CN108161973A - A kind of Multi-shaft mechanical arm of the electronic clamping jaw of band - Google Patents
A kind of Multi-shaft mechanical arm of the electronic clamping jaw of band Download PDFInfo
- Publication number
- CN108161973A CN108161973A CN201711440482.2A CN201711440482A CN108161973A CN 108161973 A CN108161973 A CN 108161973A CN 201711440482 A CN201711440482 A CN 201711440482A CN 108161973 A CN108161973 A CN 108161973A
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- China
- Prior art keywords
- clamping jaw
- arm
- connecting rod
- shaft
- belt wheel
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Classifications
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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
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
A kind of Multi-shaft mechanical arm of the electronic clamping jaw of band provided by the invention, driving element is set on the platform of bottom, and the first arm and the second arm, without additional weight, have the characteristics that end movement speed is fast other than own wt and mating connecting rod weight；The working distal tip of revolution and rotation can be carried out by being equipped on second arm end, have the freedom of motion of bigger, it can be achieved that various job requirements；The drive component of revolution and the rotation of working distal tip is equally installed on platform, and the more existing mechanical arm module of weight of motion parts is lighter, is particularly suitable for the quick motion work of working distal tip；The driving part of electronic clamping jaw is arranged on clamping jaw body exterior, further mitigates the load of the second arm；Clamping jaw ontology realizes clamping and the action that screws in less volume, has good practicability.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of Multi-shaft mechanical arm of the electronic clamping jaw of band.
Background technology
Robot can be divided into parallel robot and serial manipulator, wherein, the common type of serial manipulator has joint
Robot.Common articulated robot, the driving element of each arm is installed on the joint being connect with forearm, with arm quantity
Increase, the load of each arm can accordingly increase, the driving dynamical element volume of arm is caused to increase, the movement velocity of arm slows down,
The problems such as precision of arm is reduced, is unfavorable for high speed and the micromation of articulated robot.
Relatively conventional in robot application using robot progress clamping operation, common clamping device uses air pressure more
As driving power, clamping device can generate larger impact force when starting or stoping, easily to loading small high speed machines
It is artificial into impact, its coordinates of motion is made to change, is unfavorable for the resetting of robot；Also part clamping device uses electricity
Machine drives, but motor and clamping device be frequently with integrated setting, heavier-weight, is unfavorable for the high-speed motion of robot.
Invention content
In order to realize the high speed clamping operation of robot, the present invention provides a kind of Multi-shaft mechanical arm of the electronic clamping jaw of band,
The Multi-shaft mechanical arm with electronic clamping jaw includes platform, the first arm, the second arm, first connecting rod, second connecting rod, the first arm driving group
Part, first connecting rod drive component, rounded end, revolution driving component, revolution transmission component and electronic clamping jaw；
The platform is parallel with x/y plane, in the platform x forward, is provided with y and is connected to the first opposite base shaft
Part and the second base shaft connector；
Between the first base shaft connector and the second base shaft connector opposite face, a first cylindrical base turns
Axis beginning is slidably mounted on the first base shaft connector；One the second cylindrical base shaft beginning is slidably mounted on described
On second base shaft connector；The first base shaft axis and the second base shaft axis are conllinear and parallel with y-axis；
The first arm beginning is slide hinged in the first base shaft and/or the second base shaft, where articulated position
Axis is the first joint；The first arm end is hinged with the second arm beginning, and axis where articulated position is second joint；
The second arm end is hinged with the rounded end, and axis where articulated position is third joint；
The first connecting rod beginning is slide hinged in the first base shaft and/or the second base shaft, end with it is described
Second connecting rod beginning is hinged；The second connecting rod end is articulated in the middle part of second arm or on end；First arm, second
Arm, first connecting rod and second connecting rod form a four-bar mechanism；
The first arm drive component is installed on the platform, for driving first arm around the second base shaft
Rotation；The first connecting rod drive component is installed on the platform, for the first connecting rod to be driven to turn around first base
Shaft rotation is moved；
The revolution transmission component includes the first revolution belt wheel, the second revolution belt wheel, third and turns round belt wheel and for being driven
Revolution belt；
The first revolution belt wheel is fixed in the first base shaft, and the second revolution belt wheel is arranged on described second
On joint, the third revolution belt wheel is arranged on the third joint, and the third revolution belt wheel is connect with the rounded end
It is fixed；
The first revolution belt wheel, the second revolution belt wheel, third revolution belt wheel are based on revolution belt and are attached；
The revolution driving component is installed on the first base shaft connector y negative senses, and output terminal turns with first base
Axis beginning connects, and drives the base shaft, the first revolution belt wheel, the second revolution belt wheel, third revolution belt wheel and rounded end rotation；
The electronic clamping jaw is arranged on the rounded end.
Preferred embodiment, the Multi-shaft mechanical arm of the electronic clamping jaw of band further include rotation end, rotation drive component and
Rotation transmission component；
The rotation end is arranged on the rounded end, and axis is vertical with the third joints axes；
The rotation transmission component includes the first rotation belt wheel, the second rotation belt wheel, third rotation belt wheel, first bevel gear
And second bevel gear；
The first rotation belt wheel is fixed in the second base shaft, and the second rotation belt wheel is arranged on described second
On joint, the third rotation belt wheel be arranged on the third joint and with the third revolution belt wheel it is coaxial；
The first bevel gear connect with the third rotation belt wheel it is fixed and coaxial, the second bevel gear with it is described oneself
Turn the coaxially connected fixation in end；The first bevel gear is engaged with the second bevel gear；
The rotation drive component is installed on the second base shaft connector y forward directions, and output terminal turns with second base
Axis beginning connects, and drives the second base shaft, the first rotation belt wheel, the second rotation belt wheel, third rotation belt wheel and the first cone
Gear synchronous rotates and is based on first bevel gear and second bevel gear, drives the rotation end around own axis.
Preferred embodiment, first arm is parallel with the second connecting rod and equal length；The first connecting rod is put down
Row is in second arm.
Preferred embodiment, second arm lengths are greater than or equal to the first connecting rod length.
Preferred embodiment, the first arm drive component include the first arm driving pedestal, the first arm driving motor, the
One arm driving screw, the first arm driving sliding block and the first arm drive connection part；
The first arm driving pedestal is hinged on the x negative senses of the platform；
The first arm driving screw and the first arm driving sliding block are installed in one first arm driving shell, first arm
Driving slide block set, the first arm drive connection part is connect with first arm driving sliding block on first arm driving screw
It is fixed；The first arm drive connection part connect fixation with the first arm beginning, and coaxial with the screw；
The first arm driving shell is fixed in side by side with the first arm driving motor on the first arm driving pedestal；
One end of the shaft of the first arm driving motor and first arm driving screw is based in first arm driving pedestal
Gear connection transmission；
The first arm drive connection part drives first arm to be rotated around the second base shaft.
Preferred embodiment, the first connecting rod drive component include first connecting rod driving pedestal, first connecting rod driving
Motor, first connecting rod driving screw, first connecting rod driving sliding block and first connecting rod drive connection part；
The first connecting rod driving pedestal is hinged on the x negative senses of the platform；
First connecting rod driving screw and first connecting rod driving sliding block are installed in first connecting rod driving shell, and described the
One connecting rod drives slide block set on first connecting rod driving screw, the first connecting rod drive connection part and the first connecting rod
Sliding block connection is driven to fix；The first connecting rod drive connection part connect fixation with the first connecting rod beginning, and with the silk
Bar is coaxial；
The first connecting rod driving shell is fixed in the first connecting rod side by side with the first connecting rod driving motor and drives
On pedestal；One end of the shaft of the first connecting rod driving motor and first connecting rod driving screw is driven in the first connecting rod
Based on gear connection transmission in dynamic pedestal；
The first connecting rod drive connection part drives the first connecting rod to be rotated around the first base shaft.
