CN106476010A - A kind of robot arm device for robot - Google Patents
A kind of robot arm device for robot Download PDFInfo
- Publication number
- CN106476010A CN106476010A CN201611052005.4A CN201611052005A CN106476010A CN 106476010 A CN106476010 A CN 106476010A CN 201611052005 A CN201611052005 A CN 201611052005A CN 106476010 A CN106476010 A CN 106476010A
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- CN
- China
- Prior art keywords
- robot
- motor
- mounting
- arm device
- sliding seat
- 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.)
- Withdrawn
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- 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
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot arm device for robot, including sliding seat, linear slide rail and handss portion, described sliding seat is arranged on linear slide rail, and sliding seat and linear slide rail are slidably connected, the lower rotation of described sliding seat is connected with mounting seat, the two bottom sides of described mounting seat are all installed with motor, and the output shaft of motor is connected with driving gear, described driving gear is engaged with driven gear, and the side that two driven gears are located remotely from each other is equipped with the first fix bar, described first fix bar is connected with rotation plectane away from one end of driven gear, and rotation plectane is provided with slide post, the both sides of described mounting seat are equipped with mounting rod.The structure of the present invention is simple, economical and practical, workpiece can be transported to operating position from upper discharge position by rotating 180 degree by the robot arm device for robot, and is laterally gripped workpiece for the robot arm device of robot in upper discharge position, in addition carry out longitudinal blowing in operating position.
Description
Technical field
The present invention relates to robotics, more particularly, to a kind of robot arm device for robot.
Background technology
Robot and automated arm have wide application market, and, roboticses are as advanced taking robot as a example
The Typical Representative of manufacturing technology, be collect the multidisciplinary advanced technologies such as machinery, electronics, control, computer, sensor artificial intelligence in
The important modern manufacturing industry automation equipment of one, has flexibility and the adaptability of height, and he meets modern production mould
Formula small lot, multi items and the feature that the product life cycle is short and update is fast, can change traditional mode of production pattern, improve
Product quality and production efficiency, realize carrying out production strictly in line with rules and regulations and flexible production.The robot arm device being currently used for robot can only be kept straight on
Carry out conveying workpieces so that inefficiency, and cannot flexibly workpiece be carried out for the hand on the robot arm device of robot
Gripping and placement.
Content of the invention
The invention aims to shortcoming present in solution prior art, and a kind of machine for robot proposing
Tool arm assembly.
To achieve these goals, present invention employs following technical scheme：
A kind of robot arm device for robot, including sliding seat, linear slide rail and hand, described sliding seat is arranged on linearly
Slide rail, and sliding seat and linear slide rail be slidably connected, the lower rotation of described sliding seat is connected with mounting seat, described mounting seat
Two bottom sides are all installed with motor, and the output shaft of motor is connected with driving gear, and described driving gear is engaged with driven
Gear, and the side that two driven gears are located remotely from each other is equipped with the first fix bar, described first fix bar is away from driven gear
One end be connected with rotation plectane, and rotate plectane be provided with slide post, the both sides of described mounting seat are equipped with mounting rod, and pacify
Dress bar is oppositely arranged, and described mounting rod is L-type structure, and the bottom of described mounting rod is provided with mounting post, and mounting post is near driven
The side of gear is provided with installing hole, the inwall of described installing hole and the periphery rotation connection rotating plectane, and the top of installing hole
Inwall is provided with camber chute, and the inwall of described camber chute and slide post are slidably connected, and described rotation plectane is away from driven tooth
The side of wheel is provided with bearing, and bearing is fixedly mounted on installing hole away from the side inwall of driven gear, described bearing interior
Side is fixed with first mechanical arm, and first mechanical arm is provided with hand away from the one end rotating plectane, and described hand is located at mounting post
Away from the side of driven gear, the other end of described first mechanical arm is provided with connecting rod, and connecting rod is away from first mechanical arm
One end and rotation plectane contact.
Preferably, described sliding seat and mounting seat are respectively positioned on same vertical axis, and two driven gears and two electricity
Machine is all symmetrical arranged according to the vertical axis of mounting seat.
Preferably, the bottom of described sliding seat is provided with mounting groove, and mounting groove is located at the medium position of sliding seat, described peace
Second motor is fixed with the inwall of tankage, and the second motor is connected with the top of mounting seat, described second motor is reciprocal
Motor, and model 5RK40GN-A of the second motor.
