CN203831396U - Mechanical arm device - Google Patents
Mechanical arm device Download PDFInfo
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- CN203831396U CN203831396U CN201420239468.1U CN201420239468U CN203831396U CN 203831396 U CN203831396 U CN 203831396U CN 201420239468 U CN201420239468 U CN 201420239468U CN 203831396 U CN203831396 U CN 203831396U
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Abstract
The utility model discloses a mechanical arm device. The mechanical arm device comprises a mechanical arm used for picking articles, a base mechanism used for driving the mechanical arm to move in an all-dimensional mode, a rotating mechanism, a lifting mechanism, a moving mechanism and a bridge crossing mechanism driving the whole device to cross a bridge, wherein the rotating mechanism, the lifting mechanism and the moving mechanism jointly drive the mechanical arm to move in space. The whole mechanical arm device can move in an all-dimensional mode, the stroke range is not influenced, the mechanical arm can move to any position in space through the joint action of the rotating mechanism, the lifting mechanism and the moving mechanism, and the universality is good. Through the effect of a revolution mechanism and the effect of a rotation mechanism, the mechanical arm can pick and place the articles, complete the screwing down and loosening motion and be used for screwing down or loosening parts like nuts and bolts.
Description
Technical field
The utility model relates to manipulator technical field, relates in particular to a kind of robot device that can pick up rear carry an object, can be used for tightening again parts.
Background technology
Along with development and the extensive use thereof of automatic technology, the scope of application of Robotics is also increasing, from the Intelligent welding work in workshop to daily life, can experience convenient that Robotics brings.Use Robotics effectively to enhance productivity and product percent of pass, be convenient to reduce cost of labor, and significantly improve productivity effect.Robot application has in daily life brought a lot of convenience, especially carries out the individuals with disabilities of some normal activities for inconvenience, and robot can help it to complete some necessary daily routines.
Wherein, manipulator is a kind of comparatively conventional device in Robotics, be mainly used in capturing object and object is moved to target location, existing manipulator generally adopts joint arm mechanism form, manipulator is arranged on one end of joint arm mechanism, and the other end of joint arm mechanism adopts rotation installation form to be fixed on a place.The scope of activities of this kind of manipulator is determined by the length of joint arm mechanism, the manipulator that need select different model according to different service conditions, versatility is poor, and after installing, installation site is changed in inconvenience easily, need all install in each operating position, be not easy to effectively cost-saving.
Utility model content
In order to overcome the shortcoming and defect of above-mentioned prior art, the utility model provides a kind of robot device of energy all-around mobile, and this robot device can not only pick up, carry an object, can also be used for tightening parts.
In order to reach above-mentioned technical purpose, the robot device that the utility model provides comprises for driving described manipulator to make the base mechanism of all-around mobile, and described base mechanism comprises base, is arranged on described base relative to the bottom roller of both sides and the motor one for driving corresponding bottom roller to rotate.
Motor one drives each corresponding bottom roller to rotate, realize advancing, retreat and turning of base mechanism, and then driving mechanical hand carries out all-around mobile, stroke extension scope, and this manipulator is owing to being arranged on mobilizable base mechanism, change when usage space without dismantling, resetting, can be effectively cost-saving.
Preferably, also comprise for driving described manipulator to realize the rotating mechanism of Plane Rotation motion, the transmission mechanism one that described rotating mechanism comprises motor three and coordinates with described motor three, described manipulator is connected with the driven member in described transmission mechanism one.
Preferably, also comprise for driving described manipulator to realize the elevating mechanism vertically moving up and down, described elevating mechanism comprises motor four, is arranged on the screw mandrel one on the driven member in described transmission mechanism one, the lifter plate for the power of described motor four being passed to the transmission mechanism two of described screw mandrel one and linking together by threaded engagement with described screw mandrel one, and described manipulator is connected with described lifter plate.
Preferably, also comprise for driving described manipulator to realize the travel mechanism that plane moves around, described travel mechanism comprises motor five, for the screw mandrel two of the substrate of described manipulator being installed, link together by threaded engagement with described substrate and for the power of described motor five being passed to the transmission mechanism three of described screw mandrel two, one end of described screw mandrel two is rotated and is arranged on described lifter plate.
