CN205852796U - Tablet package machinery hands - Google Patents
Tablet package machinery hands Download PDFInfo
- Publication number
- CN205852796U CN205852796U CN201620545563.3U CN201620545563U CN205852796U CN 205852796 U CN205852796 U CN 205852796U CN 201620545563 U CN201620545563 U CN 201620545563U CN 205852796 U CN205852796 U CN 205852796U
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- degree
- freedom direction
- arm
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- freedom
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Abstract
This application discloses a kind of tablet package machinery hands, including turntable, the shoulder being installed on turntable is rotated along the first degree of freedom direction, the first arm being installed on shoulder is rotated along the second degree of freedom direction, the second arm being installed on the first arm is rotated along Three Degree Of Freedom direction, the hands wrist being installed on the second arm end is rotated along four-degree-of-freedom direction, the end of this wrist is provided with the sucker in order to draw tablet, described sucker can turn along five degree of freedom direction, described first degree of freedom direction is vertical with the rotational plane in the second degree of freedom direction, described second degree of freedom direction, Three Degree Of Freedom direction is identical with four-degree-of-freedom direction, described five degree of freedom direction is vertical with the rotational plane in four-degree-of-freedom direction.This utility model mechanical hand uses five degree of freedom articulated manipulator to take up room little, and to improving, productivity ratio is highly effective.
Description
Technical field
The application belongs to robotics, particularly relates to a kind of tablet package machinery hands.
Background technology
Tradition spherical coordinate robot and cylindrical coordinates robot floor space are little, and work space is relatively big, determining in space
Position is also the most directly perceived, but their linear joint is not easy protection, and polar robot there is also linear joint and is difficult to prevent
The problem protected, they are used for the portable construction that is mainly characterized by of some special working environment SCARA humanoid robots, respond
Hurry up, be best suited for completing in vertical direction the assembling work of part.The advantage of revolute robot's motion arm is compact conformation, accounts for
Ground area is little, flexible movements, and in working space, the interference of arm is minimum, and work space is big；Shortcoming calculates when being by controlling
Measure bigger, determine that the pose of end execution unit is the most directly perceived.
Utility model content
The purpose of this utility model is to provide a kind of tablet package machinery hands, to overcome deficiency of the prior art.
For achieving the above object, the following technical scheme of this utility model offer:
The open a kind of tablet package machinery hands of the embodiment of the present application, including turntable, rotates peace along the first degree of freedom direction
The shoulder that is loaded on turntable, rotate along the second degree of freedom direction be installed on shoulder the first arm, along Three Degree Of Freedom direction
The wrist rotate the second arm being installed on the first arm, being installed on the second arm end along the rotation of four-degree-of-freedom direction, this wrist
End be provided with the sucker in order to tablet to be drawn, described sucker can turn along five degree of freedom direction, described first from
Vertical with the rotational plane in the second degree of freedom direction by degree direction, described second degree of freedom direction, Three Degree Of Freedom direction and the
Four-degree-of-freedom direction is identical, and described five degree of freedom direction is vertical with the rotational plane in four-degree-of-freedom direction.
Preferably, in above-mentioned tablet package machinery hands, described shoulder along the rotational angle in the first degree of freedom direction is
270°。
Preferably, in above-mentioned tablet package machinery hands, described first arm is along the rotational angle in the second degree of freedom direction
It it is 90 °.
Preferably, in above-mentioned tablet package machinery hands, described second arm is along the rotational angle in Three Degree Of Freedom direction
It it is 180 °.
Preferably, in above-mentioned tablet package machinery hands, described wrist along the rotational angle in four-degree-of-freedom direction is
180°。
Preferably, in above-mentioned tablet package machinery hands, described sucker along the rotational angle in five degree of freedom direction is
360°。
Preferably, in above-mentioned tablet package machinery hands, described first arm being provided with motor, this motor uses harmonic wave
Decelerator directly slows down, and after being slowed down by harmonic speed reducer, two gear drives drives the second arm.
Preferably, in above-mentioned tablet package machinery hands, the speed reducing ratio of described harmonic speed reducer is 41, two gears
The number of teeth is 30, and modulus is 1.
Preferably, in above-mentioned tablet package machinery hands, described shoulder is provided with motor, this motor and the first arm it
Between use cog belt transmission.
Compared with prior art, the utility model has the advantage of: this utility model mechanical hand uses five degree of freedom joint
Formula mechanical hand takes up room little, and to improving, productivity ratio is highly effective.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present application or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this
Some embodiments described in application, for those of ordinary skill in the art, on the premise of not paying creative work,
Other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 show the structural representation of mechanical hand in this utility model specific embodiment.
Detailed description of the invention
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is carried out
Detailed description, it is clear that described embodiment is only a part of embodiment of this utility model rather than whole enforcement
Example.Based on the embodiment in this utility model, those of ordinary skill in the art are institute on the premise of not making creative work
The every other embodiment obtained, broadly falls into the scope of this utility model protection.
