CN114714343B - Single-motor-controlled revolution and rotation manipulator - Google Patents
Single-motor-controlled revolution and rotation manipulator Download PDFInfo
- Publication number
- CN114714343B CN114714343B CN202210571900.6A CN202210571900A CN114714343B CN 114714343 B CN114714343 B CN 114714343B CN 202210571900 A CN202210571900 A CN 202210571900A CN 114714343 B CN114714343 B CN 114714343B
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- bevel gear
- shaft
- swing rod
- driven
- driving
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- 230000007246 mechanism Effects 0.000 claims abstract description 106
- 230000005540 biological transmission Effects 0.000 claims abstract description 33
- 230000001360 synchronised effect Effects 0.000 claims abstract description 22
- 238000005096 rolling process Methods 0.000 claims description 8
- 230000033001 locomotion Effects 0.000 abstract description 17
- 238000000034 method Methods 0.000 abstract description 8
- 230000008569 process Effects 0.000 abstract description 7
- 238000012546 transfer Methods 0.000 abstract description 5
- 238000012423 maintenance Methods 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 description 6
- 239000000463 material Substances 0.000 description 6
- 230000008878 coupling Effects 0.000 description 5
- 238000010168 coupling process Methods 0.000 description 5
- 238000005859 coupling reaction Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003578 releasing effect Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0293—Gripping heads and other end effectors servo-actuated comprising parallel grippers having fingers directly connected to actuator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a single-motor revolution and rotation control manipulator which comprises a driving mechanism, a transmission mechanism and a clamping mechanism, wherein the driving mechanism is used for driving the manipulator to rotate; the driving mechanism drives the clamping mechanism through the transmission mechanism; the transmission mechanism comprises a synchronous belt transmission unit, a crank swing rod mechanism and a bevel gear set; the synchronous belt conveying unit is respectively connected with the driving mechanism and the crank swing rod mechanism; the bevel gear set is respectively connected with the crank swing rod mechanism and the clamping mechanism; the crank swing rod mechanism is used for transferring the position of the clamping mechanism, and the bevel gear set is used for fixed shaft rotation of the clamping mechanism. According to the invention, a plurality of actions of manipulator position transfer and fixed axis rotation are realized through a single motor, so that the length of a moving chain is effectively shortened, the space occupation rate is reduced, and the maintenance cost of a mechanism is reduced; the synchronous belt transmission unit can ensure transmission accuracy in a low-load state, is not limited by transmission distance, provides possibility for adjusting the revolution angle of the clamping mechanism, relieves the structural damage degree when faults occur in the movement process of the device, and is convenient to maintain and replace.
Description
Technical Field
The invention belongs to a manipulator, and particularly relates to a manipulator with a single motor for controlling revolution and rotation.
Background
In unmanned automated production processes, processing of product surfaces is often involved, such as printing of LOGO patterns or production dates on product surfaces, identification of two-dimensional codes or bar codes, and the like. In the processing process of the product, the product must be carried and turned over, and the operation is single and labor intensity is high. The mechanical arm is used as an ideal power-assisted tool in the automatic production process, can finish a plurality of actions such as material grabbing, carrying, overturning, angle adjusting and the like, and replaces the manual tedious labor to a great extent, so that the mechanization and the automation of the production are realized, and meanwhile, the production and use cost is reduced.
The mechanical hand put into use at present mostly controls different actions such as clamping and reversing of a mechanical device through a plurality of motor systems, so that the device has a complex structure, a long design period and high manufacturing cost. Meanwhile, with the back and forth movement of the tail end clamping device, the repeated start and stop of the motor can increase the heat and the heat loss of the iron core and easily bring impact to the device, so that the overall reliability and the service life are reduced. How to solve the problem of complex structure caused by multi-motor driving, simplify the whole operation process of the device, optimize the operation mode of the mechanical structure and become the direction of urgent study.
Disclosure of Invention
The invention aims to: in order to overcome the defects in the prior art, the invention aims to provide the manipulator which is used for controlling revolution and rotation by a single motor and has the advantages of effectively shortening the length of a moving chain, high working efficiency and strong flexibility.
The technical scheme is as follows: the invention relates to a single-motor revolution and rotation control manipulator, which comprises a driving mechanism, a transmission mechanism and a clamping mechanism, wherein the driving mechanism is used for driving the manipulator to rotate; the driving mechanism drives the clamping mechanism through the transmission mechanism; the transmission mechanism comprises a synchronous belt transmission unit, a crank swing rod mechanism and a bevel gear set; the synchronous belt conveying unit is respectively connected with the driving mechanism and the crank swing rod mechanism; the bevel gear set is respectively connected with the crank swing rod mechanism and the clamping mechanism; the crank swing rod mechanism is used for transferring the position of the clamping mechanism, and the bevel gear set is used for fixed shaft rotation of the clamping mechanism.
Further, the synchronous belt transmission unit comprises a driving belt wheel, a synchronous belt, a driven belt wheel and a driven shaft, wherein the driving belt wheel is connected with the driving mechanism, the driving belt wheel is connected with the driven belt wheel through the synchronous belt, and the driven belt wheel is connected with the crank swing rod mechanism through the driven shaft. The driven belt wheel is connected with a driven shaft through a second shaft sleeve.
Further, the crank and swing rod mechanism comprises a crank, a roller bearing and a swing rod, wherein the crank is respectively connected with the synchronous belt transmission unit and the roller bearing, and the roller bearing rotates along with the crank in a circumferential manner and slides in the swing rod to drive the swing rod to swing. The swing rod comprises a large arm and a small arm which are connected with each other, a U-shaped groove is arranged on the large arm, and a linear bearing is arranged on the small arm. The swing rod is L-shaped.
Further, the bevel gear group comprises a flange shaft, a fixed bevel gear, a driven bevel gear shaft, a driven bevel gear and a third shaft sleeve, wherein the fixed bevel gear shaft is respectively connected with the fixed bevel gear and the flange shaft, the flange shaft is connected with the swing rod, the driven bevel gear is connected with the driven bevel gear shaft, the fixed bevel gear is mutually perpendicular to the driven bevel gear and meshed with the driven bevel gear, the driven bevel gear shaft rotates through a linear bearing through a small arm to do fixed shaft, and the third shaft sleeve is connected with the driven bevel gear shaft. The fixed bevel gear is connected with the fixed frame.
Further, the driving mechanism comprises a gear motor, a driving shaft and a coupling, and the gear motor is connected with the coupling through the driving shaft. The driving shaft is positioned and locked with a driving belt wheel of the synchronous belt transmission unit through a first shaft sleeve and is connected with the fixing frame through a rolling bearing and an elastic retainer ring.
Further, the clamping mechanism comprises an air cylinder fixing seat, an air cylinder body, an air cylinder sliding block and clamping jaws, wherein the air cylinder body is respectively connected with the air cylinder fixing seat and the air cylinder sliding block, and the clamping jaws are connected with the air cylinder sliding block so as to realize single-degree-of-freedom translation of the clamping jaws.
Working principle: the synchronous belt transmission unit is used for transmitting motion between the driving mechanism and the crank swing rod mechanism and between the driving mechanism and the bevel gear set. The bevel gear group is used for changing longitudinal rotation into transverse rotation, and the crank-L-shaped swing rod structure can realize that a single motor controls the mechanical clamping jaw to finish a plurality of actions of position transfer and fixed shaft rotation. When the gear motor is started, the clamping jaw is driven to move and rotate through the transmission mechanism. The moving angle and the rotating angle of the clamping jaw can be correspondingly adjusted by changing the structural size. The swing angle of the swing rod, namely the revolution angle of the clamping jaw, can be changed by adjusting the distance between the driving shaft and the driven shaft and the length of the crank. Through adjusting the gear ratio of the fixed bevel gear and the driven bevel gear, the rotation angle of the clamping jaw around the driven bevel gear shaft, namely the rotation angle, can be changed, and the possibility is provided for meeting the requirements of different working environments. The whole movement process is powered by a gear motor, and the gear motor drives a crank swing rod mechanism to do whole-circle movement, so that reciprocating movement of the clamping jaw is realized.
