CN107866797A - One kind can self-locking Mechanical hands for teaching - Google Patents
One kind can self-locking Mechanical hands for teaching Download PDFInfo
- Publication number
- CN107866797A CN107866797A CN201610882972.7A CN201610882972A CN107866797A CN 107866797 A CN107866797 A CN 107866797A CN 201610882972 A CN201610882972 A CN 201610882972A CN 107866797 A CN107866797 A CN 107866797A
- Authority
- CN
- China
- Prior art keywords
- forearm
- worm
- wrist
- gear
- large arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
Abstract
The present invention relates to manipulator technical field, particularly one kind can self-locking Mechanical hands for teaching, stepper motor, wrist, forearm, large arm worm and gear, large arm stepper motor, revolution stepper motor are swung by revolution worm and gear, base, panoramic table, forearm stepper motor, forearm worm and gear, paw, wrist rotaty step motor, wrist to form, panoramic table, large arm, the Driving Stepping Motor of forearm are driven after being driven by worm-and-wheel gear to panoramic table, large arm, forearm, realize that the mechanism of transmission is fairly simple；It can make mechanical arm that there is self-lock ability when static again, so that the present invention has the characteristics of cost is low, and simple in construction, dynamic property is good, convenient disassembly.
Description
Technical field
Can self-locking Mechanical hands for teaching the present invention relates to manipulator technical field, particularly one kind.
Background technology
With the extensive use of manipulator technology, there are independent control, flexible movements, tested suitable for universities
The general Mechanical hands for teaching of teaching is developed rapidly.Electric manipulator of imparting knowledge to students general at present is because motor is arranged on joint.
The driving moment needed is big, and common electric machine can not directly drive, it is necessary to is slowed down using big gearratio system, driving-chain is more
Number is formed using series of gears mechanism, and gear drive series is more, and this frame mode has problems with：Because gear passes
Dynamic series is more, can increase the weight of transmission mechanism on arm, increase the movement inertia of arm, cause under manipulator dynamic property
Drop, at the same cause manipulator it is complicated, to be unable to self-locking, dismounting difficult.And with cost is low, dynamic property is good, structure is simple
It is single, can self-locking, to be easy to effect of the general Mechanical hands for teaching of dismounting feature in college's educational experimentation teaching more and more important.
The content of the invention
It is an object of the invention to：High for existing Mechanical hands for teaching cost, structure is more complicated, it is impossible to which self-locking, dismounting are tired
Difficult deficiency, propose one kind can self-locking Mechanical hands for teaching, can be achieved large arm pitching, forearm pitching, wrist is swung, wrist rotates,
Rotation turn five frees degree motion, have cost it is low, it is simple in construction, can self-locking, convenient disassembly the characteristics of, available for college teach
Educate in experimental teaching.
Technical scheme provided by the invention is：One kind can self-locking Mechanical hands for teaching, by 1 revolution worm and gear, 2 bases, 3 times
Turntable, 4 forearm stepper motors, 5 forearm worm and gears, 6 paws, 7 wrist rotaty step motors, 8 wrists swing stepper motor, 9
Wrist, 10 forearms, 11 large arm worm and gears, 12 large arm stepper motors, 13 revolution stepper motors are formed, and revolution is provided with base
Worm-and-wheel gear, revolution worm-and-wheel gear are connected with panoramic table, and large arm is arranged on panoramic table, installation forearm in large arm
Worm-and-wheel gear, forearm worm-and-wheel gear are connected with forearm, and wrist swings stepper motor, wrist rotaty step motor peace
In forearm, paw is arranged in wrist.
The present invention has the prominent advantages that：Panoramic table, large arm, the Driving Stepping Motor of forearm are entered by worm-and-wheel gear
Panoramic table, large arm, forearm are driven after row transmission, realize that the mechanism of transmission is fairly simple；Mechanical arm can be made again quiet
There is self-lock ability when only.So that the present invention has, cost is low, and simple in construction, dynamic property is good, can self-locking, convenient disassembly
Feature.
Brief description of the drawings
Fig. 1 is that one kind of the present invention can self-locking Mechanical hands for teaching schematic diagram.
Embodiment
Technical scheme is described further below by way of accompanying drawing.
One kind can self-locking Mechanical hands for teaching, by 1 revolution worm and gear, 2 bases, 3 panoramic tables, 4 forearm stepper motors, 5 small
Arm worm and gear, 6 paws, 7 wrist rotaty step motors, 8 wrists swing stepper motor, 9 wrists, 10 forearms, 11 large arm worm gears
Worm screw, 12 large arm stepper motors 13 revolution stepper motor are formed, and revolution worm-and-wheel gear 1 is provided with base 2, turns round worm gear
Worm mechanism 1 is connected with panoramic table 3, and large arm is arranged on panoramic table, installation forearm worm-and-wheel gear 5, forearm in large arm
Worm-and-wheel gear 5 is connected with forearm 10, and wrist swings stepper motor 9, wrist rotaty step motor 7 is arranged on forearm 10
Interior, paw 6 is arranged in wrist 9.
Claims (1)
1. one kind can self-locking Mechanical hands for teaching, by revolution worm and gear, base, panoramic table, forearm stepper motor, forearm worm gear snail
Bar, paw, wrist rotaty step motor, wrist swing stepper motor, wrist, forearm, large arm worm and gear, large arm stepping electricity
Machine, revolution stepper motor are formed, and revolution worm-and-wheel gear is provided with base, and revolution worm-and-wheel gear is connected with panoramic table
Connect, large arm is arranged on panoramic table, and installation forearm worm-and-wheel gear, forearm worm-and-wheel gear are connected with forearm in large arm
Connect, wrist swings stepper motor, wrist rotaty step motor is arranged in forearm, and paw is arranged in wrist.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610882972.7A CN107866797A (en) | 2016-09-28 | 2016-09-28 | One kind can self-locking Mechanical hands for teaching |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610882972.7A CN107866797A (en) | 2016-09-28 | 2016-09-28 | One kind can self-locking Mechanical hands for teaching |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107866797A true CN107866797A (en) | 2018-04-03 |
Family
ID=61761184
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610882972.7A Pending CN107866797A (en) | 2016-09-28 | 2016-09-28 | One kind can self-locking Mechanical hands for teaching |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107866797A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108861534A (en) * | 2018-04-23 | 2018-11-23 | 柳州市开宇机器人有限公司 | A kind of handling machinery device |
| CN111376231A (en) * | 2018-12-27 | 2020-07-07 | 沈阳新松机器人自动化股份有限公司 | Collaboration robot |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104637388A (en) * | 2015-01-09 | 2015-05-20 | 广西大学 | Five-degree-of-freedom unbiased stepping motor driving teaching manipulator |
-
2016
- 2016-09-28 CN CN201610882972.7A patent/CN107866797A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104637388A (en) * | 2015-01-09 | 2015-05-20 | 广西大学 | Five-degree-of-freedom unbiased stepping motor driving teaching manipulator |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108861534A (en) * | 2018-04-23 | 2018-11-23 | 柳州市开宇机器人有限公司 | A kind of handling machinery device |
| CN111376231A (en) * | 2018-12-27 | 2020-07-07 | 沈阳新松机器人自动化股份有限公司 | Collaboration robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180403 |