Outer casing is also located by connecting and fixes on seat 15 in described lifting.
Preferably, described first arm body 1 and the second arm body 2 are hollow form；And described second arm body 2 is undertaken in described
On one end of one arm body 1 length direction, and can be relative to the structure that described first arm body 1 rotates: be additionally provided with the second rotation and drive
Motivation structure 7, this second rotary drive mechanism 7 includes the 3rd servo motor the 70, second reductor the 71, second belt pulley set and second
Synchronous belt 72, wherein said 3rd servo motor 70 location is inserted in described rotation main shaft 62 that (described rotation main shaft 62 is
Hollow structure), and the output shaft also activity of the most described 3rd servo motor 70 is inserted in described first arm body 1 other end；
Described second reductor 71 location is built in described first arm body 1 one end, and the output shaft of the second reductor 71 also stretches out in
Outside described first arm body 1；Described second belt pulley set is made up of a pair second belt pulleys, and this is to the second belt pulley fixed cover respectively
It is located on the output shaft of described 3rd servo motor 70 and the power shaft of described second reductor 71, and this is to the second belt pulley also
It is in transmission connection by described second synchronous belt 72；
It addition, the other end of described second arm body 2 is located by connecting on the output shaft of described second reductor 71.
In the present embodiment, described grabbing assembly 3 is undertaken in described second arm body 2 one end away from described first arm body 1
On, and described grabbing assembly 3 can also be relative to the structure that described second arm body 2 rotates: it is additionally provided with the 3rd rotary drive mechanism
8, the 3rd rotary drive mechanism 8 includes that the 4th servo motor 80 and the 3rd reductor 81, described 4th servo motor 80 position
Being inserted in one end of described second arm body 2, described 3rd reductor 81 is placed in outside described second arm body 2, and the described 3rd subtracts
The speed power shaft of machine 81 is located by connecting with the output shaft of described 4th servo motor 80, and the output shaft of described 3rd reductor 81 is fixed
Position is connected to described grabbing assembly 3.
Preferably, described grabbing assembly 3 includes that jib 30 and grippers 31, described jib 30 are by all in long strip-board shape
The T-type structure body that first linking arm and the second linking arm are connected and constitute, and described first linking arm the most described second is even
The one end connecing arm is located by connecting on the output shaft of described 3rd reductor 81；Described grippers 31 is sucker, jaw and electromagnetism
One in ferrum, and described grippers 31 is located by connecting on described second linking arm.
In the present embodiment, on the bottom surface of described electric cabinet 4, be also provided with multiple regulation lower margin 9, the plurality of adjustably
Foot 9 can drive described electric cabinet 4 to carry out running fix the most a little.
Claims (9)
1. an articulated arm mechanical hand, including electric cabinet (4) and the mechanical arm assembly that is connected on described electric cabinet (4),
This mechanical arm assembly includes the first arm body (1), the second arm body (2) and one grabbing assembly (3) for crawl object, described
First arm body (1) and the second arm body (2) are the list structure body in lateral arrangement；It is characterized in that: described first arm body (1)
Described electric cabinet (4) can be adjustably connected to by the most described electric cabinet (4) vertical position by a lift drive mechanism (5)
On, the most described first arm body (1) can also rotate relative to described electric cabinet (4)；Described second arm body (2) is undertaken in described
On one end of one arm body (1) length direction, and can rotate relative to described first arm body (1)；Described grabbing assembly (3) is undertaken in
On described second arm body (2) one end away from described first arm body (1), and described grabbing assembly (3) can also the most described
Two arm bodies (2) rotate.
Articulated arm mechanical hand the most according to claim 1, it is characterised in that: described lift drive mechanism (5) includes
One servo motor (50), the first ball screw assembly, the first belt pulley set, the first synchronous belt (53), the first linear slide rail
(54) and the fixing seat (55) of lifting, wherein, described first servo motor (50) location is built in described electric cabinet (4), described
It is described that first ball screw assembly includes that first screw rod (51) and being vertically built in described electric cabinet (4) is slidedly arranged on
The first nut (52) on first screw rod (51), described first belt pulley set is made up of a pair first belt pulleys, and this is to the first skin
Belt wheel fixed cover respectively is located on the output shaft of described first servo motor (50) and an axle head of described first screw rod (51), and
First belt pulley is in transmission connection by this also by described first synchronous belt (53)；Described first linear slide rail (54) is the most vertically
Location is built in described electric cabinet (4), and described lifting is fixed seat (55) and is undertaken on described first linear slide rail (54), and with
Described first linear slide rail (54) is constituted to be matched and is slidably connected, and the most described lifting fix seat (55) also with described first spiral shell
Cap (52) is located by connecting；
It addition, described first arm body (1) is undertaken in described lifting and fixes on seat (55), and seat can also be fixed in described lifting
(55) under drive, the most described electric cabinet (4) moves up and down location.
Articulated arm mechanical hand the most according to claim 2, it is characterised in that: described first arm body (1) can also be relative
The structure that described electric cabinet (4) rotates is: be additionally provided with the first rotary drive mechanism (6), and this first rotary drive mechanism (6) includes
Second servo motor (60), the first reductor (61) and rotation main shaft (62), described second servo motor (60) location is arranged at
Described lifting is fixed on seat (55), and the power shaft of described first reductor (61) is connected to the defeated of described second servo motor (60)
Shaft, the output shaft of described first reductor (61) is located by connecting in an axle side of described rotation main shaft (62), and described rotation
Another axle side of main shaft (62) also other end with described first arm body (1) length direction is located by connecting.