Preferred embodiment, the electronic clamping jaw include clamping jaw ontology, clamping jaw flexible axle, clamping jaw driving motor；
The clamping jaw ontology includes clamping jaw shell, clamping jaw input shaft, the first clamping jaw bevel gear, the second clamping jaw bevel gear, folder
Pawl screw, clamping jaw one, clamping jaw two, jaw sliding block one, jaw sliding block two, clamping jaw sliding rail；
The clamping jaw shell is box like structure, and the clamping jaw input shaft is slidably mounted on the clamping jaw shell rear surface, one
The clamping jaw shell is stretched out at end and end face is provided with and inputs blind hole for the clamping jaw being connect with the clamping jaw flexible axle, and the other end is located at
The clamping jaw enclosure simultaneously connect fixation with the first clamping jaw bevel gear；
The second bevel gear connect fixation with the first clamping jaw bevel gear Vertical Meshing and with the clamping jaw screw；
The clamping jaw screw both ends are slidably mounted between the clamping jaw shell two sides, using axial middle section as boundary
Face, the interface both sides are provided with oppositely oriented wire rod thread；
The clamping jaw one and two beginning of clamping jaw are separately mounted to the interface of the clamping jaw screw based on thread fitting
On the wire rod thread of both sides, the clamping jaw enclosure bottom is stretched out in end；
The jaw sliding block one, jaw sliding block two connect fixation with the clamping jaw one and clamping jaw two respectively；The clamping jaw is slided
Rail is installed on the clamping jaw bottom of shell inner cavity, and the jaw sliding block one, jaw sliding block two are slidably fitted in the clamping jaw sliding rail
On；
The clamping jaw driving motor is fixed on the clamping jaw housing exterior, and output terminal is based on the clamping jaw flexible axle and the folder
Pawl input axis connection realizes transmission.
Preferred embodiment, the electronic clamping jaw further include tool drives motor, tool flexible axle and the module that screws；
It is defeated that the module that screws includes tool input shaft, tool drive shaft, electromagnetism ring one, electromagnetism ring two, tool
Shaft and screwdriver bit；
The tool input shaft is installed on the top surface of the clamping jaw shell, only has rotation degree of freedom, bottom end is located at institute
It states clamping jaw enclosure and is fixedly connected with electromagnetism ring one；
The tool output shaft top is fixedly connected with electromagnetism ring two, and bottom end passes through the clamping jaw outer casing bottom and connects solid
Surely there is the screwdriver bit；
The tool transmission axial section shape is arbitrary graphic than a circular one, and one end is fixed on the tool input shaft
On, the other end passes through the electromagnetism ring one and electromagnetism ring two, and axial sliding fit is in the tool output shaft；
The tool input shaft, tool drive shaft, tool output shaft and screwdriver bit axis collinear；
After the electromagnetism ring one and electromagnetism ring two are powered, the tool output shaft is transported axially towards the tool input shaft
It moves or is moved away from the tool input shaft.
Preferred embodiment, the clamping jaw flexible axle is identical with the tool flexible axle structure, respectively includes flexible axle input and connects
Mouth, flexible axle output interface, hose, flexible shaft core；
The rotatable inner sleeve of flexible shaft core is the inside hose, and input terminal connect solid with the flexible axle input interface
Fixed, output terminal connect fixation with the flexible axle output interface.
Preferred embodiment, the electronic clamping jaw further include clamping jaw torque limiter and tool torque limiter；It is described
Clamping jaw driving motor is connect by the clamping jaw torque limiter with the beginning of the clamping jaw flexible axle；The tool drives motor leads to
The beginning that the tool torque limiter is crossed with the tool flexible axle is connect.
The embodiment of the present invention provides a kind of Multi-shaft mechanical arm of the electronic clamping jaw of band, which will
Driving element is set on the platform of bottom, and the first arm and the second arm do not have other than own wt and mating connecting rod weight
There is additional weight.The Multi-shaft mechanical arm with electronic clamping jaw has the characteristics that end movement speed is fast, can carry out short distance and leave the right or normal track
The light load high-speed motion of mark；The driving element of electronic clamping jaw is arranged on that clamping jaw sheet is external, has to the sharp work of robot
Good practicability.
Description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 shows the three dimensional structure diagram of the Multi-shaft mechanical arm of the electronic clamping jaw of band of the embodiment of the present invention；
Fig. 2 shows the front views of the Multi-shaft mechanical arm of the electronic clamping jaw of band of the embodiment of the present invention；
Fig. 3 shows the sectional view of the Section A-A of the embodiment of the present invention；
Fig. 4 shows the sectional view of the section B-B of the embodiment of the present invention；
Fig. 5 shows the vertical view of the Multi-shaft mechanical arm of the electronic clamping jaw of band of the embodiment of the present invention；
Fig. 6 shows the first arm front view of the embodiment of the present invention；
Fig. 7 shows the first connecting rod front view of the embodiment of the present invention；
Fig. 8 shows the Multi-shaft mechanical arm kinematic sketch of the embodiment of the present invention；
Fig. 9 shows the partial enlarged view of first connecting rod drive component of the embodiment of the present invention；
Figure 10 shows the electronic clamping jaw three dimensional structure diagram of the embodiment of the present invention；
Figure 11 shows the electronic clamping jaw right view of the embodiment of the present invention；
Figure 12 shows the two end structure enlarged partial sectional view of clamping jaw of the embodiment of the present invention；
Figure 13 shows the flexible axle structure sectional view of the embodiment of the present invention.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained all other without creative efforts
Embodiment shall fall within the protection scope of the present invention.
Fig. 1 shows the three dimensional structure diagram of the Multi-shaft mechanical arm of the electronic clamping jaw of band of the embodiment of the present invention, Fig. 2 shows
The front view of the Multi-shaft mechanical arm of the electronic clamping jaw of band of the embodiment of the present invention, Fig. 5 show the more of the electronic clamping jaw of the embodiment of the present invention
The vertical view of shaft mechanical arm, in order to clearly be shown to drive mechanism, part enclosure in Figure 5 is not shown, rounded end
Certain angle is adjusted with rotation end, is more clear view.
The Multi-shaft mechanical arm of the electronic clamping jaw of band provided in an embodiment of the present invention, including platform 101, the first arm 102, the second arm
103rd, first connecting rod 105, second connecting rod 104, the first arm drive component 107,106 drive component of first connecting rod, revolution driving group
Part 801, revolution transmission component, rotation drive component 802, rotation transmission component and electronic clamping jaw 1200.Below first to the present invention
The Multi-shaft mechanical arm of embodiment is introduced, then the structure of electronic clamping jaw is introduced.
In order to mitigate the weight of the first arm 102 and the second arm 103, the structure of the first arm 102 of the embodiment of the present invention is sky
Heart column structure, specially rectangular open column shape structure；Second arm 103 is made up of two piece of second arm cover board 137, described two pieces
It is connected and fixed by more than one second arm fixing piece 139 between second arm cover board 137；In specific implementation, it may be configured as each
The arm configuration of kind form.
The platform 101 is parallel with x/y plane, and in specific implementation, 101 top surface of platform is a plane, the plane and x/y plane
Parallel, shape is not unique.
In the platform x forward, y is provided with to connect with the second base shaft to the first opposite base shaft connector 109
Part 111；
Fig. 3 shows the sectional view of Section A-A, succinct for view, only shows there is the part of cutting plane；Bearing
Hatching is not shown due to complex in figure；In order to reduce friction, bearing is based between the opposite each parts slided
It connects with bearing holder (housing, cover), since the connection mode is relatively conventional in industry, is not discussed in detail.It is connected in the first base shaft
Between 109 and second base shaft connector of part, 111 opposite face, cylindrical 812 beginning of the first base shaft is slidably mounted on institute
It states on the first base shaft connector 109；One the second cylindrical base shaft beginning 815 is slidably mounted on the second base shaft and connects
On fitting；The first base shaft axis 812 and 815 axis collinear of the second base shaft are simultaneously parallel with y-axis.
First arm, 102 beginning is slide hinged in the first base shaft 812 and/or the second base shaft 815, this hair
First arm 102 of bright embodiment is open column shape structure, across slide hinged in the first base shaft 812 and the second base shaft 815
On；First arm, 102 end is hinged with 103 beginning of the second arm；It is cut with scissors with the working distal tip the second arm end 103
It connects.
105 beginning of first connecting rod is slide hinged in the first base shaft 812 and/or the second base shaft 815, end
End is hinged with 104 beginning of second connecting rod；104 end of second connecting rod is articulated with 103 middle part of the second arm or end
On；First arm 102, the second arm 103, first connecting rod 105 and second connecting rod 104 form a four-bar mechanism；
The first arm drive component 107 is installed on the platform 101, for driving first arm 102 around described
First base shaft 812 and/or the second base shaft 815 rotate；The first connecting rod drive component 106 is installed on the platform 101
On, for the first connecting rod 105 to be driven to be rotated around the first base shaft 812.
It should be noted that the first arm drive component and the second arm drive component can control and keep the first arm, second
The position of the four-bar mechanism structure of arm, first connecting rod and second connecting rod composition；The position of working distal tip passes through revolution driving group
Part 801, revolution transmission component, rotation drive component 802 and rotation transmission component are controlled.
Wherein, the first base shaft 812 is driven by revolution driving component 801.Revolution driving component 801 includes revolution driving electricity
Machine 810, revolution driving retarder 811 and mating bearing and bearing holder (housing, cover).First base shaft, 812 beginning is slidably mounted on first
On base shaft connector 109, end is fixed with the first revolution belt wheel 813；Revolution driving retarder 811 is fixed on the first base shaft
On 812；Revolution driving motor 810 is connect through revolution driving retarder 811 with the first base shaft connector 109；Revolution driving electricity
Machine 810 is rotated through revolution driving retarder 811, the first base shaft 812 driving the first revolution belt wheel 813.
Second base shaft 815 is driven by rotation drive component 801.Rotation drive component 802 includes rotation driving motor
817th, rotation driving retarder 816 and mating bearing and bearing holder (housing, cover).Second base shaft, 815 beginning is slidably mounted on the second base
On shaft connector 111, end is fixed with the first revolution belt wheel 814；Rotation driving retarder 816 is fixed on the second base shaft company
On fitting 111；Rotation driving motor 817 is connect through rotation driving retarder 816 with the second base shaft 815；Rotation driving motor
817 drive the first rotation belt wheel 814 to rotate through rotation driving retarder 815, the second base shaft 815.
Fig. 4 shows the cross-sectional view of section B-B, succinct for view, only shows there is the portion of cutting plane
Point；The hatching of bearing is not shown due to complex in figure；In order to reduce friction, the opposite each parts slided it
Between connected based on bearing with bearing holder (housing, cover), since the connection mode is relatively conventional in industry, be not discussed in detail.First arm 104
End and 103 beginning of the second arm are hinged, specifically, second joint shaft 834 is along y to through the y forward directions face of the first arm 104 and y
Negative sense face.The second revolution sleeve 833, second is slidably fitted in second joint shaft 834 from rotaring sleeve 832, wherein, second time
Rotaring sleeve 833 is slidably mounted on the first arm 104y negative senses face, is fixedly connected with second respectively the first arm 104 is inside and outside
It turns round belt wheel one 836 and second and turns round belt wheel 2 835；Second is slidably mounted on from rotaring sleeve 832 on the first arm 104y forward directions face,
It is fixedly connected with the second rotation belt wheel 1 and the second rotation belt wheel 2 838 respectively the first arm 104 is inside and outside.Second
Two piece of second arm cover board 137 of arm is slidably mounted on the second revolution sleeve 833, second from rotaring sleeve 832 respectively.
Fig. 5 shows the vertical view of the embodiment of the present invention, wherein, with the rotary motion of rounded end and transporting certainly for rotation end
Dynamic unrelated component not shows that partial enlarged view is the sectional view of the second arm end.Second arm is provided on 103 end along y
To perforative third joint shaft 842；Third joint shaft 842y forward ends are fixedly connected with third rotation belt wheel 840, y negative senses
End is slidably fitted with third revolution sleeve 843, and third revolution sleeve 843 is slidably mounted on the second arm 103y negative senses face, wherein,
Third turns round sleeve 843 and is fixedly connected with third revolution belt wheel 847 in y negative senses.
The working distal tip of the embodiment of the present invention includes rounded end 844 and the rotation end being slidably mounted on rounded end 844
845；Rounded end 844 is slidably mounted in third joint shaft 842, and y negative ends connect fixation with third revolution sleeve 843.
First bevel gear 841 is also fixedly connected in third joint shaft 842, the second cone tooth is fixedly connected on rotation end
Wheel 846；First bevel gear 841 and second bevel gear 842 engage, and axis is vertical between each other.
With reference to above to the explanation of the multi-spindle machining arm configuration of the embodiment of the present invention, below to the work of the embodiment of the present invention
The rotary motion and spinning motion of end are summarized.
It turns round transmission component and includes the first revolution belt wheel, the second revolution revolution of belt wheel one, second belt wheel two, third rotating belt
Wheel and revolution belt one, revolution belt two for transmission.The first base of revolution driving Component driver shaft rotates, and drives first time
Turn belt wheel rotation；First revolution belt wheel is based on revolution belt one and the second revolution belt wheel one is driven to rotate；Second revolution one He of belt wheel
Second revolution belt wheel diyl is fixed and is synchronized with the movement in the second revolution sleeve connection；Second revolution belt wheel diyl is in revolution belt two
Drive third revolution belt wheel movement；Third is turned round belt wheel and is fixed, and rotate synchronously based on third revolution sleeve connection with rounded end.
Rotation transmission component includes the first rotation belt wheel, the second rotation belt wheel one, the second rotation belt wheel two, third rotation band
Wheel, first bevel gear, second bevel gear and rotation belt one, rotation belt two for transmission；Rotation drive component driving the
Diyl shaft rotates, and drives the rotation of the first rotation belt wheel；First rotation belt wheel is based on rotation belt one and drives the second rotation belt wheel
One rotation；Second rotation belt wheel one and the second rotation belt wheel two are fixed and are synchronized with the movement based on the second rotation sleeve connection；Second
Rotation belt wheel two is based on rotation belt two and drives the movement of third rotation belt wheel；Third rotation belt wheel is based on third with first bevel gear
Joint shaft connection is fixed, and rotate synchronously；Second bevel gear is orthogonal with first bevel gear to be engaged and is driven by first bevel gear
It is dynamic to realize rotation；The turning end being connect with second bevel gear is on rounded end around own axes rotation.
