CN113387178A - Mechanical arm tail end executing mechanism with self-locking mechanism - Google Patents
Mechanical arm tail end executing mechanism with self-locking mechanism Download PDFInfo
- Publication number
- CN113387178A CN113387178A CN202110837904.XA CN202110837904A CN113387178A CN 113387178 A CN113387178 A CN 113387178A CN 202110837904 A CN202110837904 A CN 202110837904A CN 113387178 A CN113387178 A CN 113387178A
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- pinion
- motor
- self
- shaft
- locking mechanism
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- 230000007246 mechanism Effects 0.000 title claims abstract description 56
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 239000012636 effector Substances 0.000 claims 3
- 238000000034 method Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 abstract description 5
- 210000000078 claw Anatomy 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
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Classifications
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- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
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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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a mechanical arm tail end executing mechanism with a self-locking mechanism, which comprises a locking mechanism, a motor, a coupler, a main gear, a pinion, a lock catch, a main gear shaft and a pinion gear shaft, wherein the motor is fixedly arranged between a mechanical arm base body and the locking mechanism, and an output shaft of the motor is connected with the main gear shaft in a clamping manner through the coupler. The invention realizes self-locking and unlocking of the lock catch through positive and negative rotation of the motor and transmission of the gear, thereby preventing accidents and ensuring the safety of goods. The mechanical paw has a self-locking function, can ensure stability and reliability in the grabbing process, and cannot influence grabbing even in case of power failure, gas failure and the like.
Description
Technical Field
The invention belongs to the technical field of robots, and relates to a tail end executing mechanism of a tail end self-locking mechanism of a mechanical arm.
Background
With the development of industrial automation and intelligence, industrial robots are more and more commonly applied in production workshops, currently, the most extensive application of industrial robots is to equip a single robot with a mechanical claw suitable for specific products and working environments, wherein the mechanical claw used in the process of carrying goods such as packaging boxes comprises a four-bar clamping mechanism, a sucker and other mechanisms, but the mechanical claws need to ensure that power failure and gas failure cannot occur in the using process, otherwise, the carried goods fall down.
The mechanical claw is positioned at the tail end of the mechanical arm and is a part which directly has acting force with a grabbed object and a carried object, so that the stability of the mechanical claw directly relates to whether the object is grabbed and the carried object is stable and reliable, the mechanical claw on the market has fewer considerations in the grabbing process at present, and generally the grabbing function is guaranteed to be realized.
Disclosure of Invention
The invention aims to solve the technical problem of providing a locking mechanism which can enable a robot to adapt to various different conditions and further change a goods taking mode.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the utility model provides an end actuating mechanism of arm with self-locking mechanism, includes motor, shaft coupling, master gear, pinion, hasp, master gear axle, pinion gear axle, and wherein, motor fixed mounting is between arm base member and latched device, and the motor output shaft passes through shaft coupling clamp type with master gear axle and is connected.
Furthermore, the main gear and the main gear shaft are connected by a flat key and are arranged at the tail end of the main gear shaft and are detachably connected, the main gear and the four pinions form a fixed-axis gear train, and the four pinions are meshed with the outside of the main gear and are uniformly distributed around the main gear and are detachably connected.
Furthermore, the pinion is connected with a pinion shaft through a flat key, and the pinion is fixedly arranged on the upper end face of a tail connecting column of the sucking disc mechanism.
Furthermore, the C-shaped lock catch is concentrically arranged below the pinion and can be meshed with the groove of the tail connecting column of the sucking disc mechanism, the lock catch is connected to the pinion shaft through a flat key, and the lock catch is positioned at the same height as the groove of the tail connecting column of the sucking disc mechanism.
The invention has novel and reasonable structural design, when the motor starts to rotate forwards, the main gear shaft is driven to rotate through the coupler, the main gear which is in parallel key connection with the main gear shaft enables the locking mechanism to rotate clockwise by 90 degrees through gear transmission and is embedded into the groove of the tail connecting column of the sucker mechanism and tightly attached, and the sucker mechanism is tightly locked on the base body. If the goods taking mode needs to be replaced, the lock catch can be rotated anticlockwise to be separated from the groove of the connecting column at the tail part of the sucking disc mechanism to complete separation only by reversing the motor, and the sucking disc mechanism can be separated from the rear base body. The invention has compact integral structure and good stability, and is beneficial to wide popularization and application.
The invention realizes self-locking and unlocking of the lock catch through positive and negative rotation of the motor and transmission of the gear, thereby preventing accidents and ensuring the safety of goods. The mechanical paw has a self-locking function, can ensure stability and reliability in the grabbing process, and cannot influence grabbing even in case of power failure, gas failure and the like.
