CN106041972A - Mechanical arm used for grabbing steel tubes - Google Patents
Mechanical arm used for grabbing steel tubes Download PDFInfo
- Publication number
- CN106041972A CN106041972A CN201610476413.6A CN201610476413A CN106041972A CN 106041972 A CN106041972 A CN 106041972A CN 201610476413 A CN201610476413 A CN 201610476413A CN 106041972 A CN106041972 A CN 106041972A
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- CN
- China
- Prior art keywords
- gear
- article
- drive line
- motor
- drive
- 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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- 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
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a mechanical arm used for grabbing steel tubes. The mechanical arm can grab and arrange the steel tubes stacked disorderly. The mechanical arm comprises movable fingers, fixed fingers, a palm, a first transmission line, a second transmission line, a third transmission line, a fourth transmission line, shells and motors. The motors control the movable fingers to be bent and stretched through the first transmission line, and the three movable fingers are bent and stretched synchronously so that the task of grabbing cylinders can be completed. The three motors control three rotation freedom degrees of a wrist through the second transmission line, the third transmission line and the fourth transmission line, and therefore the flexibility of the wrist can be improved, and the mechanical arm can reach wider space range. Rubber blocks are installed at the parts, facing the palm center, of the fingers for increasing the friction force between the movable fingers and the cylinder bodies, and therefore the grabbing movement is more reliable.
Description
Technical field
The present invention relates to a kind of mechanical arm for capturing steel pipe, this type of mechanical arm is particularly well-suited to capture at random putting
The steel pipe put.
Background technology
Scaffold be job site be that workmen solves vertically and horizontally to transport the various supports set up.But in reality
In, general on-the-spot scaffolding steel pipe is all stacking at random, and this stacking mode not only floor space is big, is not easy to management, easily
Cause workman to pick and place time lengthening, affect environment, and once have sinking to will result in inclination and even cave in, though ground
Smooth being likely to accidentally injures staff, so job site needs a kind of automatic machinery people to replace workmen to building site
On scaffolding steel pipe be collected, arrange, and in order be deposited into appointment position.
In sum, design a kind of can be to the mechanical arm that the steel pipe of stacking at random captures to participate in steel pipe at random
Arrangement the most necessary.
Summary of the invention
It is an object of the invention to design the mechanical arm of a kind of steel pipe that can capture stacking at random.The present invention is capable of
The steel pipe of stacking at random is captured, and puts in an orderly manner.
The present invention is to use techniques below means to realize:
Mechanical hand is made up of three movable fingers, four fixed finger and a palm.During capturing, fix for three
In the middle of the gap that finger is firstly inserted between steel pipe, isolate a steel pipe.Then completed to capture by bending by movable finger
Action.Every movable finger is made up of two four-bar mechanisms, by a screw slider nut body, and will be from mechanical wrist part
The rotary motion passed over is changed into linear motion, is then driven bending and stretching of finger, multiple fingers by this linear motion
While bend and stretch reach capture steel pipe purpose.
Elastic rubber material is disposed inside mechanical finger, for increasing the frictional force between steel pipe and mechanical hand, so that
Obtain grasping movement relatively reliable.
Mechanical wrist uses Three Degree Of Freedom hollow friendship type partially nest mechanism, and its structure is made up of four power lines and shell.
Second, third, the four or three article of power line be respectively intended to drive the three degree of freedom in the middle of wrist.The cradle head of three degree of freedom
Being respectively ring flange joint, first paragraph shell joint and second segment shell joint, three cradle heads are respectively by three independent machine
Tool drive line drives, and can realize the continuous rotation in three joints, compact conformation.Wherein ring flange joint is with end mechanical hand even
Connecing, the 3rd section of the 4th section of shell is connected with forearm, and in frame for movement, each articulation angle all can reach more than 360.
Wherein ring flange joint, first paragraph shell joint, second segment shell joint rotate rotating around z1, z2, z3 axle, make to be connected to flange
Mechanical hand on dish can reach any attitude, coordinates with position mechanism (front 3 degree of freedom) and can arrive any work space
Carry out operation.
Wrist nest mechanism is carried out transmission by four individual motor by four power lines, and Article 1 power line can realize machine
The folding of tool hands, Article 2 power line can realize the rotation in ring flange joint, and three power lines can realize first paragraph shell joint
Rotation, Article 4 power line can realize the rotation in second segment shell joint.
(1), Article 1 drive line
Article 1, drive line is that motor passes through decelerator drive level central axis, then rotary motion is transmitted by universal joint
On leading screw, by the rotary motion of leading screw, it is changed into the linear motion of slider nut nut.Transported by the straight line of slider nut
Dynamic, drive the activity fingering row motion of two four-bar mechanisms.
