CN108189035B - Mechanical arm and working method thereof - Google Patents
Mechanical arm and working method thereof Download PDFInfo
- Publication number
- CN108189035B CN108189035B CN201810041354.9A CN201810041354A CN108189035B CN 108189035 B CN108189035 B CN 108189035B CN 201810041354 A CN201810041354 A CN 201810041354A CN 108189035 B CN108189035 B CN 108189035B
- Authority
- CN
- China
- Prior art keywords
- joint
- brake
- rotating joint
- roller
- transverse
- 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.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0004—Braking devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
Abstract
The invention relates to the field of stacking machinery, in particular to a mechanical arm and a working method thereof. The brake control device is arranged on the first transverse rotating joint and comprises a brake piece, a brake motor, a transmission, a driving gear, a rotating shaft and a roller; the brake block is fixed on the first longitudinal rotary joint; the brake motor is fixed on a first transverse rotating joint below the brake motor, and the brake motor is connected with the driving gear through a transmission; the rotating shaft is arranged on the first transverse rotating joint and is in rotary connection with the first transverse rotating joint; the roller is arranged on the rotating shaft. According to the invention, the brake control device is arranged between the mechanical arms, the mechanical arms are controlled to hover by changing the friction mode between the mechanical arms, and the mechanical joint has no energy loss in the hovering state, so that the energy can be greatly saved, and the purposes of energy conservation and environmental protection are achieved.
Description
The application is a divisional application of a patent with the application number of 2016104707203 and the application date of 2016, 06 and 23, and the name of the invention is 'a stacking mechanical arm'.
Technical Field
The invention relates to the field of stacking machinery, in particular to a stacking mechanical arm.
Background
At present, various special machines or mechanical arms are adopted in the field of industrial automatic production to realize the transportation and stacking of materials, so that the working efficiency and the overall productivity are improved. These apparatuses are different in shape depending on the type and condition of the production line, the volume and weight of the material, and the like. Compared with a special machine, the mechanical arm has the advantages of small occupied area, simple structure, flexible operation and the like, and is widely applied to the fields of material carrying and stacking. Typical structural forms of the mechanical arm are a universal joint type industrial mechanical arm or a SCARA-shaped plane coordinate mechanical arm.
At present, when the industrial stacking mechanical arm driven by a motor is used, if cargoes need to be suspended in the air, a large amount of energy is consumed, and the energy is wasted.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a stacking mechanical arm, wherein a brake control device is arranged between the mechanical arms, the mechanical arm is controlled to hover through friction, and the mechanical joint has no energy loss in the hovering state, so that the energy can be greatly saved, and the purposes of energy conservation and environmental protection are achieved.
The technical scheme adopted by the invention for solving the technical problems is as follows: a stacking mechanical arm comprises a base, a first transverse rotating joint, a first longitudinal rotating joint, a second transverse rotating joint, a connecting tail end and a brake control device.
The first transverse rotating joint is arranged above the base and is rotationally connected with the base; the first longitudinal rotating joint is H-shaped, and the bottom of the first longitudinal rotating joint clamps the first transverse rotating joint and is hinged with the first transverse rotating joint; the second longitudinal rotating joint is hinged above the first longitudinal rotating joint; the second transverse rotating joint is arranged above the second longitudinal rotating joint and is in rotary connection with the second longitudinal rotating joint; the connecting tail end is arranged on the second transverse rotating joint and hinged with the second transverse rotating joint.
The brake control device is arranged on the first transverse rotating joint and comprises a brake pad, a brake motor, a transmission, a driving gear, a rotating shaft and a roller; the brake block is in a ring shape, three radial plates passing through the axis are arranged on the brake block, the radial plates of the brake block are fixed at the lower end of the first longitudinal rotating joint, and the central axis of the ring where the brake block is located is superposed with the rotating shaft of the first longitudinal rotating joint around the first transverse rotating joint, so that the brake block can uniformly rotate; the brake motor is fixed on the first transverse rotating joint; one end of the speed changer is connected with an output shaft of the brake motor, and the other end of the speed changer is connected with the driving gear; the rotating shaft is arranged on the first transverse rotating joint and is rotationally connected with the first transverse rotating joint, the rotating shaft is cylindrical, teeth are arranged on the cylindrical surface of the rotating shaft, the teeth are meshed with the driving gear, and a clamping frame is arranged at the tail end of the rotating shaft; the roller is arranged in the clamping frame and is in rotary connection with the clamping frame, the wheel surface of the roller is attached to the side surface of the brake block, rolling friction is formed between the roller and the brake block, and after the roller is driven by the brake motor to rotate ninety degrees, static friction is achieved between the roller and the brake block, so that a brake effect is achieved.