Fig. 1 shows the three dimensional structure diagram of the Multi-shaft mechanical arm of the electronic clamping jaw of band of the embodiment of the present invention, Fig. 2 shows
The front view of the Multi-shaft mechanical arm of the electronic clamping jaw of band of the embodiment of the present invention.First base shaft and the second base shaft are in addition to as transmission
Other than component, it is additionally operable in the height for vacantly extremely setting at 102 beginning of the first arm and 105 beginning of first connecting rod, turns the first base
It is moved between axis and the second base shaft and platform there are space for the first arm 102 and first connecting rod 105, avoids 102 He of the first arm
First connecting rod 105 generates interference with platform 101.
Fig. 1 shows the first arm, three-D structure diagram of the embodiment of the present invention, and Fig. 6 shows the embodiment of the present invention first
Arm configuration front view.In specific implementation, 102 beginning of the first arm is slide hinged in the first base shaft 812 and
In diyl shaft 815, end is hinged with 103 beginning of the second arm；In order to be connected for the installation of the first arm drive component 107, the
One arm 102 is carried on the back at beginning on abterminal direction, extends the first arm connector, the first arm connector and the first arm drive component
Output terminal be hinged.It should be noted that the first arm connector and the first arm are relatively-stationary, and the axis of the first arm connector
It is less than the axial length of the first arm to length, based on lever principle, the micro-displacement of the first arm connector can be made, through the first base
After 812 and second base shaft of shaft, 815 fulcrum, the big apart from displacement of the first arm end is amplified to, is conducive to the first arm end
Quick movement.
Fig. 1 shows the first connecting rod three dimensional structure diagram of the embodiment of the present invention, and Fig. 7 shows the embodiment of the present invention
One link mechanism front view.105 beginning of first connecting rod is articulated in the first base shaft 812, end and the second connecting rod
104 beginnings are hinged；In order to which for the installation connection of first connecting rod drive component 103, first connecting rod 105 carries on the back abterminal direction at beginning
On, extend first connecting rod connector, first connecting rod connector and the output terminal of first connecting rod drive component 106 are hinged.It needs
Illustrate be first connecting rod connector and first connecting rod is relatively-stationary, and the axial length of first connecting rod connector is less than the
The axial length of one connecting rod based on lever principle, can make the micro-displacement of first connecting rod connector, through the first base shaft 812
Fulcrum is amplified to the big apart from displacement of first connecting rod end, is conducive to the quick movement of first connecting rod end.
104 beginning of second connecting rod is hinged on 105 end of first connecting rod, and end is hinged on the middle part or of the second arm 103
On the end of two arms 103.In specific implementation, second connecting rod 104 is frequently with hollow connecting rod to mitigate its weight.
Further, it is smaller that density can be used in the first arm 102, the second arm 103, first connecting rod 105 and second connecting rod 104
Aluminum or aluminum alloy is as material, further to mitigate its weight.
Fig. 8 shows the kinematic sketch of the Multi-shaft mechanical arm with electronic clamping jaw, with reference to Fig. 2 shows band electronic clamping jaw
Multi-shaft mechanical arm material object front view replaces the first arm, the second arm, first connecting rod, second connecting rod with straight line respectively, uses circle respectively
Instead of each hinge joint, wherein, the name of each hinge joint is as follows：First base shaft and the second base shaft are arranged on same straight line
On, which is summarised as the first hinge joint 121, and 105 end of first connecting rod and the hinge joint at 104 beginning of second connecting rod are cut with scissors for second
Contact 122, the hinge joint at 102 end of the first arm and 103 beginning of the second arm are third hinge joint 123,104 end of second connecting rod with
The hinge joint of second arm 103 is the 4th hinge joint 124；It can be obtained by the kinematic sketch, the first arm 102, the second arm 103, first
Connecting rod 105 and second connecting rod 104 form a four-bar mechanism.
In specific implementation, the end of the second arm 103 can be arranged near the 4th hinge joint 124, due to the second arm at this time
103 the 4th hinge joint 124 of end distance is relatively near, based on lever principle it is found that the end of the second arm 103 is relative to the second arm
The displacement at 103 beginning is acted in diminution, is conducive to improve the end-of-pipe control precision of the second arm 103；But based on four-bar mechanism
Structure limitation, which can cause the scope of activities of 103 end of the second arm smaller.
Therefore, it in specific implementation, can also extend the length of the second arm 103, make to stretch out the 4th hinge joint 124 outside end, it should
Set-up mode is conducive to increase the scope of activities of the second arm 103, can be suitble to more working environments.
In specific implementation, although the corresponding Bit andits control of the second arm end can be achieved in the four-bar mechanism of arbitrary structures,
But more convenient in order to calculate the control of the second arm end, each length of side of the four-bar mechanism of the embodiment of the present invention may be configured as
Following parameter：First arm 102 is parallel with the second connecting rod 104 and equal length；The first connecting rod 105 is parallel to institute
State the second arm 103；At this point, the four-bar mechanism parallelogram of the embodiment of the present invention, the first arm 102 and second connecting rod 104
Posture it is identical, the second arm 103 is identical with the posture of first connecting rod 105, and the calculating of end can be based on first connecting rod length, first
Angle quickly obtains between arm lengths, the second arm lengths, first connecting rod and the first arm, makes the design of software and control more simple
It is single.
Mechanical structure introduction for the Multi-shaft mechanical arm of the embodiment of the present invention above, in embodiments of the present invention, four company
Linkage tool is there are two dynamic connecting rod, respectively the first arm 102 and first connecting rod 105, by controlling the first arm 102 and first connecting rod
105 movement is, it can be achieved that the movement of 103 end of the second arm, is below introduced the driving of the first arm and first connecting rod.
Fig. 9 shows the partial enlarged view of the first connecting rod drive component of the embodiment of the present invention.The first connecting rod driving
Component includes first connecting rod driving pedestal 130, first connecting rod driving motor 131, first connecting rod drive connection part 133, first and connects
Bar drives screw 134 and first connecting rod driving sliding block 135；
The first connecting rod driving pedestal 130 is hinged on the x negative senses of the platform, and hinge joint drives pedestal for first connecting rod
Hinge joint 120.First connecting rod driving motor 131 is fixed on the first connecting rod driving pedestal 130；First connecting rod driving motor
131 shaft is stretched into first connecting rod driving pedestal 130；The first connecting rod driving screw 134 and first connecting rod driving sliding block
135 are installed in first connecting rod driving shell 136, and the first connecting rod driving sliding block 135 is sleeved on the first connecting rod driving silk
On bar 134, the first connecting rod drive connection part 133 connect fixation with first connecting rod driving sliding block 135；Described first connects
Bar drive connection part 133 and first connecting rod driving screw 134 are coaxial, and connect fixation with 105 beginning of first connecting rod；
The first connecting rod driving shell 136 is fixed in described first side by side with the first connecting rod driving motor 131 and connects
On bar driving pedestal 130；One end of the shaft of the first connecting rod driving motor 131 and first connecting rod driving screw 134
It connects and is driven based on gear in first connecting rod driving pedestal 130.
In specific implementation, drive first connecting rod that screw 134 is driven to rotate, and drive by first connecting rod driving motor 131
First connecting rod drives axial movement of the sliding block 135 along first connecting rod driving screw 134；First connecting rod drive connection part 133 by
First connecting rod driving sliding block 135 drives and is rotated around the first base shaft, first connecting rod is driven to turn around the first base by lever principle
Shaft rotation is moved.
