CN106976074B - Multi-degree-of-freedom mechanical arm with double mechanical arms - Google Patents
Multi-degree-of-freedom mechanical arm with double mechanical arms Download PDFInfo
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- CN106976074B CN106976074B CN201710193558.XA CN201710193558A CN106976074B CN 106976074 B CN106976074 B CN 106976074B CN 201710193558 A CN201710193558 A CN 201710193558A CN 106976074 B CN106976074 B CN 106976074B
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- 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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
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- 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
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
- B25J15/0042—V-shaped gripping surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
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Abstract
The invention relates to a multi-degree-of-freedom mechanical arm with two mechanical arms, and belongs to the technical field of multi-degree-of-freedom mechanical arms. The invention comprises two manipulators, a main arm, a main motor bevel gear, a rotating shaft bevel gear and a rotating shaft; the two manipulators are respectively connected with the main arm through the rotating frame, the main arm is matched with a rotating shaft bevel gear through a rotating shaft, the rotating shaft bevel gear is meshed with the main motor bevel gear, and the main motor bevel gear is arranged on a main motor shaft; the whole mechanical arm utilizes each motor as a driving link, realizes actions such as pitching and rotating of the mechanical arm through a gear mechanism, a crank link mechanism and the like, realizes actions such as rotating, opening and closing through mechanisms such as gears and lead screws, and can effectively finish the work of grabbing articles.
Description
Technical Field
The invention relates to a multi-degree-of-freedom mechanical arm with two mechanical arms, and belongs to the technical field of multi-degree-of-freedom mechanical arms.
Background
At present, china is in the stage of industrial transformation, the cost of labor force in China is rapidly increased, the requirement for transformation and upgrade of enterprises is continuously increased, and the trend that a robot replaces manpower is inevitable. Generally, a large number of workers are needed to carry products in a workshop, labor efficiency is high, and the multi-degree-of-freedom mechanical arm which is low in manufacturing cost, high in automation degree, efficient and stable in work, is applied to industry and is used for automatically grabbing objects in an automatic logistics system is needed. A lot of costs can be practiced thrift in the cooperation of arm that a section is good and carrier, raises the efficiency.
Disclosure of Invention
The invention aims to provide a multi-degree-of-freedom mechanical arm with two manipulators, which is used for overcoming the defects of complex structure, high cost, poor transportability and the like of the multi-degree-of-freedom mechanical arm in the prior art.
The technical scheme of the invention is as follows: a multi-degree-of-freedom mechanical arm with two mechanical arms comprises the two mechanical arms, a main arm, a main motor 20, a main motor bevel gear 27, a rotating shaft bevel gear 26 and a rotating shaft 25; the two manipulators are respectively connected through main arms of a rotating frame 30, the main arms are matched with a rotating shaft bevel gear 26 through a rotating shaft 25, the rotating shaft bevel gear 26 is meshed with a main motor bevel gear 27, and the main motor bevel gear 27 is arranged on a shaft of a main motor 20.
The main arm comprises a main arm I crank 1, a main arm I connecting rod 2, a main arm II motor shell 3, a main arm III crank 4, a main arm III connecting rod 5, a main arm II6, a main arm III7, a gear train shell 15, a main arm I16, a mechanical arm rotary table 17, a main arm gear train shell 19, a main arm I big gear 21, a main arm I small gear 22, a main arm II big gear 23, a main arm II gear motor 24, a double-output motor 28, a right manipulator bevel gear 29, a rotary frame 30, a rotary frame bevel gear 31, a supporting frame 32 and a left manipulator bevel gear 33. The mechanical arm rotary table 17 is arranged on the rotating shaft 25, a main arm I big gear 21 and a main arm I small gear 22 are arranged on the mechanical arm rotary table 17, and the two gears are meshed with each other. The lower end of the main arm I crank 1 is arranged on the mechanical arm rotary table 17 through a shaft coaxial with the main arm I big gear 21. In addition, a main arm I16 is further mounted on the mechanical arm rotary table 17, and the middle upper end of the main arm I16 is connected with the other end of a main arm I crank 1 through a main arm I connecting rod 2. The main arm I16 is provided with a main arm II6, the main arm II6 is provided with a main arm II large gear 23 and a main arm II gear motor 24, and the main arm II large gear 23 is meshed with the main arm II gear motor 24. The two gears are externally connected with a main arm II motor shell 3 through bolts, and a main arm III crank 4 is coaxial with the main arm II big gear 23 and is in interference fit. The other end of the main arm II6 is provided with a main arm III7, and the main arm III7 is connected with a main arm III crank 4 through a main arm III connecting rod 5. The lower end of the main arm III7 is provided with a double-output motor 28, two output shafts of the double-output motor 28 are respectively provided with a right manipulator bevel gear 29 and a left manipulator bevel gear 33, and the two gears are respectively meshed with a rotating frame bevel gear 31 arranged on a supporting frame 32. The supporting frame 32 is installed at the lower end of the dual-output motor 28 for supporting the whole gear train mechanism, and the main arm gear train housing 19 is installed outside the gear train mechanism.
The two manipulators have the same structure and comprise a wire sleeve shell 8, an inner core shell 9, a mechanical claw connecting rod 10, a mechanical claw 11, a mechanical claw support body 12, an inner core 13, a connecting pair 14, a wire sleeve motor 34, a wire sleeve 35 and a wire sleeve motor shell 36. Each gripper 11 is mounted on a gripper support 12 through a bolt, the inner core 13 is also mounted on the gripper support 12, and the gripper support 12 and the gripper 11 are connected through a gripper link 10. In addition, an inner core shell 9 is further mounted on the gripper support body 12 through bolts, a thread sleeve shell 8 is mounted on the inner core shell 9, and one end of a thread sleeve motor shell 36 is mounted on the thread sleeve shell 8. Wherein the screw sleeve 35 is arranged in the screw sleeve shell 8, one end of the screw sleeve 35 is in threaded connection with the inner core 13, and the other end is in interference fit with the screw sleeve motor 34. The bushing motor 34 is mounted within a bushing motor housing 36, and the bushing motor housing 36 is in turn mounted on the connection pair 14. The two arm connecting pairs 14 are respectively mounted on the upper and lower rotating frames 30.
The connection between the rotating shaft 25 and the mechanical arm rotary table 17 on the main arm is in interference fit.
The main arm I big gear 21 is meshed with the main arm I small gear 22, the main arm I big gear 21 is installed on the mechanical arm rotary table 17, and the matching relation is interference fit.
The main arm II6 is provided with a groove, and a main arm II large gear 23 and a main arm II gear motor 24 are installed in the groove.
The inner part of the lower end of the main arm III7 is a square groove for mounting a double-output motor 28. The double-output motor 28 is installed in a left-right output mode, namely a left manipulator bevel gear 33 is installed on a left output shaft, and a right manipulator bevel gear 29 is installed on a right output shaft.
The supporting frame 32 is provided with an open slot for mounting the bevel gear 31 of the rotating frame; and the lower end of the support bracket 32 is provided with a threaded hole which can be mounted on the dual output motor 28 by means of a stud.
The gripper support body 12 is a semi-cylinder with a central hole and an axle hole at the end, an inner core 13 is arranged in the central hole, and an external thread is tapped at one section of the left end of the inner core 13; the two shaft holes at the end part of the gripper supporting body 12 are connected with a gripper 11 through a shaft in clearance fit, wherein the gripper 11 is connected with the inner core 13 through a gripper connecting rod 10.
The connection of tapping the internal thread and inner core 13 in the screw sleeve 35 hole is threaded connection, and the left end of screw sleeve 35 is equipped with the aperture in addition and is interference fit with the cooperation of 34 axles of screw sleeve motor, and the screw sleeve 35 is arranged in screw sleeve shell 8 at last, and is clearance fit.
