CN108748224A - A kind of single-axis servo spiral arm manipulator - Google Patents
A kind of single-axis servo spiral arm manipulator Download PDFInfo
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- CN108748224A CN108748224A CN201810669139.3A CN201810669139A CN108748224A CN 108748224 A CN108748224 A CN 108748224A CN 201810669139 A CN201810669139 A CN 201810669139A CN 108748224 A CN108748224 A CN 108748224A
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- space
- end wall
- block
- fixedly connected
- mobile
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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
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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
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a kind of single-axis servo spiral arm manipulators, including support column, a swing space is provided in the support column, the swing space right end wall is provided with the annular groove of a connection free surrounding space, a swing mechanism is provided in the swing space, the support column right side is fixedly connected with a moving block, the revolution space of right end wall connection free surrounding space is provided in the moving block, the column spinner right end is fixedly connected with a spill spin block, it is rotatably connected to a Rotational Cylindrical on the first connecting shaft axis body, it is provided with a drive block on the right side of the Rotational Cylindrical, the drive block left side is provided with a rotation slot, a driving space is provided in the drive block, it is provided with a rotating mechanism in the driving space.This apparatus structure is simple, simple operation, the present invention work in, in work realize 360 deg rotation and can multi-angle gripping object, super wealthy a certain range of object can be also captured under the machine driving of mobile mechanism, increases the practicability of device.
Description
Technical field
The present invention relates to field of machining, specially a kind of single-axis servo spiral arm manipulator.
Background technology
Currently, with the development of the society, the development of science and technology, people replace the form worked by hand more next using mechanical equipment
It is more varied, wherein replace some dangerous using manipulator or be not easy to manually-operated mode using relatively broad, but
It is that most mechanical arm only can perform one-sided action at this stage, and motion range, by larger limitation, some crawl mechanical arms are grabbed
It takes object to refer to that range is smaller, is unfavorable for the progress of work.
Invention content
It is mentioned above in the background art to solve the purpose of the present invention is to provide a kind of single-axis servo spiral arm manipulator
Problem.
To achieve the above object, the present invention provides the following technical solutions：A kind of single-axis servo spiral arm manipulator, including support
Column is provided with a swing space in the support column, and the swing space right end wall is provided with the annular groove of a connection free surrounding space,
A swing mechanism is provided in the swing space, the support column right side is fixedly connected with a moving block, the moving block
It is inside provided with the revolution space of right end wall connection free surrounding space, the revolution space left end wall is fixedly connected with an electric rotating
Machine, electric rotating machine right side be connected by power have a rotary shaft, the rotary shaft right end threaded engagement to be connected with a column spinner,
The column spinner right end is through revolution space right end wall and is located at free surrounding space, and end wall is symmetrically arranged with the revolution space up and down
The sliding groove of one connection free surrounding space, the column spinner right end are fixedly connected with a spill spin block, the spill spin block right side setting
There is a swivelling chute, end wall is connected to free surrounding space before and after the swivelling chute, is provided with the first connecting shaft in the swivelling chute, and described the
One connecting shaft upper and lower ends are fixedly connected with end wall above and below swivelling chute respectively, and one is rotatably connected on the first connecting shaft axis body
Rotational Cylindrical, the Rotational Cylindrical right end is through swivelling chute right end wall and is located at free surrounding space, in Rotational Cylindrical right end upper and lower end face
It is symmetrically arranged with a translation slot, the end wall of the translation slot far from Rotational Cylindrical center is connected to free surrounding space, is slided in the translation slot
Dynamic to be connected with a translational block, the swing mechanism right end is fixed through translation end wall of the slot far from Rotational Cylindrical center and with translational block
Connection, the spill spin block left side is symmetrical above and below to be fixedly connected with a swingle, and the swingle is set close to the end face of moving block
It is equipped with a spring groove, end wall of the spring groove far from moving block is fixedly connected with a spring block, described spring block or so end face