Similarly, the first arm drive component structure is identical with first connecting rod drive component structure, wherein, first connecting rod driving bottom
Seat hinge joint 129 and first connecting rod driving pedestal hinge joint 120 is standing is placed in one and is parallel on the straight line of y-axis, and using one
The mode of processing is set, remaining structure member is identical, is not repeated to be introduced.
It should be noted that when first connecting rod driving screw and first connecting rod axis be in same straight line or the drive of the first arm
When dynamic screw be in same straight line with the first arm, the Multi-shaft mechanical arm of the electronic clamping jaw of band of the embodiment of the present invention can have there are one fortune
Dynamic dead zone, first connecting rod or the first arm effectively can not be controlled and be moved；Therefore, in specific implementation, first connecting rod
Connector and the first arm connector are usually arranged as respectively at first connecting rod and the first arm not on the same line, to avoid generation
The situation.
In actual motion, the platform of the embodiment of the present invention is fixed in a plane, and according to actually required work end
End motion range, the first arm of design, the second arm, first connecting rod, second connecting rod length, by controlling the first drive component and the
Two drive components control the four-bar mechanism of the first arm, the second arm, first connecting rod, second connecting rod composition.
Since driving element is set on the platform of bottom by Multi-shaft mechanical arm provided in an embodiment of the present invention, the first arm and
Second arm, without additional weight, there is end movement speed to wait spies soon other than own wt and mating connecting rod weight
Point；Be equipped on second arm end can carry out revolution and rotation working distal tip, have bigger freedom of motion, it can be achieved that
Various job requirements；The drive component of revolution and the rotation of working distal tip is equally installed on platform, motion parts
Weight is more existing, and mechanical arm module is lighter, is particularly suitable for performing the quick motion work in end.
The structure of electronic clamping jaw is introduced below, Figure 10 shows the electronic clamping jaw three-dimensional structure of the embodiment of the present invention
Schematic diagram, Figure 11 show the electronic clamping jaw right view of the embodiment of the present invention.The electronic clamping jaw 1200 of the embodiment of the present invention is set
On the rotation end of 103 end of the second arm, specific connection mode is that clamping jaw shell 1100 is fixed on rotation end.Electronic clamping jaw
1201 geometrical clamp of connector between two piece of second 137 end of arm cover board of the second arm 103, from the second arm 103 stretch out by one end,
It is connect with 1100 back side of clamping jaw shell of electronic clamping jaw.
The electronic clamping jaw internal structure of the embodiment of the present invention, the electronic clamping jaw x fronts side in attached drawing are shown for clarity
It opens wide.The electronic clamping jaw 1200 of the embodiment of the present invention, including clamping jaw ontology, clamping jaw driving snake 1113, clamping jaw driving motor
1111；
The clamping jaw ontology includes clamping jaw shell 1100, clamping jaw input shaft 1104, the first clamping jaw bevel gear 1105, second folder
Pawl bevel gear 1106, clamping jaw screw 1103, clamping jaw 1, clamping jaw 2 1102, jaw sliding block 1, jaw sliding block two
1122nd, clamping jaw sliding rail 1123；
The clamping jaw shell 1100 is box like structure, and the clamping jaw input shaft 1104 is slidably mounted on the clamping jaw shell x
On negative sense face, be provided on the end face of x negative ends and input blind hole for clamping jaw connect with clamping jaw input flexible axle end, Fig. 7 with
Since visual angle relationship is invisible in Fig. 8, concrete structure can refer to the tool input blind hole positioned at clamping jaw shell 1100z forward directions.Institute
The cross sectional shape for stating clamping jaw input blind hole may be configured as arbitrary graphic than circular, it is contemplated that common interfaces shape on the market
The cross sectional shape of blind hole in specific implementation, can be set as regular hexagon by shape and difficulty of processing；It can also be processed as section shape
Shape inputs blind hole for circular clamping jaw, is driven based on slot and key cooperation.
The x of the clamping jaw input shaft 1104 is whole on direction, is fixedly connected with the first clamping jaw bevel gear 1105, specifically,
Slot based on 1105 inner wall of the key on clamping jaw input shaft 1104 and the first clamping jaw bevel gear realizes the transmission of rotation.
Inside clamping jaw shell 1100, a clamping jaw screw 1103 is provided with along y to slip, specifically, can be outside clamping jaw
The bearing that setting is installed for clamping jaw screw in shell y forward directions and y negative senses face, in embodiments of the present invention, from clamping jaw sliding rail 1123
On extend bearing supporting frame, for installing bearing, 1103 both ends of clamping jaw screw are connected on bearing.Clamping jaw screw 1103
In y forward positions periphery, it is fixedly connected with the second clamping jaw bevel gear 1106；Second clamping jaw bevel gear 1106 and the first clamping jaw cone tooth
1105 engagement of wheel, mutual axis are in 90 °.
It should be noted that in order to realize a clamping jaw screw 1103 while control two clamping jaws, and the fortune of two clamping jaws
Dynamic direction is opposite, and 1103 screw thread of clamping jaw screw of the embodiment of the present invention is cut by boundary of the middle section of clamping jaw screw axial direction
Face, it is oppositely oriented in the wire rod thread of the boundary section y negative senses side and wire rod thread in the boundary section y forward directions side,
I.e. wherein the wire rod thread of side is left-hand thread, and the wire rod thread of opposite side is right-hand thread.
Clamping jaw 1 and clamping jaw 2 1102 are separately positioned on the y in the boundary section to both sides, the folder of the embodiment of the present invention
Pawl 1 is arranged on the y negative senses in the boundary section, and the y that clamping jaw 2 1102 is arranged on the interfacial surface is positive.Clamping jaw 1
It is respectively fitting into clamping jaw 2 1102 on the wire rod thread of corresponding clamping jaw screw, when clamping jaw screw rotates, clamping jaw one
1101 and clamping jaw 2 1102 respectively along y to doing close to each other move or that mutually deviates from is synchronized with the movement.
In order to which clamping jaw 1 and clamping jaw 2 1102 is made not to be rotated around clamping jaw screw 1103, in embodiments of the present invention,
In 1100 inner chamber bottom surface of clamping jaw shell, along y to a clamping jaw sliding rail 1123 is equipped with, it has been respectively cooperating on clamping jaw sliding rail 1123
Jaw sliding block 1 and jaw sliding block 2 1122；Jaw sliding block 1 and jaw sliding block 2 1122 respectively with clamping jaw 1
It connects and fixes with clamping jaw 2 1102.
Although clamping jaw 1 and 2 1102 structure of clamping jaw could be provided as different shape, but in order to avoid Element Design and
The complexity of processing, is usually designed to that structure is identical, and about itself x to middle section it is symmetrical, to lower processing
Cost.
The clamping jaw one of the embodiment of the present invention it is identical with the structure of clamping jaw two and about itself y to middle section it is symmetrical, beginning
Cooperation is on clamping jaw screw 1103, and end is stretched out from 1100 bottom surface of clamping jaw shell, for clamping position.It is set to avoid middle part
Tool input shaft 1108, the cross sectional shapes of two 1102xz planes of clamping jaw 1 of the invention and clamping jaw is in a zigzag, clamping jaw
Beginning axis and end axis there is certain distance upwards in x, so as to avoid the position of tool input shaft and clamping jaw screw
Conflict；Since clamping jaw sliding rail 1123 is fixed component, clamping jaw sliding rail 1123 can be cut and be inputted with avoidance tool
Axis；While avoidance is formed, the jaw sliding block of both sides can also be limited.
It should be noted that when clamping jaw using designing in a zigzag, in specific design, end and the tool input shaft of clamping jaw
Should be in same yz planes, after making clamping position, when tool operation, is less likely to occur to loosen.
