CN108145746A - A kind of telescopic Three Degree Of Freedom industrial machinery arm - Google Patents
A kind of telescopic Three Degree Of Freedom industrial machinery arm Download PDFInfo
- Publication number
- CN108145746A CN108145746A CN201711318895.3A CN201711318895A CN108145746A CN 108145746 A CN108145746 A CN 108145746A CN 201711318895 A CN201711318895 A CN 201711318895A CN 108145746 A CN108145746 A CN 108145746A
- Authority
- CN
- China
- Prior art keywords
- machinery
- forearm
- mechanical
- telescopic
- degree
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
-
- 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
Abstract
The invention discloses a kind of telescopic Three Degree Of Freedom industrial machinery arms, belong to industrial robot field.It is included using the mechanical forearm that can freely stretch, the elbow joint of mechanical humerus and mechanical forearm is connected using hinging manner, the wrist joint of mechanical forearm right end and manipulator is connected using hinging manner, the actuating unit A that mechanical forearm can be driven to relatively rotate around elbow joint on mechanical humerus is installed in, being installed on mechanical forearm being capable of the actuating unit B that relatively rotates around wrist joint of driving manipulator；Mechanical forearm includes the small arm body of machinery, mechanical forearm slip pole and forearm torsion knuckle；The small arm body of machinery is installed with mechanical forearm telescopic rod coaxial line, and relative motion can occur along their public axis.The present invention is the industrial machinery arm that a kind of simple and compact for structure, movement more stablizes, has three degree of freedom, can freely stretch and stretch gap without friction.
Description
Technical field
The invention mainly relates to industrial robot fields, refer in particular to a kind of telescopic Three Degree Of Freedom industrial machinery arm.
Background technology
The research of robot has been achieved for larger achievement, and be applied to the every aspect of human lives.Robot leads to
It works frequently with mechanical arm, the bending motion of mechanical arm is concentrated mainly on to the research of mechanical arm both at home and abroad at present, and it is same
When the mechanical arm with stretching motion and bending motion research it is relatively fewer.So in the Special Ring of industrial robot application
When border or adverse circumstances, research telescopic mechanical arm has very important use value.
Invention content
The technical issues of present invention need to solve be：For technical problem of the existing technology, the present invention provides a kind of knot
Structure simple and compact, movement more stablize, have there are two types of rotate and it is a kind of translation three degree of freedom, can freely stretch and stretch nothing
Vibrate the Three Degree Of Freedom industrial machinery arm in gap.
To solve the above-mentioned problems, solution proposed by the present invention is：A kind of telescopic Three Degree Of Freedom industrial machinery
Arm, it is included using the mechanical forearm that can freely stretch, and mechanical humerus and the mechanical forearm are connected using hinging manner
Elbow joint using the hinging manner connection mechanical forearm right end and the wrist joint of manipulator, is installed on the mechanical humerus
The actuating unit A that the mechanical forearm can be driven to relatively rotate around the elbow joint is installed on the mechanical forearm
The actuating unit B that the manipulator can be driven to relatively rotate around the wrist joint.
The machinery forearm includes the small arm body of machinery, mechanical forearm slip pole and forearm torsion knuckle；The machinery
Small arm body is installed with the mechanical forearm telescopic rod coaxial line, and relative motion can occur along their public axis.
The forearm torsion knuckle include being installed in the mechanical forearm body interior can relative translational movement movable stand, step
Stepper motor, the driving gear shaft being connected with the stepper motor output shaft are fixed at the mechanical forearm slip pole
Left end, the driven gear with driving gear shaft engaged transmission, be meshed biography with the mechanical forearm telescopic rod external screw-thread
Dynamic fixing nut, both ends connect the locking spring of the small arm body of machinery and the driven gear respectively.
Further, the mechanical forearm slip pole passes through installing and the rolling bearing on the movable stand, right end
Outer surface is equipped with external screw thread；The movable stand can be in the inside of the small arm body of machinery along its axis direction free translation.
Further, the small arm body of machinery is horizontal positioned bucket shape Hollow circular beam.
Further, the driving gear shaft includes driving shaft and driving gear；The driving shaft is described across being installed in
Bearing on movable stand, left end are connected with the output shaft of the stepper motor, and right end fixation is installed with the driving gear.
Further, the fixing nut is fixed at the inside of the small arm body of machinery.
Further, when the small arm body of machinery is in running order, the locking spring bears pressure always.
Compared with prior art, the present invention having the following advantages that and advantageous effect：
(1) a kind of telescopic Three Degree Of Freedom industrial machinery arm of the invention has elbow joint, wrist joint and flexible
Mechanical arm can realize complicated three-degree-of-freedom motion.