It symmetrically is fixedly connected with a sliding polished rod, the described sliding one end of polished rod far from spring block is fixedly connected with spring trough end wall, institute
It states and slidably connects a sliding shoe on the sliding polished rod body of rod, a compressed spring, institute are provided between the sliding shoe and spring block
It states sliding shoe and is rotatably connected to the second connecting rod close to one end of moving block, the other end of two second connecting rods is by turning
Dynamic pin is rotatably connected, and end face of the sliding shoe far from spring block is fixedly connected with the first electromagnet, the spring groove
Left hand end wall is symmetrically fixedly connected with the second electromagnet, and a drive block, the drive block left end are provided on the right side of the Rotational Cylindrical
Face is provided with a rotation slot, and end wall is connected to free surrounding space before and after the rotation slot, and the Rotational Cylindrical right end runs through rotation slot left end
Wall and in the rotation slot, the Rotational Cylindrical right end is fixedly connected with the second connecting pole, the second connecting shaft upper and lower ends point
Not Guan Chuan Rotational Cylindrical upper and lower ends and in the rotation slot, the second connecting shaft upper and lower ends respectively with end wall above and below rotation slot
It is rotatablely connected, is provided with a driving space in the drive block, a rotating mechanism, the right side are provided in the driving space
The driving motor being fixedly connected with driving space lower end wall, the driving motor front end face be connected by power are provided on the right side of drive shaft
There is a transmission shaft, flat key is connected with a transmission gear on the axis body of the transmission shaft upper end, and the transmission gear upper surface is provided with
One T shape annular grooves slidably connect the T-shaped block that T shape annular groove upper end walls are run through in a upper end, the T-shaped block upper end in the T shapes annular groove
It is fixedly connected with third connecting rod, a mobile space, driving space right end wall are provided in the right end wall of the driving space
It is provided with the shifting chute of a connection mobile space, the company in left end wall connection driving space is provided in the shifting chute upper end wall
The movable block symmetrical above and below for having one to be connect with transmission shaft threaded engagement is arranged in access slot, the transmission gear downside, and the upside passes
The movable block being connect with transmission shaft threaded engagement is provided between moving gear and movable block, the movable block outer end wall is provided with one
Annular groove, on the left of the annular groove lower end wall in be provided with an electromagnet mechanism, in the upper left side annular groove right end sliding connect
It is connected to the 4th connecting rod, the third connecting rod is connect through link slot left end wall and with the right end of the 4th connecting rod by the 5th
Bar is fixedly connected, and the mobile space right end wall is provided with the work nest of a connection free surrounding space, in the mobile space up and down
It is symmetrically arranged with a mobile mechanism, mobile mechanism's left end is slidably connected through shifting chute and with symmetrically arranged annular groove.
Preferably, the swing mechanism includes swinging axle, the swinging axle left end connects with the rotation of swing space left end wall
It connects, the swinging axle right end is fixedly connected with turntable, and a rotation space is provided in the turntable, and the rotation space lower end wall is solid
Surely it is connected with a rotary electric machine, rotary electric machine upper surface be connected by power has a rotation axis, the rotation axis upper end and rotation
Space upper end wall is rotatablely connected, and symmetrical above and below on the rotation axis axis body to be fixedly connected with a rotating bar, the rotation space is right
The end wall through hole symmetrical above and below for being provided with a connection swing space, the rotating bar right end is through through hole and annular groove and is located at
Free surrounding space, rotating bar right end regulation can chain be connected to head rod.
Preferably, the rotating mechanism includes drive shaft, it is symmetrically set with a drive shaft in the driving space,
Spatially lower end wall is rotatablely connected the drive shaft upper and lower ends with driving respectively, is fixedly connected on the drive shaft axis body
One roller, the drive shaft upper end are fixedly connected with a driving gear, and the driving gear of the left and right two is connected by meshing transmission, institute
It states and is provided with a rope for passing through driving space upper end wall and being fixedly connected with Rotational Cylindrical front end face, the right side on left hand roller
A rope for passing through driving space lower end wall and being fixedly connected with Rotational Cylindrical rear end face is provided on roller.