Pind down the symmetric motion of three fingers by a motion, substantially increase the stability capturing steel pipe.It addition,
Motor is placed in wrist end rather than as traditional on position of manipulator, can alleviate the weight of mechanical hand, improves mechanical hand
Motility.
(2), Article 2 drive line
Article 2 drive line be by Article 1 drive line mandrel outside sleeve carry out transmission, through roller gear slow down and cone
120 ° of break-ins of gear, finally transmit rotary movement to arm end, rotate about the axis.
(3), Article 3 drive line
Article 3 drive line be by Article 2 power line mandrel outside sleeve carry out transmission, through roller gear slow down and cone
120 ° of break-ins of gear, finally transmit rotary movement to mechanical arm wrist end shell, rotate about the axis.
(4), Article 4 drive line
Article 4 drive line be by Article 3 drive line mandrel outside sleeve carry out transmission, slow down through roller gear,
Transmit rotary movement to mechanical arm wrist second segment shell eventually, rotate about the axis.
Four nested drive lines of four motors, turn two of the extension of mechanical hand and rotation and wrist efficiently
To expressing.The grasping movement of complexity can be completed, the feature stacked to adapt to steel pipe to be scattered by four transmissions.
Three activities also have four fixing fingers outside referring to.For improving the intensity of mechanical hand and convenient crawl.Two four
Linkage composition finger, apish hands, can complete to capture the task of steel pipe.Mechanical wrist uses Three Degree Of Freedom hollow partially to hand over
Type nest mechanism.Article four, drive line coaxial line nests together, and four motors are placed on the rear portion of wrist.With less space
Achieve the control to four degree of freedom of mechanical arm.
Use above design, be characterized in:
1. mechanical wrist uses Three Degree Of Freedom hollow friendship type partially nest mechanism, and mechanical hand can be made to turn to random angle flexibly
Degree；
2. activity refers to that inner side disposes elastic rubber material, increases the frictional force between finger and steel pipe, makes crawl more firm
While also make it be adapted to different size steel pipe.
Accompanying drawing explanation
Fig. 1 is that activity refers to structural representation；
Fig. 2 is robot manipulator structure schematic diagram；
Fig. 3 is Wrist mechanism sketch；
Fig. 4 is wrist full sectional view；
Fig. 5 is wrist outside drawing；
Fig. 6 is present configuration overall schematic.
In figure: 1 is the first movable phalanges bone, 2 is the second movable phalanges bone, and 3 is the 3rd movable phalanges bone, and 4 is the 4th work
Dynamic phalanges bone, 5 is the 5th movable phalanges bone, and 6 is the 6th movable phalanges bone, and 7 refer to activation lever for activity, and 8 refer to drive for activity
Pull bar, 9 is slider nut, and 10 is palm, and 11 is connecting pin, and 12 refer to for fixing, and 13 is the first rotating shaft, and 14 is the first gear, 15
Being the first universal joint, 16 is the second gear, and 17 is the 3rd gear, and 18 is the second rotating shaft, and 19 is the 4th gear, and 20 is second universal
Joint, 21 is the 5th gear, and 22 is the 6th gear, and 23 is the 3rd rotating shaft, and 24 is eighth gear, and 25 is the 9th gear, and 26 is the tenth
Gear, 27 is the 11st gear, and 28 is the 12nd gear, and 29 is the 13rd gear, and 30 is the 14th gear, and 31 is the 15th tooth
Wheel, 32 is the first motor, and 33 is the second motor, and 34 is the 3rd motor, and 35 is the 4th motor, 36 is ring flange joint, 37 is the
One section of shell, 38 is second segment shell, and 39 is the 3rd section of shell, and 40 is the 4th section of shell.
Detailed description of the invention
Describe the present invention below in conjunction with Figure of description.
As it is shown in figure 1, activity refers to be referred to drive leading screw (9) to drive by activity.Activity refers to be made up of two four-bar mechanisms.First
Movable phalanges bone (1), the second movable phalanges bone (2), the 3rd movable phalanges bone (3), the 4th movable phalanges bone (4) constitute first
Four-bar mechanism；4th movable phalanges bone (4), the 5th movable phalanges bone (5), the 6th movable phalanges bone (6), activity refer to activation lever
(7) second four-bar mechanism is constituted.Slider nut (9) activity of passing motion to refers to drive pull bar (8), and activity refers to drive pull bar
(8) motion being passed to second four-bar mechanism, second four-bar mechanism passes motion to first four-bar mechanism, thus real
The flexion and extension of existing finger.
