CN108687789A - A robot hand connecting activity device - Google Patents

Abstract

The invention relates to a robot hand connecting and moving device, which comprises a machine body, a connecting mechanism, a driving motor, a transmission mechanism, a clamping groove, a supporting plate and a moving mechanism, wherein the connecting mechanism is arranged above the machine body, the driving motor is arranged in the middle of the machine body, the lower end of the driving motor is connected with the transmission mechanism, the lower end of the transmission mechanism is connected with the supporting plate, the clamping groove is arranged on the inner side of the machine body, the moving mechanism is arranged on the inner side of the machine body, the transmission mechanism penetrates through the middle of the moving mechanism, the outer side of the moving mechanism is connected with the machine body through the clamping groove, the angle and the height of a mounting plate can be effectively adjusted by adjusting the adjusting mechanism, so that the device can be conveniently connected with a main body mechanism of a robot, and the device can be conveniently mounted, and adopt servo motor to drive, replaced original spring mode that resets, the effectual life who prolongs the device.

Description

A robot hand connecting activity device

technical field

The invention relates to the technical field of robot equipment, in particular to a robot hand connection activity device.

Background technique

With the rapid development of social economy, the update process of robots is also changing with each passing day. At present, there are many kinds of robot equipment, which are used in the production and work of all walks of life to reduce the intensity of manual labor, improve the efficiency of production work, and increase the mechanical equipment. The use value of robots is a product that integrates intelligence and automation technologies, which can effectively reduce human labor and replace human labor in high-risk industries. Industrial robots are a type of robot and are used for mechanical production. , the robot hand movable connection device is one of the important parts of industrial robots. It is used to control the robot arm to grab industrial products, so as to realize the purpose of product movement. Install, when carrying out the adjustment of device simultaneously because existing device adopts the mode of spring return to reset more, easily wear and tear under the situation of long-term use, can't drive device to return to original position.

Contents of the invention

The object of the present invention is to provide a kind of robot hand joint movable device, to solve the existing robot hand movable joint device that the above-mentioned background technology proposes is inconvenient to install, when carrying out the adjustment of device simultaneously because existing device adopts more The spring reset method is used for reset, which is easy to wear and tear after long-term use, and cannot drive the device back to its original position.

In order to achieve the above purpose, the present invention provides the following technical solutions: a robot hand connection activity device, including a body (1), a connection mechanism (2), a drive motor (3), a transmission mechanism (4), and a card slot (5) , the support plate (6) and the movable mechanism (7), the connection mechanism (2) is installed above the body (1), and the middle part of the body (1) is provided with a driving motor (3), and the lower end of the driving motor (3) A transmission mechanism (4) is connected, and the lower end of the transmission mechanism (4) is connected with a support plate (6), the card slot (5) is arranged inside the body (1), and a movable mechanism (7) is installed on the inside of the body (1) ), the middle part of the movable mechanism (7) is penetrated by a transmission mechanism (4), and the outer side of the movable mechanism (7) is connected with the body (1) through a card slot (5).

Further, the connecting mechanism (2) includes a mounting frame (21), an adjusting mechanism (22) and a mounting plate (23), and an adjusting mechanism (22) is installed on the upper end of the mounting frame (21), and the adjusting mechanism ( 22) A mounting plate (23) is connected to the upper end, and the end of the mounting frame (21) away from the adjustment mechanism (22) is fixedly connected to the body (1).

Further, the transmission mechanism (4) includes a transmission shaft (41), a transverse bevel gear (42), a longitudinal bevel gear (43), a bearing seat (44), a threaded expansion device (45) and a fixing bolt (46 ), the lateral bevel gear (42) is installed on the outside of the transmission shaft (41), and the lateral bevel gear (42) is fixedly connected with the transmission shaft (41) through the fixing bolt (46), and the transmission shaft (41) The end away from the drive shaft (41) is connected to the drive motor (3), the support plate (6) is arranged on the outside of the drive shaft (41) at the end away from the drive motor (3), and the threaded expansion device (45 ) through the inside of the bearing seat (44), and one end of the threaded expansion device (45) is connected with a longitudinal bevel gear (43), the longitudinal bevel gear (43) meshes with the transverse bevel gear (42), the The bearing seat (44) is arranged on the upper end of the movable mechanism (7), and one end of the threaded expansion device (45) is connected with the movable mechanism (7).