Preferably, the mobile mechanism include the 6th connecting rod, the 6th connecting rod left end through shifting chute and with
Symmetrically arranged annular groove is slidably connected, and the 6th connecting rod right end is fixedly connected with the 7th connecting rod, and the drive block is right
Side is provided with a clamping bar, and the clamping bar left end is fixedly connected with the 8th connecting rod, a folder is provided in the mobile space
Tight block block, the gripping block are provided with a steering slot close to the end face at mobile space center, and the steering front of the slot wall is provided with
One electromagnet mechanism, end wall is fixedly connected by turning-bar before and after the steering slot, and the 7th connecting rod is far from mobile space
The one end at center is rotatablely connected through steering slot close to the end wall at mobile space center and with turning-bar, and the 8th connecting rod is left
End is fixedly connected through work nest and with gripping block, and the gripping block front/rear end is symmetrically arranged with a L bars, the mobile space
A mobile motor is provided in front bulkhead, the mobile motor rear end face be connected by power has a shifting axle, the mobile shaft rear end
Through mobile space aft bulkhead and in mobile space, the mobile space aft bulkhead is rotatably connected to a driven shaft, described
Driven shaft front end is respectively arranged with a L slots with mobile shaft rear end close to the end face at mobile space center.
Preferably, the repulsion between first electromagnet and the second electromagnet is much larger than the spring of compressed spring.
Preferably, being provided with the hand of spiral opposite screw thread in both ends on the transmission shaft.
Compared with prior art, the beneficial effects of the invention are as follows：In present invention work, when electric rotating machine rotates, drive
Rotary shaft rotates, if when the first electromagnetic block and the second electromagnetic block energization at this time, under the action of electromagnet repulsion, by sliding shoe to
Spring block moves, and compressed spring is compressed at this time, and the junction of two second connecting rods, which is compressed, to be headed into sliding groove, thus
Under the drive of rotary shaft, column spinner moves leftwards and rightwards, and to drive spill spin block side-to-side movement, is connected with spill spin block to drive
Device side-to-side movement, if the first electromagnetic block and the second electromagnetic block no power, column spinner drives rotation under the drive of rotary shaft
The rotation of block, to drive the device being connected with spill spin block rotation, thus under the transmission of head rod and rotating bar, turntable
In the same plane, swing mechanism work drives the front and back rotation of rotating bar, is rolling at the center of rotation guarantee rotating bar and Rotational Cylindrical
Cylinder drives Rotational Cylindrical and the front and back rotation of coupled device, driving motor rotation, if the shifting of top side in the case of not working
Electromagnet mechanism work in motion block, to make the movable block of top side be moved to upside, under the action of connecting rod, make biography
Moving gear with driving gear engaged transmission, the electromagnet mechanism in the movable block of top side is stopped at this time, two rollers to
Reverse motions pull two ropes that drive block is made to be rotated around the second connecting pole, if the electromagnet mechanism of two movable blocks of downside
Work then drives mobile mechanism to clamp or loosen to object under the drive of movable block, when object is excessive, mobile mechanism
In electromagnet mechanism be stopped, mobile mechanism is moved into mobile space upper and lower ends, to make gripping block front/rear end
L bars enter L slots, mobile motor work drives gripping block to rotate move angle, to increase the angle between two clamping bars,
To grip object, the electromagnet mechanism when mobile mechanism moves up and down in mobile mechanism is constantly in working condition, prevents
Only gripping block rotate, this apparatus structure is simple, simple operation, in work realize 360 deg rotation and can multi-angle gripping
Object can also capture super wealthy a certain range of object under the machine driving of mobile mechanism, increase the practicability of device.
