CN106514639A - Manipulator - Google Patents
Manipulator Download PDFInfo
- Publication number
- CN106514639A CN106514639A CN201611264343.4A CN201611264343A CN106514639A CN 106514639 A CN106514639 A CN 106514639A CN 201611264343 A CN201611264343 A CN 201611264343A CN 106514639 A CN106514639 A CN 106514639A
- Authority
- CN
- China
- Prior art keywords
- nut
- splined shaft
- drivewheel
- spline housing
- driving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—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
- B25J9/048—Pendulum type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a manipulator. The manipulator comprises a moving seat, a first driving device for driving the moving seat to move linearly, a swing seat, a second driving device which is mounted on the moving seat and is used for driving the swing seat to rotate, a third driving device mounted on the swing seat as well as a workpiece taking and placing device connected with a spline shaft; the third driving device comprises a spline sleeve, a spline sleeve driving mechanism for driving the spline sleeve to rotate, the spline shaft which is inserted in the spline sleeve in such a manner that the spline shaft can rotate synchronously with the spline sleeve and move relative to the spline sleeve in the axial direction of the spline sleeve, a nut sleeving the spline shaft as well as a nut driving mechanism for driving the nut to rotate; and the spline shaft is matched with the nut to form screw transmission. With the manipulator, the spline shaft can be driven to move linearly and rotate, so that different motion requirements are met.
Description
Technical field
The present invention relates to a kind of mechanical hand.
Background technology
At present, mechanical hand is generally comprised axis body, the workpiece fetching device that is connected with axis body, the gas being connected is driven with axis body
Cylinder, operationally, can pass through workpiece fetching device and workpiece is extracted from extraneous lifting seat, then by cylinder drive axis body,
Workpiece fetching device moves linearly to precalculated position together with workpiece thereon, then discharges workpiece.But due in existing mechanical hand
It is only capable of driving axis body to move along a straight line, and in actual use, it is desirable to axis body can also be driven to be rotated, with can
Axis body is driven to move along a straight line or rotate according to different demands, thus, existing mechanical hand is far from meeting people's demand.
The content of the invention
In order to overcome the deficiencies in the prior art, it is an object of the invention to provide a kind of mechanical hand, which passes through the 3rd drive
Dynamic device is designed using the combination of spline housing, spline housing drive mechanism, nut, nut drive mechanism, and splined shaft can be driven to do directly
Line is moved, and can also drive splined shaft to rotate, to meet different motion demand.
To solve the above problems, the technical solution adopted in the present invention is as follows：
Mechanical hand, including：
Mobile base；
The first driving means moved along a straight line for driving Mobile base to do；
Swing seat；
On Mobile base and for drive swing seat rotate the second driving means；
The 3rd driving means in swing seat, including spline housing, the spline housing drive for driving spline housing to rotate
Motivation structure, by with spline housing synchronous axial system and can relative spline housing move along its axis in the way of be inserted into spline in spline housing
Axle, the nut being sleeved on splined shaft and the nut drive mechanism for driving nut rotation；The splined shaft is matched somebody with somebody with nut
Close and constitute worm drive；
And the workpiece fetching device being connected with splined shaft.
The spline housing is rotatably mounted in swing seat；The spline housing drive mechanism includes the first drivewheel, machine
Body be fixed in swing seat and for drive the first motor that the first drivewheel rotates and spline housing connection the first driven pulley,
And the first conveyer belt being set around on the first drivewheel and the first driven pulley.
The nut is rotatably mounted in swing seat；The nut drive mechanism includes that the second drivewheel, body are solid
Be scheduled in swing seat and for drive the second motor that the second drivewheel rotates and nut connection the second driven pulley and around
The second conveyer belt on the second drivewheel and the second driven pulley.
First driving means include drain pan, the 3rd drivewheel being articulated in drain pan, rotate for the 3rd drivewheel of driving
The 3rd motor, the 3rd driven pulley being articulated in drain pan and around the 3rd be located on the 3rd drivewheel and the 3rd driven pulley
Conveyer belt；The Mobile base is connected with the 3rd conveyer belt.
The first driving means also include the outer housing for being connected with drain pan and being placed on for cover outside drain pan；The Mobile base is lived
It is dynamic to be sheathed on outer housing, and it is provided with the roller that cooperation is rolled with drain pan.
Second driving means are motor.
The vacuum slot that the workpiece fetching device is included the connecting seat being connected with splined shaft, is fixed on connecting seat；Institute
The absorption of workpieces end for stating vacuum slot is arranged down.
The splined shaft and nut screw connection constitute rolling spiral drive with by the straight line for being converted into splined shaft of nut
Motion.
Spline housing cooperatively forms ball spline pair with splined shaft.
The direction of motion of the Mobile base and the central axis upright of splined shaft；Second driving means are used for band movable pendulum
Dynamic seat is around pivot axis；The centerline axis parallel of the pivot center and splined shaft, and mutually stagger.
Compared to existing technology, the beneficial effects of the present invention is：
The present invention is by the 3rd driving means are driven using spline housing, spline housing drive mechanism, splined shaft, nut, nut
The combination design of motivation structure, when in use, drives nut rotation by nut drive mechanism, and splined shaft can be driven to do straight line fortune
It is dynamic, and drive spline housing, nut to synchronously rotate by using spline housing drive mechanism, nut drive mechanism, spline can be driven
Axle is rotated, thus, different motion demand can be met；And, can also by first driving means drive Mobile base together with swing seat,
3rd driving means, workpiece fetching device move along a straight line, and swing seat can be driven to rotate to drive by the second driving means
3rd driving means are rotated together with workpiece fetching device, are used motility so as to improve, and can be expanded its scope of application.
Description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of the 3rd driving means；
Structural representations of the Fig. 3 for first driving means；
Explosive views of the Fig. 4 for first driving means；
Sectional views of the Fig. 5 for first driving means；
Structural representations of the Fig. 6 for Mobile base；
Wherein, 100, first driving means；110th, drain pan；111st, base；112nd, front side board；113rd, back side panel；114th, it is left
Side plate；115th, right plate；120th, the 3rd drivewheel；130th, the 3rd motor；140th, the 3rd driven pulley；150th, outer housing；151st, top board；
152nd, left plate；153rd, right panel；200th, Mobile base；201st, the second cavity；202nd, outer transverse slat；203rd, outer panel；204th, inner horizontal plate；
205th, interior plate；206th, the first cavity；207th, roller；300th, swing seat；400th, the second driving means；500th, the 3rd drive dress
Put；520th, spline housing；530th, spline housing drive mechanism；531st, the first drivewheel；532nd, the first motor；533rd, the first driven pulley；
540th, splined shaft；550th, nut；560th, nut drive mechanism；561st, the second drivewheel；562nd, the second motor；563rd, second is driven
Wheel；600th, workpiece fetching device；610th, connecting seat；620th, vacuum slot；630th, air nozzle.
Specific embodiment
Below, with reference to accompanying drawing and specific embodiment, the present invention is described further：
Such as Fig. 1-6, mechanical hand, including：
Mobile base 200；
The first driving means 100 moved along a straight line for driving Mobile base 200 to do；
Swing seat 300；
On Mobile base 200 and for drive swing seat 300 rotate the second driving means 400；
The 3rd driving means 500 in swing seat 300, including spline housing 520, for driving 520 turns of spline housing
Dynamic spline housing drive mechanism 530, with 520 synchronous axial system of spline housing and can the side that moves along its axis of relative spline housing 520
Splined shaft 540 that formula is inserted in spline housing 520, the nut 550 being sleeved on splined shaft 540, and for driving nut 550
The nut drive mechanism 560 of rotation；The splined shaft 540 coordinates composition worm drive with nut 550；
And the workpiece fetching device 600 being connected with splined shaft 540.
When in use, spline housing 520, nut is driven by using spline housing drive mechanism 530, nut drive mechanism 560
550 synchronously rotate, and splined shaft 540 can be driven to rotate, to drive workpiece fetching device 600 to rotate；And stop in spline housing 520
When rotating, and driving nut 550 to rotate by nut drive mechanism 560, spiral shell is constituted as splined shaft 540 is coordinated with nut 550
Rotation transmission, so as to can be by the linear motion for being converted into splined shaft 540 of nut 550, to drive 540 straight line of splined shaft fortune
It is dynamic, so as to drive workpiece fetching device 600 to move along a straight line；Thus, the present invention is by adopting spline by the 3rd driving means 500
Set 520, spline housing drive mechanism 530, splined shaft 540, nut 550, the combination design of nut drive mechanism 560, can drive flower
Key axle 540 moves along a straight line or rotates, can meet different motion demand.And when actually used, can also drive by first
Dynamic device 100 drives Mobile base 200 to do straight line fortune together with swing seat 300, the 3rd driving means 500, workpiece fetching device 600
It is dynamic, and swing seat 300 can be driven to rotate to drive the 3rd driving means 500, workpiece fetching device by the second driving means 400
600 rotate, and use motility so as to improve, and can expand its scope of application.