The working process of the invention is as follows:
when an object is grabbed, the whole mechanical arm is firstly rotated to a proper position, specifically, the main motor 20 rotates to drive the main motor bevel gear 27 and the rotating shaft bevel gear 26, and then the mechanical arm rotary table 17 rotates through the rotating shaft 25. Then, the rotation of the main arm I small gear 22 and the main arm I big gear 21 is controlled by a motor on the rotary table, so that the main arm I crank 1 and the main arm I connecting rod 2 move, and the main arm I16 extends forwards to a proper position, so that a remote object can be conveniently grasped. And then, a main arm III crank 4 is driven by a main arm II gear motor 24 through a main arm II large gear 23, and the main arm III connecting rod moves to enable the main arm III7 to be lifted or lowered to a proper position. The two manipulators can flexibly rotate within a certain angle range in the horizontal plane so as to have stronger adaptability; specifically, the left manipulator rotates by controlling a left manipulator bevel gear 33 and a rotating frame bevel gear 31 by a left output shaft of a dual-output motor 28, and the right manipulator rotates by controlling a right manipulator bevel gear 29 and an upper rotating frame bevel gear 31 by a right output shaft of the dual-output motor 28. The manipulator moves to a proper position, and finally, the grabbing process is carried out, and the left manipulator is taken as an example for explanation because the principle structures of the left manipulator and the right manipulator are completely the same. The action when snatching is opening and closed the clamp tightly for gripper 11, specifically is driven the rotation of silk cover 35 through the rotation of silk cover motor 34, because the connection of silk cover 35 and inner core 13 is threaded connection, consequently can carry out screw thread transmission to the back and forth motion of inner core 13 has been controlled, because inner core 13 and gripper 11 are through gripper connecting rod 10 connection so finally controlled gripper 11's opening and shutting, finally realized that the multi freedom is mutually supported, accurate effectual snatchs the goods.
The invention has the beneficial effects that:
1. the multi-degree-of-freedom mechanical arm with the double manipulators adopts the mutual combination of the link mechanism and the gear mechanism, not only exerts the remote transmission of the link mechanism, but also exerts the accurate control of the gear mechanism, so that the whole mechanical arm has simple structure and flexible degree of freedom. The defects that a large number of gear mechanisms are adopted in the traditional mechanical arm, and the degree of freedom is insufficient due to the adoption of a link mechanism are overcome.
2. The multi-degree-of-freedom mechanical arm with the two mechanical arms adopts the screw sleeve in the design of the mechanical arm, the opening and closing of the mechanical claw are controlled by the structure matched with the screw rod, and compared with a traditional gear train with the complicated mechanical arm, the multi-degree-of-freedom mechanical arm is simple in structure, reliable in work and capable of greatly reducing the cost under the condition that the requirement on control accuracy is met.
3. The multi-degree-of-freedom mechanical arm with the two mechanical arms adopts a structure of the two mechanical arms, so that the working efficiency is greatly improved compared with the traditional single mechanical arm under the conditions of meeting the degree of freedom and reliable work.
4. The crawler belt is simple in structure, novel in design, convenient to install, wide in application range and easy to popularize.
Drawings
FIG. 1 is a side view of a robot arm according to the present invention;
FIG. 2 is a view of the internal structure of the robot arm of the present invention;
FIG. 3 is a partial view of the gear train shaft of the robot of the present invention;
FIG. 4 is a cross-sectional view of a robot of the present invention;
figure 5 is a top view of the robot of the present invention.
In the figure: 1-main arm I crank, 2-main arm I connecting rod, 3-main arm II motor shell, 4-main arm III crank, 5-main arm III connecting rod, 6-main arm II, 7-main arm III, 8-wire sleeve shell, 9-inner core shell, 10-gripper connecting rod, 11-gripper, 12-gripper supporting body, 13-inner core, 14-connecting pair, 15-gear train shell, 16-main arm I, 17-mechanical arm rotary table, 18-main gear train shell, 19-main arm gear train shell, 20-main motor, 21-main arm I big gear, 22-main arm I small gear, 23-main arm II big gear, 24-main arm II gear motor, 25-rotary shaft, 26-rotary shaft bevel gear, 27-motor bevel gear, 28-double output motor, 29-right mechanical arm bevel gear, 30-rotary frame, 31-rotary frame bevel gear, 32-supporting frame, 33-left mechanical arm bevel gear, 34-wire sleeve motor, 35-wire sleeve and 36-wire sleeve motor shell.