Description of the drawings
Fig. 1 is a kind of overlooking structure diagram of single-axis servo spiral arm manipulator entirety complete section of the present invention；
Fig. 2 is the left view structural representation of mobile space complete section in a kind of single-axis servo spiral arm manipulator entirety of the present invention；
Fig. 3 is the vertical view enlarged structure schematic diagram of spring groove complete section in a kind of single-axis servo spiral arm manipulator of the present invention；
Fig. 4 is that the vertical view knot of electromagnet mechanism complete section in a kind of single-axis servo spiral arm manipulator of the present invention amplifies structure schematic diagram.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
- 4 are please referred to Fig.1, a kind of embodiment provided by the invention：A kind of single-axis servo spiral arm manipulator, including support column
1, a swing space 2 is provided in the support column 1, and 2 right end wall of the swing space is provided with the ring of a connection free surrounding space
Slot 5 is provided with a swing mechanism 69 in the swing space 2, and 1 right side of the support column is fixedly connected with a moving block 10,
The revolution space 12 of right end wall connection free surrounding space is provided in the moving block 10,12 left end wall of the revolution space is fixed
It is connected with an electric rotating machine 11,11 right side be connected by power of the electric rotating machine has a rotary shaft 13,13 right end of the rotary shaft
Threaded engagement is connected with a column spinner 14, and 14 right end of the column spinner is through 12 right end wall of revolution space and is located at free surrounding space,
About 12 end wall of the revolution space is symmetrically arranged with the sliding groove 15 of a connection free surrounding space, and 14 right end of the column spinner is fixed
It is connected with a spill spin block 17,17 right side of the spill spin block is provided with a swivelling chute 19, and end wall is connected to before and after the swivelling chute 19
Free surrounding space, is provided with the first connecting shaft 20 in the swivelling chute 19,20 upper and lower ends of the first connecting shaft respectively with rotation
About 19 end wall of slot is fixedly connected, and a Rotational Cylindrical 21, the Rotational Cylindrical 21 are rotatably connected on 20 axis body of the first connecting shaft
Right end is through 19 right end wall of swivelling chute and is located at free surrounding space, and it is flat to be symmetrically arranged with one in 21 right end upper and lower end face of the Rotational Cylindrical
Slot 23 is moved, the end wall of the translation slot 23 far from 21 center of Rotational Cylindrical is connected to free surrounding space, is slidably connected in the translation slot 23
Have a translational block 24,59 right end of the swing mechanism through translation end wall of the slot 23 far from 21 center of Rotational Cylindrical and with translational block 24
It is fixedly connected, 17 left side of the spill spin block is symmetrical above and below to be fixedly connected with a swingle 16, and the swingle 16 is close to rotation
The end face of block 10 is provided with a spring groove 18, and end wall of the spring groove 18 far from moving block 10 is fixedly connected with a spring block
40,40 or so end surface symmetric of the spring block is fixedly connected with a sliding polished rod 39, and the sliding polished rod 39 is far from spring block 40
One end be fixedly connected with 18 end wall of spring groove, slidably connect a sliding shoe 37, the cunning on 39 body of rod of sliding polished rod
A compressed spring 38 is provided between motion block 37 and spring block 40, the sliding shoe 37 is rotatablely connected close to one end of moving block 10
There are the second connecting rod 33, the other end of described two second connecting rods 33 to be rotatably connected by rotational pin, the sliding
End face of the block 37 far from spring block 40 is fixedly connected with the first electromagnet 36, and 18 left hand end wall of the spring groove is symmetrically fixedly connected
There are the second electromagnet 35,21 right side of the Rotational Cylindrical to be provided with a drive block 27,27 left side of the drive block is provided with one turn
Dynamic slot 25, end wall is connected to free surrounding space before and after the rotation slot 25,21 right end of the Rotational Cylindrical through 25 left end wall of rotation slot and
In rotation slot 25,21 right end of the Rotational Cylindrical is fixedly connected with the second connecting pole 26, second connecting shaft about 26 two
End extends through 21 upper and lower ends of Rotational Cylindrical and in the rotation slot 25,26 upper and lower ends of the second connecting shaft respectively with rotation
About 25 end wall of slot is rotatablely connected, and is provided with a driving space 31 in the drive block 27, is provided in the driving space 31
One rotating mechanism 28,32 right side of the right side drive shaft are provided with the driving motor being fixedly connected with driving 31 lower end wall of space
49,49 front end face be connected by power of the driving motor has a transmission shaft 43, and flat key is connected on 43 upper end axis body of the transmission shaft
One transmission gear 41,41 upper surface of the transmission gear are provided with a T shapes annular groove 42, are slidably connected in the T shapes annular groove 42
The T-shaped block 44 of 42 upper end wall of T shapes annular groove is run through in one upper end, and 44 upper end of the T-shaped block is fixedly connected with third connecting rod 46, described
It is provided with a mobile space 51 in driving 31 right end wall of space, the 31 right end wall of driving space is provided with a connection mobile space
51 shifting chute 50 is provided with the link slot 45 in left end wall connection driving space 31 in 50 upper end wall of the shifting chute, described
The movable block 55 symmetrical above and below for having one to be connect with 43 threaded engagement of transmission shaft, the upside driving cog is arranged in 41 downside of transmission gear
It is provided with the movable block 55 being connect with 43 threaded engagement of transmission shaft between wheel 41 and movable block 55,55 outer end wall of the movable block is set
It is equipped with an annular groove 53,53 lower end wall of the annular groove is provided with an electromagnet mechanism 54, the upper left side annular groove in left side
The 4th connecting rod 48 is slidably connected in 53 right ends, the right end of 46 and the 4th connecting rod 48 of the third connecting rod runs through link slot
It 45 left end walls and is fixedly connected by the 5th connecting rod 47,51 right end wall of the mobile space is provided with a connection free surrounding space
Work nest 52, symmetrical above and below in the mobile space 51 to be provided with a mobile mechanism 34,34 left end of the mobile mechanism is through moving
It moves slot 50 and is slidably connected with symmetrically arranged annular groove 53.