The beneficial effects are that: compared with the prior art, the invention has the following remarkable characteristics:
1. the position transfer and the fixed shaft rotation of the mechanical arm are realized through a single motor, so that the length of a moving chain is effectively shortened, the space occupancy rate is reduced, and the maintenance cost of the mechanism is reduced;
2. the synchronous belt transmission unit can ensure transmission accuracy in a low-load state, is not limited by transmission distance, provides possibility for adjusting the revolution angle of the clamping mechanism, relieves the structural damage degree to a certain extent by the elasticity of the synchronous belt when faults occur in the movement process of the device, and is convenient for subsequent maintenance and replacement;
3. the bevel gear set integrates the position transfer and the self rotation of the clamping jaw, so that the space utilization rate and the energy transfer efficiency are improved;
4. the crank swing rod mechanism has quick return characteristic, so that the idle return time is reduced, and the working efficiency of the manipulator is greatly improved;
5. the device has stronger flexibility, can change the gear ratio of the two bevel gears to adjust the rotation angle of the clamping jaw, and can adjust the revolution angle of the clamping jaw by changing the size of the crank swing rod mechanism.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a partial cross-sectional view of the present invention;
FIG. 3 is a schematic diagram showing the connection of the driving mechanism 1 and the timing belt transmission unit 21 according to the present invention
FIG. 4 is a schematic diagram of the crank rocker mechanism 22 of the present invention;
FIG. 5 is a schematic structural view of the swing link 223 of the present invention;
FIG. 6 is a schematic view of the structure of the gripping mechanism 3 of the present invention;
FIG. 7 is a schematic view of the motion process of the transmission mechanism 2 and the gripping mechanism 3 of the present invention;
fig. 8 is a motion position flow chart of the present invention.
Detailed Description
As shown in fig. 1, a driving mechanism of a mechanical arm with revolution and rotation controlled by a single motor drives a steering mechanism to drive the clamping mechanism 3 to integrally rotate around a shaft. The revolution angle and the rotation angle of the tail end clamping jaw 34 of the clamping mechanism 3 can be respectively controlled by the size of the crank-swing rod mechanism 22 and the gear ratio of the two bevel gears of the bevel gear group 23, so that different installation requirements and working environments can be met.
As shown in fig. 2, the transmission mechanism 2 includes a timing belt 212 transmission unit 21, a crank-swing link mechanism 22, and a bevel gear set 23. The synchronous belt 212 conveying unit is respectively connected with the driving mechanism and the crank swing rod mechanism 22, and the bevel gear group 23 is respectively connected with the crank swing rod mechanism 22 and the clamping mechanism 3. The crank-swing rod mechanism 22 is used for transferring the position of the clamping mechanism 3, and the bevel gear set 23 is used for fixed-axis rotation of the clamping mechanism 3.
As shown in fig. 3, the driving mechanism comprises a gear motor 11, a driving shaft 12 and a coupling 13, wherein the gear motor 11 is fixedly arranged on the fixed frame 4, and the output shaft is connected with the coupling 13. The coupling 13 is connected with the driving pulley 211 through the driving shaft 12, and the driving pulley 211 and the driving shaft 12 are positioned and locked through the first shaft sleeve 14 and the set screw. A rolling bearing 5 is arranged between the driving shaft 12 and the fixed frame 4, the rolling bearing 5 is arranged on the fixed frame 4 and is positioned by an elastic retainer ring 6. The timing belt 212 transmission unit 21 includes a driving pulley 211, a timing belt 212, a driven pulley 213, and a driven shaft 214. The driving pulley 211 transmits motion to the driven pulley 213 through the timing belt 212, and the driven pulley 213 is mounted and positioned to the driven shaft 214 through the second bushing 215, the set screw, and the bolt. The driven shaft 214 is connected with the fixed frame 4 through the rolling bearing 5; the rolling bearing 5 is arranged on the fixed frame 4 and is positioned by the elastic retainer ring 6.
As shown in fig. 4 to 5, the crank-swing link mechanism 22 comprises a crank 221, a roller bearing 222 and a swing link 223, wherein the crank 221 is respectively connected with the transmission unit 21 of the synchronous belt 212 and the roller bearing 222, and the roller bearing 222 rotates along with the crank 221 in a circumferential manner and slides in the swing link 223 to drive the swing link 223 to swing. One end of the crank 221 is mounted with a bolt to synchronously rotate with the bottom end of the driven shaft 214 along with the driven pulley 213, and the other end is mounted with a roller bearing 222. The swing rod 223 comprises a large arm 2231, a small arm 2232, a U-shaped groove 2233 and a linear bearing 2234. The swing rod 223 is L-shaped, and the roller bearing 222 slides in the U-shaped groove 2233 of the swing rod 223 while rotating along with the crank 221, and drives the large arm 2231 to swing at a fixed angle. The bevel gear set 23 includes a flange shaft 231, a fixed bevel gear shaft 232, a fixed bevel gear 233, a driven bevel gear shaft 234, a driven bevel gear 235, and a third sleeve 236. The large arm 2231 is connected with the fixed frame 4 through a flange shaft 231 and bolts for fixed shaft rotation. The flange shaft 231 is mounted on the large arm 2231 through bolts, and a rolling bearing 5 is mounted between the flange shaft and the fixed frame 4, and the rolling bearing 5 is positioned through a bearing end cover. The fixed bevel gear 233 is mounted and positioned on the fixed bevel gear shaft 232 by a set screw, the fixed bevel gear shaft 232 is fixedly connected to the fixing frame 4 by a bolt, and the driven bevel gear 235 is mounted and positioned on the driven bevel gear shaft 234 by a set screw. The driven bevel gear shaft 234 is fixed in axis rotation through a small arm 2232 by a linear bearing 2234, axially positioned by a third bushing 236, and the small arm 2232 is mounted to the large arm 2231 by a bolt. The linear bearing 2234 is mounted on the small arm 2232 through a bolt, so that relative rotation between the driven bevel gear shaft 234 and the small arm 2232 is guaranteed, the third sleeve 236 is connected with the driven bevel gear shaft 234 through a set screw, and the third sleeve 236 is T-shaped. The crank swing rod mechanism 22 and the bevel gear set 23 are used for realizing rotation and revolution of the clamping jaw 34, the rotation of the clamping mechanism 3 around the axle of the driven bevel gear 235 is rotation, and the circular motion of the clamping mechanism 3 around the axle of the fixed bevel gear 233 is revolution.