Figure 12 shows the clamping jaw tail end section schematic diagram of the embodiment of the present invention.Further, in order to clamping jaw end into
Row fine tuning can be respectively arranged with movable intermediate plate 1131 in the opposite one side in one end of clamping jaw and two end of clamping jaw, and the present invention is real
Example is applied to be introduced with two end of clamping jaw.Movable intermediate plate 1131 based on an adjustable screw 1133 with being fixed on the clamping jaw one or folder
On pawl two, in order to keep balancing and improve its control accuracy, fine tuning screw rod 1132 can also be installed.Adjustable screw 1133 and fine tuning
Screw rod 1131 is based on thread fitting in 21102 end of clamping jaw, and mutual axis is parallel, and x negative ends slide embedded peace and go to activity
In intermediate plate 1131.
By controlling adjustable screw 1133 and fine tuning screw rod 1132 from the y of clamping jaw 2 1133 to extension elongation, you can control
Movable intermediate plate 1131 from the outreach on clamping jaw 2 1102, and influence between final clamping jaw 1 and clamping jaw 2 1102 away from
From.
Structure described above to realize clamping position function, when clamping jaw input shaft 1104 is through the first clamping jaw bevel gear
1105 and the second clamping jaw bevel gear 1106 when driving the clamping jaw screw 1103 to rotate, clamping jaw 1 and clamping jaw 2 1102 to contra
To or opposite direction move；When clamping jaw 1 and clamping jaw 2 1102 are moved to relative direction, due to clamping jaw 1 and folder
The movement of pawl 2 1102 is synchronous, and when clamping the workpiece of same size, final clip position is fixed；If
Set other that can effectively be positioned for the component of work pieces process on clamping jaw ontology.
The embodiment of the present invention is to realize that the function that screws as example, is introduced tool tip.
Figure 10 shows the tool tip three dimensional structure diagram of the embodiment of the present invention, and Figure 11 shows the embodiment of the present invention
The formal schematic diagram of tool tip.The tool tip of the embodiment of the present invention is screws module 1140, the module 1140 that screws
Including tool input shaft 1141, tool drive shaft 1143, electromagnetism ring 1, electromagnetism ring 2 1144,1146 and of tool output shaft
Screwdriver bit 1147.
Tool input shaft 1141 is installed on the top surface of clamping jaw shell 1100, only has rotation degree of freedom；Tool input shaft
1141 lower sections are equipped with electromagnetism ring 1；1143 cross sectional shape of tool drive shaft is arbitrary graphic than a circular one, it is preferred that
It can be regular hexagon；1143 upper end of tool drive shaft connect fixation with tool input shaft 1141, and lower end is slidably fitted in tool
In the driving groove 1145 of output shaft 1146；1145 cross sectional shape of driving groove coordinates with 1143 cross sectional shape of tool drive shaft；
Above tool output shaft 1146, it is fixedly connected with electromagnetism ring 2 1144；It should be noted that tool output shaft 1146 is from electromagnetism
It is passed through in ring 1 and electromagnetism ring 1144, electromagnetism ring 1142 and 1144 one of which of electromagnetism ring can be permanent magnet；Tool is defeated
1146 lower end of shaft is pierced by from 1100 bottom of clamping jaw shell, and end is fixedly connected with screwdriver bit 1147 based on magnetic mode.
Tool input shaft 1141 is connect with tool drives motor 1110 based on tool flexible axle and by tool drives motor 1110
Driving, specific connection mode are introduced later.
The module that screws of the embodiment of the present invention, electromagnetism ring 1 and electromagnetism ring 2 1144 are internally provided with coil, can
Change direction and the intensity of its magnetic pole by being passed through sense of current and size；Due to the driving groove 1145 of tool output shaft 1146
With the cooperation of tool drive shaft 1143, tool output shaft 1146 can slide and in tool drive shaft along 1143 axis of tool drive shaft
1143 are rotated by.When electromagnetism ring 1 and electromagnetism ring 2 1144 are powered, and attraction action occurs, tool output shaft
1143 move upwards, and electromagnetism ring 2 1144 is adsorbed in electromagnetism ring 1；When electromagnetism ring 1 and electromagnetism ring 2 1144 are sent out
It is raw repel each other action when, there are one downward power for the tool of tool output shaft 1143.In specific implementation, when tool input shaft 1142 rotates
When, it is rotated based on 1143 driving instrument output shaft 1146 of tool drive shaft, so as to export the screw of all 1146 lower ends with power driven tools
Screwdriver bit 1147 rotates；Since electromagnetism ring 1 and electromagnetism ring 2 1144 are repelled each other, tool output shaft 1146 can give screwdriver bit
With one downward power of screw, squeezed into convenient for screw.The module that screws utilizes electromagnetic principle control tool output shaft axial direction
Movement, improves convenience when screwing operation, is matched with the clamping movement of clamping jaw, has good practicability.
Above for the structure of clamping jaw ontology and movement are introduced, further, in order to mitigate the weight of clamping jaw ontology,
Clamping jaw driving motor 1111 and tool drives motor 1110 are arranged on the outside of clamping jaw ontology by the embodiment of the present invention.
In embodiments of the present invention, clamping jaw driving motor 1111 and tool drives motor 1110 are accomplished precisely due to not needing to
Distance controlling, therefore, can be selected lower-cost common electric machine, do not need to the higher servo motor of deployment cost.By
It is clamped in the clamping jaw realization of the embodiment of the present invention and is defined, screwed by the contour structures and size of workpiece, be root
Judge whether screw is urgent according to torque, it therefore, can be in the output of clamping jaw driving motor 1111 and tool drives motor 1110
End connects torque limiter respectively, specifically, the torque limiter of the shaft end setting of clamping jaw driving motor 1111 is named as
Clamping jaw torque limiter 1117；The torque limiter of the shaft end setting of tool drives motor 1110 is named as tool torque limit
Device 1116 processed.
Torque limiter, is also safety coupling, and torque force limiting device, overload-release clutch are connection mover and working machine
A kind of component, major function is overload protection, and torque force limiting device is to be more than when overload or mechanical breakdown lead to required torque
During setting value, it limits the torsion that transmission system is driven in the form of skidding, voluntarily restores to be coupled after overload condition disappears.This
Sample avoids expensive shutdown loss it is prevented that mechanical failure.The embodiment of the present invention is realized with torque limiter judges clamping
The function that action is completed that screws is completed and is judged in action.
Clamping jaw driving motor 1111 is used to drive clamping jaw input shaft 1104, clamping jaw driving motor 1111 and clamping jaw input shaft
It is driven between 1104 by clamping jaw flexible axle 1113.It is defeated that the clamping jaw flexible axle 1113 of the present invention includes flexible axle input interface, flexible axle
Outgoing interface, hose, flexible shaft core；Similarly, the tool drives motor 1110 of the embodiment of the present invention is based on tool flexible axle 1112 and tool
Input shaft 1141 connects, and tool flexible axle 1112 is identical with 1113 structure of clamping jaw flexible axle, due to view relation, below with tool flexible axle
It is introduced for 1112.
Figure 13 shows the cross-sectional view of the tool flexible axle 1112 of the embodiment of the present invention.1135 both ends of flexible shaft core point
It is not connected with flexible axle input interface 1136 and flexible axle output interface 1137, flexible axle input interface 1136 of the invention and torque limit
The output terminal connection of device.Hose 1134 is sleeved on outside flexible shaft core 1135, and lubricating grease is filled between flexible shaft core 1135 and hose 1134
Or lubricating oil.