Valuably, the swing mechanism 69 includes swinging axle 3, and 3 left end of the swinging axle is rotated with 2 left end wall of swing space
Connection, 3 right end of the swinging axle are fixedly connected with turntable 8, a rotation space 9, the rotation space 9 are provided in the turntable 8
Lower end wall is fixedly connected with a rotary electric machine 7, and 7 upper surface be connected by power of the rotary electric machine has a rotation axis 4, the rotation axis
4 upper ends are rotatablely connected with 9 upper end wall of rotation space, symmetrical above and below on 4 axis body of the rotation axis to be fixedly connected with a rotating bar 6,
9 right end wall of the rotation space through hole 70 symmetrical above and below for being provided with a connection swing space, 6 right end of the rotating bar run through
Through hole 70 and annular groove 5 and be located at free surrounding space, 6 right end of rotating bar regulation can chain be connected to head rod 22, make
With being when Rotational Cylindrical 21 rotates while turntable 8 to be driven to rotate, the center of guarantee rotating bar 6 and Rotational Cylindrical 21 is in same plane
It is interior.
Valuably, the rotating mechanism 28 includes drive shaft 32, and a drive is symmetrically set in the driving space 31
Moving axis 32,32 upper and lower ends of the drive shaft are rotatablely connected with driving about 32 end wall of space respectively, 32 axis body of the drive shaft
On be fixedly connected with a roller 30,32 upper end of the drive shaft is fixedly connected with a driving gear 29, the driving of the left and right two
Gear 29 is connected by meshing transmission, be provided on the left hand roller 30 one pass through driving 31 upper end wall of space and with before Rotational Cylindrical 21
The rope that end face is fixedly connected, be provided on the right hand roller 30 one pass through driving 31 lower end wall of space and with after Rotational Cylindrical 21
The rope that end face is fixedly connected, effect are to control drive block 27 during roller 30 rotates to rotate.
Valuably, the mobile mechanism 34 includes the 6th connecting rod 57, and 57 left end of the 6th connecting rod runs through shifting chute
It 50 and being slidably connected with symmetrically arranged annular groove 53,57 right end of the 6th connecting rod is fixedly connected with the 7th connecting rod 56,
27 right side of the drive block is provided with a clamping bar 61, and 61 left end of the clamping bar is fixedly connected with the 8th connecting rod 60, described
A gripping block block 59 is provided in mobile space 51, the gripping block 59 is provided with one turn close to the end face at 51 center of mobile space
To slot 58,58 front bulkhead of steering slot is provided with an electromagnet mechanism 54, and end wall passes through turning-bar before and after the steering slot 58
67 are fixedly connected, and the described one end of 7th connecting rod 56 far from 51 center of mobile space is through steering slot 58 close to mobile space 51
It the end wall at center and is rotatablely connected with turning-bar 67,60 left end of the 8th connecting rod is through work nest 52 and solid with gripping block 59
Fixed connection, 59 front/rear end of the gripping block are symmetrically arranged with a L bars 62, a shifting are provided in 51 front bulkhead of the mobile space
Dynamic motor 66,66 rear end face be connected by power of the mobile motor have a shifting axle 65, and 65 rear end of the shifting axle is through mobile empty
Between 51 aft bulkheads and in the mobile space 51,51 aft bulkhead of the mobile space is rotatably connected to a driven shaft 63, it is described from
63 front end of moving axis is respectively arranged with a L slots 64 with 62 rear end of shifting axle close to the end face at 51 center of mobile space, and effect is to make
It, can also be in 51 upper and lower ends rotary motion of mobile space while clamping bar 61 can both move up and down.