Rotating mechanism, elevating mechanism and travel mechanism respectively driving mechanical hand complete Plane Rotation motion, vertically move up and down and plane moves back and forth, triplicity can make manipulator in solid space, realize movement and the rotation in X, Y, tri-directions of Z, the scope of activities of manipulator is large, and the versatility of robot device is good.
Preferably, also comprise the gap bridge mechanism for driving entirety to complete to pass a bridge motion, described gap bridge mechanism comprises that the pedestal, at least two that are fixedly installed on described base top are arranged on the upper roller on described pedestal and the motor two for driving corresponding upper roller to rotate.
When road surface situation out-of-flatness or while having gully to cause device entirety to be difficult to move by base mechanism, set up foot bridge in this localized positions, motor two drives upper roller rotate and then drive single unit system to pass a bridge at this foot bridge upper surface.
Preferably, the centre position of described upper roller peripheral outer wall is provided with annular protrusion.At the length direction setting of foot bridge and the groove of this annular protrusion adaptation, when gap bridge, annular protrusion is stuck in groove all the time, the situation that has deviation to cause device entirety to drop from foot bridge because of upper roller rotation direction so can avoid passing a bridge time, and then avoid breaking device entirety.
Preferably, described manipulator comprises at least three points of pawls and divides a pawl to realize the revolution mechanism rotatablely moving described in driving, the described mechanism of revolving round the sun comprises on the revolution driven member that motor six, rotation arrange and the power output shaft that is fixed on described motor six and the revolution driving link coordinating with described revolution driven member, and described point of pawl is connected with described revolution driven member.
After rotating, motor six drive revolution driven member to rotate by revolution driving link, revolution driven member drives point pawl to make revolution motion taking the center line of revolution driven member as axial line, by the revolution motion of the manipulator object forward or reverse of holding, therefore, can utilize this manipulator to tighten or unscrew object, as tighten or looser a bolt, nut etc.
Preferably, described manipulator also comprises for driving described point of pawl to realize to open or draws the free-wheeling system moving, and described free-wheeling system comprises motor seven, for installing that corresponding point of pawl and rotation are arranged on the rotation planetary gear on described revolution driven member, the rotation sun gear all engaging with each described rotation planetary gear and for the power of described motor seven being passed to the transmission mechanism four of described rotation sun gear.
After motor seven operations, drive rotation planetary gear to rotate by transmission mechanism four, rotation sun gear; the star-wheel of changing one's profession separately drives point pawl mounted thereto draw in or open; therefore, this manipulator can or open by the synchronous gathering of each point of pawl and move that object picks up, placement work.
Preferably, described elevating mechanism also comprises at least one pole one on the driven member being vertically fixedly installed in described transmission mechanism one, and described lifter plate is sleeved on described pole one.
Preferably, described travel mechanism also comprises at least one pole two, and the two ends of described pole two are installed together with described lifter plate and described substrate rotating respectively.
The robot device that the utility model provides, entirety can conveniently be carried out all-around mobile, and stroke range is unaffected, and by the synergy of rotating mechanism, elevating mechanism and travel mechanism, manipulator can move to the optional position in space, and versatility is good.Manipulator, by the effect of revolution mechanism and free-wheeling system, can not only pick up, put article, can also complete and tighten, unscrews action, can be used for tightening or unscrewing the part such as nut or bolt.
Brief description of the drawings
Fig. 1 is the overall structure schematic diagram of robot device in the utility model embodiment;
Fig. 2 is the structural representation of base mechanism in the utility model embodiment;
Fig. 3 is the structural representation of elevating mechanism and travel mechanism in the utility model embodiment;
Fig. 4 is the structural representation of manipulator in the utility model embodiment;
Fig. 5 is the rough schematic view of manipulator in the utility model embodiment;
Fig. 6 is that the control circuit of robot device in the utility model embodiment is always schemed;
The subordinate list that Fig. 7 is with in Fig. 6, each symbol is corresponding.