(2) a kind of telescopic Three Degree Of Freedom industrial machinery arm of the invention is additionally provided with locking spring, is stretched in mechanical forearm
During contracting bar working condition, locking spring is always in pressured state, so that flexible mechanical forearm gap without friction.Thus
It is found that the present invention industrial machinery arm configuration simple and compact, movement more stablize, have there are two types of rotate and it is a kind of translation three from
By degree, can freely stretch and flexible gap without friction, can be applied in wider field.
Description of the drawings
Fig. 1 is a kind of principle schematic diagram of telescopic Three Degree Of Freedom industrial machinery arm of the present invention.
In figure, 1-machinery humerus；21-elbow joint；22-actuating unit A；The small arm body of 31-machinery；32-machinery is small
Arm telescopic rod；33-driven gear；41-actuating unit B；42-wrist joint；5-manipulator；60-movable stand；61-actively
Axis；62-stepper motor；63-driving gear；64-rolling bearing；7-fixing nut；8-locking spring.
Specific embodiment
The present invention is described in further detail below with reference to the drawings and specific embodiments.
A kind of telescopic Three Degree Of Freedom industrial machinery arm shown in Figure 1, of the invention can freely be stretched including using
The mechanical forearm of contracting, the elbow joint 21 of mechanical humerus 1 and mechanical forearm is connected using hinging manner, and machine is connected using hinging manner
The wrist joint 42 of tool forearm right end and manipulator 5, being installed on mechanical humerus 1 can drive mechanical forearm to occur around elbow joint 21
The actuating unit A22 of relative rotation, be installed on mechanical forearm can driving manipulator 5 relatively rotate around wrist joint 42
Actuating unit B41, it is characterised in that：
Shown in Figure 1, mechanical forearm includes the small arm body 31 of machinery, mechanical forearm slip pole 32 and small brachiostrophosis and closes
Section；The small arm body 31 of machinery is installed with mechanical 32 coaxial line of forearm telescopic rod, and can be occurred along their public axis opposite
Movement；
It is shown in Figure 1, forearm torsion knuckle include being installed in inside the small arm body 31 of machinery can relative translational movement shifting
It is telescopic to be fixed at mechanical forearm for moving frame 60, stepper motor 62, the driving gear shaft being connected with 62 output shaft of stepper motor
The left end of bar 32, the driven gear 33 with driving gear shaft engaged transmission, are meshed with mechanical 32 external screw-thread of forearm telescopic rod
The fixing nut 7 of transmission, both ends connect the locking spring 8 of the small arm body 31 of machinery and driven gear 33 respectively.
It is shown in Figure 1, a kind of telescopic Three Degree Of Freedom industrial machinery arm according to claim 1, it is characterised in that：
Mechanical forearm slip pole 32 passes through installing and the rolling bearing 64 on movable stand 60, and right end outer surface is equipped with external screw thread；It moves
Moving frame 60 can be in the inside of the small arm body 31 of machinery along its axis direction free translation.
It is shown in Figure 1, as preference, the small arm body 31 of machinery is horizontal positioned bucket shape Hollow circular beam.
It is shown in Figure 1, as preference, driving gear shaft includes driving shaft 61 and driving gear 63；Driving shaft 61 is worn
The bearing being installed on movable stand 60 is crossed, left end is connected with the output shaft of stepper motor 62, and right end fixation is installed with actively
Gear 63.
It is shown in Figure 1, as preference, fixing nut 7 is fixed at the inside of the small arm body 31 of machinery.
It is shown in Figure 1, as preference, when the small arm body of machinery (31) is in running order, the locking bullet
Spring (8) bears pressure always, so that mechanical forearm (31) no vibration gap during translation.
Claims (6)
1. a kind of telescopic Three Degree Of Freedom industrial machinery arm, including using the mechanical forearm that can freely stretch, using hinge
Mode connects the elbow joint (21) of mechanical humerus (1) and the mechanical forearm, right using the hinging manner connection mechanical forearm
End and the wrist joint (42) of manipulator (5), the mechanical forearm can be driven around the elbow by being installed on the mechanical humerus (1)
The actuating unit A (22) that joint (21) relatively rotates, the manipulator (5) can be driven by being installed on the mechanical forearm
The actuating unit B (41) to relatively rotate around the wrist joint (42), it is characterised in that：
The machinery forearm includes the small arm body (31) of machinery, mechanical forearm slip pole (32) and forearm torsion knuckle；It is described
The small arm body (31) of machinery is installed with described mechanical forearm telescopic rod (32) coaxial line, and can be occurred along their public axis
Relative motion；
The forearm torsion knuckle include being installed in inside the small arm body of machinery (31) can relative translational movement movable stand
(60), stepper motor (62), the driving gear shaft being connected with the stepper motor (62) output shaft, are fixed at the machinery
The left end of forearm slip pole (32), the driven gear (33) with driving gear shaft engaged transmission, with the mechanical forearm
Telescopic rod (32) external screw-thread is meshed the fixing nut (7) of transmission, both ends connect respectively the small arm body of machinery (31) with
The locking spring (8) of the driven gear (33).