Valuably, the repulsion between first electromagnet, 36 and second electromagnet 35 is much larger than the bullet of compressed spring 38
Spring, effect are moved to spring block 40 convenient for sliding shoe 37 when the first electromagnet 36 and the second electromagnet 35 repel each other.
Valuably, the hand of spiral opposite screw thread in both ends is provided on the transmission shaft 43, effect is to make two pieces of upside
Movable block and one piece of movable block of downside be opposite or relative motion.
Specifically used mode：In present invention work, when electric rotating machine 11 rotates, rotary shaft 13 is driven to rotate, if at this time
When first electromagnetic block 36 and the second electromagnetic block 35 are powered, under the action of electromagnet repulsion, sliding shoe 37 is transported to spring block 40
It is dynamic, 38 spring of bullet is compressed at this time and is compressed, and the junction of two second connecting rods 33, which is compressed, to be headed into sliding groove 15, to revolve
Under the drive of shaft 13, column spinner 14 moves leftwards and rightwards, to drive 17 side-to-side movement of spill spin block, to drive and spill spin block 17
Connected device side-to-side movement, if 35 no power of the first electromagnetic block 36 and the second electromagnetic block, column spinner 14 is in rotary shaft 13
The lower rotation for driving spill spin block 17 is driven, to drive the device being connected with spill spin block 17 rotation, in head rod 22
Under transmission with rotating bar 6, the rotation of turntable 8 ensures the center of rotating bar 6 and Rotational Cylindrical 21 in the same plane, swing mechanism 69
Work drives the front and back rotation of rotating bar 6, before driving Rotational Cylindrical 21 and coupled device in the case where roller 30 does not work
After rotate, driving motor 49 rotates, if electromagnet mechanism 54 in the movable block 55 of top side works, to make the shifting of top side
Motion block 55 is moved to upside, most upper at this time under the action of connecting rod, make transmission gear 41 and 29 engaged transmission of driving gear
Electromagnet mechanism 54 in the movable block 55 of side is stopped, and two rollers 30 pull two ropes to make driving to reverse motions
Block 27 is rotated around the second connecting pole 26, if the electromagnet mechanism 54 of two movable blocks 55 of downside works, in movable block 55
Lower drive mobile mechanism 34 is driven to clamp or loosen to object, when object is excessive, the electromagnet machine in mobile mechanism 34
Structure 54 is stopped, and mobile mechanism 34 is moved to 50 upper and lower ends of mobile space, to make the L bars of 59 front/rear end of gripping block
62 enter L slots 64, and the work of mobile motor 66 drives gripping block 59 to rotate move angle, thus between increasing two clamping bars 61
Angle, to grip object, the electromagnet mechanism 54 when mobile mechanism 34 moves up and down in mobile mechanism 34 is constantly in
Working condition, prevent gripping block 59 rotate, this apparatus structure is simple, simple operation, in work realize 360 deg rotation and
Can multi-angle gripping object, super wealthy a certain range of object can be also captured under the machine driving of mobile mechanism 34, is increased
The practicability of device.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Profit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent requirements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (6)
1. a kind of single-axis servo spiral arm manipulator, including support column, it is characterised in that：Swing sky is provided in the support column
Between, the swing space right end wall is provided with the annular groove of a connection free surrounding space, and an oscillating machine is provided in the swing space
Structure, the support column right side are fixedly connected with a moving block, and right end wall connection free surrounding space is provided in the moving block
Revolution space, the revolution space left end wall is fixedly connected with an electric rotating machine, electric rotating machine right side be connected by power
There are a rotary shaft, the rotary shaft right end threaded engagement to be connected with a column spinner, the column spinner right end is right through revolution space
End wall and it is located at free surrounding space, end wall is symmetrically arranged with the sliding groove of a connection free surrounding space to the revolution space up and down, described
Column spinner right end is fixedly connected with a spill spin block, and the spill spin block right side is provided with a swivelling chute, the swivelling chute front and back end
Wall is connected to free surrounding space, is provided with the first connecting shaft in the swivelling chute, the first connecting shaft upper and lower ends respectively with rotation
End wall is fixedly connected slot up and down, a Rotational Cylindrical is rotatably connected on the first connecting shaft axis body, the Rotational Cylindrical right end runs through
Swivelling chute right end wall and it is located at free surrounding space, a translation slot is symmetrically arranged in Rotational Cylindrical right end upper and lower end face, it is described flat
