CN200965748Y - 2-freedom robot hand for simple teaching - Google Patents
2-freedom robot hand for simple teaching Download PDFInfo
- Publication number
- CN200965748Y CN200965748Y CN 200620009408 CN200620009408U CN200965748Y CN 200965748 Y CN200965748 Y CN 200965748Y CN 200620009408 CN200620009408 CN 200620009408 CN 200620009408 U CN200620009408 U CN 200620009408U CN 200965748 Y CN200965748 Y CN 200965748Y
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- gear wheel
- base
- vertical moving
- moving cylinder
- pinion
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Abstract
The utility model provides a double-duty manipulator which is used for simple education of freedom of motion with simple structure and convenient operation. The manipulator consists of a base, a magnetic stepping motor, a pinion, a big gear wheel, a big gear shaft, a connecting panel, a vertically movable cylinder and an air-powered paw. The magnetic stepping motor is arranged on the base and the pinion is arranged on an output axis of the magnetic stepping motor; the big gear wheel is arranged on the big gear shaft which is arranged on the base by a bearing and is engaged with the pinion; the big gear wheel is connected with the vertically movable cylinder by the connecting panel and the air- powered paw is arranged on the vertically movable cylinder. The utility model adopts the magnetic stepping motor and the cylinder to achieve the movement of two freedom of motion of rotation and beeline, which is mainly used in the simple educating process of the control operation and acknowledge of the manipulator. The utility model has the advantages of simple structure, good performance of movement and convenient operation.
Description
Technical field
The utility model relates to a kind of easy two-freedom teaching and uses mechanical arm, belongs to the teaching aid technical field.
Background technology
Along with the develop rapidly of machinery manufacturing industry, it is more and more general that Automation of Manufacturing Process is used.Pursue high-level efficiency, the high-quality of production and processing, lowering production cost forces more and more enterprises to improve the automaticity of production run as much as possible, thereby more and more mechanical arm, robot application also require the university of engineering and polytechnic universities or vocational education as early as possible the development and the application of mechanical arm, robot to be brought in the teaching process simultaneously in the middle of producing.At present, the mechanical arm of using in the actual engineering, the general structure of robot are comparatively complicated, and cost is higher, is not suitable for moving into the church, is applied to teaching.The patent and the article that relate to mechanical arm, robot aspect are a lot, but just some literal and picture introduction can not be used to the on-the-spot demonstration of imparting knowledge to students.Vocational school and some engineering and polytechnic universities more wish to use a kind of simple, can embody mechanical arm or robot structure, teaching mechanical arm that type of drive is various, with low cost carries out lively related content teaching, but this mechanical arm is difficult to find at present.
Summary of the invention
At the deficiency of existing teaching with the mechanical arm technology, the utility model provides a kind of two-freedom simple in structure, easy to use simple and easy teaching mechanical arm.
The utility model is realized by following technical solution:
The simple and easy teaching of two-freedom is made up of base, stepper motor, pinion wheel, gear wheel, Large Gear Shaft During, web joint, vertical moving cylinder, Pneumatic paw with mechanical arm, and stepper motor is installed on the base, on the output shaft of stepper motor pinion wheel is installed; Gear wheel is installed on the Large Gear Shaft During, the engagement of pinion wheel and gear wheel, Large Gear Shaft During by Bearing Installation on base; Gear wheel and vertical moving cylinder link together by web joint, and Pneumatic paw is installed on the vertical moving cylinder.
Adopt TN type vertical moving cylinder.
Stepper motor drives gear wheel by pinion wheel and rotates, and gear wheel drives the vertical moving cylinder and rotates around Large Gear Shaft During, finishes rotatablely moving of Pneumatic paw.The vertical moving cylinder drives Pneumatic paw and stretches out, withdraws under compressed-air actuated effect, finish the rectilinear motion of Pneumatic paw.Pneumatic paw is opened and closure from finishing under compressed-air actuated effect, decontrols and grasp article.
The utility model application stepper motor and cylinder have been finished the motion of rotation and two degree of freedom of straight line.Have simple in structure, Windsor, characteristics easy to use.Be mainly used in the teaching processes such as simple mechanical arm control operation, mechanical arm cognition.
Description of drawings
Fig. 1 is a structural representation of the present utility model.
Fig. 2 is the right view of Fig. 1.
Among the figure: 1, Pneumatic paw, 2, the vertical moving cylinder, 3, screw, 4, gear wheel, 5, web joint, 6, the resilient bearing back-up ring, 7, bearing, 8, Large Gear Shaft During, 9, pinion wheel, 10, stepper motor, 11, base.