Preferably, the bottom interior wall of described camber chute is respectively equipped with the first inductive switch and the second inductive switch, institute
State the side that the first inductive switch is located at installing hole, and the second inductive switch is located at the opposite side of installing hole, described first sensing
Switch and the second inductive switch are matched with slide post respectively, and slide post is metal slide post.
Preferably, two hands are in 90 degree of settings, and hand is provided with infrared sensor.
Preferably, described mounting seat is provided with controller, and model SC200 of controller, the input of described controller
End is connected with the outfan of the first inductive switch, the second inductive switch and infrared sensor respectively, and the outfan of controller
It is connected with the input of motor and the input of the second motor respectively.
Preferably, described rotation plectane is provided with rectangle draw-in groove near the side of first mechanical arm, and described connecting rod is close to be turned
One end of dynamic plectane is provided with rectangle card column, and rectangle card column is installed on the inwall of rectangle draw-in groove.
Beneficial effects of the present invention：
1st, matched by the infrared sensor on hand, the second motor, mounting seat and sliding seat, when the infrared sensing on hand
When device detects workpiece, infrared sensor can control the second motor to be rotated by controller, and the second motor can drive
Mounting seat carry out 180 degree rotation on sliding seat so that for robot robot arm device can by workpiece from discharge position
It is transported to operating position, greatly improve work efficiency；
2nd, matched by the rotation plectane in the infrared sensor on hand, motor, driving gear, driven gear and fix bar
Close, when the infrared sensor on hand detects workpiece, infrared sensor can also be controlled by controller and motor is carried out
Rotate forward, motor is meshed by the driving gear on motor and driven gear, motor can drive rotation plectane in installing hole
Rotated on inwall, rotate plectane and can drive slide post in the enterprising line slip of inwall of camber chute, until slide post and
First inductive switch contacts, and the first inductive switch passes through controller controlled motor and stops rotating forward；
3rd, matched by rotating the rectangle card column on the rectangle draw-in groove and connecting rod on plectane, rotating plectane can by connecting rod
To drive first mechanical arm to carry out 90 degree of rotations, first mechanical arm can drive hand to be rotated so that being used for robot
Robot arm device on hand can laterally be gripped workpiece in upper discharge position, can carry out longitudinally putting in operating position again
Material；
The structure of the present invention is simple, economical and practical, for robot robot arm device can by rotate 180 degree by workpiece from
Discharge position is transported to operating position, and is laterally gripped workpiece in upper discharge position, in addition for the robot arm device of robot
Carry out longitudinal blowing in operating position.
Brief description
Fig. 1 is a kind of structural representation of robot arm device for robot proposed by the present invention；
Fig. 2 is a kind of partial structural diagram of robot arm device for robot proposed by the present invention.
In figure：1 sliding seat, 2 linear slide rails, 3 mounting seats, 4 mounting rods, 5 motors, 6 driving gears, 7 driven gears, 8
One fix bar, 9 mounting posts, 10 slide posts, 11 bearings, 12 rotation plectanes, 13 connecting rods, 14 first mechanical arms, 15 hands, 16 arcs
Type chute, 17 installing holes.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation description is it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.
With reference to Fig. 1-2, a kind of robot arm device for robot, including sliding seat 1, linear slide rail 2 and hand 15, slide
Dynamic seat 1 is arranged on linear slide rail 2, and sliding seat 1 and linear slide rail 2 are slidably connected, and the lower rotation of sliding seat 1 is connected with installation
Seat 3, the two bottom sides of mounting seat 3 are all installed with motor 5, and the output shaft of motor 5 is connected with driving gear 6, driving tooth
Wheel 6 is engaged with driven gear 7, and the side that two driven gears 7 are located remotely from each other is equipped with the first fix bar 8, the first fix bar 8
One end away from driven gear 7 is connected with rotation plectane 12, and rotation plectane 12 is provided with slide post 10, the both sides of mounting seat 3
It is equipped with mounting rod 4, and mounting rod 4 is oppositely arranged, mounting rod 4 is L-type structure, the bottom of mounting rod 4 is provided with mounting post 9, and