It moves end wall of the slot far from Rotational Cylindrical center and is connected to free surrounding space, a translational block, the swing are slidably connected in the translation slot
Mechanism right end is fixedly connected through translation end wall of the slot far from Rotational Cylindrical center and with translational block, above and below the spill spin block left side
It symmetrically is fixedly connected with a swingle, the swingle is provided with a spring groove close to the end face of moving block, and the spring groove is remote
End wall from moving block is fixedly connected with a spring block, and described spring block or so end surface symmetric is fixedly connected with a sliding polished rod,
The described sliding one end of polished rod far from spring block is fixedly connected with spring trough end wall, is slidably connected on the sliding polished rod body of rod
One sliding shoe, is provided with a compressed spring between the sliding shoe and spring block, the sliding shoe turns close to one end of moving block
Dynamic to be connected with the second connecting rod, the other end of two second connecting rods is rotatably connected by rotational pin, the cunning
End face of the motion block far from spring block is fixedly connected with the first electromagnet, and the spring groove left hand end wall is symmetrically fixedly connected with second
Electromagnet, the Rotational Cylindrical right side are provided with a drive block, and the drive block left side is provided with a rotation slot, the rotation slot
Front and back end wall is connected to free surrounding space, and the Rotational Cylindrical right end is through rotation slot left end wall and in rotation slot, the Rotational Cylindrical
Right end is fixedly connected with the second connecting pole, and the second connecting shaft upper and lower ends, which extend through Rotational Cylindrical upper and lower ends and are located at, to be turned
In dynamic slot, the second connecting shaft upper and lower ends are rotatablely connected with end wall above and below rotation slot respectively, are provided in the drive block
One drives space, and a rotating mechanism is provided in the driving space, is provided on the right side of the right side drive shaft and driving space
The driving motor that lower end wall is fixedly connected, the driving motor front end face be connected by power have a transmission shaft, the transmission shaft upper end
Flat key is connected with a transmission gear on axis body, and the transmission gear upper surface is provided with a T shape annular grooves, is slided in the T shapes annular groove
The dynamic T-shaped block for being connected with a upper end and running through T shape annular groove upper end walls, the T-shaped block upper end is fixedly connected with third connecting rod, described
A mobile space is provided in driving space right end wall, the driving space right end wall is provided with the movement of a connection mobile space
Slot, is provided with the link slot in left end wall connection driving space in the shifting chute upper end wall, setting on the downside of the transmission gear
The movable block symmetrical above and below for thering is one to be connect with transmission shaft threaded engagement, be provided between the upside transmission gear and movable block with
The movable block of transmission shaft threaded engagement connection, the movable block outer end wall are provided with an annular groove, and the annular groove lower end wall is left
It is provided with an electromagnet mechanism in side, the 4th connecting rod is slidably connected in the upper left side annular groove right end, the third connects
Extension bar is fixedly connected through link slot left end wall and with the right end of the 4th connecting rod by the 5th connecting rod, and the mobile space is right
End wall is provided with the work nest of a connection free surrounding space, symmetrical above and below in the mobile space to be provided with a mobile mechanism, described
Mobile mechanism's left end is slidably connected through shifting chute and with symmetrically arranged annular groove.
2. a kind of single-axis servo spiral arm manipulator according to claim 1, it is characterised in that：The swing mechanism includes pendulum
Moving axis, the swinging axle left end and swing space left end wall are rotatablely connected, and the swinging axle right end is fixedly connected with turntable, described turn
A rotation space is provided in disk, the rotation space lower end wall is fixedly connected with a rotary electric machine, the rotary electric machine upper end
Face be connected by power has a rotation axis, the rotation axis upper end to be rotatablely connected with rotation space upper end wall, on the rotation axis axis body
Symmetrical above and below to be fixedly connected with a rotating bar, the rotation space right end wall is symmetrical above and below to be provided with passing through for a connection swing space
Perforation, through through hole with annular groove and positioned at free surrounding space, the rotating bar right end regulation can link the rotating bar right end
There is head rod.
