CN205614703U - Flexible rotary regulating mechanism of manipulator for robot - Google Patents

Abstract

Flexible rotary regulating mechanism of manipulator for robot is including fixing support, the 3rd step motor, arm board, support pneumatic cylinder and flexible arm, the 3rd step motor fixes on fixing support, and the 3rd step motor's main shaft lies in the horizontal direction, the one end of arm board and the 3rd step motor's the perpendicular fixed connection of main shaft, the other end of arm board is fixed with fourth step motor, and fourth step motor's main shaft lies in horizontal direction, fourth step motor's main shaft and the perpendicular fixed connection of flexible arm, the block end who supports the pneumatic cylinder articulates on fixing support, and the piston rod hinge that supports the pneumatic cylinder is on flexible arm, and flexible arm left end is connected with the manipulator, the utility model discloses simple structure, easily operation to can be at multi -angle high altitude construction under the special environment, the security is high, and the practicality is strong.

Description

Robot mechanical hand Telescopic rotating governor motion

Technical field

This utility model belongs to mechanical and power equipment field, is specifically related to a kind of robot mechanical hand Telescopic rotating governor motion.

Background technology

Along with the fast development of modern science and technology level, people are more and more extensive for the application of automation equipment, and automation equipment is applied to various field；Such as in scene of fire, fireman is difficult to charge into the scene of a fire and moves barrier and rescue people, people also cannot take the article in high vacant room, and article can only be burned out, when workman's glass outside high-altitude wiping high building, dangerous big, in the face of such situation people are the most at a loss what to do, therefore for case above, how to solve under special circumstances, can quick and convenient safe crawl object operation, become to need badly and solve the technical problem that.

Utility model content

This utility model is in order to solve weak point of the prior art, it is provided that a kind of simple in construction, easy to operate, multi-angle can carry out the robot mechanical hand Telescopic rotating governor motion of operation.

For solving above-mentioned technical problem, this utility model adopts the following technical scheme that robot mechanical hand Telescopic rotating governor motion, including hold-down support, the 3rd motor, mechanical arm plate, supporting cylinder and telescopic arm；3rd motor is fixed on hold-down support, and the main shaft of the 3rd motor is positioned in horizontal direction；Fix vertical with the main shaft of the 3rd motor of one end of mechanical arm plate is connected, and the other end of mechanical arm plate is fixed with the 4th motor, and the main shaft of the 4th motor is positioned in horizontal direction, and fix vertical with telescopic arm of the main shaft of the 4th motor is connected；The cylinder ends of supporting cylinder is hinged on hold-down support, and the piston rod of supporting cylinder is hinged on telescopic arm, and telescopic arm left end connects mechanical hand.

Telescopic arm includes retracting cylinder and expansion link, and the uncovered right-hand member of retracting cylinder left end blocks, and fix vertical with the main shaft of the 4th motor of the right part of retracting cylinder is connected, and the piston rod of supporting cylinder is hinged on the bottom right side of retracting cylinder；Expansion link slides from left to right and is plugged in retracting cylinder, and expansion link is connected with retracting cylinder inner wall sealing；Retracting cylinder right part is provided with the oil outlet with retracting cylinder inner space and fuel feed hole；The left end of expansion link is connected with mechanical hand.

Robot mechanical hand Telescopic rotating governor motion belongs to a part for robot mechanical arm device, and robot mechanical arm device also includes stationary work-table, rotary work plate and straight line working plate；The center of stationary work-table is provided with the first motor, the main shaft of the first motor is connected with rotary work plate centre upwardly through adpting flange, being rotationally connected by thrust bearing between bottom and the top of stationary work-table of rotary work plate, thrust bearing is arranged concentrically with rotary work plate；Straight line working plate is positioned at directly over rotary work plate, the lower front of straight line working plate and rear side are respectively equipped with a fixed strip, every fixed strip bottom surface offers chute, it is respectively equipped with a rail plate corresponding with chute with rear side on front side of rotary work plate upper surface, rail plate on front side of rotary work plate is slidably connected in the chute on front side of straight line working plate, and the rail plate on rear side of rotary work plate is slidably connected in the chute on rear side of straight line working plate；It is fixed with motor supporting base on the right side of the upper surface of rotary work plate, motor supporting base is fixed with the second motor, the main shaft of the second motor is parallel with rail plate, the main shaft of the second motor is connected by shaft coupling to the left ball-screw, the bottom of straight line working plate is fixed with the guide thread set parallel with rail plate, and ball-screw is connected with guide thread external threading；Telescopic rotating governor motion is fixed on straight line working plate upper surface, and mechanical hand is fixed on Telescopic rotating governor motion.