The hose of the embodiment of the present invention is wire braided hose；Wire braided hose is followed successively by resistant to liquid from inside to outside
Synthetic rubber inner glue layer, mesoglea, braided steel wire enhancement layer and resistance to weather function admirable synthetic rubber outer glue-line.Sebific duct selects
It is made of special synthetic rubber cooperation, there is excellent oil resistant, heat-resisting, ageing-resistant performance, sebific duct bearing capacity is high, and tube body combines tight
It is close, it using softness, deforms under stress small, is more suitable as the hose of clamping jaw flexible axle.
The cross sectional shape of the flexible axle output interface 1137 of the embodiment of the present invention should input blind hole with the tool of tool input shaft
It is adapted, meanwhile, tool flexible axle is detached from tool input shaft in order to prevent, and flexible axle output interface 1137 can be based on magnetic fixation side
Formula is fixed in tool input blind hole.
Clamping jaw driving motor and tool drives motor can be fixed on a certain position, so by the electronic clamping jaw in running
Multi-shaft mechanical arm operation clamping jaw ontology movement through the embodiment of the present invention afterwards.Clamping jaw ontology passes through clamping jaw first in action
Driving motor drives two relative motion of clamping jaw one and clamping jaw, clamping workpiece；After clamping jaw one and family's pawl two clamp, clamping jaw driving electricity
Clamping jaw torque limiter on machine is had an effect, and can not continue to clamp, and clamping position is completed, at this point, clamping jaw ontology is whole
Relative position between workpiece is fixed.Then, tool drives motor driving screwdriver bit rotation, electromagnetism ring one and electromagnetism ring two
Repel each other after energization, give screwdriver first downward active force, it will be in the screw means workpiece on workpiece；When screw is tightened
When, tool torque limiter is had an effect, screwdriver bit stop motion.After the completion of operation, electromagnetism ring one and electromagnetism ring two are attracting, drive
Tool output shaft resets；Remaining parts resets, and one-stop operation is completed.
The Multi-shaft mechanical arm of the electronic clamping jaw of band of the embodiment of the present invention controls electronic clamping jaw to transport at a high speed by Multi-shaft mechanical arm
It moves to setting position, clamping position and the operation that screws is carried out using electronic clamping jaw；The arm lighter in weight of Multi-shaft mechanical arm, can be into
Row high-speed motion；Electronic clamping jaw only has clamping jaw ontology to be fixed on planar manipulator, and planar manipulator load is smaller；Utilize motor
It is inputted with flexible axle into action edge, impact force is smaller, is not easy to impact planar manipulator；Clamping jaw ontology is in smaller volume
Clamping position and the action that screws can be carried out, there is good practicability.
The Multi-shaft mechanical arm of the electronic clamping jaw of band of the embodiment of the present invention controls electronic clamping jaw high-speed motion extremely by mechanical arm
Setting position carries out clamping position and the operation that screws using electronic clamping jaw；The arm lighter in weight of planar manipulator can carry out height
Speed movement；Electronic clamping jaw only has clamping jaw ontology to be fixed on planar manipulator, and planar manipulator load is smaller；Utilize motor and soft
Axis is inputted into action edge, and impact force is smaller, is not easy to impact planar manipulator；Clamping jaw ontology can be into smaller volume
Row clamping position and the action that screws, have good practicability.
The Multi-shaft mechanical arm of the electronic clamping jaw of a kind of band provided above the embodiment of the present invention is described in detail, this
Specific case is applied in text to be expounded the principle of the present invention and embodiment, the explanation of above example is only intended to
It facilitates the understanding of the method and its core concept of the invention；Meanwhile for those of ordinary skill in the art, think of according to the present invention
Think, in specific embodiments and applications there will be changes, in conclusion the content of the present specification should not be construed as pair
The limitation of the present invention.
Claims (10)
1. a kind of Multi-shaft mechanical arm of the electronic clamping jaw of band, which is characterized in that the Multi-shaft mechanical arm of the electronic clamping jaw of band includes flat
Platform, the second arm, first connecting rod, second connecting rod, the first arm drive component, first connecting rod drive component, rounded end, returns at the first arm
Turn drive component, revolution transmission component and electronic clamping jaw；
The platform is parallel with x/y plane, in the platform x forward, be provided with y to the first opposite base shaft connector and
Second base shaft connector；
Between the first base shaft connector and the second base shaft connector opposite face, a first cylindrical base shaft begins
End is slidably mounted on the first base shaft connector；One the second cylindrical base shaft beginning is slidably mounted on described second
On base shaft connector；The first base shaft axis and the second base shaft axis are conllinear and parallel with y-axis；
The first arm beginning is slide hinged in the first base shaft and/or the second base shaft, axis where articulated position
For the first joint；The first arm end is hinged with the second arm beginning, and axis where articulated position is second joint；It is described
Second arm end is hinged with the rounded end, and axis where articulated position is third joint；
The first connecting rod beginning is slide hinged in the first base shaft and/or the second base shaft, end and described second
Connecting rod beginning is hinged；The second connecting rod end is articulated in the middle part of second arm or on end；First arm, the second arm,
First connecting rod and second connecting rod form a four-bar mechanism；
The first arm drive component is installed on the platform, for first arm to be driven to turn around the second base shaft
It is dynamic；The first connecting rod drive component is installed on the platform, for driving the first connecting rod around the first base shaft
Rotation；
The revolution transmission component includes the first revolution belt wheel, the second revolution belt wheel, third revolution belt wheel and returning for transmission
Turn belt；
The first revolution belt wheel is fixed in the first base shaft, and the second revolution belt wheel is arranged on the second joint
On, the third revolution belt wheel is arranged on the third joint, and the third revolution belt wheel connect fixation with the rounded end；
The first revolution belt wheel, the second revolution belt wheel, third revolution belt wheel are based on revolution belt and are attached；
The revolution driving component is installed on the first base shaft connector y negative senses, and output terminal begins with the first base shaft
End connection drives the base shaft, the first revolution belt wheel, the second revolution belt wheel, third revolution belt wheel and rounded end rotation；
The electronic clamping jaw is arranged on the rounded end.
2. the Multi-shaft mechanical arm as described in claim 1 with electronic clamping jaw, which is characterized in that the multiaxis of the electronic clamping jaw of band
Mechanical arm further includes rotation end, rotation drive component and rotation transmission component；
The rotation end is arranged on the rounded end, and axis is vertical with the third joints axes；
The rotation transmission component includes the first rotation belt wheel, the second rotation belt wheel, third rotation belt wheel, first bevel gear and the
Two bevel gears；
The first rotation belt wheel is fixed in the second base shaft, and the second rotation belt wheel is arranged on the second joint
On, the third rotation belt wheel be arranged on the third joint and with the third revolution belt wheel it is coaxial；
The first bevel gear connect fixed and coaxial, the second bevel gear and the rotation end with the third rotation belt wheel
Coaxially connected fixation；The first bevel gear is engaged with the second bevel gear；
The rotation drive component is installed on the second base shaft connector y forward directions, and output terminal begins with the second base shaft
End connection, drives the second base shaft, the first rotation belt wheel, the second rotation belt wheel, third rotation belt wheel and first bevel gear
It rotates synchronously and is based on first bevel gear and second bevel gear, drive the rotation end around own axis.
3. the Multi-shaft mechanical arm as described in claim 1 with electronic clamping jaw, which is characterized in that first arm and described second
Connecting rod is parallel and equal length；The first connecting rod is parallel to second arm.