Embodiment
Embodiment
The simple and easy teaching of two-freedom of the present utility model is made up of base 11, stepper motor 10, pinion wheel 9, gear wheel 4, Large Gear Shaft During 8, web joint 5, vertical moving cylinder 2 and Pneumatic paw 1 with mechanical arm as shown in Figure 1.Stepper motor 10 is installed on the base 11 by four screws, and pinion wheel 9 is installed on the output shaft of stepper motor 10, and gear wheel 4 is installed on the Large Gear Shaft During 8, pinion wheel 9 and gear wheel 4 engagements.One end of Large Gear Shaft During 8 is installed on the base 11 by bearing 7, and bearing 7 is by flange and spring collar 6 positioning and fixing on the base 11.Two through holes are all arranged on gear wheel 4 and the strip web joint 5, pass these two through holes with two screws 3 gear wheel 4 and connection strap 5 are fixed on the vertical moving cylinder 2, make the rotation of gear wheel 4 drive vertical moving cylinder 2 around Large Gear Shaft During 8 rotations.Vertical moving cylinder 2 is TN types.Pneumatic paw 1 is installed in the piston rod front end of vertical moving cylinder 2, and Pneumatic paw 1 can closure or openness under the effect of gas.
If this mechanical arm vertical applications, when picking up object, stepper motor 10 rotations, pinion wheel 9 drives gear wheel 4 rotations, and gear wheel 4 drives vertical movement cylinder 2 around Large Gear Shaft During 8 rotations, makes Pneumatic paw 1 aim at the object of desiring to move.At this moment, Pneumatic paw 1 opens, and the piston rod of vertical moving cylinder 2 stretches out, and arrives the precalculated position, and Pneumatic paw 1 is closed under the control of instruction, clamps article.Then, vertical moving cylinder 2 is under the effect of steering order, and its piston rod is withdrawn.Stepper motor 10 rotates predetermined angular displacement as required, arrives destination locations, and the piston rod of vertical moving cylinder 2 stretches out then, and behind the arrival precalculated position, article are put down in 1 unlatching of steering order control Pneumatic paw.This is a circulation of picking up object.
Equally, but this mechanical arm horizontal positioned can be carried article in same surface level.
Claims (2)
1. simple and easy teaching mechanical arm of two-freedom, form by base, stepper motor, pinion wheel, gear wheel, Large Gear Shaft During, web joint, vertical moving cylinder, Pneumatic paw, it is characterized in that: stepper motor is installed on the base, on the output shaft of stepper motor pinion wheel is installed; Gear wheel is installed on the Large Gear Shaft During, the engagement of pinion wheel and gear wheel, Large Gear Shaft During by Bearing Installation on base; Gear wheel and vertical moving cylinder link together by web joint, and Pneumatic paw is installed on the vertical moving cylinder.
2. according to the simple and easy teaching mechanical arm of claims 1 described two-freedom, it is characterized in that: described vertical moving cylinder adopts the TN type.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620009408 CN200965748Y (en) | 2006-11-07 | 2006-11-07 | 2-freedom robot hand for simple teaching |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620009408 CN200965748Y (en) | 2006-11-07 | 2006-11-07 | 2-freedom robot hand for simple teaching |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN200965748Y true CN200965748Y (en) | 2007-10-24 |
Family
ID=38869765
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200620009408 Expired - Fee Related CN200965748Y (en) | 2006-11-07 | 2006-11-07 | 2-freedom robot hand for simple teaching |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN200965748Y (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102229143A (en) * | 2011-06-22 | 2011-11-02 | 于复生 | Four-degree-of-freedom pneumatic manipulator |
| CN104167146A (en) * | 2014-07-22 | 2014-11-26 | 苏晓兵 | Assembled teaching mechanical arm |
| CN104882061A (en) * | 2015-06-17 | 2015-09-02 | 上海大学 | Land experiment system applied in two-degree-of-freedom mobile robot module |
| CN106826818A (en) * | 2017-01-12 | 2017-06-13 | 杭州国辰机器人科技有限公司 | A kind of Wrist mechanism of teaching device |
-
2006
- 2006-11-07 CN CN 200620009408 patent/CN200965748Y/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102229143A (en) * | 2011-06-22 | 2011-11-02 | 于复生 | Four-degree-of-freedom pneumatic manipulator |
| CN104167146A (en) * | 2014-07-22 | 2014-11-26 | 苏晓兵 | Assembled teaching mechanical arm |
| CN104167146B (en) * | 2014-07-22 | 2019-08-20 | 扬州市伊兴机械有限公司 | Pin-connected panel Mechanical hands for teaching |
| CN104882061A (en) * | 2015-06-17 | 2015-09-02 | 上海大学 | Land experiment system applied in two-degree-of-freedom mobile robot module |
| CN104882061B (en) * | 2015-06-17 | 2017-07-25 | 上海大学 | Land experimental system applied to two-freedom mobile robot module |
| CN106826818A (en) * | 2017-01-12 | 2017-06-13 | 杭州国辰机器人科技有限公司 | A kind of Wrist mechanism of teaching device |
| CN106826818B (en) * | 2017-01-12 | 2024-06-07 | 杭州国辰机器人科技有限公司 | Wrist mechanism of teaching equipment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |