CN106737627A - A kind of imitative trunk mechanical arm - Google Patents

A kind of imitative trunk mechanical arm Download PDF

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Publication number
CN106737627A
CN106737627A CN201710020447.9A CN201710020447A CN106737627A CN 106737627 A CN106737627 A CN 106737627A CN 201710020447 A CN201710020447 A CN 201710020447A CN 106737627 A CN106737627 A CN 106737627A
Authority
CN
China
Prior art keywords
mechanical arm
cylinder
base
joint
fixed
Prior art date
Application number
CN201710020447.9A
Other languages
Chinese (zh)
Inventor
苑明海
王松
黄锦婷
鲁义刚
王海东
Original Assignee
河海大学常州校区
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 河海大学常州校区 filed Critical 河海大学常州校区
Priority to CN201710020447.9A priority Critical patent/CN106737627A/en
Publication of CN106737627A publication Critical patent/CN106737627A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping heads and other end effectors having finger members
    • B25J15/10Gripping heads and other end effectors having finger members with three or more finger members
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04Programme-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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/06Programme-controlled manipulators characterised by multi-articulated arms
    • B25J9/065Snake robots
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12Programme-controlled manipulators characterised by positioning means for manipulator elements electric

Abstract

The invention discloses a kind of imitative trunk mechanical arm, including base support, ball screw assembly, mechanical arm and handgrip;Ball screw assembly, drives mechanical arm to move up and down, and base support drives the rotation of ball screw assembly, driving mechanical arm;Mechanical arm includes the joint and three joints of control machinery arm left-right rotation that three control machinery arms are rotated upwardly and downwardly;Chassis interior of the present invention is equipped with stepper motor, can be disc-rotated, so as to realize that mechanical arm can move in a circle, comprehensive work.Ball-screw synetion big nut is fixed from rotating and can only being moved up and down along leading screw, so as to be moved up and down with the mechanical arm being fixed on vertical paster, increased the space control range of mechanical arm.Handgrip has three cat's paws, capable of expansion and contraction, and cat's paw tip is equipped with plastic cement pad, increased frictional force so that more stablize during crawl object.

Description

A kind of imitative trunk mechanical arm
Technical field
The invention belongs to Machine Design manufacturing technology field, more particularly to a kind of imitative trunk mechanical arm.
Background technology
With social development, in the automation industry of high speed development, requirement of the industrial production to mechanical arm bionics techniques It is more and more.The generation of mechanical arm, can not only carry out heavy and dull work instead of people, moreover it is possible in dangerous or pernicious gas Place be operated, greatly improve operating efficiency.In decades recently, mechanical arm bionics techniques is high-end certainly as one kind Dynamicization production technology, at home or foreign countries all have rapid development.Mechanical arm can carry out electricity by programming Road controls, and is freely operated as arm, so as to reach crawl purpose.But at this stage, for manipulator research not enough Deeply so that manipulator can not flexibly be used as the arm of people, therefore, a kind of rotatable, liftable, arm flexibly, The design of the precise and stable imitative trunk mechanical arm of crawl is necessary.
The content of the invention
In order to solve the problems of the prior art, the present invention provides a kind of imitative trunk mechanical arm, realizes working range Greatly, crawl position point is accurate, the purpose such as flexibility is good, stability is high.
To achieve the above object, the technical solution adopted by the present invention is:
A kind of imitative trunk mechanical arm, including base support 43, ball screw assembly, 42, mechanical arm 40 and handgrip 41, the ball Screw pair 42 is arranged on the base support 43, and the mechanical arm 40 is arranged on the ball screw assembly, 42, the handgrip 41 are connected with the mechanical arm 40, and the ball screw assembly, 42 drives mechanical arm 40 to move up and down, and the base support 43 drives The driving mechanical arm 40 of ball screw assembly, 42 rotates;The joint 44 that the mechanical arm 40 is sequentially connected including several, the joint 44 are made up of joint frame 32, and the fixed plate 22 of fixing joint motor 14, the joint motor are provided with the joint frame 32 14 bottom is connected with little gear 21 by the deboost axle 20 in reduction box 15, is also set by connecting shaft 18 on the joint frame 32 Gear wheel 19 is equipped with, the gear wheel 19 and little gear 21 in same joint 44 be orthogonal and gear wheel 19 and little gear 21 do exercises is non-interference, and the little gear 21 in the joint 44 is engaged in next joint 44 corresponding thereto Gear wheel 19.