In figure, 1-base mechanism, 11-base, 12-bottom roller, 13-motor one; 2-gap bridge mechanism, 21-upper roller, 22-motor two, 23-bracing frame, 24-pedestal; 3-rotating mechanism, 31-motor three, 32-driving wheel one, 33-driven pulley one; 4-elevating mechanism, 41-motor four, 42-driving wheel two, 43-driven pulley two, 44-fixed head, 45-pole one, 46-screw mandrel one, 47-lifter plate, 48-silk braid one; 5-travel mechanism, 51-motor five, 52-driving wheel three, 53-driven pulley three, 54-pole two, 55-screw mandrel two, 56-substrate, 57-holder, 58-silk braid two, 59-sliding sleeve; 6-manipulator, 61-motor six, the 62-driving link that revolves round the sun, the 63-driven member that revolves round the sun, 64-motor seven, 65-rotation driving wheel, 66-rotation driven pulley, 67-rotation sun gear, 68-rotation planetary gear, 69-divides pawl; 71-push rod, 72-guide rail, 73-slide block, 74-bolt, 75-connecting rod, 76-axle.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.
As shown in the figure, the robot device that the utility model embodiment provides, by manipulator 6 by travel mechanism 5, elevating mechanism 4 and rotating mechanism 3 be arranged on can the base mechanism 1 of all-around mobile on, base mechanism energy driving mechanical hand carries out all-around mobile, and travel mechanism 5, elevating mechanism 4 and rotating mechanism 3 synergy can arrive the arbitrary target location in space by driving mechanical hand.
Base mechanism comprises base 11, is arranged on base relative to the bottom roller 12 of both sides and the motor 1 for driving corresponding bottom roller to rotate.In the utility model embodiment, the left side of base is provided with three bottom rollers, and the right side of base is provided with two bottom rollers, and the each motor one 13 corresponding with bottom roller is all arranged on base upper surface by L bracket.
Above base mechanism, be provided with the gap bridge mechanism 2 that drives entirety to complete to pass a bridge motion, this gap bridge mechanism comprises that the pedestal 24, at least two that are fixedly installed on base 11 tops by bracing frame 23 are arranged on the upper roller 21 on pedestal and the motor 2 22 for driving corresponding upper roller to rotate.
Consider entirety gravitational equilibrium factor while gap bridge, gap bridge mechanism 2 is arranged on to the middle part of base mechanism 1 top, two parts that base is arranged to divide right and left, are provided with width compared with the wide bigger space of bridge between the two parts of left and right.Pedestal 24 is arranged and is " work " font, 21, two rollers of two upper rollers are set and lay respectively in the opening of pedestal both sides.The bottom of bracing frame 23 both sides respectively with two of the left and right partial fixing of base 11, its top is all fixing with pedestal 24.
In order to make device entirety avoid the situation that has deviation to cause entirety to drop due to upper roller rotation direction in the time passing a bridge, install annular protrusion in the interposition of upper roller 21 peripheral outer wall, at the length direction setting of bridge and the groove of this annular protrusion adaptation.When gap bridge, annular protrusion is stuck in the groove of bridge all the time, and device entirety can not drop while gap bridge, avoids breaking.Certainly, annular groove also can be set on upper roller, at the adaptive locating piece coordinating with this annular groove of length direction of bridge.
The transmission mechanism one that rotating mechanism 3 comprises motor 3 31 and coordinates with motor three, in the utility model embodiment, transmission mechanism one adopts gear mechanism, comprises the driving wheel 1 being fixedly connected with motor three power output shafts and the driven pulley 1 engaging with driving wheel one.Motor three is arranged on the upper surface of base 11 by support, driving wheel one and driven pulley one are positioned at the top of base 11.
Elevating mechanism comprise motor 4 41, bottom be fixedly installed on screw mandrel 1 on driven pulley 1, for the lifter plate 47 that the power of motor four is passed to the transmission mechanism two of screw mandrel one, link together by threaded engagement with screw mandrel one and the fixed head 44 that is fixedly installed on rotating mechanism top.
On driven pulley 1, fix at least two poles 1, fixed head is fixed on to the upper end of pole one.A silk braid 1 coordinating with screw mandrel 1 is set on lifter plate 47, and screw mandrel one is by being connected with lifter plate with the cooperation of silk braid one, and lifter plate is smooth is sleeved on pole 1.Transmission mechanism two also adopts gear drive, comprise driving wheel 2 42, driven pulley 43, motor four is arranged on fixed head 44, and driving wheel two is fixedly connected with the power output shaft of motor 4 41, and driven pulley 2 43 is fixedly installed on the upper end of screw mandrel 1 and engages with driven pulley two.