Mechanical hand includes bleed hydraulic cylinder, sleeve and sucker, and left end and the right-hand member of sleeve are the most uncovered；Bleed the coaxial left end being fixed on expansion link of cylinder ends of hydraulic cylinder, the right side sealing shroud of sleeve is located at the left side of hydraulic cylinder of bleeding and fixing with hydraulic cylinder of bleeding is connected, bleeding and be fixedly connected with the chock of circle in the piston rod of hydraulic cylinder extend into sleeve to the left, chock outer rim is connected with sleeve lining slipper seal；Sucker is the little cone shell-shaped of outer imperial palace and its inner fixed cover is located on sleeve.

Using technique scheme, robot mechanical arm device has the advantages that mechanical hand can be around stationary work-table 360 degree rotation, it is simple to capture the object of diverse location；First motor rotates for the equipment that more than working plate and rotary work plate are rotated；Thrust bearing is used for supporting rotary work plate；Second motor is for adjusting the position of straight line working plate, the concrete operation principle that adjusts is: by the second stepping driven by motor ball screw turns, ball-screw is connected with the guide thread external threading bottom straight line working plate, straight line working plate is connected on rail plate by slide, under the effect of ball-screw, straight line working plate moves along a straight line along rail plate；

Mechanical hand captures the specific works principle of object, start the 3rd motor and supporting cylinder simultaneously, make mechanical arm plate to correct position, start the 4th motor, rotary extension arm, to correct position, then starts oil pump and is injected fluid in retracting cylinder by fuel feed hole, and fluid promotes expansion link, the mechanical hand of the expansion link other end is slowly near crawled object, until object is close to by sucker；Then starting hydraulic cylinder of bleeding, the piston rod of hydraulic cylinder of bleeding moves, and the chock of piston rod is slidably connected with sleeve seal, and the air between sucker and object is taken away by chock, and under the effect of atmospheric pressure, sucker can be close to object surface, tightly captures object.

In sum, this utility model simple in construction, easily operated, and can multi-angle work high above the ground in particular circumstances, safety is high, practical.

Accompanying drawing explanation

Fig. 1 is the structural representation of robot mechanical arm device；

Fig. 2 is the right view of Fig. 1；

Fig. 3 is the hydraulic schematic diagram of this utility model telescopic arm.

Detailed description of the invention

As Figure 1-3, just to seeing that the direction of figure people is as forward direction in Fig. 1, with the left in Fig. 1 as left-hand, with in Fig. 1 right as dextrad, robot of the present utility model mechanical hand Telescopic rotating governor motion includes hold-down support the 13, the 3rd motor 14, mechanical arm plate 15, supporting cylinder 16 and telescopic arm；3rd motor 14 is fixed on hold-down support 13, and the main shaft of the 3rd motor 14 is positioned in horizontal direction；Fix vertical with the main shaft of the 3rd motor 14 of one end of mechanical arm plate 15 is connected, the other end of mechanical arm plate 15 is fixed with the 4th motor 17, the main shaft of the 4th motor 17 is positioned in horizontal direction, and fix vertical with telescopic arm of the main shaft of the 4th motor 17 is connected；The cylinder ends of supporting cylinder 16 is hinged on hold-down support 13, and the piston rod of supporting cylinder 16 is hinged on telescopic arm.

Telescopic arm includes retracting cylinder 18 and expansion link 19, and the uncovered right-hand member of retracting cylinder 18 left end blocks, and fix vertical with the main shaft of the 4th motor 17 of the right part of retracting cylinder 18 is connected, and the piston rod of supporting cylinder 16 is hinged on the bottom right side of retracting cylinder 18；Expansion link 19 slides from left to right and is plugged in retracting cylinder 18, and expansion link 19 is connected with retracting cylinder 18 inner wall sealing；Retracting cylinder 18 right part is provided with the oil outlet 20 with retracting cylinder 18 inner space and fuel feed hole 21；The left end of expansion link 19 is connected with mechanical hand.

Mounting structure when this utility model uses includes stationary work-table 1, rotary work plate 2, straight line working plate 3, Telescopic rotating governor motion and mechanical hand；The center of stationary work-table 1 is provided with the first motor 4, the main shaft of the first motor 4 is connected upwardly through the centre of adpting flange 5 with rotary work plate 2, forwarding to be connected by thrust bearing 6 between the bottom of rotary work plate 2 and the top of stationary work-table 1, thrust bearing 6 is arranged concentrically with rotary work plate 2；Straight line working plate 3 is positioned at directly over rotary work plate 2, the lower front of straight line working plate 3 and rear side are respectively equipped with a fixed strip 30, every fixed strip 30 bottom surface offers chute 7, it is respectively equipped with a rail plate 8 corresponding with chute 7 with rear side on front side of rotary work plate 2 upper surface, rail plate 8 on front side of rotary work plate 2 is slidably connected in the chute 7 on front side of straight line working plate 3, and the rail plate 8 on rear side of rotary work plate 2 is slidably connected in the chute 7 on rear side of straight line working plate 3；Motor supporting base 9 it is fixed with on the right side of the upper surface of rotary work plate 2, the second motor 10 it is fixed with on motor supporting base 9, the main shaft of the second motor 10 is parallel with rail plate 8, the main shaft of the second motor 10 is connected by shaft coupling 11 to the right ball-screw 12, the bottom of straight line working plate 3 is fixed with the guide thread set 35 parallel with rail plate 8, and ball-screw 12 overlaps 35 with guide thread threadeds；Telescopic rotating governor motion is fixed on straight line working plate 3 upper surface, and mechanical hand is fixed on Telescopic rotating governor motion.

Middle oil outlet 20 and fuel feed hole 21 is used to need to coordinate oil pump 32 and fuel tank 31 to be operated, the oil-in of oil pump 32 selects connection fuel tank 31 or oil outlet 20 by the first two-position three-way valve 33, and the oil-out of oil pump 32 selects connection fuel tank 31 or fuel feed hole 21 by the second two-position three-way valve 34.

Oil pump 32 is when fuel feed hole 21 oiling, and the oil-in connection fuel tank 31 of oil pump 32 and its oil-out connect fuel feed hole 21；When oil outlet 20 is fuel-displaced, the oil-in connection oil outlet 20 of oil pump 32 and its oil-out connection fuel tank 31.

Mechanical hand includes bleed hydraulic cylinder 22, sleeve 23 and sucker 24, and left end and the right-hand member of sleeve 23 are the most uncovered；Bleed the coaxial left end being fixed on expansion link 19 of cylinder ends of hydraulic cylinder 22, the right side sealing shroud of sleeve 23 is located at the left side of hydraulic cylinder 22 of bleeding and fixing with the hydraulic cylinder 22 of bleeding is connected, in the piston rod of hydraulic cylinder 22 of bleeding extend into sleeve 23 to the left and be fixedly connected with the chock 25 of circle, chock 25 outer rim is connected with sleeve 23 inwall slipper seal；Cone shell-shaped and its inner fixed cover that sucker 24 is little in outer imperial palace are located on sleeve 23.

In Fig. 1 and Fig. 2, the parts of rotary work plate more than 2 all can rotate with rotary work plate 2, the restriction of the "left", "right" in the present embodiment, the parts of rotary work plate more than 2 used, merely for the purpose being easy to description scheme, in actual use, the parts of rotary work plate more than 2 all can rotate with rotary work plate 2 and change direction.

This device is when capturing object, the first step adjusts the angle of mechanical hand, make mechanical hand just to crawled object, concrete method of adjustment is: start the first motor 4 of stationary work-table 1 center, first motor 4 is rotated working plate 2 by adpting flange 5 and rotates, when rotary work plate 2 turns to mechanical hand just to crawled object, stop the first motor 4, complete mechanical hand angle adjustment；Second step moves straight line working plate 3 to optimum position, concrete moving method is, start the second motor 10, the main shaft of the second motor 10 drives ball-screw 12 to rotate by shaft coupling 11, ball-screw 12 overlaps 35 with the guide thread bottom straight line working plate 3 threadeds, straight line working plate 3 is slidably connected on rail plate 8 by chute 7, under the effect of ball-screw 12, straight line working plate 3 moves along a straight line along rail plate 8, until capturing the optimum position of object, stop the second motor 10；The sucker 24 of mechanical hand is close on crawled object by the 3rd step, concrete operations are, start the 3rd motor 14 and supporting cylinder 16 simultaneously, mechanical arm plate 15 is made to proceed to correct position, start the 4th motor 17, rotary extension arm is to correct position, then start oil pump 32 and in retracting cylinder 18, injected fluid by fuel feed hole 21, fluid promotes expansion link 19, the mechanical hand of expansion link 19 other end is slowly near crawled object, until sucker 24 is close to object and adsorbs mutually with crawled object；4th step captures object；Start hydraulic cylinder 22 of bleeding, the piston rod of hydraulic cylinder 22 of bleeding moves, chock 25 on piston rod seals with sleeve 23 and is slidably connected, air between sucker 24 and object is taken away by chock 25, under the effect of atmospheric pressure, sucker 24 can closely adsorb with crawled object mutually, thus tightly capture object, then by adjusting the first motor 4, second motor 10, 3rd motor 14 and the 3rd motor 14, object is moved to placement location and is again started up hydraulic cylinder 22 of bleeding, chock 25 promotes the air in sleeve 23, in making air press-in sucker 24, make sucker 24 and object separation, final object departs from, complete object motion of taking.

Shape of the present utility model, material, structure etc. are not made any pro forma restriction by the present embodiment; every any simple modification, equivalent variations and modification made above example according to technical spirit of the present utility model, belongs to the protection domain of technical solutions of the utility model.

Claims (2)

1. robot mechanical hand Telescopic rotating governor motion, it is characterised in that: include hold-down support, the 3rd motor, mechanical arm plate, supporting cylinder and telescopic arm；3rd motor is fixed on hold-down support, and the main shaft of the 3rd motor is positioned in horizontal direction；Fix vertical with the main shaft of the 3rd motor of one end of mechanical arm plate is connected, and the other end of mechanical arm plate is fixed with the 4th motor, and the main shaft of the 4th motor is positioned in horizontal direction, and fix vertical with telescopic arm of the main shaft of the 4th motor is connected；The cylinder ends of supporting cylinder is hinged on hold-down support, and the piston rod of supporting cylinder is hinged on telescopic arm, and telescopic arm left end connects mechanical hand.

Robot the most according to claim 1 mechanical hand Telescopic rotating governor motion, it is characterized in that: telescopic arm includes retracting cylinder and expansion link, the uncovered right-hand member of retracting cylinder left end blocks, fix vertical with the main shaft of the 4th motor of the right part of retracting cylinder is connected, and the piston rod of supporting cylinder is hinged on the bottom right side of retracting cylinder；Expansion link slides from left to right and is plugged in retracting cylinder, and expansion link is connected with retracting cylinder inner wall sealing；Retracting cylinder right part is provided with the oil outlet with retracting cylinder inner space and fuel feed hole；The left end of expansion link is connected with mechanical hand.