As a further improvement on the present invention, the end that the adjacent joint frame 32 connects is arc-shaped edges, the company It is cuboid column structure that nested 17, described nested 17 are arranged with outside spindle 18, is provided with for nesting on the gear wheel 19 17 square openings for passing through, the two ends of the connecting shaft 18 are through the square opening set on joint frame 32 corresponding thereto, then wear The circular port set on next joint frame 32 corresponding thereto is crossed, and is fixed by nut 16.
As a further improvement on the present invention, the handgrip 41 includes setting-out body 23, the first cylinder 24, the second cylinder 30th, cylinder 31, movable tripod 25, cat's paw 26, connecting rod 27, one end of the setting-out body 23 is connected with the mechanical arm 40, puts The other end of sample body 23 connects first cylinder 24, and first cylinder 24 is connected with the second cylinder 30;It is described First cylinder 24 and the second cylinder 30 are hollow cylinder, wherein being provided with cylinder 31, institute in the first cylinder 24 The piston connection activity tripod 25 of cylinder 31 is stated, the movable tripod 25 connects 3 cat's paws 26, and the cat's paw 26 also passes through The fixed tripod 28 that connecting rod 27 is installed with the side wall of the second cylinder 30 is connected.
As a further improvement on the present invention, the excircle of the side wall of second cylinder 30 be vertically arranged with 3 it is rectangular Shape hole, slot bottom is provided with connecting rod 27, and the movable tripod 25 is under the driving of the piston of cylinder 31 in slot Interior motion, the end of each cat's paw 26 is provided with plastic cement pad 29.
As a further improvement on the present invention, the base support 43 includes base 1, base baffle 2, in the base 1 Portion is equipped with base stepper motor 33, and the top of the base stepper motor 33 is fixed by screws in the bottom for being placed on the top of base 1 On seat baffle plate 2, wave producer 35, flexbile gear 38 and disk 5 are sequentially installed with base baffle 2 from bottom to top.
As a further improvement on the present invention, the ball screw assembly, 42 includes leading screw 13 and guide post 12, the leading screw 13 top connects stepper motor 10 by shaft coupling 11, and the bottom of guide post 12 and leading screw 13 both passes through vertical paster 6 and is fixed on On disk 5, the top of the guide post 12 is through horizontal support piece 8 and fixes, and is connected by mechanical arm 40 on the vertical paster 6 Handgrip 41, the base stepper motor 33 drives disk 5 to rotate, and disk 5 drives mechanical arm 40 and handgrip 41 on vertical paster 6 Rotation, the stepper motor 10 drives leading screw 13 to rotate, and leading screw 13 drives mechanical arm 40 and handgrip on vertical paster 6 about 41 Motion.
As a further improvement on the present invention, the side-wall outer side of the wave producer 35 and flexbile gear 38 is provided with bearing inner race Baffle plate 3, the bottom of the bearing inner race baffle plate 3 is fixed on the top end face of the side wall of base 1, the side of the flexbile gear 38 by screw From-inner-to-outer is disposed with inner ring 37 and outer ring 36 on the outside of wall, and the inner ring 37 is pressed on bearing inner race baffle plate 3.
As a further improvement on the present invention, the disk 5 is placed on flexbile gear 38, the top surface of inner ring 37 and outer ring 36 and outer ring 36 side-wall outer side, the underrun mode connects for screw bearing baffle 4 of outer ring 36.
As a further improvement on the present invention, the upper surface of the disk 5 is provided with vertical fixed mount 7, on vertical fixed mount 7 It is fixed with stepper motor support member 9 and horizontal support piece 8 successively from top to bottom, stepping is fixed on the stepper motor support member 9 Motor 10, is fixed with shaft coupling 11 on the horizontal support piece 8.