Drawings
FIG. 1 is a schematic view of the position of the latch mechanism on the robot arm according to the present invention
FIG. 2 is a cross-sectional view of a latch mechanism of the present invention
FIG. 3 is a top view of the latch mechanism of the present invention
FIG. 4 is a schematic view of the overall structure of the gear kinematic pair in the latch mechanism of the present invention
FIG. 5 is a schematic view of the structure of the connecting post at the tail of the latch and suction cup mechanism of the present invention
FIG. 6 is a schematic view showing the relative positions of the connecting post at the tail of the latch and the sucking disc mechanism according to the present invention
Wherein: 1-a locking mechanism; 2-a sucker mechanism; 3-a mechanical arm base body; 1-1-motor; 1-2-coupler; 1-3-master gear; 1-4-pinion; 1-5-locking; 1-6-main gear shaft; 1-7-pinion gear shaft; 2-1-sucker mechanism tail connecting column
Detailed Description
In order to facilitate an understanding of the invention, a more complete description of the invention will be given below with reference to the accompanying drawings, which are provided for a structural schematic of the invention in order to make the disclosure of the invention more thorough and complete.
It will be understood that when an element is referred to as being "fixedly secured" to another element, it can be directly on the other element or intervening elements may also be present. The terms "vertical," "horizontal," "clockwise," "counterclockwise," and the like are used herein for purposes of illustration only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1, the embodiment of the invention is located between a sucker mechanism 2 and a mechanical arm base body 3, and is used for realizing replacement of the sucker mechanism 2 through forward and reverse rotation of a motor 1-1.
Referring to fig. 2, a motor 1-1 is fixedly installed between a mechanical arm base body 3 and a locking mechanism 1, an output shaft of the motor is connected with a main gear shaft 1-6 in a clamping mode through a coupler 1-2, and the main gear 1-3 and the main gear shaft 1-6 are connected through a flat key and installed at the tail end of the main gear shaft 1-6 and used for completing power transmission to achieve self-locking and unlocking.
Referring to fig. 3, a main gear 1-3 and four pinions 1-4 form a fixed gear train, and the four pinions 1-4 are in external meshing connection with the main gear 1-3 and are evenly distributed around the main gear 1-3 for transmitting power to the four latches 1-5 to complete rotation.
Referring to fig. 4, 5 and 6, the pinions 1-4 are in flat key connection with the pinion shafts 1-7, and the pinions 1-4 are fixedly arranged on the upper end surface of the tail connecting column 2-1 of the sucker mechanism. The C-shaped lock catch 1-5 is concentrically arranged below the pinion 1-4 and can be meshed with the groove of the tail connecting post 2-1 of the sucking disc mechanism, the C-shaped lock catch is connected with the pinion shaft 1-7 through a flat key connecting sleeve, and the lock catch 1-5 is positioned at a position equal to the position of the groove of the tail connecting post 2-1 of the sucking disc mechanism and is used for realizing final self-locking.
The working principle of the locking mechanism is as follows: the motor 1-1 drives the main gear 1-3 to rotate, four pinions 1-4 meshed with the main gear 1-3 rotate under the condition that the axis positions are fixed, the pinion gear shafts 1-7 connected with the pinions 1-4 through flat keys rotate, and then the lock catches 1-5 sleeved on the pinion gear shafts 1-7 are driven to rotate 90 degrees clockwise, so that the lock catches 1-5 are tightly attached to the grooves of the connecting columns 2-1 at the tail parts of the suckers. If the goods taking mode needs to be changed, the lock catch 1-5 can rotate anticlockwise to leave the groove of the tail connecting column 2-1 of the sucking disc mechanism to complete separation only by reversing the motor 1-1, and the sucking disc mechanism 2 can be separated from the rear base body 3.
The invention has novel and reasonable structural design, skillfully designs a latch mechanism by using the planetary gear train for transmission, and has high transmission precision and high transmission efficiency. The invention has compact integral structure and good stability, and is beneficial to wide popularization and application.
The above examples are merely illustrative of preferred embodiments of the present invention, which are described in more detail and detail, and therefore should not be construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (4)
1. The utility model provides an end actuating mechanism of arm with self-locking mechanism, a serial communication port, including the latched device, including a motor, a coupler, the master gear, the pinion, the hasp, master gear shaft, pinion gear shaft, wherein, motor fixed mounting is between arm base member and latched device, motor output shaft passes through shaft coupling clamp type with master gear shaft and is connected, the master gear is connected by the parallel key with master gear shaft and is installed at master gear shaft end, for can dismantling the connection, master gear and four pinions constitute a dead axle train, four pinions are connected with master gear external toothing, evenly distributed is around the master gear, for can dismantling the connection.
2. The end effector mechanism of mechanical arm with self-locking mechanism of claim 1, wherein the pinion is connected with the pinion shaft through a flat key, and the pinion is fixedly installed on the upper end face of the tail connecting post of the sucker mechanism.
3. The end effector of a robotic arm with a self-locking mechanism as claimed in claim 1, wherein the C-shaped latch is concentrically mounted under the pinion gear, engaged with the groove of the tail attachment post of the chuck mechanism, and attached to the pinion shaft by a flat key connection sleeve, the latch being located at the same height as the groove of the tail attachment post of the chuck mechanism.
4. The end effector with self-locking mechanism of mechanical arm as claimed in claim 1, wherein when the motor starts to rotate forward, the main gear shaft is driven by the coupling to rotate, the main gear connected to the main gear shaft via the gear transmission makes the locking mechanism rotate clockwise 90 ° to fit into the groove of the tail connecting post of the sucker mechanism and tightly attach to the base, so that the sucker mechanism is tightly locked on the base, and when the picking mode needs to be changed, the motor can rotate counterclockwise to separate the lock from the groove of the tail connecting post of the sucker mechanism by rotating the motor in reverse direction, and the sucker mechanism can be separated from the following base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110837904.XA CN113387178A (en) | 2021-07-23 | 2021-07-23 | Mechanical arm tail end executing mechanism with self-locking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110837904.XA CN113387178A (en) | 2021-07-23 | 2021-07-23 | Mechanical arm tail end executing mechanism with self-locking mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113387178A true CN113387178A (en) | 2021-09-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110837904.XA Pending CN113387178A (en) | 2021-07-23 | 2021-07-23 | Mechanical arm tail end executing mechanism with self-locking mechanism |
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| Country | Link |
|---|---|
| CN (1) | CN113387178A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426261A (en) * | 2016-11-10 | 2017-02-22 | 合肥工业大学 | Manipulator |
| CN108032322A (en) * | 2018-01-30 | 2018-05-15 | 宁夏巨能机器人股份有限公司 | A kind of robot hand more changing device |
| CN111571288A (en) * | 2020-05-26 | 2020-08-25 | 湖南广播电视大学（湖南网络工程职业学院） | Industrial robot with replaceable fixture |
| CN111618896A (en) * | 2020-04-26 | 2020-09-04 | 广州富港万嘉智能科技有限公司 | Claw replacing mechanism capable of automatically realizing electric connection and high in applicability and manipulator equipment |
| CN211565908U (en) * | 2019-12-17 | 2020-09-25 | 核鉴高分(天津)科技有限公司 | Robot can break away from manipulator |
| CN112248020A (en) * | 2020-10-10 | 2021-01-22 | 安徽工业大学 | Quick automatic interface device of end execution device of mechanical arm |
| CN112959348A (en) * | 2021-03-04 | 2021-06-15 | 内蒙古硕博自动化科技有限公司 | Electrically-driven steel ball locking type robot terminal quick-change device |
-
2021
- 2021-07-23 CN CN202110837904.XA patent/CN113387178A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426261A (en) * | 2016-11-10 | 2017-02-22 | 合肥工业大学 | Manipulator |
| CN108032322A (en) * | 2018-01-30 | 2018-05-15 | 宁夏巨能机器人股份有限公司 | A kind of robot hand more changing device |
| CN211565908U (en) * | 2019-12-17 | 2020-09-25 | 核鉴高分(天津)科技有限公司 | Robot can break away from manipulator |
| CN111618896A (en) * | 2020-04-26 | 2020-09-04 | 广州富港万嘉智能科技有限公司 | Claw replacing mechanism capable of automatically realizing electric connection and high in applicability and manipulator equipment |
| CN111571288A (en) * | 2020-05-26 | 2020-08-25 | 湖南广播电视大学（湖南网络工程职业学院） | Industrial robot with replaceable fixture |
| CN112248020A (en) * | 2020-10-10 | 2021-01-22 | 安徽工业大学 | Quick automatic interface device of end execution device of mechanical arm |
| CN112959348A (en) * | 2021-03-04 | 2021-06-15 | 内蒙古硕博自动化科技有限公司 | Electrically-driven steel ball locking type robot terminal quick-change device |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210914 |