Preferably, the roller has a rough surface, and the brake pad has a rough side surface, so that the roller can prevent slipping and can not hover.
The invention has the beneficial effects that: according to the stacking mechanical arm, the brake control device is arranged between the mechanical arms, the mechanical arms are controlled to hover by changing the friction mode between the mechanical arms, the mechanical joint has no energy loss in the hovering state, the energy can be greatly saved, and the purposes of energy conservation and environmental protection are achieved.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic perspective view of the brake control device;
in the figure: the device comprises a base (1), a first transverse rotating joint (2), a first longitudinal rotating joint (3), a second longitudinal rotating joint (4), a second transverse rotating joint (5), a connecting tail end (6), a braking control device (7), a braking piece (71), a braking motor (72), a transmission (73), a driving gear (74), a rotating shaft (75), a roller (76) and a clamping frame (751).
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
Referring to fig. 1 and 2, the stacking mechanical arm of the embodiment includes a base 1, a first transverse rotating joint 2, a first longitudinal rotating joint 3, a second longitudinal rotating joint 4, a second transverse rotating joint 5, a connecting terminal 6, and a brake control device 7.
The first transverse rotating joint 2 is arranged above the base 1 and is rotatably connected with the base 1; the first longitudinal rotating joint 3 is H-shaped, and the bottom of the first longitudinal rotating joint 3 clamps the first transverse rotating joint 2 and is hinged with the first transverse rotating joint; the second longitudinal rotating joint 4 is hinged above the first longitudinal rotating joint 3; the second transverse rotating joint 5 is arranged above the second longitudinal rotating joint 4 and is in rotary connection with the second longitudinal rotating joint; the connecting terminal 6 is arranged on the second transverse rotating joint 5 and is hinged with the second transverse rotating joint.
The brake control device 7 is arranged on the first transverse rotating joint 2, and the brake control device 7 comprises a brake plate 71, a brake motor 72, a transmission 73, a driving gear 74, a rotating shaft 75 and a roller 76; the brake pad 71 is in a ring shape, three radial plates passing through the axis are arranged on the brake pad 71, the radial plates of the brake pad 71 are fixed at the lower end of the first longitudinal rotary joint 3, and the central axis of the ring where the brake pad 71 is located is overlapped with the rotating shaft of the first longitudinal rotary joint 3 around the first transverse rotary joint 2, so that the brake pad 71 can uniformly rotate; the brake motor 72 is fixed on the first transverse rotating joint 2; one end of the speed changer 73 is connected with an output shaft of the brake motor 72, and the other end of the speed changer 73 is connected with the driving gear 74; the rotating shaft 75 is arranged on the first transverse rotating joint 2 and is rotatably connected with the first transverse rotating joint, the rotating shaft 75 is cylindrical, teeth are arranged on the cylindrical surface of the rotating shaft 75 and are meshed with the driving gear 74, and the tail end of the rotating shaft 75 is provided with a clamping frame 751; the roller 76 is arranged in the clamping frame 751 and is in rotary connection with the clamping frame 751, the wheel surface of the roller 76 is attached to the side surface of the brake pad 71, the roller 76 and the brake pad 71 are in rolling friction, after the roller 76 is driven by the brake motor 72 to rotate for ninety degrees, static friction is realized between the roller 76 and the brake pad 71 to achieve a braking effect, the surface of the roller 76 is rough, and the side surface of the brake pad 71 is rough, so that the roller 76 and the brake pad 71 can be prevented from slipping and being incapable of hovering.