Preferably, the central axis upright of the direction of motion of the Mobile base 200 and splined shaft 540；Described second drives
Device 400 is used to drive swing seat 300 around pivot axis；The pivot center is flat with the central axis of splined shaft 540
OK, and mutually stagger.And pass through using above-mentioned setting, workpiece fetching device 600 can be driven along orthogonal two rectilinear direction
Motion, and workpiece fetching device 600 can be driven to rotate around not coaxial line, motility is used further to improve.Specifically, it is described
The axis direction of splined shaft 540 is consistent with vertical direction, so that splined shaft 540 can be together with workpiece fetching device 600 along vertical
Direction moves up and down.
Preferably, the spline housing 520 is rotatably mounted in swing seat 300；The spline housing drive mechanism 530 is wrapped
Include the first drivewheel 531, body to be fixed in swing seat 300 and for driving the first motor of the rotation of the first drivewheel 531
532nd, and the connection of spline housing 520 the first driven pulley 533, and be set around on the first drivewheel 531 and the first driven pulley 533
First conveyer belt.And when in use, the first motor 532 works, the first drivewheel 531 can be driven to rotate, with by the first transmission
Band drives the first driven pulley 533 to rotate together with spline housing 520.And spline housing drive mechanism 530 is by adopting said structure, can be square
It is easy to assembling.
The nut 550 is rotatably mounted in swing seat 300；The nut drive mechanism 560 includes second actively
Wheel 561, body is fixed in swing seat 300 and is used to drive the second motor 562 of the rotation of the second drivewheel 561, and nut 550
Second driven pulley 563 of connection, and the second conveyer belt for being set around on the second drivewheel 561 and the second driven pulley 563.And
During use, the second motor 562 works, and the second drivewheel 561 can be driven to rotate, to drive the second driven pulley by the second conveyer belt
563 rotate together with nut 550.And nut drive mechanism 560 can be convenient to assembling by adopting said structure.
Preferably, first driving means 100 include drain pan 110, the 3rd drivewheel 120 being articulated in drain pan 110, are used for
Drive the 3rd motor 130 for rotating of the 3rd drivewheel 120, the 3rd driven pulley 140 being articulated in drain pan 110, and around being located at
The 3rd conveyer belt on 3rd drivewheel 120 and the 3rd driven pulley 140；The Mobile base 200 is connected with the 3rd conveyer belt.Make
Used time, the 3rd motor 130 work, and the 3rd drivewheel 120 can be driven to rotate, so as to drive Mobile base by the 3rd conveyer belt
200 movements.
The first driving means 100 also include the outer housing 150 for being connected with drain pan 110 and being placed on for cover outside drain pan 110；
The Mobile base 200 is movably set on outer housing 150, and is provided with the roller 207 that cooperation is rolled with drain pan 110.The present invention passes through
It is placed on outside drain pan 110 using the cover of outer housing 150, the 3rd drivewheel 120, the 3rd driven pulley 140 can be avoided to be directly exposed to outer, can be subtracted
Few extraneous granule dust falls on the 3rd drivewheel 120, the 3rd driven pulley 140, to reduce the granule dust in the external world to the 3rd
The corrosiveness of drivewheel 120, the 3rd driven pulley 140, so as to the use of the 3rd drivewheel 120, the 3rd driven pulley 140 can be extended
Life-span；And, it is rolling friction between Mobile base 200 and drain pan 110, Mobile base 200, the abrasion of drain pan 110 can be reduced, to prolong
Long its service life.
Specifically, the drain pan 110 includes base 111, front side board 112 and back side panel 113；The left side of the base 111
The left plate 114 for extending upward is provided with, right side is provided with the right plate 115 for extending upward；The front side board 112 is arranged on bottom
The front end of seat 111, and front end respectively with left plate 114, the front end of right plate 115 be connected；The back side panel 113 is arranged on bottom
The rear end of seat 111, and rear end respectively with left plate 114, the rear end of right plate 115 be connected；The front end of the outer housing 150 is fixed
On the front side board 112 of drain pan 110, rear end is fixed on the back side panel 113 of drain pan 110；The outer housing 150 is included positioned at drain pan
Top board 151 above in the of 110；The left side of the top board 151 is provided with the left plate 152 extended down and outside drain pan 110, right side
It is provided with the right panel 153 extended down and outside drain pan 110；Between the top surface of the top board 151 and left plate 114, top board
It is equipped between 151 and the top surface of right plate 115, between left plate 152 and left plate 114, between right panel 153 and right plate 115
Gap.And pass through to adopt said structure, cover lid can be played a part of while, be also convenient to assembling.
Specifically, the top surface of the front end of the top board 151 and front side board 112 is mutually by patch, the top surface of rear end and back side panel 113
Mutually by patch；Mutually by patch, the left surface of rear end and back side panel 113 is mutually leaned on the left surface of the front end of the left plate 152 and front side board 112
Patch；, mutually by patch, the right flank of rear end and back side panel 113 is mutually by pasting for the right flank of the front end of the right panel 153 and front side board 112.
And pass through to adopt said structure, can further improve assembling convenience.
Preferably, Mobile base 200 includes outer transverse slat 202 above top board 151, is respectively provided with outer transverse slat 202
The left and right sides and extend down two outer panels 203, the first contiguous block, the second contiguous block, the inner horizontal plate below top board 151
204th, and the left and right sides of inner horizontal plate 204 two interior plates 205 that extend down are separately positioned on；The inner horizontal plate 204 with
Two interior plate 205 surrounds the first cavity 206 worn for drain pan 110；The left side of first contiguous block be located at outer transverse slat
The lower end connection of the outer panel 203 on the left of in the of 202, right side is connected with the lower end of the interior plate 205 on the left of inner horizontal plate 204；The
The right side of two contiguous blocks is connected with the lower end of the outer panel 203 on the right side of outer transverse slat 202, and left side is right with positioned at inner horizontal plate 204
The lower end connection of the interior plate 205 of side；The outer transverse slat 202, two outer panels 203, the first contiguous block, the second contiguous block, in two
Side plate 205, and inner horizontal plate 204 surround the second cavity 201 worn for outer housing 150；The roller 207 is articulated in inner horizontal plate 204
On.And on the basis of rationally drain pan 110, outer housing 150 are set, then by Mobile base 200 is adopted said structure, make out of doors
Used time can reduce, can even avoid rainwater from entering in base 111.
Wherein, second driving means 400 are motor.Certainly, in addition, second driving means 400
Can also be using other devices such as rotary cylinders, as long as swing seat 300 can be driven to rotate.
Preferably, the workpiece fetching device 600 is included the connecting seat 610 being connected with splined shaft 540, is fixed on connecting seat
Vacuum slot 620 on 610, the absorption of workpieces end of the vacuum slot 620 are arranged down, when in use, vacuum slot 620
Workpiece is drawn by way of vac sorb in absorption of workpieces end.Certainly, in addition to using above-mentioned part, the workpiece picks and places dress
Putting 600 can also be using air-actuated jaw, magnechuck etc..But workpiece fetching device 600 is adopted into connecting seat 610 and vacuum slot
620, workpiece of different shapes is applicable to, and suitable for the workpiece of the unlike materials such as glass, metal, is suitable for so as to which can be expanded
Scope.
Preferably, air nozzle 630 is further fixed on the connecting seat 610, workpiece is discharged to outer in vacuum slot 620
When on boundary's tool, the coolant on tool can be blown open first with air nozzle 630, the positioning of workpiece be caused with reducing coolant
Affect.
Preferably, the nut 550 adopts ball-type nut 550, so that the splined shaft 540 coordinates structure with nut 550
Into rolling spiral drive (namely splined shaft 540 cooperatively forms ball wire bar pair with nut 550), splined shaft 540 can be reduced
Abrasion, extends the service life of splined shaft 540.
Certainly, in addition to that mentioned above, the splined shaft 540 coordinates composition worm drive with nut 550, also directly can utilize
The external screw thread of splined shaft 540 can be converted into splined shaft with the rotation for cooperating so that nut 550 of the female thread of nut 550
540 linear motion, it is, forming slip screw transmission.But coordinate composition to roll on the splined shaft 540 and nut 550
Worm drive, are the optimal case of the present invention, can reduce the abrasion of splined shaft 540.
Preferably, the spline housing 520 adopts ball-type spline housing 520, so that spline housing 520 is coordinated with splined shaft 540
Ball spline pair is formed, to reduce the abrasion of splined shaft 540, further extends the service life of splined shaft 540.
It will be apparent to those skilled in the art that technical scheme that can be as described above and design, make other various
It is corresponding to change and deformation, and all these change and deformation should all belong to the protection domain of the claims in the present invention
Within.