Mounting post 9 is provided with installing hole 17 near the side of driven gear 7, and the periphery of the inwall of installing hole 17 and rotation plectane 12 rotates even
Connect, and the top inner wall of installing hole 17 is provided with camber chute 16, the inwall of camber chute 16 and slide post 10 are slidably connected, turn
Dynamic plectane 12 is provided with bearing 11 away from the side of driven gear 7, and bearing 11 is fixedly mounted on installing hole 17 away from driven gear 7
Side inwall on, the inner side of bearing 11 is fixed with first mechanical arm 14, and first mechanical arm 14 is away from rotating the one of plectane 12
End is provided with hand 15, and hand 15 is located at the side away from driven gear 7 for the mounting post 9, and the other end of first mechanical arm 14 is provided with even
Extension bar 13, and connecting rod 13 away from first mechanical arm 14 one end and rotate plectane 12 contact, sliding seat 1 and mounting seat 3 are equal
On same vertical axis, and two driven gears 7 and two motors 5 are all carried out symmetrically according to the vertical axis of mounting seat 3
Setting, the bottom of sliding seat 1 is provided with mounting groove, and mounting groove is located at the medium position of sliding seat 1, fixing on the inwall of mounting groove
There is the second motor, and the second motor is connected with the top of mounting seat 3, the second motor is reciprocating motor, and the type of the second motor
Number it is 5RK40GN-A, the bottom interior wall of camber chute 16 is respectively equipped with the first inductive switch and the second inductive switch, the first sense
Inductive switch is located at the side of installing hole 17, and the second inductive switch is located at the opposite side of installing hole 17, the first inductive switch and the
Two inductive switches are matched with slide post 10 respectively, and slide post 10 is metal slide post, and two hands 15 are in 90 degree of settings,
And hand 15 is provided with infrared sensor, mounting seat 3 is provided with controller, and model SC200 of controller, controller defeated
Enter end to be connected with the outfan of the first inductive switch, the second inductive switch and infrared sensor respectively, and the output of controller
End is connected with the input of motor 5 and the input of the second motor respectively, rotates plectane 12 near the one of first mechanical arm 14
Side is provided with rectangle draw-in groove, and connecting rod is provided with rectangle card column near the one end rotating plectane 12, and rectangle card column is installed on rectangular card
On the inwall of groove.
Application process：When the infrared sensor on hand 15 detects workpiece, it is permissible that infrared sensor passes through controller
The second motor is controlled to be rotated, the second motor can drive mounting seat 3 to carry out 180 degree rotation, sliding seat 1 on sliding seat 1
On the hand 15 in first mechanical arm 14 can be driven to carry out 180 degree horizontal rotation so that for robot robot arm device
Workpiece can be transported to operating position from upper discharge position, infrared sensor can also controlled motor 5 be entered by controller simultaneously
Row rotates forward, and motor 5 is meshed by the driving gear 6 on motor 5 and driven gear 7, and motor 5 can drive rotation plectane 12 to exist
Rotated on the inwall of installing hole 17, rotate plectane 12 and slide post 10 can be driven to be slided on the inwall of camber chute 16
Dynamic, under the cooperation of the rectangle card column on rectangle draw-in groove and connecting rod 13 on rotating plectane 12, rotate plectane 12 and pass through to connect
Bar 13 can drive first mechanical arm 14 to be rotated, and until slide post 10 and the first inductive switch contact, now motor 5 stops
Only rotate forward, first mechanical arm 14 can drive hand 15 to rotate 90 degree so that the handss that are used on the robot arm device of robot
Portion 15 can laterally be gripped workpiece in upper discharge position, can carry out longitudinal blowing in operating position again, and this hand 15 is corresponding
Infrared sensor when being not detected by workpiece, infrared sensor controls corresponding motor 5 to be inverted, until slide post 10
Contact with the second inductive switch so that motor 5 stops reversion.
The above, the only present invention preferably specific embodiment, but protection scope of the present invention is not limited thereto,
Any those familiar with the art the invention discloses technical scope in, technology according to the present invention scheme and its
Inventive concept equivalent or change in addition, all should be included within the scope of the present invention.