When the stacking mechanical arm is used, the rolling direction of the roller 76 is tangent to the rotating direction of the brake piece 71, and the first longitudinal rotating joint 3 can move around the first transverse rotating joint 2; when suspension is needed, the brake motor 72 drives the driving gear 74 to rotate through the transmission 73, the rotating shaft 75 rotates due to the fact that the side face of the rotating shaft 75 is meshed with the driving gear 74, the rolling direction of the roller 76 is further perpendicular to the rotating direction of the brake block 71, the roller 76 and the brake block 71 are relatively static due to friction, the longitudinal rotating joint 3 and the transverse rotating joint 2 are finally relatively static, energy is not needed to be maintained between the two joints, and the purpose of saving energy is achieved.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the embodiments and descriptions given above are only illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. The utility model provides a mechanical arm, includes a horizontal revolute joint (2) and a vertical revolute joint (3), a vertical revolute joint (3) bottom with a horizontal revolute joint (2) is articulated its characterized in that: also comprises a brake control device (7);
the brake control device (7) comprises a brake block (71), a brake motor (72) and a roller (76); a radial plate passing through the axis is arranged on the brake pad (71), the radial plate of the brake pad (71) is fixed at the lower end of the first longitudinal rotary joint (3), and the central axis of the brake pad (71) is superposed with the rotating shaft of the first longitudinal rotary joint (3) around the first transverse rotary joint (2); the wheel surface of the roller (76) is attached to the side surface of the brake pad (71), and the roller (76) and the brake pad (71) are in rolling friction; the rolling direction of the driving roller (76) of the brake motor (72) is vertical to the rotating direction of the brake block (71), static friction is realized between the roller (76) and the brake block (71), and the first longitudinal rotating joint (3) and the first transverse rotating joint (2) are relatively static.
2. A robot arm according to claim 1, wherein: the number of the radial plates passing through the axle center on the brake block (71) is 3.
3. A robot arm according to claim 1, wherein: the mechanical arm further comprises a base (1), a second longitudinal rotating joint (4), a second transverse rotating joint (5) and a connecting tail end (6), wherein the first transverse rotating joint (2) is arranged above the base (1) and is rotatably connected with the base (1); the first longitudinal rotary joint (3) is H-shaped; the second longitudinal rotating joint (4) is hinged above the first longitudinal rotating joint (3); the second transverse rotating joint (5) is arranged above the second longitudinal rotating joint (4) and is in rotary connection with the second longitudinal rotating joint.
4. A robot arm according to claim 3, wherein: the connecting tail end (6) is arranged on the second transverse rotating joint (5) and is hinged with the second transverse rotating joint.
5. A robot arm according to claim 1, wherein: the brake control device (7) is arranged on the first transverse rotating joint (2).
6. A robot arm according to claim 1, wherein: the brake control device (7) comprises a transmission (73), a driving gear (74) and a rotating shaft (75); the brake block (71) is in a ring shape; the brake motor (72) is fixed on the first transverse rotating joint (2); one end of the speed changer (73) is connected with an output shaft of the brake motor (72), and the other end of the speed changer (73) is connected with the driving gear (74); the rotating shaft (75) is arranged on the first transverse rotating joint (2) and is in rotary connection with the first transverse rotating joint, the rotating shaft (75) is cylindrical, teeth meshed with the driving gear (74) are arranged on the cylindrical surface of the rotating shaft (75), and the tail end of the rotating shaft (75) is provided with a clamping frame (751); the roller (76) is arranged in the clamping frame (751) and is connected with the clamping frame in a rotating way.
7. A robot arm according to claim 1, wherein: the surface of the roller (76) is rough; the side surface of the brake block (71) is rough.
8. Use of a robot arm according to any of claims 1-7, characterized in that the use comprises:
when the brake is used, the rolling direction of the roller (76) is tangent to the rotating direction of the brake pad (71), and the first longitudinal rotating joint (3) can move around the first transverse rotating joint (2);