Detailed Description
The invention is further described with reference to the following drawings and detailed description.
Example 1: as shown in fig. 1 to 5, a multi-degree-of-freedom mechanical arm with two manipulators comprises two manipulators, a main arm, a main motor 20, a main motor bevel gear 27, a rotating shaft bevel gear 26 and a rotating shaft 25; the two manipulators are respectively connected with the main arm through a rotating frame 30, the main arm is in interference fit with a rotating shaft bevel gear 26 through a rotating shaft 25, the rotating shaft bevel gear 26 is meshed with a main motor bevel gear 27, and the main motor bevel gear 27 is arranged on a shaft of a main motor 20.
The main arm comprises a main arm I crank 1, a main arm I connecting rod 2, a main arm II motor shell 3, a main arm III crank 4, a main arm III connecting rod 5, a main arm II6, a main arm III7, a gear train shell 15, a main arm I16, a mechanical arm rotary table 17, a main arm gear train shell 19, a main arm I big gear 21, a main arm I small gear 22, a main arm II big gear 23, a main arm II gear motor 24, a double-output motor 28, a right mechanical arm bevel gear 29, a rotating frame 30, a rotating frame bevel gear 31, a supporting frame 32 and a left mechanical arm bevel gear 33; the mechanical arm rotary table 17 is arranged on the rotating shaft 25, a main arm I big gear 21 and a main arm I small gear 22 are arranged on the mechanical arm rotary table 17, and the two gears are meshed with each other; the lower end of the main arm I crank 1 is arranged on the mechanical arm rotary table 17 through a shaft coaxial with the main arm I big gear 21; the mechanical arm rotary table 17 is also provided with a main arm I16, the middle upper end of the main arm I16 is connected with the other end of the main arm I crank 1 through a main arm I connecting rod 2, the main arm I16 is provided with a main arm II6, the main arm II6 is provided with a main arm II large gear 23 and a main arm II gear motor 24, and the main arm II large gear 23 is meshed with the main arm II gear motor 24; the main arm II motor shell 3 is installed outside the two gears through bolted connection, the main arm III crank 4 is coaxial with the main arm II large gear 23 and is in interference fit, the main arm III7 is installed at the other end of the main arm II6, the main arm III7 is connected with the main arm III crank 4 through the main arm III connecting rod 5, the lower end of the main arm III7 is provided with the dual-output motor 28, two output shafts of the dual-output motor 28 are respectively provided with a right manipulator bevel gear 29 and a left manipulator bevel gear 33, the two gears are respectively meshed with a rotating frame bevel gear 31 installed on a supporting frame 32, the supporting frame 32 is installed at the lower end of the dual-output motor 28 and used for supporting the whole wheel train mechanism, and the main arm wheel train shell 19 is installed outside the wheel train mechanism.
The manipulator comprises a thread sleeve shell 8, an inner core shell 9, a mechanical claw connecting rod 10, a mechanical claw 11, a mechanical claw supporting body 12, an inner core 13, a connecting pair 14, a thread sleeve motor 34, a thread sleeve 35 and a thread sleeve motor shell 36; each gripper 11 is arranged on a gripper support body 12 through a bolt, an inner core 13 is also arranged on the gripper support body 12, the gripper support body 12 is connected with the gripper 11 through a gripper connecting rod 10, an inner core shell 9 is also arranged on the gripper support body 12 through a bolt, a thread bush shell 8 is arranged on the inner core shell 9, one end of a thread bush motor shell 36 is arranged on the thread bush shell 8, a thread bush 35 is arranged in the thread bush shell 8, one end of the thread bush 35 is in threaded connection with the inner core 13, and the other end of the thread bush 35 is in interference fit with a thread bush motor 34; the thread sleeve motor 34 is arranged in the thread sleeve motor shell 36, the thread sleeve motor shell 36 is arranged on the connecting pair 14, and the two arm connecting pairs 14 are respectively arranged on the upper rotating frame 30 and the lower rotating frame 30.