As shown in fig. 6, the gripping mechanism 3 comprises a cylinder fixing seat 31, a cylinder 32, a cylinder sliding block 33 and a clamping jaw 34, and is installed and fixed at the tail end of a driven bevel gear shaft 234; the cylinder body 32 is fixedly arranged on the cylinder fixing seat 31; the cylinder slide block 33 is used for controlling the single-degree-of-freedom translation of the clamping jaw 34 and controlling the clamping and releasing actions of the clamping jaw 34.
In order to distinguish the two ends of the jaw 34 in the motion process, a cross circle is added to one end for marking, and a circle is added to the other end for marking, as shown in fig. 7 to 8. Figures 7 and 8 show the steering mechanism and the gripping mechanism 3 in the start and end positions of the working and return path movement respectively.
Initial state: the gear motor 11 is not started, and at this time the clamping jaw 34 is opened, and the material to be clamped moves into the clamping jaw 34.
Working procedure movement: the clamping jaw 34 clamps the material, the gear motor 11 is started, the driving belt pulley 211 drives the driven belt pulley 213 and the crank 221 to rotate clockwise (overlook), at this time, the crank 221 drives the roller bearing 222 to slide outwards in the U-shaped groove 2233 of the swing rod 223, and meanwhile, the swing rod 223 and the clamping mechanism 3 rotate clockwise, namely revolve. Since the fixed bevel gear 233 is meshed with the driven bevel gear 235 to drive the driven bevel gear shaft 234 and the clamping mechanism 3 to rotate, the whole movement completes clamping, transferring and reversing of materials.
End state: the jaws 34 open to release the material and transport the material to a designated location.
Return stroke movement: the crank 221 continues to rotate clockwise, the whole mechanism is in a quick return state, and finally the crank 221 completes one circular movement, and the mechanism returns to the initial state.
The rotation angle is not limited to 90 degrees of rotation of the L-shaped swing rod 223, and the design can be realized by changing the wheelbase of the two pulleys and the length of the crank 221 according to actual needs. The rotation angle of the clamping mechanism 3 can be designed by changing the gear ratio of the two bevel gears according to actual needs, and the multiple relationship of the rotation angle and the revolution angle of the clamping mechanism 3 is consistent with the multiple relationship of the gear numbers of the fixed bevel gears 233 and the driven bevel gears 235. For example, when the number of teeth of the fixed bevel gear 233 is 2 times that of the driven bevel gear 235, the rotation angle of the sandwiching mechanism 3 is 2 times that of the revolution angle, that is, 180 °.