Further, the movable mechanism (7) includes a guide rod (71), a fixed clamp block (72), a slider (73), a servo motor (74), a first connecting rod (75) and a second connecting rod (76 ), the middle part of the guide rod (71) runs through the transmission shaft (41), the outer side of the guide rod (71) is connected with the card slot (5) through the fixed clamp block (72), and the guide rod (71) runs through the Inside the slider (73), the upper end of the fixed clip (72) is equipped with a threaded telescopic device (45), and the lower end of the slider (73) is connected to the first connecting rod (75) through a servo motor (74) , and the outer side of the upper end of the slider (73) is connected with a threaded telescopic device (45), and the lower end of the first connecting rod (75) is connected with the second connecting rod (76) through a servo motor (74).

Further, there are four sets of mounting brackets (21) in total, which are evenly distributed on the upper end of the body (1) in a ring shape, and an adjustment mechanism (22) is provided on the left and right sides of the upper end of the mounting bracket (21), The adjusting mechanism (22) is movably connected with the mounting plate (23).

Further, the adjustment mechanism (22) includes a housing (2201), a limiting groove (2202), a bearing (2203), an adjusting nut (2204), a threaded rod (2205) and a limiting block (2206), the housing A limiting slot (2202) is provided inside (2201), and the upper end of the casing (2201) is connected with the adjusting nut (2204) through a bearing (2203), and a threaded rod ( 2205), and a limit block (2206) is fixed on the outside of the threaded rod (2205), and the limit block (2206) is located inside the limit groove (2202).

Further, the threaded expansion device (45) includes an internally threaded post (4501), an externally threaded post (4502) and a baffle (4503), and a baffle (4503) is installed at one end of the internally threaded post (4501), and An externally threaded column (4502) runs through the inside of the baffle (4503), and the externally threaded structure of the externally threaded column (4502) meshes with the internally threaded structure of the internally threaded column (4501), and one end of the internally threaded column (4501) is connected with a longitudinal cone shape gear (43).

Further, there are four sets of threaded telescopic devices (45), which are evenly distributed around the outside of the transverse bevel gear (42) in a ring shape, and one end of the externally threaded column (4502) is connected to the fixed clamp block ( 72) are connected.

Further, there are four sets of the fixed clips (72), and the fixed clips (72) and the guide rods (71) are in sliding connection.

Further, both ends of the first connecting rod (75) respectively form a "Z" structure with the slider (73) and the second connecting rod (76), and both ends of the first connecting rod (75) are provided with A servo motor (74), and the rotating shaft end of the servo motor (74) is respectively connected with the slider (73) and the second connecting rod (76).

Compared with prior art, the beneficial effect of the present invention is:

1. The setting of the connection mechanism can be adjusted by adjusting the adjustment mechanism, so that the angle and height of the mounting plate can be effectively adjusted, so that it is convenient to connect the device with the main body of the robot, and it is convenient to use, so that it is convenient to carry out the installation of the device. Install.

2. The setting of the transmission mechanism can drive the horizontal bevel gear to rotate through the rotation of the transmission shaft, and the longitudinal bevel gear can be effectively rotated through the meshing transmission of the gear, which can drive the threaded telescopic device to extend or shrink, so as to realize the The purpose of the mediation by the event agency.

3. The movable mechanism can play a good role in guiding the slider through the guide rod, so that the slider can slide, and then the position of the mechanism at the lower end can be adjusted to a certain extent, which is convenient for the device to clamp objects.

4. There are four sets of mounting brackets, which can adjust the position of the device from multiple angles at the same time, making it more convenient to install and making the installation of the device more stable.

5. The setting of the adjustment mechanism can make it relatively rotate through the bearing by turning the adjustment nut, so that the threaded rod moves along the limit groove through the limit block, and then can drive the installation plate to adjust, thus facilitating the installation of the device , making the installation of the device more convenient.

6. The setting of the thread telescopic device can rotate the external threaded column through the bearing seat under the drive of the longitudinal bevel gear, so that the internal threaded column can be rotated relatively, so that the length of the internal threaded column can be changed, which in turn can drive the The slider moves along the guide bar to realize the adjustment of the size of the lower device.

7. There are four sets of thread telescopic devices, which are evenly distributed around the outside of the transverse bevel gear in a ring shape, and one end of the external thread column is connected with the fixed clamp block to drive the device at the lower end to move.

8. There are four sets of fixed clips in total, and the fixed clips and guide rods are slidingly connected to clamp the product from multiple directions, making the clamping of the product more stable.

9. Both ends of the first connecting rod form a "Z" structure with the slider and the second connecting rod respectively, and servo motors are installed on the outside of both ends of the first connecting rod, and the rotating shaft end of the servo motor is connected with the slider and the second connecting rod respectively. The two connecting rods are connected, and the rotation of the servo motor can make the slider and the second connecting rod rotate at an angle, so that the angle of the device can be adjusted, and it can be used conveniently, canceling the original spring design, effectively extending the the service life of the device.

Description of drawings

Fig. 1 is a schematic cross-sectional structure diagram of a front view of the present invention.

Fig. 2 is a schematic diagram of the structure of the lower end of the body of the present invention.

Fig. 3 is a schematic diagram of the enlarged structure at both ends of the first connecting rod in the present invention.

Fig. 4 is a structural schematic diagram of the adjustment mechanism of the present invention.

FIG. 5 is a schematic diagram of a partially enlarged structure at A in FIG. 1 of the present invention.

Fig. 6 is a structural schematic diagram of the threaded expansion device of the present invention.

Among the figure: 1, body, 2, connection mechanism, 21, installation frame, 22, adjustment mechanism, 2201, shell, 2202, limit slot, 2203, bearing, 2204, adjustment nut, 2205, threaded rod, 2206, limit Block, 23, mounting plate, 3, driving motor, 4, transmission mechanism, 41, transmission shaft, 42, transverse bevel gear, 43, vertical bevel gear, 44, bearing seat, 45, thread telescopic device, 4501, inner Threaded column, 4502, external threaded column, 4503, baffle plate, 46, fixed bolt, 5, draw-in groove, 6, support plate, 7, movable mechanism, 71, guide rod, 72, fixed clip block, 73, slide block, 74, servo motor, 75, the first connecting rod, 76, the second connecting rod.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on The embodiments of the present invention and all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Please refer to Figures 1-6, the present invention provides a technical solution: a robot hand connection activity device, including a body 1, a connection mechanism 2, a drive motor 3, a transmission mechanism 4, a card slot 5, a support plate 6 and a movement mechanism 7. A connecting mechanism 2 is installed above the body 1, and a drive motor 3 is provided in the middle of the body 1. The lower end of the drive motor 3 is connected to a transmission mechanism 4, and the lower end of the transmission mechanism 4 is connected to a support plate 6. The card slot 5 is arranged on the inner side of the body 1, and the inner side of the body 1 is equipped with a movable mechanism 7, the middle part of the movable mechanism 7 runs through the transmission mechanism 4, and the outer side of the movable mechanism 7 is connected with the body 1 through the slot 5.

Preferably, the connecting mechanism 2 includes a mounting frame 21, an adjusting mechanism 22 and a mounting plate 23, the adjusting mechanism 22 is installed on the upper end of the mounting frame 21, the mounting plate 23 is connected to the upper end of the adjusting mechanism 22, and the mounting frame 21 One end away from the adjustment mechanism 22 is fixedly connected with the body 1 .

Preferably, the transmission mechanism 4 includes a transmission shaft 41, a transverse bevel gear 42, a longitudinal bevel gear 43, a bearing seat 44, a threaded expansion device 45 and a fixing bolt 46, and a transverse bevel gear is installed on the outside of the transmission shaft 41 42, and the transverse bevel gear 42 is fixedly connected with the transmission shaft 41 through the fixing bolt 46, and the end of the transmission shaft 41 far away from the transmission shaft 41 is connected with the drive motor 3, and the support plate 6 is arranged at the end far away from the drive motor 3. The outer side of the transmission shaft 41, the thread expansion device 45 runs through the inside of the bearing seat 44, and one end of the thread expansion device 45 is connected with a longitudinal bevel gear 43, and the longitudinal bevel gear 43 is meshed with the transverse bevel gear 42, The bearing seat 44 is arranged on the upper end of the movable mechanism 7 , and the movable mechanism 7 is connected to one end of the threaded expansion device 45 .

Preferably, the movable mechanism 7 includes a guide rod 71, a fixed clamp block 72, a slider 73, a servo motor 74, a first connecting rod 75 and a second connecting rod 76, and the middle part of the guide rod 71 runs through the transmission shaft 41, The outer side of the guide rod 71 is connected with the draw-in groove 5 through the fixed clip 72, and the guide rod 71 runs through the inside of the slide block 73, the upper end of the fixed clip 72 is equipped with a threaded telescopic device 45, and the lower end of the slide block 73 The servomotor 74 is connected with the first connecting rod 75 , and the upper end of the slider 73 is connected with the thread telescopic device 45 , and the lower end of the first connecting rod 75 is connected with the second connecting rod 76 through the servomotor 74 .