Claims (7)
1. a kind of robot arm device for robot, including sliding seat（1）, linear slide rail（2）And hand（15）, described slip
Seat（1）It is arranged on linear slide rail（2）, and sliding seat（1）And linear slide rail（2）It is slidably connected it is characterised in that described sliding seat
（1）Lower rotation be connected with mounting seat（3）, described mounting seat（3）Two bottom sides be all installed with motor（5）, and electricity
Machine（5）Output shaft be connected with driving gear（6）, described driving gear（6）It is engaged with driven gear（7）, and two driven tooth
Wheel（7）The side being located remotely from each other is equipped with the first fix bar（8）, described first fix bar（8）Away from driven gear（7）One end
It is connected with rotation plectane（12）, and rotate plectane（12）It is provided with slide post（10）, described mounting seat（3）Both sides be equipped with peace
Dress bar（4）, and mounting rod（4）It is oppositely arranged, described mounting rod（4）For L-type structure, described mounting rod（4）Bottom be provided with peace
Dress post（9）, and mounting post（9）Near driven gear（7）Side be provided with installing hole（17）, described installing hole（17）Inwall and
Rotate plectane（12）Periphery rotate and connect, and installing hole（17）Top inner wall be provided with camber chute（16）, described camber
Chute（16）Inwall and slide post（10）It is slidably connected, described rotation plectane（12）Away from driven gear（7）Side be provided with
Bearing（11）, and bearing（11）It is fixedly mounted on installing hole（17）Away from driven gear（7）Side inwall on, described bearing
（11）Inner side be fixed with first mechanical arm（14）, and first mechanical arm（14）Away from rotation plectane（12）One end be provided with hand
（15）, described hand（15）Positioned at mounting post（9）Away from driven gear（7）Side, described first mechanical arm（14）Another
End is provided with connecting rod（13）, and connecting rod（13）Away from first mechanical arm（14）One end and rotate plectane（12）Contact.
2. a kind of robot arm device for robot according to claim 1 is it is characterised in that described sliding seat（1）
And mounting seat（3）It is respectively positioned on same vertical axis, and two driven gears（7）With two motors（5）All according to mounting seat（3）
Vertical axis be symmetrical arranged.
3. a kind of robot arm device for robot according to claim 1 is it is characterised in that described sliding seat（1）
Bottom be provided with mounting groove, and mounting groove be located at sliding seat（1）Medium position, the inwall of described mounting groove is fixed with second
Motor, and the second motor and mounting seat（3）Top be connected, described second motor is reciprocating motor, and the type of the second motor
Number be 5RK40GN-A.
4. a kind of robot arm device for robot according to claim 1 is it is characterised in that described camber chute
（16）Bottom interior wall on be respectively equipped with the first inductive switch and the second inductive switch, described first inductive switch be located at installing hole
（17）Side, and the second inductive switch be located at installing hole（17）Opposite side, described first inductive switch and second sensing opens
Close respectively with slide post（10）Match, and slide post（10）For metal slide post.
5. a kind of robot arm device for robot according to claim 1 is it is characterised in that two hands（15）It is in
90 degree of settings, and hand（15）It is provided with infrared sensor.
6. a kind of robot arm device for robot according to claim 1 is it is characterised in that described mounting seat（3）
Be provided with controller, and model SC200 of controller, the input of described controller respectively with the first inductive switch, second
Inductive switch is connected with the outfan of infrared sensor, and the outfan of controller respectively with motor（5）Input and
The input of two motors is connected.
7. a kind of robot arm device for robot according to claim 1 is it is characterised in that described rotation plectane
（12）Near first mechanical arm（14）Side be provided with rectangle draw-in groove, described connecting rod near rotate plectane（12）One end be provided with
Rectangle card column, and rectangle card column is installed on the inwall of rectangle draw-in groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611052005.4A CN106476010A (en) | 2016-11-25 | 2016-11-25 | A kind of robot arm device for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611052005.4A CN106476010A (en) | 2016-11-25 | 2016-11-25 | A kind of robot arm device for robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106476010A true CN106476010A (en) | 2017-03-08 |
Family
ID=58275426
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611052005.4A Withdrawn CN106476010A (en) | 2016-11-25 | 2016-11-25 | A kind of robot arm device for robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106476010A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107351106A (en) * | 2017-08-01 | 2017-11-17 | 滁州鸿博自动化设备有限公司 | A kind of high speed machine hand for being easy to multi-angle regulation |
| CN114161389A (en) * | 2021-12-30 | 2022-03-11 | 武汉博感空间科技有限公司 | Drainage pipe network and water system crawler-type pollution intelligent detection robot based on 5G + Beidou |
-
2016
- 2016-11-25 CN CN201611052005.4A patent/CN106476010A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107351106A (en) * | 2017-08-01 | 2017-11-17 | 滁州鸿博自动化设备有限公司 | A kind of high speed machine hand for being easy to multi-angle regulation |
| CN114161389A (en) * | 2021-12-30 | 2022-03-11 | 武汉博感空间科技有限公司 | Drainage pipe network and water system crawler-type pollution intelligent detection robot based on 5G + Beidou |
| CN114161389B (en) * | 2021-12-30 | 2023-07-14 | 武汉博感空间科技有限公司 | Crawler-type pollution intelligent detection robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170308 |
|
| WW01 | Invention patent application withdrawn after publication |