Example 2: as shown in fig. 1 to 5, a two-manipulator multi-degree-of-freedom manipulator includes two manipulators, a main arm, a main motor 20, a main motor bevel gear 27, a rotating shaft bevel gear 26, and a rotating shaft 25; the two manipulators are respectively connected with the main arm through a rotating frame 30, the main arm is in interference fit with a rotating shaft bevel gear 26 through a rotating shaft 25, the rotating shaft bevel gear 26 is meshed with a main motor bevel gear 27, and the main motor bevel gear 27 is installed on the shaft of the main motor 20.
The main arm comprises a main arm I crank 1, a main arm I connecting rod 2, a main arm II motor shell 3, a main arm III crank 4, a main arm III connecting rod 5, a main arm II6, a main arm III7, a gear train shell 15, a main arm I16, a mechanical arm rotary table 17, a main arm gear train shell 19, a main arm I big gear 21, a main arm I small gear 22, a main arm II big gear 23, a main arm II gear motor 24, a double-output motor 28, a right mechanical arm bevel gear 29, a rotating frame 30, a rotating frame bevel gear 31, a supporting frame 32 and a left mechanical arm bevel gear 33; the mechanical arm rotary table 17 is arranged on the rotating shaft 25, a main arm I big gear 21 and a main arm I small gear 22 are arranged on the mechanical arm rotary table 17, and the two gears are meshed with each other; the lower end of the main arm I crank 1 is arranged on the mechanical arm rotary table 17 through a shaft coaxial with the main arm I big gear 21; the mechanical arm rotary table 17 is also provided with a main arm I16, the middle upper end of the main arm I16 is connected with the other end of the main arm I crank 1 through a main arm I connecting rod 2, the main arm I16 is provided with a main arm II6, the main arm II6 is provided with a main arm II large gear 23 and a main arm II gear motor 24, and the main arm II large gear 23 is meshed with the main arm II gear motor 24; the main arm II motor shell 3 is installed outside the two gears through bolted connection, the main arm III crank 4 is coaxial with the main arm II large gear 23 and is in interference fit, the main arm III7 is installed at the other end of the main arm II6, the main arm III7 is connected with the main arm III crank 4 through the main arm III connecting rod 5, the lower end of the main arm III7 is provided with the dual-output motor 28, two output shafts of the dual-output motor 28 are respectively provided with a right manipulator bevel gear 29 and a left manipulator bevel gear 33, the two gears are respectively meshed with a rotating frame bevel gear 31 installed on a supporting frame 32, the supporting frame 32 is installed at the lower end of the dual-output motor 28 and used for supporting the whole wheel train mechanism, and the main arm wheel train shell 19 is installed outside the wheel train mechanism.
The manipulator comprises a thread sleeve shell 8, an inner core shell 9, a mechanical claw connecting rod 10, a mechanical claw 11, a mechanical claw supporting body 12, an inner core 13, a connecting pair 14, a thread sleeve motor 34, a thread sleeve 35 and a thread sleeve motor shell 36; each gripper 11 is installed on a gripper supporting body 12 through a bolt, an inner core 13 is also installed on the gripper supporting body 12, the gripper supporting body 12 is connected with the gripper 11 through a gripper connecting rod 10, an inner core outer shell 9 is also installed on the gripper supporting body 12 through a bolt, a thread sleeve outer shell 8 is installed on the inner core outer shell 9, one end of a thread sleeve motor outer shell 36 is installed on the thread sleeve outer shell 8, a thread sleeve 35 is installed inside the thread sleeve outer shell 8, one end of the thread sleeve 35 is in threaded connection with the inner core 13, and the other end of the thread sleeve 35 is in interference fit with a thread sleeve motor 34; the thread sleeve motor 34 is arranged in the thread sleeve motor shell 36, the thread sleeve motor shell 36 is arranged on the connecting pair 14, and the two arm connecting pairs 14 are respectively arranged on the upper rotating frame 30 and the lower rotating frame 30.
The connection between the rotating shaft 25 and the mechanical arm rotary table 17 on the main arm is in interference fit.