Preferably, the mounting frame 21 is provided with four groups in total, and it is evenly distributed on the upper end of the body 1 in a ring shape, and an adjusting mechanism 22 is arranged on the left and right sides of the upper end of the mounting frame 21, and the adjusting mechanism 22 and the mounting plate 23 are active connection.

Preferably, the adjustment mechanism 22 includes a casing 2201, a limiting groove 2202, a bearing 2203, an adjusting nut 2204, a threaded rod 2205 and a limiting block 2206, the limiting groove 2202 is provided inside the casing 2201, and the upper end of the casing 2201 passes through the bearing 2203 is connected with the adjusting nut 2204, the bearing 2203 and the adjusting nut 2204 are penetrated by a threaded rod 2205, and the outside of the threaded rod 2205 is fixed with a limiting block 2206, and the limiting block 2206 is located inside the limiting groove 2202.

Preferably, the threaded telescopic device 45 includes an internally threaded column 4501, an externally threaded column 4502 and a baffle 4503. A baffle 4503 is installed at one end of the internally threaded column 4501, and the externally threaded column 4502 runs through the inside of the baffle 4503. The outer threaded structure of the threaded column 4502 meshes with the inner threaded structure of the internally threaded column 4501 , and one end of the internally threaded column 4501 is connected with a longitudinal bevel gear 43 .

Preferably, four sets of threaded expansion devices 45 are provided in total, and they are evenly distributed around the outer side of the transverse bevel gear 42 in a ring shape, and one end of the externally threaded column 4502 is connected with the fixed clamp block 72 .

Preferably, four sets of the fixing clips 72 are provided, and the fixing clips 72 and the guide rods 71 are in sliding connection.

Preferably, the two ends of the first connecting rod 75 respectively form a "Z" structure with the slider 73 and the second connecting rod 76, and the outer sides of the first connecting rod 75 are provided with servo motors 74, and the servo motors 74 The ends of the rotating shaft are connected with the slide block 73 and the second connecting rod 76 respectively.

In specific use, first of all, you should have a simple understanding of the structure of the device, and then you can rotate the adjusting nut 2204 to make it relatively rotate through the bearing 2203, so that the threaded rod 2205 passes through the limiting block 2206 and moves along the limiting groove 2202. Move, and then can drive mounting plate 23 to adjust, convenient this device is connected with robot mechanism, then start driving motor 3, driving motor 3 drives transmission mechanism 4 to run, thereby can drive transverse bevel gear 42 to rotate by transmission shaft 41 , and then the longitudinal bevel gear 43 can be driven to rotate through the meshing transmission of the gears, so that the threaded telescopic device 45 can rotate inside the bearing seat 44 through the internal thread column 4501, and then the internal thread column 4501 and the external thread column 4502 can rotate relatively, Then the externally threaded column 4502 can drive the slider 73 to slide along the guide rod 71, so that the mechanism at the lower end can shrink inwardly, and then start the servo motor 74, and the servo motor 74 outputs power and drives the first shaft under the action of the torque torque. A connecting rod 75 and the slider 73 or the second connecting rod 76 rotate relative to each other, so that the purpose of clamping the product can be realized, which is the whole use process of the device.

It should be noted that, in this document, the terms "comprising", "comprising" or any other variation thereof are intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements, It also includes other elements not expressly listed, or elements inherent in the process, method, article, or apparatus.

In this paper, specific examples have been used to illustrate the principle and implementation of the present invention. The description of the above examples is only used to help understand the method of the present invention and its core idea. The above is only a preferred implementation of the present invention. It should be pointed out that , due to the limitation of written expression, there are objectively unlimited specific structures. For those of ordinary skill in the art, without departing from the principle of the present invention, some improvements, modifications or changes can also be made. The above-mentioned technical features can be combined in an appropriate manner; these improvements, changes or combinations, or direct application of the inventive idea and technical solution to other occasions without improvement should be regarded as the protection scope of the present invention.