Claims (10)
1. mechanical hand, it is characterised in that；Including：
Mobile base；
The first driving means moved along a straight line for driving Mobile base to do；
Swing seat；
On Mobile base and for drive swing seat rotate the second driving means；
The 3rd driving means in swing seat, including spline housing, the spline housing driving machine for driving spline housing to rotate
Structure, by with spline housing synchronous axial system and can relative spline housing move along its axis in the way of be inserted into splined shaft in spline housing,
The nut being sleeved on splined shaft and the nut drive mechanism for driving nut rotation；The splined shaft and nut screw connection
Constitute worm drive；
And the workpiece fetching device being connected with splined shaft.
2. mechanical hand as claimed in claim 1, it is characterised in that；The spline housing is rotatably mounted in swing seat；Institute
State spline housing drive mechanism include the first drivewheel, body be fixed in swing seat and for drive that the first drivewheel rotates the
First driven pulley and the first transmission being set around on the first drivewheel and the first driven pulley of one motor and spline housing connection
Band.
3. mechanical hand as claimed in claim 1, it is characterised in that；The nut is rotatably mounted in swing seat；It is described
Nut drive mechanism includes that the second drivewheel, body are fixed in swing seat and the second drivewheel rotates second electric for driving
Machine and second driven pulley and the second conveyer belt being set around on the second drivewheel and the second driven pulley of nut connection.
4. mechanical hand as claimed in claim 1, it is characterised in that；First driving means include drain pan, are articulated in drain pan
3rd drivewheel, the 3rd motor for driving the rotation of the 3rd drivewheel, the 3rd driven pulley being articulated in drain pan and winding
The 3rd conveyer belt on the 3rd drivewheel and the 3rd driven pulley；The Mobile base is connected with the 3rd conveyer belt.
5. mechanical hand as claimed in claim 4, it is characterised in that；The first driving means also include being connected with drain pan being used in combination
The outer housing outside drain pan is placed in cover；The Mobile base is movably set on outer housing, and is provided with the roller that cooperation is rolled with drain pan.
6. mechanical hand as claimed in claim 1, it is characterised in that；Second driving means are motor.
7. mechanical hand as claimed in claim 1, it is characterised in that；The workpiece fetching device includes the company being connected with splined shaft
Joint chair, the vacuum slot being fixed on connecting seat；The absorption of workpieces end of the vacuum slot is arranged down.
8. mechanical hand as claimed in claim 1, it is characterised in that；The splined shaft constitutes rolling spiral drive with nut screw connection
With by the linear motion for being converted into splined shaft of nut.
9. mechanical hand as claimed in claim 1, it is characterised in that；Spline housing cooperatively forms ball spline pair with splined shaft.
10. mechanical hand as claimed in claim 1, it is characterised in that；The direction of motion of the Mobile base and the center of splined shaft
Axis is vertical；Second driving means are used to drive swing seat around pivot axis；The pivot center and splined shaft
Centerline axis parallel, and mutually stagger.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611264343.4A CN106514639B (en) | 2016-12-31 | 2016-12-31 | Manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611264343.4A CN106514639B (en) | 2016-12-31 | 2016-12-31 | Manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106514639A true CN106514639A (en) | 2017-03-22 |
| CN106514639B CN106514639B (en) | 2019-09-13 |
Family
ID=58335997
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611264343.4A Active CN106514639B (en) | 2016-12-31 | 2016-12-31 | Manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106514639B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106947842A (en) * | 2017-04-18 | 2017-07-14 | 温州职业技术学院 | Leather surface scrapes colloid system |
| CN108298290A (en) * | 2017-12-09 | 2018-07-20 | 安徽省光明粮油工业有限公司 | A kind of automatic Filtting device |
| CN108357921A (en) * | 2018-01-25 | 2018-08-03 | 江苏理工学院 | A kind of eccentric wheel feed device |
| WO2018210291A1 (en) * | 2017-05-18 | 2018-11-22 | 北京华沁智联科技有限公司 | Robotic arm |
| CN109292445A (en) * | 2018-09-20 | 2019-02-01 | 苏州龙雨电子设备有限公司 | A kind of bottle body quickly rotates and jacking apparatus |
| CN109397322A (en) * | 2018-12-12 | 2019-03-01 | 深圳市瓦力自动化有限公司 | A kind of manipulator picks and places the structure and control method of work head |
| CN109986550A (en) * | 2019-05-16 | 2019-07-09 | 凌龙智能(深圳)科技有限公司 | Rotating transfer feed device |
| CN110255206A (en) * | 2019-07-12 | 2019-09-20 | 海盐百步建材有限公司 | A kind of automatic stacking code fetus device of environment-friendly type concrete building materials |
| CN110316560A (en) * | 2018-03-30 | 2019-10-11 | 广州米贺智能科技有限公司 | A kind of automatic feeder |
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