As shown in Fig. 2, Fig. 5, mechanical hand top altogether includes three activities and refers to and four fixing fingers (12).Three activities
Refer to be coupled together by a connecting pin (11).Slider nut (9) is inserted in first rotating shaft (13), and the part contacted with each other has T-shaped spiral shell
Stricture of vagina, constitutes screw-nut structure, completes the straight line fortune rotary motion in the first rotating shaft (13) being changed on slider nut (9)
Dynamic effect.
As shown in Fig. 3, Fig. 4, Fig. 5, wrist is made up of four drive lines.Article 1 drive line by the first rotating shaft (13),
One universal joint (15), the second rotating shaft (18), the second universal joint (20), the 3rd rotating shaft (23), the 15th gear (31), the 14th tooth
Wheel (30), the first motor (32) are constituted.Wherein the first rotating shaft (13) is connected with the first universal joint (15), the first universal joint (15) with
Second rotating shaft (18) is connected, and the second rotating shaft (18) is connected with the second universal joint (20), the second universal joint (20) and the 3rd rotating shaft
(23) being connected, the 3rd rotating shaft (23) is connected with the 15th gear (31), and the 15th gear (31) engages with the 14th gear (30),
14th gear (30) is connected with the rotor of the first motor (32).Article 1, the grasping movement that drive line is mechanical hand provides dynamic
Power.Article 2 drive line is by the first gear (14), the second gear (16), the 4th gear (19), the 5th gear (21), the tenth gear
(26), the 13rd gear (29), the 4th motor (35) composition.Wherein palm (10) is connected with ring flange joint (36), ring flange
Joint (36) is connected with the first gear (14), and the first gear (14) engages with the second gear (16), the second gear (16) and the 4th
Gear (19) is connected, and the 4th gear (19) engages with the 5th gear (21), and the 5th gear (21) is connected with the tenth gear (26), the
Ten gears (26) engage with the 13rd gear (29), and the 13rd gear (29) is connected with the rotor of the 4th motor (35).By
Article two, drive line, the 4th motor (35) drives ring flange joint (36) to rotate around z1 axle.Due to ring flange joint (36) and hands
The palm (10) is connected, and therefore by driving ring flange joint (36) to rotate around z1 axle, driving mechanical winding by hand z1 axle rotates.Article 3 passes
Moving-wire is made up of the 3rd gear (17), the 6th gear (22), the 9th gear (25), the 12nd gear (28), the 3rd motor (34).
Wherein first paragraph shell (37) is connected with the 3rd gear (17), and the 3rd gear (17) engages with the 6th gear (22), the 6th gear
(22) being connected with the 9th gear (25), the 9th gear (25) engages with the 12nd gear (28), the 12nd gear (28) and the 3rd
The rotor of motor (34) is connected.By Article 3 drive line, the 3rd motor (34) drives first paragraph shell (37) to rotate around z2 axle.
Article 4 drive line is made up of eighth gear (24), the 11st gear (27), the second motor (33).Wherein second segment shell (38)
Being connected with eighth gear (24), eighth gear (24) engages with the 11st gear (27), the 11st gear (27) and the second motor
(33) rotor is connected.By Article 4 drive line, the second motor (33) drives second segment shell (38) to rotate around z3 axle.This
Outward, between the second gear (16) and the 3rd gear (17), between the 5th gear (21) and the 6th gear (22), the 6th gear (22)
And eighth gear all has bearings between (24).By above four drive lines, four motors achieve respectively to mechanical hand
The control of flexion and extension and the control of three rotary freedoms of mechanical wrist.