Screw mandrel 2 55 that travel mechanism 5 comprises motor 5 51, link together by threaded engagement for the substrate 56 of installation manipulator 6, with substrate, for the power of motor five is passed to the transmission mechanism three of screw mandrel two and two ends respectively with lifter plate, the smooth pole being set in together 2 54 of substrate.
Lifter plate setting is L-type, and travel mechanism is arranged on the plate of lifter plate vertical direction.Transmission mechanism three also adopts gear drive, comprises driving wheel 3 52 and driven pulley 3 53.Motor 5 51 is arranged on lifter plate 47, and driving wheel 3 52 is fixed with the power output shaft of motor five, and one end of screw mandrel 2 55 is rotatably installed on lifter plate, and driven pulley 3 53 is sleeved on the end of screw mandrel two these ends and engages with driving wheel 3 52.On substrate 56, arrange and the silk braid 2 58 of screw mandrel two threaded engagement, screw mandrel two by with the coordinating and then link together with substrate 56 of silk braid two.The holder 57 coordinating with pole 2 54 is set on lifter plate, the sliding sleeve 59 coordinating with pole two is set on substrate, one end of pole is fixedly connected with holder, and the other end is by being connected with the cooperation of sliding sleeve and then with substrate.
In the utility model embodiment, manipulator 6 adopts scroll chuck formula structure, comprises three points of pawls 69, for the revolution mechanism that drives point pawl to realize to rotatablely move and for driving point pawl 69 to realize to open or draws the free-wheeling system moving.
Revolution mechanism and free-wheeling system are arranged in a crossed manner, and revolution mechanism comprises the revolution driving link 62 coordinating on the revolution driven member 63 that motor 6 61, rotation arrange and the power output shaft that is fixed on motor six and with revolution driven member.Revolution mechanism also adopts gear-driven form, and revolution driven member and revolution driving link are pitch wheel.
Free-wheeling system comprises motor 7 64, for installing that corresponding point of pawl and rotation are arranged on the rotation planetary gear 68 of revolution on driven member 63, the rotation sun gear 67 all engaging with the star-wheel of changing one's profession separately and for the power of motor seven being passed to the transmission mechanism four of rotation sun gear.
Transmission mechanism four also adopts gear drive, comprises rotation driving wheel 65 and rotation driven pulley 66.Above substrate 56, fix a top board 71 by bolt 74, circular guideway 72 and the round slider 73 with circular guideway adaptation are set between top board and substrate, on substrate, arrange and overlap with round slider center line and diameter is less than the through hole of slide block diameter.
The middle part of revolution driven member 63 is provided with hole and revolution driven member is connected with slide block 73 by the connecting rod 75 being evenly arranged, and one end of connecting rod is fixed on slide block, and the other end is fixed on revolution driven member.Motor 6 61 is fixed on substrate 56, and revolution driving link 62 is fixed on the power output shaft of motor six and with revolution driven member and coordinates.
The center of slide block 73 is rotated and is provided with an axle 76, the other end of axle passes revolution driven member 63 by hole, rotation sun gear 67 is fixed on this end end of axle, rotation planetary gear 68 rotates and is arranged on revolution driven member and engages with rotation sun gear 67, and each point of pawl 69 is fixed on corresponding rotation planetary gear 68.Motor 7 64 is fixed on revolution driven member 63, and rotation driving wheel 65 is fixed on the power output shaft of motor seven, and rotation driven pulley 66 is fixedly set on axle 76 and with rotation driving wheel and engages.
The utility model device entirety adopts PLC system to control, and its control circuit figure as shown in Figure 6.When work, the motor 1 of arranged on left and right sides is opened, and carries out synchronous forward and backward driving device entirety advance or retreat, execution SB1, SB2 by the motor one of arranged on left and right sides.Need to turn round time, motor one forward in left side, the motor one on right side reverse or the motor one in left side reverses, motor one forward on right side, and device entirety can be turned left or turn right, execution SB3, SB4.