As a further improvement on the present invention, the bottom of the leading screw 13 is through vertical paster 6 and passes through big nut 39 and hangs down The bottom surface of straight paster 6 is fixedly connected, and several screws are fixedly connected the big nut 39 with the underrun of vertical paster 6.
Compared with prior art, the present invention has advantages below:
Chassis interior of the present invention is equipped with stepper motor, can be disc-rotated, so as to realize that mechanical arm can move in a circle, Comprehensive work.Ball screw assembly, using annexation between nut and threads of lead screw, because big nut is fixed from rotation Can only be moved up and down along leading screw, so as to be moved up and down with the mechanical arm being fixed on vertical paster, increased manipulator The space control range of arm.Handgrip has three cat's paws, capable of expansion and contraction, and cat's paw tip is equipped with plastic cement pad, increased frictional force, makes More stablize when must capture object.
Brief description of the drawings
Fig. 1 is external structure schematic diagram of the invention;
Fig. 2 is the annexation schematic diagram between mechanical arm unit in the present invention;
Fig. 3 is the drive connection schematic diagram between mechanical arm unit in the present invention;
Fig. 4 is the structural representation of handgrip in the present invention;
Fig. 5 is the partial structural diagram of ball screw assembly, in the present invention;
Fig. 6 is the generalized section of base in the present invention.
The implication of each reference is in figure:
1- bases, 2- base baffles, 3- bearing inner race baffle plates, 4- bearing baffles, 5- disks, the vertical pasters of 6-, 7- is vertically fixed Frame, 8- horizontal support pieces, 9- stepper motor support members, 10- stepper motors, 11- shaft couplings, 12- guide posts, 13- leading screws, 14- Joint motor, 15- planetary reduction box, 16- nuts, 17- is nested, 18- connecting shafts, 19- gear wheels, 20- deboost axles, the small teeth of 21- Wheel, 22- fixed plates, 23- setting-out bodies, the cylinders of 24- first, 25- activity tripods, 26- cat's paws, 27- connecting rods, 28- fixes three Foot stool, 29- plastic cement pads, the cylinders of 30- second, 31- cylinders, 32- joints frame, 33- base stepper motors, 34- steel wheels, 35- Wave producer, 36- outer rings, 37- inner rings, 38- flexbile gears, 39- big nuts, 40- mechanical arms, 41- handgrips, 42- ball screw assembly,s, 43- base supports, 44- joints.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following examples are only used for clearly illustrating the present invention Technical scheme, and can not be limited the scope of the invention with this.
As shown in figures 1 to 6, a kind of imitative trunk mechanical arm, including base support 43, ball screw assembly, 42, the and of mechanical arm 40 Handgrip 41, the ball wire bar pair 42 is arranged on the base support 43, and the mechanical arm 40 is arranged on the ball-screw On secondary 42, the handgrip 41 is connected with the mechanical arm 40, and the ball screw assembly, 42 drives mechanical arm 40 to move up and down, described Base support 43 drives the driving mechanical arm 40 of ball screw assembly, 42 to rotate;The pass that the mechanical arm 40 is sequentially connected including several Section 44, the joint 44 is made up of joint frame 32, and the fixed plate 22 of fixing joint motor 14 is provided with the joint frame 32, The bottom of the joint motor 14 is connected with little gear 21 by the deboost axle 20 in reduction box 15, also leads on the joint frame 32 Cross connecting shaft 18 and be provided with gear wheel 19, the gear wheel 19 and little gear 21 in same joint 44 are orthogonal while big The motion of gear 19 and little gear 21 is non-interference, and it is next that the little gear 21 in the joint 44 is engaged in corresponding thereto Gear wheel 19 in joint 44.Whole mechanical arm carrys out fixed placement by base 1, and the base 1 is a big cylinder, internal Space is left, the base stepper motor 33 is combined with the base baffle 2 on base 1, by bolt the bottom Seat stepper motor 33 is fixed on inside base 1, drives wave producer 35 to work when the base stepper motor 33 works, Ran Housuo Stating wave producer 35 can just drive flexbile gear 38 to work, because the flexbile gear 38 and disk 5 are fixed, the disks 5 Just and then rotate together, so as to realize the circular motion of mechanical arm 40.