2. a kind of telescopic Three Degree Of Freedom industrial machinery arm according to claim 1, it is characterised in that：The machinery is small
Arm slip pole (32) is equipped with outer spiral shell across installing and the rolling bearing (64) on the movable stand (60), right end outer surface
Line；The movable stand (60) can be in the inside of the small arm body of machinery (31) along its axis direction free translation.
3. a kind of telescopic Three Degree Of Freedom industrial machinery arm according to claim 1, it is characterised in that：The machinery is small
Arm body (31) is horizontal positioned bucket shape Hollow circular beam.
4. a kind of telescopic Three Degree Of Freedom industrial machinery arm according to claim 1, it is characterised in that：The driving tooth
Wheel shaft includes driving shaft (61) and driving gear (63)；The driving shaft (61) is across the axis being installed on the movable stand (60)
It holds, left end is connected with the output shaft of the stepper motor (62), and right end fixation is installed with the driving gear (63).
5. a kind of telescopic Three Degree Of Freedom industrial machinery arm according to claim 1, it is characterised in that：The fixed spiral shell
Female (7) are fixed at the inside of the small arm body of machinery (31).
6. a kind of telescopic Three Degree Of Freedom industrial machinery arm according to claim 1, it is characterised in that：The machinery is small
When arm body (31) is in running order, the locking spring (8) bears pressure always.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711318895.3A CN108145746B (en) | 2017-12-12 | 2017-12-12 | Telescopic three-degree-of-freedom industrial mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711318895.3A CN108145746B (en) | 2017-12-12 | 2017-12-12 | Telescopic three-degree-of-freedom industrial mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108145746A true CN108145746A (en) | 2018-06-12 |
| CN108145746B CN108145746B (en) | 2021-01-29 |
Family
ID=62467025
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711318895.3A Active CN108145746B (en) | 2017-12-12 | 2017-12-12 | Telescopic three-degree-of-freedom industrial mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108145746B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CZ308657B6 (en) * | 2019-11-15 | 2021-01-27 | Deprag Cz A.S. | Robotic machining head |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2407181Y (en) * | 1999-11-23 | 2000-11-22 | 刘东均 | Mechanical transmission for turning rotation into reciprocal movement |
| CN106239501A (en) * | 2016-09-28 | 2016-12-21 | 洛阳理工学院 | Multiple degrees of freedom hydraulic driving mechanical is used in the carrying of a kind of workshop |
| CN106426157A (en) * | 2016-12-12 | 2017-02-22 | 南陵宝恒野生葛种植专业合作社 | Foldable and telescopic mechanical arm |
| CN106625762A (en) * | 2016-11-25 | 2017-05-10 | 南陵县襄荷产业协会 | Telescopic three-dimensional mechanical arm |
| JP2017148885A (en) * | 2016-02-23 | 2017-08-31 | 株式会社ジェイテクト | Robot arm |
| CN107263533A (en) * | 2017-06-21 | 2017-10-20 | 太仓望虞机械科技有限公司 | A kind of Telescopic rotating mechanical arm of compact conformation |
-
2017
- 2017-12-12 CN CN201711318895.3A patent/CN108145746B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2407181Y (en) * | 1999-11-23 | 2000-11-22 | 刘东均 | Mechanical transmission for turning rotation into reciprocal movement |
| JP2017148885A (en) * | 2016-02-23 | 2017-08-31 | 株式会社ジェイテクト | Robot arm |
| CN106239501A (en) * | 2016-09-28 | 2016-12-21 | 洛阳理工学院 | Multiple degrees of freedom hydraulic driving mechanical is used in the carrying of a kind of workshop |
| CN106625762A (en) * | 2016-11-25 | 2017-05-10 | 南陵县襄荷产业协会 | Telescopic three-dimensional mechanical arm |
| CN106426157A (en) * | 2016-12-12 | 2017-02-22 | 南陵宝恒野生葛种植专业合作社 | Foldable and telescopic mechanical arm |
| CN107263533A (en) * | 2017-06-21 | 2017-10-20 | 太仓望虞机械科技有限公司 | A kind of Telescopic rotating mechanical arm of compact conformation |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CZ308657B6 (en) * | 2019-11-15 | 2021-01-27 | Deprag Cz A.S. | Robotic machining head |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108145746B (en) | 2021-01-29 |
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