Motor 3 31 is opened, and is turned left or is turned right by driving wheel 1, driven pulley one 33 driving mechanical hands 6; Execution SB7, SB8.Motor 4 41 is opened, and drives screw mandrel 1 to rotate by driving wheel 2 42, driven pulley 2 43, and screw mandrel one drives lifter plate 47 to rise or decline by threaded engagement, and then driving mechanical hand 6 rises or declines, execution SB9, SB10.Motor 5 51 is opened, and drives screw mandrel 2 55 to rotate by driving wheel 3 52, driven pulley 53, and screw mandrel two drives substrate 56 advance or retreat by threaded engagement, and then driving mechanical hand advances or retreats, execution SB5, SB6.
Motor 6 61 rotates, and drives point pawls to rotate taking the center line of revolution driven member as axial line by revolution driving link 62, revolution driven member 63, realizes tightening or unscrewing action of manipulator, realizes action SB13, SB14.Motor 7 64 is opened; be with moving axis 76 to rotate by rotation driving wheel 65, rotation driven pulley 66; axle drives rotation sun gear 67 synchronously to rotate; rotation sun gear drives rotation planetary gear 68 to rotate by engagement; and then drive a point pawl 69 draw in or open; complete the crawl of manipulator or unclamp, realizing action SB11, SB12.
Need to pass a bridge time, motor 2 22 is opened, and drives upper roller 21 forward or reverse, and then driving device entirety is advanced or retreats, realization action SB15, SB16 on bridge.
Gap bridge action and being moved apart of device entirety are carried out, and can intersect simultaneously and carry out with other actions respectively.In the robot device that the utility model embodiment provides, rotating mechanism, elevating mechanism and travel mechanism respectively driving mechanical hand complete Plane Rotation motion, vertically move up and down and plane moves back and forth, triplicity can make manipulator in solid space, realize movement and the rotation in X, Y, tri-directions of Z, the scope of activities of manipulator is large, and the versatility of robot device is good.
In a word, the foregoing is only preferred embodiment of the present utility model, transmission mechanism adopts gear drive, makes device overall operation steadily and compact overall structure, certainly, also can adopt belt wheel to carry out the form of transmission.Every equalization of doing according to the utility model changes and modifies, and all should belong to the protection domain that the utility model is applied for a patent.
Claims (7)
1. a robot device, comprise the manipulator (6) for picking up article, it is characterized in that, also comprise the base mechanism (1) for driving described manipulator all-around mobile, described base mechanism comprises base (11), is arranged on the bottom roller relative to both sides (12) and the motor one (13) for driving corresponding bottom roller to rotate on described base;
Also comprise the rotating mechanism (3) for driving described manipulator (6) Plane Rotation, the transmission mechanism one that described rotating mechanism comprises motor three (31) and coordinates with described motor three, described manipulator is connected with the driven member in described transmission mechanism one;
Also comprise the elevating mechanism (4) for driving described manipulator (6) vertically to move up and down, described elevating mechanism comprises motor four (41), is fixedly installed on the screw mandrel one (46) on driven member in described transmission mechanism one, lifter plate (47) for the power of described motor four being passed to the transmission mechanism two of described screw mandrel one and linking together by threaded engagement with described screw mandrel one, and described manipulator is connected with described lifter plate;
Also comprise for driving described manipulator (6) to realize the travel mechanism (5) that plane moves around, described travel mechanism comprises motor five (51), for the screw mandrel two (55) of the substrate (56) of described manipulator being installed, link together by threaded engagement with described substrate and for the power of described motor five being passed to the transmission mechanism three of described screw mandrel two, one end of described screw mandrel two is rotated and is arranged on described lifter plate (47).
2. robot device according to claim 1, it is characterized in that, also comprise the gap bridge mechanism (2) that completes the motion of passing a bridge for driving device entirety, described gap bridge mechanism comprises that the pedestal (24), at least two that are fixedly installed on described base (11) top are arranged on the upper roller (21) on described pedestal and the motor two (22) for driving corresponding upper roller to rotate.
3. robot device according to claim 2, is characterized in that, the centre position of described upper roller (21) peripheral outer wall is provided with annular protrusion.