It is preferred in the present embodiment, joint 44 that the mechanical arm 40 is rotated upwardly and downwardly comprising three control machinery arms and three The joint 44 of control machinery arm left-right rotation, the joint 44 is all identical structure, and three control machinery arms turn up and down The vertical connection alternate with each other of joint 44 of dynamic joint 44 and three control machinery arm left-right rotations, the small tooth in a joint 44 Wheel 21 is engaged in the gear wheel 19 in next joint 44 corresponding thereto, and the rear and front end of each joint frame of joint 44 sets In respect of prominent circular plate, i.e., the end that adjacent joint frame 32 connects is arc-shaped edges, to increase the anglec of rotation in joint 44 Degree.Joint motor 14 drives little gear 21 to rotate by planetary reduction box 15 and deboost axle 20, and the gear wheel 19 being engaged with will Connecting shaft 18 is set to rotate action, because the hole of nested 17 and the front end of joint frame 32 is all square, so next joint frame 32 By concomitant rotation, adjacent joint frame 32 is all orthogonal setting, have 3 left-right rotations joint frame and about 3 The joint frame of rotation, will so greatly increase the control range of mechanical arm and the positioning precision of handgrip.
As shown in Figure 2,3, it is cuboid column structure, institute that nested 17, described nested 17 are arranged with outside the connecting shaft 18 State and be provided with gear wheel 19 for nested 17 square openings for passing through, the two ends of the connecting shaft 18 pass through pass corresponding thereto The square opening set on section frame 32, is then passed through the circular port set on next joint frame 32 corresponding thereto, and by spiral shell Female 16 fix, i.e., described gear wheel 19 will not occur relative slip with connecting shaft 18, the connecting shaft 18 also will not with it is right with it The joint frame 32 answered is driven, and can only cause the joint frame 32 in next joint 44 to be rotated with the rotation of connecting shaft 18.Institute Stating in the middle of joint frame 32 has individual large square hole, and for installing joint motor 14 and deboost axle 20, the lower section of the deboost axle 20 has one Individual little gear 31, engages with the gear wheel 21 in connecting shaft 18, and the connecting shaft 18 is used to connect two adjacent joints 44.Phase Adjacent joint 44 provides power by joint motor 14, by gear drive, so as to drive the rotation in next joint 44.Substantially A upper joint 44 drives next joint 44 to move.
As shown in figure 4, the handgrip 41 includes setting-out body 23, the first cylinder 24, the second cylinder 30, cylinder 31, work Dynamic tripod 25, cat's paw 26, connecting rod 27, one end of the setting-out body 23 are connected with the mechanical arm 40, setting-out body 23 it is another End connection first cylinder 24, first cylinder 24 is connected with the second cylinder 30;First cylinder 24 Hollow cylinder is with the second cylinder 30, wherein being provided with cylinder 31, the work of the cylinder 31 in the first cylinder 24 Plug connection activity tripod 25, the movable tripod 25 connects 3 cat's paws 26, and the cat's paw 26 also passes through connecting rod 27 and second The fixed tripod 28 that the side wall of cylinder 30 is installed is connected.
The excircle of the side wall of second cylinder 30 is vertically arranged with 3 slots, and slot bottom is provided with Connecting rod 27, the movable tripod 25 is moved under the driving of the piston of cylinder 31 in slot, the end of each cat's paw 26 Plastic cement pad 29 is provided with, the stability of crawl thing is increased.Three are cut out on the side wall of the second cylinder 30 of the handgrip 41 Individual slot, can limit the scope of activities that movable tripod 25 moves in a circle and can control activity tripod 25.It is described Setting-out body 23 is bolted on last joint frame 32, is then sequentially connected the first cylinder 24 and the second cylinder Body 30 is all empty in the middle of both and is got through, and cylinder 31 is arranged in the first cylinder 24, and the piston of cylinder 31 and second is justified Movable tripod 25 in cylinder 30 is connected, and the end of three cat's paws 26 is connected on movable tripod 25, and centre is by connecting Bar 27 is connected in fixed tripod 28, and the reciprocating motion of piston rod can drive the up and down motion of movable tripod 25, the work Dynamic tripod 25 moves up and down can make three cat's paws 26 complete crawl and the action loosened.