Claims (10)

1. A robot hand connection activity device, including a body (1), a connection mechanism (2), a drive motor (3), a transmission mechanism (4), a card slot (5), a support plate (6) and a movement mechanism ( 7), characterized in that: a connecting mechanism (2) is installed above the body (1), and a driving motor (3) is arranged in the middle of the body (1), and a transmission mechanism (4) is connected to the lower end of the driving motor (3) ), and the lower end of the transmission mechanism (4) is connected with a support plate (6), the card slot (5) is set on the inside of the body (1), and the inside of the body (1) is equipped with a movable mechanism (7), the movable mechanism (7) The transmission mechanism (4) runs through the middle part, and the outer side of the movable mechanism (7) is connected with the body (1) through the card slot (5). 2. A robot hand connection activity device according to claim 1, characterized in that: the connection mechanism (2) includes a mounting frame (21), an adjustment mechanism (22) and a mounting plate (23), the An adjustment mechanism (22) is installed on the upper end of the installation frame (21), and an installation plate (23) is connected to the upper end of the adjustment mechanism (22). Fixed connection. 3. A robot hand connection activity device according to claim 2, characterized in that: the transmission mechanism (4) includes a transmission shaft (41), a transverse bevel gear (42), a longitudinal bevel gear (43 ), a bearing seat (44), a threaded expansion device (45) and a fixing bolt (46), and a transverse bevel gear (42) is installed on the outside of the transmission shaft (41), and the transverse bevel gear (42) passes through the fixing bolt (46) is fixedly connected with the transmission shaft (41), the end of the transmission shaft (41) far away from the transmission shaft (41) is connected with the drive motor (3), and the support plate (6) is set far away from the drive motor (3) ) on the outside of the transmission shaft (41) at one end, the thread expansion device (45) runs through the inside of the bearing seat (44), and one end of the thread expansion device (45) is connected with a longitudinal bevel gear (43), the longitudinal The bevel gear (43) meshes with the transverse bevel gear (42), the bearing seat (44) is arranged on the upper end of the movable mechanism (7), and one end of the threaded expansion device (45) is connected with the movable mechanism (7). 4. A robot hand connection activity device according to claim 3, characterized in that: the activity mechanism (7) includes a guide rod (71), a fixed clamp (72), a slider (73), a servo The motor (74), the first connecting rod (75) and the second connecting rod (76), the middle part of the guide rod (71) runs through the transmission shaft (41), and the outer side of the guide rod (71) passes through the fixed clamp block ( 72) is connected with the card slot (5), and the guide rod (71) runs through the inside of the slider (73), and the upper end of the fixed clip (72) is equipped with a threaded telescopic device (45), and the slider ( 73) The lower end is connected with the first connecting rod (75) through the servo motor (74), and the upper end of the slider (73) is connected with a threaded telescopic device (45), and the lower end of the first connecting rod (75) is connected through the servo motor (74) is connected with the second connecting rod (76). 5. A robot hand connection activity device according to claim 2, characterized in that there are four sets of mounting frames (21), which are evenly distributed on the upper end of the body (1) in a ring shape, and An adjustment mechanism (22) is arranged on the left and right sides of the upper end of the installation frame (21), and the adjustment mechanism (22) is movably connected with the installation plate (23). 6. A robot hand connection activity device according to claim 5, characterized in that: the adjustment mechanism (22) includes a housing (2201), a limit groove (2202), a bearing (2203), an adjustment nut ( 2204), a threaded rod (2205) and a limiting block (2206), the housing (2201) has a limiting groove (2202) inside, and the upper end of the housing (2201) is connected to the adjusting nut (2204) through a bearing (2203) , the bearing (2203) and the adjusting nut (2204) are penetrated by a threaded rod (2205), and the outer side of the threaded rod (2205) is fixed with a limit block (2206), and the limit block (2206) is located in the limit groove ( 2202) inside. 7. A robot hand connection activity device according to claim 4, characterized in that: the thread telescopic device (45) includes an internal thread column (4501), an external thread column (4502) and a baffle (4503) , a baffle (4503) is installed at one end of the internally threaded column (4501), and an externally threaded column (4502) runs through the inside of the baffle (4503), and the external threaded structure of the externally threaded column (4502) and the internally threaded column (4501) The inner threaded structures are meshed, and one end of the inner threaded column (4501) is connected with a longitudinal bevel gear (43). 8. A robot hand connection activity device according to claim 6, characterized in that there are four sets of threaded telescopic devices (45), which are evenly distributed in a ring shape on the transverse bevel gear (42 ), and one end of the externally threaded column (4502) is connected with the fixing clamp block (72). 9. A robot hand connection activity device according to claim 7, characterized in that there are four sets of fixed clips (72) in total, and the fixed clips (72) and guide rods (71) are Swipe to connect. 10. A robot hand connection activity device according to claim 9, characterized in that: the two ends of the first connecting rod (75) respectively form " Z”-shaped structure, and a servo motor (74) is provided on both ends of the first connecting rod (75), and the rotating shaft end of the servo motor (74) is in phase with the slider (73) and the second connecting rod (76) respectively. connect.