The main arm I big gear 21 is meshed with the main arm I small gear 22, the main arm I big gear 21 is installed on the mechanical arm rotary table 17, and the matching relation is interference fit.
The main arm II6 is provided with a groove, and a main arm II large gear 23 and a main arm II gear motor 24 are installed in the groove.
The inner part of the lower end of the main arm III7 is a square groove for mounting a double-output motor 28, the double-output motor 28 is mounted in a left-right output mode, namely a left manipulator bevel gear 33 is mounted on a left output shaft, and a right manipulator bevel gear 29 is mounted on a right output shaft.
The supporting frame 32 is provided with an open slot for mounting the bevel gear 31 of the rotating frame; and the lower end of the support bracket 32 is provided with a threaded hole which can be mounted on the dual output motor 28 by means of a stud.
The gripper support 12 is a semi-cylinder with a central hole and an axial hole at the end, an inner core 13 is arranged in the central hole, and an external thread is tapped at the left end of the inner core 13; the two shaft holes at the end part of the gripper supporting body 12 are connected with a gripper 11 through a shaft in clearance fit, wherein the gripper 11 is connected with the inner core 13 through a gripper connecting rod 10.
The connection of tapping the internal thread and inner core 13 in the screw sleeve 35 hole is threaded connection, and the left end of screw sleeve 35 is equipped with the aperture in addition and is interference fit with the cooperation of 34 axles of screw sleeve motor, and the screw sleeve 35 is arranged in screw sleeve shell 8 at last, and is clearance fit.
While the present invention has been described in detail with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, and various changes can be made without departing from the spirit and scope of the present invention.
Claims (1)
1. The utility model provides a multi freedom arm of two manipulators which characterized in that: comprises two manipulators, a main arm, a main motor (20), a main motor bevel gear (27), a rotating shaft bevel gear (26) and a rotating shaft (25); the two manipulators are respectively connected with a main arm through a rotating frame (30), the main arm is in interference fit with a rotating shaft bevel gear (26) through a rotating shaft (25), the rotating shaft bevel gear (26) is meshed with a main motor bevel gear (27), and the main motor bevel gear (27) is arranged on a shaft of a main motor (20);
the main arm comprises a main arm I crank (1), a main arm I connecting rod (2), a main arm II motor shell (3), a main arm III crank (4), a main arm III connecting rod (5), a main arm II (6), a main arm III (7), a gear train shell (15), a main arm I (16), a mechanical arm rotary table (17), a main arm gear train shell (19), a main arm I big gear (21), a main arm I small gear (22), a main arm II big gear (23), a main arm II gear motor (24), a dual-output motor (28), a right mechanical arm bevel gear (29), a rotating frame (30), a rotating frame bevel gear (31), a supporting frame (32) and a left mechanical arm bevel gear (33); the mechanical arm rotary table (17) is arranged on the rotating shaft (25), a main arm I big gear (21) and a main arm I small gear (22) are arranged on the mechanical arm rotary table (17), and the two gears are meshed; the lower end of the main arm I crank (1) is arranged on the mechanical arm rotary table (17) through a shaft coaxial with the main arm I big gear (21); a main arm I (16) is further mounted on the mechanical arm rotary table (17), the middle upper end of the main arm I (16) is connected with the other end of a main arm I crank (1) through a main arm I connecting rod (2), a main arm II (6) is mounted on the main arm I (16), a main arm II large gear (23) and a main arm II gear motor (24) are mounted on the main arm II (6), and the main arm II large gear (23) is meshed with the main arm II gear motor (24); a main arm II motor shell (3) is arranged outside the two gears in a bolted connection mode, a main arm III crank (4) and a main arm II large gear (23) are coaxial and are in interference fit, a main arm III (7) is arranged at the other end of a main arm II (6), the main arm III (7) is connected with the main arm III crank (4) through a main arm III connecting rod (5), a double-output motor (28) is arranged at the lower end of the main arm III (7), a right manipulator bevel gear (29) and a left manipulator bevel gear (33) are respectively arranged on two output shafts of the double-output motor (28), the two gears are respectively meshed with a rotating frame bevel gear (31) arranged on a supporting frame (32), the supporting frame (32) is arranged at the lower end of the double-output motor (28) and used for supporting the whole gear train mechanism, and a main arm shell (19) is arranged outside the gear train mechanism;