As shown in fig. 6, the base 1 is a hollow cylinder, space is left in inside, for mounting seat stepping electricity Machine 33, the base support 43 includes the internal base 1 equipped with base stepper motor 33, the top of the base stepper motor 33 It is fixed by screws in and is placed on the base baffle 2 at the top of base 1, is sequentially installed with ripple generation on base baffle 2 from bottom to top Device 35, flexbile gear 38 and disk 5, base stepper motor 33 drive disk 5 to rotate by axle, so as to the circumference for realizing mechanical arm is transported It is dynamic.
As shown in figure 1, the ball screw assembly, 42 includes leading screw 13 and guide post 12, the top of the leading screw 13 is by connection Axle device 11 connects stepper motor 10, and the bottom of guide post 12 and leading screw 13 both passes through vertical paster 6 and is fixed on disk 5, described to lead To the top of bar 12 is through horizontal support piece 8 and fixes, handgrip 41, the bottom are connected by mechanical arm 40 on the vertical paster 6 Seat stepper motor 33 drives disk 5 to rotate, and disk 5 drives mechanical arm 40 and handgrip 41 on vertical paster 6 to rotate, the stepping Motor 10 drives leading screw 13 to rotate, and leading screw 13 drives mechanical arm 40 and handgrip 41 on vertical paster 6 to move up and down, stepper motor 10 drive leading screw 13 to rotate by shaft coupling 11, and the vertical paster 6 for being fixed with big nut 39 moves up and down along guide post 12, from And the up and down motion of mechanical arm is realized, increase the space control range of mechanical arm.The leading screw 13 leads to respectively with stepper motor 10 Cross horizontal support piece 8 and stepper motor support member 9 is fixed on vertical fixed mount 7, between the stepper motor 10 and leading screw 13 Connected by shaft coupling 11, the big nut 39 on the leading screw 13 is bolted with vertical paster 6, works as stepper motor During 10 work, drive leading screw 13 to rotate, due to that can not be rotated by fixed big nut 39, upper and lower movement will be made, be connected to vertical Mechanical arm on straight paster 6 is moved.
As shown in fig. 6, the side-wall outer side of the wave producer 35 and flexbile gear 38 is provided with bearing inner race baffle plate 3, the axle The bottom for holding inner ring baffle plate 3 is fixed on the top end face of the side wall of base 1 by screw, the side-wall outer side of the flexbile gear 38 from interior and Inner ring 37 and outer ring 36 are disposed with outward, the inner ring 37 is pressed on bearing inner race baffle plate 3.
As shown in fig. 6, the disk 5 is placed on the side-wall outer side of flexbile gear 38, the top surface of inner ring 37 and outer ring 36 and outer ring 36, The underrun mode connects for screw bearing baffle 4 of outer ring 36.The upper surface of the disk 5 is provided with vertical fixed mount 7, vertical fixed mount It is fixed with stepper motor support member 9 and horizontal support piece 8 on 7 successively from top to bottom, fixed step on the stepper motor support member 9 Stepper motor 10, is fixed with shaft coupling 11 on the horizontal support piece 8.
As shown in Figure 1,5, the bottom of the leading screw 13 passes through vertical paster 6 and by big nut 39 and the bottom of vertical paster 6 Face is fixedly connected, and several screws are fixedly connected the big nut 39 with the underrun of vertical paster 6, and vertical fixed mount 7 is pacified On disk 5, leading screw and guide post 12 also are secured on disk 5 through horizontal support piece 8, and horizontal support piece 5 passes through bolt It is fixed on vertical fixed mount 7, vertical paster 6 can move up and down along leading screw 13, so that driving mechanical arm 40 moves up and down.It is described The top of horizontal support piece 8 is provided with stepper motor 10, and is connected with leading screw 13 by shaft coupling 11, is that leading screw 13 provides rotation Power.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should Depending on being protection scope of the present invention.