Claims (7)
1. A single motor control revolution and rotation's manipulator, its characterized in that: comprises a driving mechanism (1), a transmission mechanism (2) and a clamping mechanism (3); the driving mechanism (1) drives the clamping mechanism (3) through the transmission mechanism (2); the transmission mechanism (2) comprises a synchronous belt transmission unit (21), a crank swing rod mechanism (22) and a bevel gear set (23); the synchronous belt transmission unit (21) is respectively connected with the driving mechanism (1) and the crank swing rod mechanism (22); the bevel gear set (23) is respectively connected with the crank swing rod mechanism (22) and the clamping mechanism (3); the crank swing rod mechanism (22) is used for transferring the position of the clamping mechanism (3), and the bevel gear set (23) is used for fixed-axis rotation of the clamping mechanism (3);
the crank swing rod mechanism (22) comprises a crank (221), a roller bearing (222) and a swing rod (223), wherein the crank (221) is respectively connected with the synchronous belt transmission unit (21) and the roller bearing (222), the roller bearing (222) rotates along with the crank (221) in a circumferential manner and slides in the swing rod (223) to drive the swing rod (223) to swing;
the swing rod (223) comprises a large arm (2231) and a small arm (2232) which are connected with each other, a U-shaped groove (2233) is formed in the large arm (2231), and a linear bearing (2234) is arranged on the small arm (2232);
the bevel gear set (23) comprises a flange shaft (231), a fixed bevel gear shaft (232), a fixed bevel gear (233), a driven bevel gear shaft (234), a driven bevel gear (235) and a third shaft sleeve (236), wherein the fixed bevel gear shaft (232) is connected with the fixed bevel gear (233) and the flange shaft (231) respectively, the flange shaft (231) is connected with the swing rod (223), the driven bevel gear (235) is connected with the driven bevel gear shaft (234), the fixed bevel gear (233) is mutually perpendicular to the driven bevel gear (235) and meshed with the driven bevel gear shaft, the driven bevel gear shaft (234) rotates through a linear bearing (2234) through a small arm (2232) in a fixed shaft manner, and the third shaft sleeve (236) is connected with the driven bevel gear shaft (234);
the multiple relation of the rotation angle and the revolution angle of the clamping mechanism (3) is consistent with the multiple relation of the tooth numbers of the fixed bevel gear (233) and the driven bevel gear (235); the rotation angle of the clamping mechanism (3) can be adjusted by changing the gear ratio of the fixed bevel gear (233) and the driven bevel gear (235); the revolution angle of the clamping mechanism (3) can be adjusted by changing the size of the crank swing rod mechanism (22).
2. A single motor controlled revolution and rotation robot as claimed in claim 1, wherein: the synchronous belt transmission unit (21) comprises a driving belt wheel (211), a synchronous belt (212), a driven belt wheel (213) and a driven shaft (214), wherein the driving belt wheel (211) is connected with the driving mechanism (1), the driving belt wheel (211) is connected with the driven belt wheel (213) through the synchronous belt (212), and the driven belt wheel (213) is connected with the crank swing rod mechanism (22) through the driven shaft (214).
3. A single motor controlled revolution and rotation robot as claimed in claim 2, wherein: the driven pulley (213) is connected with a driven shaft (214) through a second shaft sleeve (215).
4. A single motor controlled revolution and rotation robot as claimed in claim 1, wherein: the fixed bevel gear (233) is connected with the fixed frame (4).
5. A single motor controlled revolution and rotation robot as claimed in claim 1, wherein: the driving mechanism (1) comprises a gear motor (11), a driving shaft (12) and a coupler (13), and the gear motor (11) is connected with the coupler (13) through the driving shaft (12).
6. A single motor controlled revolution and rotation robot as claimed in claim 5, wherein: the driving shaft (12) is positioned and locked with a driving pulley (211) of a synchronous belt transmission unit (21) through a first shaft sleeve (14), and is connected with the fixed frame (4) through a rolling bearing (5) and an elastic retainer ring (6).
7. A single motor controlled revolution and rotation robot as claimed in claim 1, wherein: the clamping mechanism (3) comprises an air cylinder fixing seat (31), an air cylinder body (32), an air cylinder sliding block (33) and clamping jaws (34), wherein the air cylinder body (32) is respectively connected with the air cylinder fixing seat (31) and the air cylinder sliding block (33), and the clamping jaws (34) are connected with the air cylinder sliding block (33).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210571900.6A CN114714343B (en) | 2022-05-24 | 2022-05-24 | Single-motor-controlled revolution and rotation manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210571900.6A CN114714343B (en) | 2022-05-24 | 2022-05-24 | Single-motor-controlled revolution and rotation manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114714343A CN114714343A (en) | 2022-07-08 |
| CN114714343B true CN114714343B (en) | 2024-02-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210571900.6A Active CN114714343B (en) | 2022-05-24 | 2022-05-24 | Single-motor-controlled revolution and rotation manipulator |
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| Country | Link |
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| CN (1) | CN114714343B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115445937A (en) * | 2022-09-27 | 2022-12-09 | 河南应用技术职业学院 | Logistics distribution device based on block chain |
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| CN103084698A (en) * | 2013-01-11 | 2013-05-08 | 哈尔滨工程大学 | Numerical control flame cutter based on metamorphic principle |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN114714343A (en) | 2022-07-08 |
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