Articulated arm mechanical hand the most according to claim 3, it is characterised in that: described first arm body (1) and the second arm body
(2) it is hollow form；And described second arm body (2) is undertaken on one end of described first arm body (1) length direction, and can phase
The structure rotating described first arm body (1) is: be additionally provided with the second rotary drive mechanism (7), this second rotary drive mechanism (7)
Including the 3rd servo motor (70), the second reductor (71), the second belt pulley set and the second synchronous belt (72), wherein said
Three servo motors (70) location is inserted in described rotation main shaft (62), and the output shaft of the most described 3rd servo motor (70)
During also activity is inserted in described first arm body (1) other end；Described second reductor (71) location is built in described first arm body
(1) in one end, and the output shaft of the second reductor (71) also stretches out in described first arm body (1) outward；Described second belt pulley set
Being made up of a pair second belt pulleys, the second belt pulley fixed cover respectively is located at the output shaft of described 3rd servo motor (70) by this
With on the power shaft of described second reductor (71), and this to the second belt pulley also by the transmission of described second synchronous belt (72)
Connect；
It addition, the other end of described second arm body (2) is located by connecting on the output shaft of described second reductor (71).
Articulated arm mechanical hand the most according to claim 1, it is characterised in that: described grabbing assembly (3) is undertaken in described
On second arm body (2) one end away from described first arm body (1), and described grabbing assembly (3) can also the most described second arm
The structure that body (2) rotates is: be additionally provided with the 3rd rotary drive mechanism (8), and the 3rd rotary drive mechanism (8) includes the 4th servo
Motor (80) and the 3rd reductor (81), described 4th servo motor (80) location is inserted in one end of described second arm body (2)
In, described 3rd reductor (81) is placed in described second arm body (2) outward, and the power shaft of described 3rd reductor (81) is with described
The output shaft of the 4th servo motor (80) is located by connecting, and the output shaft of described 3rd reductor (81) is located by connecting in described crawl
Assembly (3).
Articulated arm mechanical hand the most according to claim 5, it is characterised in that: described grabbing assembly (3) includes jib
(30) and grippers (31), described jib (30) for being connected by all the first linking arms in long strip-board shape and the second linking arm and
The T-type structure body constituted, and one end of the most described second linking arm of described first linking arm is located by connecting and subtracts in the described 3rd
On the output shaft of speed machine (81)；Described grippers (31) is the one in sucker, jaw and electric magnet, and described grippers (31)
It is located by connecting on described second linking arm.
Articulated arm mechanical hand the most according to claim 3, it is characterised in that: described electric cabinet (4) is vertical placement, its
Having a setting housing (40), a case (41) and a case (42), described case (41) location is arranged at described
Erectting on the top of housing (40), described lift drive mechanism (5) is contained in described case (41)；Also in described collecting
Being provided with a vertical U-shaped breach on housing (41), described case (42) location is inserted in described U-shaped breach, and institute simultaneously
State case (42) and also cover at described first rotary drive mechanism (6) outward；
It addition, described first rotary drive mechanism (6) also includes one the 3rd Timing Belt, the input of described first reductor (61)
Axle is in transmission connection by the output shaft of described 3rd Timing Belt with described second servo motor (60)；And described rotation main shaft (62)
It is movably set in described lifting to fix on seat (55).
Articulated arm mechanical hand the most according to claim 3, it is characterised in that: described electric cabinet (4) is horizontal placement
Hollow rectangular structure, described lift drive mechanism (5) is contained in this hollow rectangular structure, also ties at this hollow cuboid
The upper surface of structure offers an impenetrating mouth connected with its inner chamber, and seat (55) is fixed in described lifting can the most described impenetrating mouth
Stretch out and bounce back；
It addition, described second servo motor (60) location is arranged at described lifting and fixes on the top of seat (55), described rotation is main
Axle (62) is positioned at the top of described second servo motor (60), slows down by described first in the lower axle side of described rotation main shaft (62)
Machine (61) is located by connecting with the output shaft of described second servo motor (60), the upper shaft side of described rotation main shaft (62) and described the
The other end of one arm body (1) length direction is located by connecting.
Articulated arm mechanical hand the most according to claim 1, it is characterised in that: also on the bottom surface of described electric cabinet (4)
Being provided with multiple regulation lower margin (9), the plurality of regulation lower margin (9) can drive described electric cabinet (4) to move the most a little
Location.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610587187.9A CN106002984B (en) | 2016-07-25 | 2016-07-25 | Articulated arm manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610587187.9A CN106002984B (en) | 2016-07-25 | 2016-07-25 | Articulated arm manipulator |
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| CN106002984A true CN106002984A (en) | 2016-10-12 |
| CN106002984B CN106002984B (en) | 2018-08-31 |
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| CN201610587187.9A Active CN106002984B (en) | 2016-07-25 | 2016-07-25 | Articulated arm manipulator |
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| CN109173048A (en) * | 2018-08-21 | 2019-01-11 | 何增义 | A kind of nerve rehabilitation assistor |
| CN110722057A (en) * | 2018-07-17 | 2020-01-24 | 吉林博仁科技有限责任公司 | Bearing sleeve automatic production line |
| CN110962157A (en) * | 2019-01-29 | 2020-04-07 | 昀智科技（北京）有限责任公司 | Quick stable intelligent three-joint mechanical arm |
| EP3978188A1 (en) * | 2020-10-02 | 2022-04-06 | GF Machining Solutions AG | Gripping device for automatic tool changer |
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|---|---|
| CN106002984B (en) | 2018-08-31 |
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