4. the Multi-shaft mechanical arm as claimed in claim 3 with electronic clamping jaw, which is characterized in that second arm lengths be more than or
Equal to the first connecting rod length.
5. the Multi-shaft mechanical arm as described in claim 1 with electronic clamping jaw, which is characterized in that the first arm drive component packet
The first arm driving pedestal, the first arm driving motor, the first arm driving screw, the first arm driving sliding block and the first arm is included to be drivingly connected
Part；
The first arm driving pedestal is hinged on the x negative senses of the platform；
The first arm driving screw and the first arm driving sliding block are installed in one first arm driving shell, the first arm driving
On first arm driving screw, the first arm drive connection part connect solid slide block set with first arm driving sliding block
It is fixed；The first arm drive connection part connect fixation with the first arm beginning, and coaxial with the screw；
The first arm driving shell is fixed in side by side with the first arm driving motor on the first arm driving pedestal；It is described
One end of the shaft of first arm driving motor and first arm driving screw is based on gear in first arm driving pedestal
Connection transmission；
The first arm drive connection part drives first arm to be rotated around the second base shaft.
6. the Multi-shaft mechanical arm as described in claim 1 with electronic clamping jaw, which is characterized in that the first connecting rod drive component
Including first connecting rod driving pedestal, first connecting rod driving motor, first connecting rod driving screw, first connecting rod driving sliding block and first
Connecting rod drive connection part；
The first connecting rod driving pedestal is hinged on the x negative senses of the platform；
The first connecting rod driving screw and first connecting rod driving sliding block are installed in first connecting rod driving shell, and described first connects
Bar drives slide block set, and the first connecting rod drive connection part drives with the first connecting rod on first connecting rod driving screw
Sliding block connection is fixed；The first connecting rod drive connection part connect fixation with the first connecting rod beginning, and same with the screw
Axis；
The first connecting rod driving shell is fixed in the first connecting rod driving pedestal side by side with the first connecting rod driving motor
On；One end of the shaft of the first connecting rod driving motor and first connecting rod driving screw drives bottom in the first connecting rod
Based on gear connection transmission in seat；
The first connecting rod drive connection part drives the first connecting rod to be rotated around the first base shaft.
7. the Multi-shaft mechanical arm of the electronic clamping jaw of any one band as described in claim 1 to 6, which is characterized in that described electronic
Clamping jaw includes clamping jaw ontology, clamping jaw flexible axle, clamping jaw driving motor；
The clamping jaw ontology includes clamping jaw shell, clamping jaw input shaft, the first clamping jaw bevel gear, the second clamping jaw bevel gear, clamping jaw silk
Bar, clamping jaw one, clamping jaw two, jaw sliding block one, jaw sliding block two, clamping jaw sliding rail；
The clamping jaw shell is box like structure, and the clamping jaw input shaft is slidably mounted on the clamping jaw shell rear surface, and one end is stretched
Go out the clamping jaw shell and end face is provided with and inputs blind hole for the clamping jaw being connect with the clamping jaw flexible axle, the other end is located at described
Clamping jaw enclosure simultaneously connect fixation with the first clamping jaw bevel gear；
The second bevel gear connect fixation with the first clamping jaw bevel gear Vertical Meshing and with the clamping jaw screw；
The clamping jaw screw both ends are slidably mounted between the clamping jaw shell two sides, using axial middle section as interface, institute
It states interface both sides and is provided with oppositely oriented wire rod thread；
The clamping jaw one and two beginning of clamping jaw are separately mounted to the interface both sides of the clamping jaw screw based on thread fitting
Wire rod thread on, the clamping jaw enclosure bottom is stretched out in end；
The jaw sliding block one, jaw sliding block two connect fixation with the clamping jaw one and clamping jaw two respectively；The clamping jaw sliding rail peace
Loaded on the clamping jaw bottom of shell inner cavity, the jaw sliding block one, jaw sliding block two are slidably fitted on the clamping jaw sliding rail；
The clamping jaw driving motor is fixed on the clamping jaw housing exterior, and output terminal is based on the clamping jaw flexible axle and the clamping jaw is defeated
Enter axis connection and realize transmission.
8. the Multi-shaft mechanical arm as claimed in claim 7 with electronic clamping jaw, which is characterized in that the electronic clamping jaw further includes work
Have driving motor, tool flexible axle and the module that screws；
The module that screws includes tool input shaft, tool drive shaft, electromagnetism ring one, electromagnetism ring two, tool output shaft
And screwdriver bit；
The tool input shaft is installed on the top surface of the clamping jaw shell, only has rotation degree of freedom, bottom end is located at the folder
Pawl enclosure is simultaneously fixedly connected with electromagnetism ring one；
The tool output shaft top is fixedly connected with electromagnetism ring two, and bottom end passes through the clamping jaw outer casing bottom and is fixedly connected with
The screwdriver bit；
The tool transmission axial section shape is arbitrary graphic than a circular one, and one end is fixed on the tool input shaft, separately
One end passes through the electromagnetism ring one and electromagnetism ring two, and axial sliding fit is in the tool output shaft；
The tool input shaft, tool drive shaft, tool output shaft and screwdriver bit axis collinear；
After the electromagnetism ring one and electromagnetism ring two are powered, the tool output shaft moved axially towards the tool input shaft or
It is moved away from the tool input shaft.
9. the Multi-shaft mechanical arm as claimed in claim 8 with electronic clamping jaw, which is characterized in that the clamping jaw flexible axle and the work
It is identical to have flexible axle structure, respectively includes flexible axle input interface, flexible axle output interface, hose, flexible shaft core；
The rotatable inner sleeve of flexible shaft core is the inside hose, and input terminal connect fixation with the flexible axle input interface,
Output terminal connect fixation with the flexible axle output interface.
10. the Multi-shaft mechanical arm as claimed in claim 8 with electronic clamping jaw, which is characterized in that the electronic clamping jaw further includes
Clamping jaw torque limiter and tool torque limiter；The clamping jaw driving motor passes through the clamping jaw torque limiter and the folder
The beginning connection of pawl flexible axle；The tool drives motor is connected by the beginning of the tool torque limiter and the tool flexible axle
It connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711440482.2A CN108161973B (en) | 2017-12-27 | 2017-12-27 | Multi-shaft mechanical arm with electric clamping jaw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711440482.2A CN108161973B (en) | 2017-12-27 | 2017-12-27 | Multi-shaft mechanical arm with electric clamping jaw |
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| CN108161973A true CN108161973A (en) | 2018-06-15 |
| CN108161973B CN108161973B (en) | 2021-02-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711440482.2A Active CN108161973B (en) | 2017-12-27 | 2017-12-27 | Multi-shaft mechanical arm with electric clamping jaw |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112042312A (en) * | 2020-09-18 | 2020-12-08 | 中国科学院东北地理与农业生态研究所 | Phenotype measuring instrument for single plant test of crops |
| CN113433505A (en) * | 2021-05-14 | 2021-09-24 | 国网山东省电力公司营销服务中心(计量中心) | Adjustable clamping jaw, device and method for electric energy meter verification |
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| CN112042312B (en) * | 2020-09-18 | 2024-05-24 | 中国科学院东北地理与农业生态研究所 | Phenotype measuring instrument for single plant test of crops |
| CN113433505A (en) * | 2021-05-14 | 2021-09-24 | 国网山东省电力公司营销服务中心(计量中心) | Adjustable clamping jaw, device and method for electric energy meter verification |
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| Publication number | Publication date |
|---|---|
| CN108161973B (en) | 2021-02-19 |
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