when suspension is needed, the brake motor (72) drives the driving gear (74) to rotate through the transmission (73), the rotating shaft (75) rotates due to the fact that the side face of the rotating shaft (75) is meshed with the driving gear (74), the rolling direction of the roller (76) is perpendicular to the rotating direction of the brake block (71), the roller (76) and the brake block (71) are relatively static due to friction, and finally the first longitudinal rotary joint (3) and the first transverse rotary joint (2) are relatively static.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810041354.9A CN108189035B (en) | 2016-06-23 | 2016-06-23 | Mechanical arm and working method thereof |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810041354.9A CN108189035B (en) | 2016-06-23 | 2016-06-23 | Mechanical arm and working method thereof |
| CN201610470720.3A CN106003046B (en) | 2016-06-23 | 2016-06-23 | A kind of palletizing mechanical arm |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610470720.3A Division CN106003046B (en) | 2016-06-23 | 2016-06-23 | A kind of palletizing mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108189035A CN108189035A (en) | 2018-06-22 |
| CN108189035B true CN108189035B (en) | 2020-12-29 |
Family
ID=57083503
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810041354.9A Active CN108189035B (en) | 2016-06-23 | 2016-06-23 | Mechanical arm and working method thereof |
| CN201610470720.3A Active CN106003046B (en) | 2016-06-23 | 2016-06-23 | A kind of palletizing mechanical arm |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610470720.3A Active CN106003046B (en) | 2016-06-23 | 2016-06-23 | A kind of palletizing mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN108189035B (en) |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4696378A (en) * | 1985-05-23 | 1987-09-29 | Houton Manufacturing Co., Inc. | Axially compact brake |
| CN101380736A (en) * | 2008-10-20 | 2009-03-11 | 长沙楚天科技有限公司 | Turnover device of mechanical arm |
| JP2012240038A (en) * | 2011-05-24 | 2012-12-10 | Panasonic Corp | Impact actuator |
| CN202431807U (en) * | 2012-01-10 | 2012-09-12 | 西北工业大学 | Actuating mechanism of automotive electromechanical braking system |
| CN103722562B (en) * | 2012-10-15 | 2016-05-25 | 台达电子工业股份有限公司 | Mechanical joint and the mechanical arm of applying it |
| JP5549950B2 (en) * | 2012-11-19 | 2014-07-16 | 株式会社安川電機 | robot |
| KR101408092B1 (en) * | 2013-02-19 | 2014-06-19 | 주식회사 고영테크놀러지 | Magnetic brake |
| CN104669299B (en) * | 2014-01-16 | 2016-08-24 | 北京航空航天大学 | A kind of power feel operator with mechanical arm |
| JP2016068200A (en) * | 2014-09-30 | 2016-05-09 | セイコーエプソン株式会社 | robot |
| CN105604789B (en) * | 2016-03-02 | 2018-01-23 | 山东交通学院 | A kind of Wind turbines ask for torque type brake apparatus |
| CN105666485B (en) * | 2016-03-28 | 2018-05-11 | 桂林电子科技大学 | A kind of automatic identification based on image procossing and positioning Bai Qi robots |
-
2016
- 2016-06-23 CN CN201810041354.9A patent/CN108189035B/en active Active
- 2016-06-23 CN CN201610470720.3A patent/CN106003046B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN108189035A (en) | 2018-06-22 |
| CN106003046A (en) | 2016-10-12 |
| CN106003046B (en) | 2017-12-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207522588U (en) | A kind of robot carried for logistics goods | |
| CN106041900A (en) | Box carrying and stacking machine | |
| CN106041904B (en) | A kind of machinery claw stacking machine | |
| CN204055185U (en) | A kind of heavy vehicle tyre removing machine | |
| CN207189648U (en) | A kind of manipulator | |
| CN206336709U (en) | A kind of collapsible belt conveyor | |
| CN108189035B (en) | Mechanical arm and working method thereof | |
| CN208246811U (en) | A kind of five articulated robots | |
| CN205707578U (en) | Scraps of paper upset transfer device | |
| CN205969037U (en) | Industry fluid pressure type robotic arm | |
| CN206940281U (en) | A kind of fully-automatic intelligent door sitting posture crane | |
| CN105965480B (en) | A kind of palletizing mechanical arm for low energy consumption of hovering | |
| CN207258737U (en) | A kind of part flow arrangement for automatic assembly line | |
| CN203959222U (en) | A kind of roller transfer mechanism | |
| CN106003146A (en) | Low-energy-consumption stacking mechanical arm based on friction braking principle | |
| CN207823662U (en) | A kind of servo rolling tool | |
| CN106044249B (en) | A kind of energy-saving palletizing mechanical arm | |
| CN206623644U (en) | A kind of twin-differential drives chassis | |
| CN206911666U (en) | A kind of glue coating unit | |
| CN205518473U (en) | Device of carrying and rotating pipe fitting | |
| CN206703059U (en) | A kind of linking arm of manipulator | |
| CN206108294U (en) | Brake block pile up neatly device | |
| CN104340589A (en) | Horizontal type multifunctional cylinder conveyer and conveying method | |
| CN206218643U (en) | Narrow chain jacking transferring machine | |
| CN207481042U (en) | A kind of combination actuating arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20201209 Address after: 314400 Building 5, no.6, Xinzhong Road, Haining Economic Development Zone, Jiaxing City, Zhejiang Province Applicant after: Haining Harbin Machinery Co., Ltd Address before: 362100 new pavilion Village, Tu Zhai Town, Huian, Quanzhou, Fujian Applicant before: HUIAN COUNTY LIJIA INTELLIGENT EQUIPMENT Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |