CN205325724U - Mechanical arm - Google Patents
Mechanical arm Download PDFInfo
- Publication number
- CN205325724U CN205325724U CN201620019185.5U CN201620019185U CN205325724U CN 205325724 U CN205325724 U CN 205325724U CN 201620019185 U CN201620019185 U CN 201620019185U CN 205325724 U CN205325724 U CN 205325724U
- Authority
- CN
- China
- Prior art keywords
- bevel gear
- claw
- mechanical arm
- drive mechanism
- supporting seat
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
The utility model relates to a mechanical arm belongs to mechanical tool technical field. The utility model discloses a mechanical arm, including mechanical arm body, actuating mechanism, drive mechanism, actuating mechanism and mechanical arm body fixed connection are connected with drive mechanism simultaneously, its characterized in that, drive mechanism connects claw mechanism and drives claw mechanism motion, drive mechanism is including initiative bevel gear, passive bevel gear, it is rotatory that initiative bevel gear drives passive bevel gear, the conveying axle and the passive bevel gear cooperation of claw mechanism are connected, realize the motion of claw mechanism. Drive mechanism adopts bevel gear can change the transmission direction of motor torque for arranging of spare part is more equitable, reduces the shared space of mechanism.
Description
Technical field
This utility model belongs to machine tool technical field, relates to a kind of mechanical arm。
Background technology
Mechanical arm is device conventional in automated system, is used for carrying mobile object, or grips to the workpiece of required processing, have easy to use, simple in construction, the advantages such as adaptability is good, motor can be divided into drive by type of drive, air cylinder driven, general mechanical arm part is more, and structure is complex, and control accuracy is poor, crawl for some flimsy objects, it is impossible to effectively capture。
For the drawbacks described above existed in currently available technology, it is necessary to study in fact, to provide a kind of scheme, solves the defect existed in prior art。
Utility model content
For solving the problems referred to above, the purpose of this utility model is in that to provide a kind of mechanical arm, utilizes bevel gear to realize the accurate and effective motor control of mechanical arm。
For achieving the above object, the technical solution of the utility model is:
A kind of mechanical arm, including mechanical arm body, driving mechanism, drive mechanism, described driving mechanism is fixing with mechanical arm body to be connected, it is connected with drive mechanism, it is characterised in that described drive mechanism connects claw mechanism and drives claw mechanism kinematic simultaneously, described drive mechanism includes actively bevel gear, passive bevel gear, described active bevel gear drives passive bevel gear to rotate, and the transmission shaft of described claw mechanism and passive bevel gear are connected, it is achieved the motion of claw mechanism。Drive mechanism adopts bevel gear to could alter that the transmission direction of Motor torque so that the layout of parts is more reasonable, reduces the space shared by mechanism。
Further, described drive mechanism also includes supporting seat, end cap, and described end cap is fixedly connected in mechanical arm body, and supporting seat centre position is provided with short axle and is connected with passive bevel gear, make passive bevel gear being fixed in the way of rotating on supporting seat, it is impossible to move axially。
Further, described passive bevel gear is provided with gradient through hole, and aperture, one end in mating connection with the short axle of supporting seat, limits moving radially of passive bevel gear more greatly, and aperture, one end is less and is provided with screw thread and matches for the screw thread of same transmission shaft。
Further, described claw mechanism includes transmission shaft, claw, range finder, pressure cell, photographic head, claw leading inside is provided with pressure cell in order to control the clamping force of claw, position near pressure cell, it is simultaneously installed with range finder, in order to regulate angle and the scope that claw opens, the surrounding enviroment when inner side of claw upper end is simultaneously installed with photographic head in order to observe crawl and capture object。Preferably, range finder is laser range finder or ultrasonic range finder。
Further, described supporting seat centre position has through hole so that transmission shaft can sequentially pass through end cap, supporting seat and match with passive bevel gear female thread spinning in and out, and described supporting seat surrounding is provided with bolt hole, is connected in order to fixing with end cap。
Compared with prior art, the beneficial effects of the utility model are as follows:
1. this utility model adopts bevel gear to drive claw mechanism kinematic, it is possible to the motion of control claw clamp mechanism fast and accurately, and can save the space shared by mechanism so that the design of whole mechanism is more reasonable, compact。
2. claw mechanism of the present utility model is provided with pressure cell and can accurately sense chucking power, and the size of chucking power can be effectively controlled by corresponding control chip, range finder is utilized can accurately to control the angle opened and the scope of claw, being provided with photographic head when claw is captured, user can accurately understand claw surrounding enviroment。
Accompanying drawing explanation
Fig. 1 is the explosive view of this utility model specific embodiment；
Fig. 2 is the partial schematic diagram of this utility model specific embodiment。
Description of reference numerals: 1-motor, 2-deceleration device, 3-motor shaft, 4-motor cabinet, 5-is bevel gear actively, 6-clutch shaft bearing, 7-packing ring, 8-rotating shaft, the passive bevel gear of 9-, 10-the second bearing, 11-supporting seat, 12-end cap, 13-axle sleeve, 14-transmission shaft, 15-display screen, 141-the first screw thread, 142-the second screw thread, 100-claw mechanism, 16-fixes seat, 17-photographic head, 18-range finder, 19-pressure cell, 20-claw。
Detailed description of the invention
In order to make the purpose of this utility model, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, this utility model is further elaborated。Should be appreciated that specific embodiment described herein is only in order to explain this utility model, be not used to limit this utility model。
On the contrary, this utility model contains any replacement made in spirit and scope of the present utility model, amendment, equivalent method and scheme being defined by the claims。Further, in order to make the public that this utility model to be had a better understanding, in below details of the present utility model being described, detailed describe some specific detail sections。The description not having these detail sections for a person skilled in the art can also understand this utility model completely。
As shown in Figure 1, 2, a kind of mechanical arm includes mechanical arm body, electronic control module, driving mechanism, drive mechanism, claw mechanism 100, driving mechanism includes being connected to the motor 1 of deceleration device 2, motor cabinet 4, motor cabinet 4 is provided with motor 1 hole, motor 1 is movably connected on motor cabinet 4 by bearing, and motor cabinet 4 is bolted in mechanical arm body。Drive mechanism includes actively bevel gear 5, passive bevel gear 9, supporting seat 11, end cap 12, end cap 12 is fixedly connected in mechanical arm body, supporting seat 11 centre position is provided with short axle and is connected with passive bevel gear 9, make passive bevel gear 9 can be fixed in the way of rotating on supporting seat 11, cannot move axially, supporting seat 11 surrounding is provided with bolt hole, is connected in order to fixing with end cap 12。
Claw mechanism 100 includes transmission shaft 14, claw 20, range finder 18, pressure cell 19, photographic head 17, transmission shaft 14 one end is provided with the first screw thread 141, centre position is provided with the second screw thread 142, transmission shaft 14 other end is fixedly connected with claw 20, transmission shaft 14 is connected by the first screw thread 141 and mechanical arm body are fixing, it is provided with through hole in the middle of end cap 12, axle sleeve 13 is installed in through hole, transmission shaft 14 traverse axle sleeve 13 so that transmission shaft 14 can rotate in end cap 12 and can move axially。Second screw thread 142 of transmission shaft 14 matches with passive bevel gear 9, passive bevel gear 9 is provided with gradient through hole, one end through hole is in mating connection for the short axle with supporting seat 11 more greatly, limit moving radially of passive bevel gear 9, one end through hole is less and is provided with screw thread and matches for the second screw thread 142 of same transmission shaft 14 so that transmission shaft 14 can spinning in and out from end cap 12。
Claw 20 leading inside is provided with pressure cell 19 in order to control the clamping force of claw 20, near the position of pressure cell 19, is simultaneously installed with range finder 18, in order to regulate angle and the scope that claw 20 opens。The inner side of claw 20 upper end is simultaneously installed with photographic head 17 in order to observe environment during crawl, and claw 20 is connected by fixing seat 16 is fixing with transmission shaft 14。Electronic control module includes display screen 15, control chip, and display screen 15 1 aspect, in order to show the image information that photographic head 17 gathers, can show movement locus and the planning information of claw 20 on the other hand。
The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model, all any amendment, equivalent replacement and improvement etc. made within spirit of the present utility model and principle, should be included within protection domain of the present utility model。
Claims (5)
1. a mechanical arm, including mechanical arm body, driving mechanism, drive mechanism, described driving mechanism (1) is fixing with mechanical arm body to be connected, it is connected with drive mechanism simultaneously, it is characterized in that, described drive mechanism connects claw mechanism (100) and drives claw mechanism (100) to move, described drive mechanism includes actively bevel gear (5), passive bevel gear (9), described active bevel gear (5) drives passive bevel gear (9) to rotate, the transmission shaft (14) of described claw mechanism (100) and passive bevel gear (9) are connected。
2. mechanical arm as claimed in claim 1, it is characterized in that, described drive mechanism also includes supporting seat (11), end cap (12), described end cap (12) is fixedly connected in mechanical arm body, and supporting seat (11) centre position is provided with so that passive bevel gear (9) is can be fixed on the short axle on supporting seat (11) in the way of rotating。
3. mechanical arm as claimed in claim 1 or 2, it is characterized in that, described passive bevel gear (9) is provided with gradient through hole, gradient through hole is relatively big for the aperture, one end that the short axle of same supporting seat (11) is in mating connection, and the aperture, one end matched for the screw thread of same transmission shaft (14) is less and is provided with screw thread。
4. mechanical arm as claimed in claim 1, it is characterized in that, described claw mechanism (100) includes transmission shaft (14), claw (20), range finder (18), pressure cell (19), photographic head (17), claw (20) leading inside is provided with to measure the pressure cell (19) of claw (20) clamping force, position near pressure cell (19), it is simultaneously installed with to measure the range finder (18) of claw (20) opening angle and scope, the surrounding enviroment when inner side of claw (20) upper end is simultaneously installed with to record crawl and capture the photographic head (17) of object。
5. mechanical arm as claimed in claim 3, it is characterised in that described supporting seat (11) centre position has through hole。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620019185.5U CN205325724U (en) | 2016-01-08 | 2016-01-08 | Mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620019185.5U CN205325724U (en) | 2016-01-08 | 2016-01-08 | Mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205325724U true CN205325724U (en) | 2016-06-22 |
Family
ID=56210479
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620019185.5U Expired - Fee Related CN205325724U (en) | 2016-01-08 | 2016-01-08 | Mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205325724U (en) |
-
2016
- 2016-01-08 CN CN201620019185.5U patent/CN205325724U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160622 Termination date: 20170108 |