the manipulator comprises a thread sleeve shell (8), an inner core shell (9), a mechanical claw connecting rod (10), a mechanical claw (11), a mechanical claw support body (12), an inner core (13), a connecting pair (14), a thread sleeve motor (34), a thread sleeve (35) and a thread sleeve motor shell (36); each mechanical claw (11) is arranged on a mechanical claw support body (12) through a bolt, an inner core (13) is also arranged on the mechanical claw support body (12), the mechanical claw support body (12) is connected with the mechanical claw (11) through a mechanical claw connecting rod (10), an inner core shell (9) is further arranged on the mechanical claw support body (12) through a bolt, a wire sleeve shell (8) is arranged on the inner core shell (9), one end of a wire sleeve motor shell (36) is arranged on the wire sleeve shell (8), a wire sleeve (35) is arranged inside the wire sleeve shell (8), one end of the wire sleeve (35) is in threaded connection with the inner core (13), and the other end of the wire sleeve motor (34) is in interference fit; the screw sleeve motor (34) is arranged inside a screw sleeve motor shell (36), the screw sleeve motor shell (36) is also arranged on the connecting pair (14), and the two arm connecting pairs (14) are respectively arranged on the upper rotating frame and the lower rotating frame (30);
the rotating shaft (25) is in interference fit with the mechanical arm rotary table (17) on the main arm;
the main arm I large gear (21) is meshed with the main arm I small gear (22), the main arm I large gear (21) is installed on the mechanical arm rotary table (17), and the matching relationship is interference fit;
the main arm II (6) is provided with a groove, and a main arm II large gear (23) and a main arm II gear motor (24) are installed in the groove;
the inner part of the lower end of the main arm III (7) is provided with a square groove for mounting a double-output motor (28), the double-output motor (28) is mounted in a left-right output mode, namely a left manipulator bevel gear (33) is mounted on a left output shaft, and a right manipulator bevel gear (29) is mounted on a right output shaft;
the supporting frame (32) is provided with an open slot for mounting a bevel gear (31) of the rotating frame; the lower end of the support frame (32) is provided with a threaded hole, and the support frame can be arranged on the double-output motor (28) through a double-end stud;
the gripper support body (12) is a semi-cylinder with a central hole and an axle hole at the end part, an inner core (13) is arranged in the central hole, and an external thread is tapped at one section of the left end of the inner core (13); two shaft holes at the end part of the mechanical claw support body (12) are connected with a mechanical claw (11) through a shaft in clearance fit, wherein the mechanical claw (11) is connected with the inner core (13) through a mechanical claw connecting rod (10);
the connection that the downthehole internal thread of tapping of silk cover (35) and inner core (13) is threaded connection, and the left end of silk cover (35) is equipped with the aperture in addition and is interference fit with the cooperation of silk cover motor (34) axle, and silk cover (35) are arranged in silk cover shell (8) at last, are clearance fit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710193558.XA CN106976074B (en) | 2017-03-28 | 2017-03-28 | Multi-degree-of-freedom mechanical arm with double mechanical arms |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710193558.XA CN106976074B (en) | 2017-03-28 | 2017-03-28 | Multi-degree-of-freedom mechanical arm with double mechanical arms |
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| Publication Number | Publication Date |
|---|---|
| CN106976074A CN106976074A (en) | 2017-07-25 |
| CN106976074B true CN106976074B (en) | 2023-03-31 |
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| CN201710193558.XA Active CN106976074B (en) | 2017-03-28 | 2017-03-28 | Multi-degree-of-freedom mechanical arm with double mechanical arms |
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|---|---|---|---|---|
| CN108284072B (en) * | 2018-01-04 | 2021-01-05 | 广东四会实力连杆有限公司 | Connecting rod classification system based on mechanical vision |
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