3. a kind of single-axis servo spiral arm manipulator according to claim 1, it is characterised in that：The rotating mechanism includes driving
Moving axis, is symmetrically set with a drive shaft in the driving space, the drive shaft upper and lower ends respectively with driving spatially
Lower end wall is rotatablely connected, and is fixedly connected with a roller on the drive shaft axis body, the drive shaft upper end is fixedly connected with a drive
Moving gear, the driving gear of the left and right two are connected by meshing transmission, one are provided on the left hand roller and passes through driving spatially
End wall and the rope being fixedly connected with Rotational Cylindrical front end face, be provided on the right hand roller one pass through driving space lower end wall and
The rope being fixedly connected with Rotational Cylindrical rear end face.
4. a kind of single-axis servo spiral arm manipulator according to claim 1, it is characterised in that：The mobile mechanism includes the
Six connecting rods, the 6th connecting rod left end are slidably connected through shifting chute and with symmetrically arranged annular groove, and the described 6th connects
Extension bar right end is fixedly connected with the 7th connecting rod, is provided with a clamping bar on the right side of the drive block, the clamping bar left end is fixed
It is connected with the 8th connecting rod, a gripping block block is provided in the mobile space, the gripping block is close to mobile space center
End face is provided with a steering slot, and the steering front of the slot wall is provided with an electromagnet mechanism, and end wall passes through before and after the steering slot
Turning-bar is fixedly connected, and the one end of the 7th connecting rod far from mobile space center is through steering slot close to mobile space center
End wall and be rotatablely connected with turning-bar, the 8th connecting rod left end is described through work nest and being fixedly connected with gripping block
Gripping block front/rear end is symmetrically arranged with a L bars, and a mobile motor, the mobile electricity are provided in the mobile space front bulkhead
Machine rear end face be connected by power has a shifting axle, and the mobile shaft rear end is through mobile space aft bulkhead and is located in mobile space,
The mobile space aft bulkhead is rotatably connected to a driven shaft, and the driven shaft front end is with mobile shaft rear end in mobile space
The end face of the heart is respectively arranged with a L slots.
5. a kind of single-axis servo spiral arm manipulator according to claim 1, it is characterised in that：First electromagnet and
Repulsion between two electromagnet is much larger than the spring of compressed spring.
6. a kind of single-axis servo spiral arm manipulator according to claim 1, it is characterised in that：It is provided on the transmission shaft
The opposite screw thread of the both ends hand of spiral.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810669139.3A CN108748224A (en) | 2018-06-26 | 2018-06-26 | A kind of single-axis servo spiral arm manipulator |
| JP2018133791A JP6575042B1 (en) | 2018-06-26 | 2018-07-16 | manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810669139.3A CN108748224A (en) | 2018-06-26 | 2018-06-26 | A kind of single-axis servo spiral arm manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108748224A true CN108748224A (en) | 2018-11-06 |
Family
ID=63977310
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810669139.3A Withdrawn CN108748224A (en) | 2018-06-26 | 2018-06-26 | A kind of single-axis servo spiral arm manipulator |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP6575042B1 (en) |
| CN (1) | CN108748224A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110193821A (en) * | 2019-01-04 | 2019-09-03 | 广东协禾医业有限公司 | A kind of magnetic dynamic source traction module and joint prosthesis |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113023642A (en) * | 2021-02-06 | 2021-06-25 | 杭州义顺科技有限公司 | Drive and control new coronavirus test tube device of uncapping of integral type |
-
2018
- 2018-06-26 CN CN201810669139.3A patent/CN108748224A/en not_active Withdrawn
- 2018-07-16 JP JP2018133791A patent/JP6575042B1/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110193821A (en) * | 2019-01-04 | 2019-09-03 | 广东协禾医业有限公司 | A kind of magnetic dynamic source traction module and joint prosthesis |
Also Published As
| Publication number | Publication date |
|---|---|
| JP6575042B1 (en) | 2019-09-18 |
| JP2020001152A (en) | 2020-01-09 |
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Application publication date: 20181106 |