Claims (2)
1. one kind for capturing the mechanical arm of steel pipe, it is characterised in that: this arm include activity refer to, fixing finger, palm, first
Bar drive line, Article 2 drive line, Article 3 drive line, Article 4 drive line, shell and motor；
Activity refers to be referred to drive leading screw (9) to drive by activity；Activity refers to be made up of two four-bar mechanisms；First movable phalanges bone (1),
Second movable phalanges bone (2), the 3rd movable phalanges bone (3), the 4th movable phalanges bone (4) constitute first four-bar mechanism；4th
Movable phalanges bone (4), the 5th movable phalanges bone (5), the 6th movable phalanges bone (6), activity refer to that activation lever (7) constitutes second
Four-bar mechanism；Slider nut (9) activity of passing motion to refers to drive pull bar (8), and activity refers to drive pull bar (8) motion transmission
To second four-bar mechanism, second four-bar mechanism passes motion to first four-bar mechanism, thus realizes bending and stretching of finger
Motion；
Activity refers to be coupled together by a connecting pin (11)；Slider nut (9) is inserted in first rotating shaft, constitutes screw-nut structure；
Wrist nest mechanism is carried out transmission by four individual motor by four power lines, and Article 1 power line realizes mechanical hand
Folding, Article 2 power line realizes the rotation in ring flange joint, and three power lines realize the rotation in first paragraph shell joint, and the 4th
Bar power line realizes the rotation in second segment shell joint；
(1), Article 1 drive line
Article 1, drive line is that motor passes through decelerator drive level central axis, then transmits rotary movement to silk by universal joint
On thick stick, by the rotary motion of leading screw, it is changed into the linear motion of slider nut nut；By the linear motion of slider nut, drive
The activity fingering row motion of dynamic two four-bar mechanisms；
(2), Article 2 drive line
Article 2 drive line be by Article 1 drive line mandrel outside sleeve carry out transmission, through roller gear slow down and bevel gear
120 ° of break-ins, finally transmit rotary movement to arm end, rotate about the axis；
(3), Article 3 drive line
Article 3 drive line be by Article 2 power line mandrel outside sleeve carry out transmission, through roller gear slow down and bevel gear
120 ° of break-ins, finally transmit rotary movement to mechanical arm wrist end shell, rotate about the axis；
(4), Article 4 drive line
Article 4 drive line be by Article 3 drive line mandrel outside sleeve carry out transmission, through roller gear slow down, the most at last
Rotary motion is delivered to mechanical arm wrist second segment shell, rotates about the axis.
A kind of mechanical arm for capturing steel pipe the most according to claim 1, it is characterised in that: Article 1 drive line by
First rotating shaft (13), the first universal joint (15), the second rotating shaft (18), the second universal joint (20), the 3rd rotating shaft (23), the 15th tooth
Wheel (31), the 14th gear (30), the first motor (32) are constituted；Wherein the first rotating shaft (13) is connected with the first universal joint (15),
First universal joint (15) is connected with the second rotating shaft (18), and the second rotating shaft (18) is connected with the second universal joint (20), the second universal joint
(20) being connected with the 3rd rotating shaft (23), the 3rd rotating shaft (23) is connected with the 15th gear (31), the 15th gear (31) and the tenth
Four gears (30) engage, and the 14th gear (30) is connected with the rotor of the first motor (32)；Article 1, drive line is mechanical hand
Grasping movement provides power；Article 2 drive line is by the first gear (14), the second gear (16), the 4th gear (19), the 5th tooth
Wheel (21), the tenth gear (26), the 13rd gear (29), the 4th motor (35) composition；Wherein palm (10) and ring flange joint
(36) being connected, ring flange joint (36) are connected with the first gear (14), and the first gear (14) engages with the second gear (16), and second
Gear (16) is connected with the 4th gear (19), and the 4th gear (19) engages with the 5th gear (21), the 5th gear (21) and the tenth
Gear (26) is connected, and the tenth gear (26) engages with the 13rd gear (29), the 13rd gear (29) and the 4th motor (35)
Rotor is connected；By Article 2 drive line, the 4th motor (35) drives ring flange joint (36) to rotate around z1 axle；Due to flange
Dish joint (36) is connected with palm (10), therefore by driving ring flange joint (36) to rotate around z1 axle, and driving mechanical winding by hand z1
Axle rotates；Article 3 drive line by the 3rd gear (17), the 6th gear (22), the 9th gear (25), the 12nd gear (28),
Three motors (34) form；Wherein first paragraph shell (37) is connected with the 3rd gear (17), the 3rd gear (17) and the 6th gear