4. according to the robot device described in claim 1-3 any one, it is characterized in that, described manipulator (6) comprises at least three points of pawls (69) and the revolution mechanism for driving described point pawl to rotate, the described mechanism of revolving round the sun comprises on the revolution driven member (63) that motor six (61), rotation arrange and the power output shaft that is fixed on described motor six and the revolution driving link (62) coordinating with described revolution driven member, and described point of pawl is connected with described revolution driven member.
5. robot device according to claim 4, it is characterized in that, described manipulator (6) also comprises the free-wheeling system for driving described point of pawl (69) to open or draw in, and described free-wheeling system comprises motor seven (64), for installing that corresponding point of pawl and rotation are arranged on the rotation planetary gear (68) on described revolution driven member (63), the rotation sun gear (67) all engaging with each described rotation planetary gear and for the power of described motor seven being passed to the transmission mechanism four of described rotation sun gear.
6. robot device according to claim 1, it is characterized in that, described elevating mechanism (4) also comprises that at least one is vertically fixedly installed on the pole one (45) on driven member in described transmission mechanism one, and described lifter plate (47) is smooth to be sleeved on described pole one.
7. robot device according to claim 1, it is characterized in that, described travel mechanism (5) also comprises at least one pole two (54), the two ends of described pole two respectively with described lifter plate (47) and smooth being set in together of described substrate (56).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420239468.1U CN203831396U (en) | 2014-05-12 | 2014-05-12 | Mechanical arm device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420239468.1U CN203831396U (en) | 2014-05-12 | 2014-05-12 | Mechanical arm device |
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| CN203831396U true CN203831396U (en) | 2014-09-17 |
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| CN201420239468.1U Expired - Fee Related CN203831396U (en) | 2014-05-12 | 2014-05-12 | Mechanical arm device |
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| CN107200201A (en) * | 2016-03-18 | 2017-09-26 | 上海隽能自动化技术有限公司 | Automatically wire charging mechanism is followed |
| CN107695919A (en) * | 2017-11-22 | 2018-02-16 | 韩学 | A kind of manipulator work tool of improvement |
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| CN104613133A (en) * | 2015-02-03 | 2015-05-13 | 中国工程物理研究院总体工程研究所 | Tightening torque applying device |
| CN107200201A (en) * | 2016-03-18 | 2017-09-26 | 上海隽能自动化技术有限公司 | Automatically wire charging mechanism is followed |
| CN107984476A (en) * | 2017-11-21 | 2018-05-04 | 丁秀珍 | The municipal gardens robot of one kind building |
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| CN107971104A (en) * | 2017-11-24 | 2018-05-01 | 朱银娥 | A kind of afforestation work tool |
| CN108000475A (en) * | 2017-11-24 | 2018-05-08 | 张秀妙 | A kind of work tool of afforestation with monitoring camera-shooting |
| CN108000527A (en) * | 2017-11-30 | 2018-05-08 | 张秀妙 | A kind of environment-friendly type afforestation robot |
| CN107972758A (en) * | 2017-11-30 | 2018-05-01 | 傅清辉 | A kind of gardens Work robot |
| CN108032293A (en) * | 2017-11-30 | 2018-05-15 | 韩学 | A kind of afforestation robot |
| CN107826174A (en) * | 2017-11-30 | 2018-03-23 | 丁秀珍 | A kind of afforestation walking robot |
| CN108068904A (en) * | 2017-11-30 | 2018-05-25 | 陈德梅 | A kind of gardens operation walking robot |
| CN108068905A (en) * | 2017-11-30 | 2018-05-25 | 朱银娥 | A kind of environment-friendly type afforestation robot |
| CN107972759A (en) * | 2017-11-30 | 2018-05-01 | 柳南辉 | A kind of afforestation walking robot |
| CN108177118A (en) * | 2017-12-18 | 2018-06-19 | 潍柴动力股份有限公司 | It is a kind of to be used to dismantle the tooling of piston and piston method for dismounting |
| CN109436699A (en) * | 2018-10-11 | 2019-03-08 | 筑梦高科建筑有限公司 | A kind of framework of steel reinforcement forming machine people |
| CN111039008A (en) * | 2020-01-07 | 2020-04-21 | 广州基俊机械科技有限公司 | Manipulator that can be used to arc transportation |
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