Claims (10)

1. a kind of imitative trunk mechanical arm, including base support(43), ball screw assembly,(42), mechanical arm(40)And handgrip (41), it is characterised in that:The ball wire bar pair(42)Installed in the base support(43)On, the mechanical arm(40)Install In the ball screw assembly,(42)On, the handgrip(41)With the mechanical arm(40)Connection, the ball screw assembly,(42)Drive Dynamic mechanical arm(40)Move up and down, the base support(43)Drive ball screw assembly,(42)Driving mechanical arm(40)Rotation;Institute State mechanical arm(40)Including the joint that several are sequentially connected(44), the joint(44)By joint frame(32)Composition, the pass Section frame(32)Inside it is provided with fixing joint motor(14)Fixed plate(22), the joint motor(14)Bottom by slow down Case(15)Interior deboost axle(20)It is connected with little gear(21), the joint frame(32)On also pass through connecting shaft(18)It is provided with big Gear(19), positioned at same joint(44)Interior gear wheel(19)And little gear(21)Orthogonal and gear wheel(19)With it is small Gear(21)Motion it is non-interference, the joint(44)Interior little gear(21)It is engaged in next joint corresponding thereto (44)Interior gear wheel(19).
2. imitative trunk mechanical arm according to claim 1, it is characterised in that:The adjacent joint frame(32)Connect End is arc-shaped edges, the connecting shaft(18)It is arranged with nesting outward(17), the nesting(17)It is cuboid column structure, institute State gear wheel(19)On be provided with for nesting(17)The square opening for passing through, the connecting shaft(18)Two ends through corresponding thereto The joint frame answered(32)The square opening of upper setting, is then passed through next joint frame corresponding thereto(32)The circle of upper setting Hole, and by nut(16)It is fixed.
3. imitative trunk mechanical arm according to claim 1, it is characterised in that:The handgrip(41)Including setting-out body (23), the first cylinder(24), the second cylinder(30), cylinder(31), movable tripod(25), cat's paw(26), connecting rod(27), The setting-out body(23)One end and the mechanical arm(40)Connection, setting-out body(23)The other end connect first cylinder (24), first cylinder(24)With the second cylinder(30)It is connected;First cylinder(24)With the second cylinder (30)Hollow cylinder is, wherein the first cylinder(24)Cylinder is inside installed(31), the cylinder(31)Piston connect Take over a job dynamic tripod(25), the movable tripod(25)3 cat's paws of connection(26), the cat's paw(26)Also pass through connecting rod(27) With the second cylinder(30)The fixed tripod installed on the wall of side(28)It is connected.
4. imitative trunk mechanical arm according to claim 3, it is characterised in that:Second cylinder(30)Outside the wall of side Circumference is vertically arranged with 3 slots, and the slot bottom is provided with connecting rod(27), the movable tripod(25) Cylinder(31)Moved in slot under the driving of piston rod, each cat's paw(26)End be provided with plastic cement pad (29).
5. imitative trunk mechanical arm according to claim 1, it is characterised in that:The base support(43)Including base (1), base baffle(2), the base(1)Inside is equipped with base stepper motor(33), the base stepper motor(33)Top Portion is fixed by screws in and is placed on base(1)The base baffle at top(2)On, base baffle(2)On install successively from bottom to top There is wave producer(35), flexbile gear(38)And disk(5).
6. imitative trunk mechanical arm according to claim 1, it is characterised in that:The ball screw assembly,(42)Including leading screw (13)And guide post(12), the leading screw(13)Top pass through shaft coupling(11)Connect stepper motor(10), the guide post (12)And leading screw(13)Bottom both pass through vertical paster(6)It is fixed on disk(5)On, the guide post(12)Top passes through horizontal stroke To support member(8)And fixed, the vertical paster(6)It is upper to pass through mechanical arm(40)Connection handgrip(41), the base stepping electricity Machine(33)Drive disk(5)Rotation, the disk(5)Drive vertical paster(6)On mechanical arm(40)And handgrip(41)Rotation, The stepper motor(10)Drive leading screw(13)Rotation, the leading screw(13)Drive vertical paster(6)On mechanical arm(40)With Handgrip(41)Move up and down.
7. imitative trunk mechanical arm according to claim 5, it is characterised in that:The wave producer(35)And flexbile gear(38) Side-wall outer side be provided with bearing inner race baffle plate(3), the bearing inner race baffle plate(3)Bottom base is fixed on by screw (1)The top end face of side wall, the flexbile gear(38)Side-wall outer side from-inner-to-outer be disposed with inner ring(37)And outer ring(36), The inner ring(37)It is pressed on bearing inner race baffle plate(3)On.
8. imitative trunk mechanical arm according to claim 7, it is characterised in that:The disk(5)It is placed on flexbile gear(38), it is interior Circle(37)And outer ring(36)Top surface and outer ring(36)Side-wall outer side, outer ring(36)Underrun mode connects for screw bearing baffle (4).
9. imitative trunk mechanical arm according to claim 1, it is characterised in that:The disk(5)Upper surface is provided with vertical Straight fixed mount(7), the vertical fixed mount(7)On be fixed with stepper motor support member successively from top to bottom(9)And cross-brace Part(8), the stepper motor support member(9)Upper fixed stepper motor(10), the horizontal support piece(8)On be fixed with shaft coupling (11).
10. imitative trunk mechanical arm according to claim 1, it is characterised in that:The leading screw(13)Bottom is through vertically Paster(6)And by big nut(39)With vertical paster(6)Bottom surface be fixedly connected, the big nut(39)With vertical paster (6)Underrun several screws be fixedly connected.
CN201710020447.9A 2017-01-12 2017-01-12 A kind of imitative trunk mechanical arm CN106737627A (en)

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CN108044599A (en) * 2018-01-23 2018-05-18 连雪芳 A kind of examining and repairing mechanical arm device applied to high-intensity magnetic field intense radiation operating mode
CN108098744A (en) * 2017-12-26 2018-06-01 清华大学深圳研究生院 A kind of coordinate type mechanical arm
CN108189002A (en) * 2018-01-23 2018-06-22 连雪芳 A kind of driving examining and repairing mechanical arm of piezoelectric ultrasonic vibrator applied to bad working environments
CN108214546A (en) * 2017-12-29 2018-06-29 国网浙江省电力公司绍兴供电公司 Telescopic hoistway visits mirror
CN108818521A (en) * 2018-06-11 2018-11-16 南京航空航天大学 A kind of flexible robot system towards the detection of underwater narrow space
CN109107170A (en) * 2018-08-02 2019-01-01 海宁哈工联新投资合伙企业(有限合伙) A kind of bionical trunk mechanism and the amusement facility using it
CN110744533A (en) * 2019-10-25 2020-02-04 东莞理工学院 Domestic machine snake that has clamping function in gap

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CN106110517A (en) * 2016-07-08 2016-11-16 深圳先进技术研究院 A kind of Medical robot for tumor radiotherapy

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CN108098744A (en) * 2017-12-26 2018-06-01 清华大学深圳研究生院 A kind of coordinate type mechanical arm
CN108214546A (en) * 2017-12-29 2018-06-29 国网浙江省电力公司绍兴供电公司 Telescopic hoistway visits mirror
CN108044599A (en) * 2018-01-23 2018-05-18 连雪芳 A kind of examining and repairing mechanical arm device applied to high-intensity magnetic field intense radiation operating mode
CN108189002A (en) * 2018-01-23 2018-06-22 连雪芳 A kind of driving examining and repairing mechanical arm of piezoelectric ultrasonic vibrator applied to bad working environments
CN108044599B (en) * 2018-01-23 2020-12-15 台州技创机械科技有限公司 Be applied to maintenance robotic arm device of strong magnetic field strong radiation operating mode
CN108189002B (en) * 2018-01-23 2021-01-01 江苏铁锚玻璃股份有限公司 Piezoelectric ultrasonic vibrator driving type maintenance mechanical arm applied to severe working conditions
CN108818521A (en) * 2018-06-11 2018-11-16 南京航空航天大学 A kind of flexible robot system towards the detection of underwater narrow space
CN109107170A (en) * 2018-08-02 2019-01-01 海宁哈工联新投资合伙企业(有限合伙) A kind of bionical trunk mechanism and the amusement facility using it
CN110744533A (en) * 2019-10-25 2020-02-04 东莞理工学院 Domestic machine snake that has clamping function in gap

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