(22) engagement, the 6th gear (22) is connected with the 9th gear (25), and the 9th gear (25) engages with the 12nd gear (28), and the tenth
Two gears (28) are connected with the rotor of the 3rd motor (34)；By Article 3 drive line, the 3rd motor (34) drives outside first paragraph
Shell (37) rotates around z2 axle；Article 4 drive line is made up of eighth gear (24), the 11st gear (27), the second motor (33)；
Wherein second segment shell (38) is connected with eighth gear (24), and eighth gear (24) engages with the 11st gear (27), and the 11st
Gear (27) is connected with the rotor of the second motor (33)；By Article 4 drive line, the second motor (33) drives second segment shell
(38) rotate around z3 axle；Additionally, between the second gear (16) and the 3rd gear (17), the 5th gear (21) and the 6th gear (22)
Between, all have bearings between the 6th gear (22) and eighth gear (24).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610476413.6A CN106041972A (en) | 2016-06-25 | 2016-06-25 | Mechanical arm used for grabbing steel tubes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610476413.6A CN106041972A (en) | 2016-06-25 | 2016-06-25 | Mechanical arm used for grabbing steel tubes |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106041972A true CN106041972A (en) | 2016-10-26 |
Family
ID=57165699
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610476413.6A Pending CN106041972A (en) | 2016-06-25 | 2016-06-25 | Mechanical arm used for grabbing steel tubes |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106041972A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108406826A (en) * | 2018-05-17 | 2018-08-17 | 沈阳建筑大学 | A kind of mechanical arm and its grabbing device |
| WO2022166178A1 (en) * | 2021-08-28 | 2022-08-11 | 王芝香 | Scaffold mounting and dismounting robot |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3922930A (en) * | 1974-12-23 | 1975-12-02 | Nasa | Remotely operable articulated manipulator |
| US4696202A (en) * | 1985-04-30 | 1987-09-29 | Hitachi, Ltd. | Wrist mechanism for industrial robot |
| FR2652776A1 (en) * | 1989-10-10 | 1991-04-12 | Peugeot | Improved robot |
| US5735627A (en) * | 1995-08-30 | 1998-04-07 | Tokico Ltd. | Articulating mechanism for robot |
| CN1285447C (en) * | 2002-09-10 | 2006-11-22 | 天津大学 | Driving robot wrist |
| CN201357413Y (en) * | 2009-03-02 | 2009-12-09 | 杭州电子科技大学 | Clamping manipulator |
| CN102441892A (en) * | 2011-10-25 | 2012-05-09 | 浙江大学 | Under-actuated manipulator claw for picking fruits and vegetables |
| CN104139396A (en) * | 2014-07-23 | 2014-11-12 | 西南交通大学 | Under-actuated self-adaptive mechanical arm |
| CN104972477A (en) * | 2015-07-21 | 2015-10-14 | 北京工业大学 | Multifunctional engineering accessory for six-bar mechanism |
| CN205201559U (en) * | 2015-11-10 | 2016-05-04 | 国人机器人（天津）有限公司 | Industrial robot's wrist mechanism |
-
2016
- 2016-06-25 CN CN201610476413.6A patent/CN106041972A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3922930A (en) * | 1974-12-23 | 1975-12-02 | Nasa | Remotely operable articulated manipulator |
| US4696202A (en) * | 1985-04-30 | 1987-09-29 | Hitachi, Ltd. | Wrist mechanism for industrial robot |
| FR2652776A1 (en) * | 1989-10-10 | 1991-04-12 | Peugeot | Improved robot |
| US5735627A (en) * | 1995-08-30 | 1998-04-07 | Tokico Ltd. | Articulating mechanism for robot |
| CN1285447C (en) * | 2002-09-10 | 2006-11-22 | 天津大学 | Driving robot wrist |
| CN201357413Y (en) * | 2009-03-02 | 2009-12-09 | 杭州电子科技大学 | Clamping manipulator |
| CN102441892A (en) * | 2011-10-25 | 2012-05-09 | 浙江大学 | Under-actuated manipulator claw for picking fruits and vegetables |
| CN104139396A (en) * | 2014-07-23 | 2014-11-12 | 西南交通大学 | Under-actuated self-adaptive mechanical arm |
| CN104972477A (en) * | 2015-07-21 | 2015-10-14 | 北京工业大学 | Multifunctional engineering accessory for six-bar mechanism |
| CN205201559U (en) * | 2015-11-10 | 2016-05-04 | 国人机器人（天津）有限公司 | Industrial robot's wrist mechanism |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108406826A (en) * | 2018-05-17 | 2018-08-17 | 沈阳建筑大学 | A kind of mechanical arm and its grabbing device |
| CN108406826B (en) * | 2018-05-17 | 2024-06-07 | 沈阳建筑大学 | Mechanical arm and grabbing device thereof |
| WO2022166178A1 (en) * | 2021-08-28 | 2022-08-11 | 王芝香 | Scaffold mounting and dismounting robot |
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| CB03 | Change of inventor or designer information |
Inventor after: Wang Jianhua Inventor after: Luo Qiang Inventor after: Wang Yan Inventor after: Wang Shuai Inventor after: Zhao Yongsheng Inventor before: Luo Qiang Inventor before: Wang Jianhua Inventor before: Wang Yan Inventor before: Wang Shuai Inventor before: Zhao Yongsheng |
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Application publication date: 20161026 |
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| WD01 | Invention patent application deemed withdrawn after publication |