In order to improve productivity ratio, reducing the cost of salary earner, tablet, after package packing machine is reduced, has sorting mechanism real
Now being ranked up it, mechanical hand completes to be placed on tablet switching mechanism the tablet of sequence number, to realize the upset of tablet,
It is beneficial to packaging.Mechanical hand to realize extending decline rotary grasping rising contraction rotation decline and discharge several
Individual action.
Shown in Fig. 1, tablet package machinery hands, including turntable 1, it is installed on rotation along the first degree of freedom direction a rotation
Shoulder 2 on turntable, rotate along the second degree of freedom b direction be installed on shoulder the first arm 3, turn along Three Degree Of Freedom c direction
The wrist 5 move the second arm 4 being installed on the first arm 3, being installed on the second arm end along the rotation of four-degree-of-freedom d direction, this hands
The end of wrist is provided with the sucker in order to draw tablet, and described sucker can turn along five degree of freedom e direction, and described first
Degree of freedom a direction is vertical with the rotational plane in the second degree of freedom b direction, described second degree of freedom b direction, Three Degree Of Freedom c side
To identical with four-degree-of-freedom d direction, described five degree of freedom e direction is vertical with the rotational plane in four-degree-of-freedom d direction.
Mechanical, hand-driven is described as follows.
1) rotate, robot integral-rotation, viewed from above, just it is clockwise, is counterclockwise negative, rotate model
Enclose is 270 °.
2) rotation of the first arm, horizontal level rotating up formula is just, arm is negative when declining.Rotating range is 90 °.The
The rotary shaft of one arm is referred to as the first joint.
3) rotation of the second arm, its rotary shaft is referred to as second joint.Rotate when the first arm and the second arm are in alignment
Angle is 0, and for just when turning downwards, arm is negative when promoting.Angle range is 180 °.
4) bending of wrist, its rotary shaft is referred to as the 3rd joint.When the second arm and wrist are in alignment, the anglec of rotation is
0, just it is when being rotated down, is negative when rotating up.Rotating range is 180 °.
5) torsion of wrist, when seeing from outside to inside, just clockwise turns to, rotates to be negative counterclockwise.Rotating range 360 °.
6) grasp device belongs to the most smooth shape of one side due to tablet, and for the ease of grasping tablet, grip device uses true
Suction dish.
Motor is arranged on the first arm, for making running part the simplest, uses harmonic speed reducer directly to slow down, logical
After crossing harmonic speed reducer deceleration, gear drive driving, the speed reducing ratio of harmonic speed reducer is 41, and the number of teeth of two gears is
30, modulus is 1.
If making wrist activity, although motor can be placed on the second arm, but because motor has deadweight and distance first to close
Joint farther out, then produces bigger flywheel moment and brings the biggest difficulty, so motor is arranged on the shoulder of mechanical hand to rotating.Warp
Cross shoulder, the first joint, the deceleration of second joint, use cog belt transmission.
It should be noted that in this article, the relational terms of such as first and second or the like is used merely to a reality
Body or operation separate with another entity or operating space, and deposit between not necessarily requiring or imply these entities or operating
Relation or order in any this reality.And, term " includes ", " comprising " or its any other variant are intended to
Comprising of nonexcludability, so that include that the process of a series of key element, method, article or equipment not only include that those are wanted
Element, but also include other key elements being not expressly set out, or also include for this process, method, article or equipment
Intrinsic key element.In the case of there is no more restriction, statement " including ... " key element limited, it is not excluded that
Including process, method, article or the equipment of described key element there is also other identical element.
The above is only the detailed description of the invention of the application, it is noted that for the ordinary skill people of the art
For Yuan, on the premise of without departing from the application principle, it is also possible to make some improvements and modifications, these improvements and modifications also should
It is considered as the protection domain of the application.
Claims (9)
1. a tablet package machinery hands, it is characterised in that include turntable, be installed on rotation along the first degree of freedom direction rotation
Shoulder on platform, rotate along the second degree of freedom direction be installed on shoulder the first arm, rotate along Three Degree Of Freedom direction and install
The second arm on the first arm, rotating the wrist being installed on the second arm end along four-degree-of-freedom direction, the end of this wrist sets
Being equipped with the sucker in order to draw tablet, described sucker can turn along five degree of freedom direction, described first degree of freedom direction
Vertical with the rotational plane in the second degree of freedom direction, described second degree of freedom direction, Three Degree Of Freedom direction and four-degree-of-freedom
Direction is identical, and described five degree of freedom direction is vertical with the rotational plane in four-degree-of-freedom direction.
Tablet package machinery hands the most according to claim 1, it is characterised in that: described shoulder is along the first degree of freedom direction
Rotational angle is 270 °.
Tablet package machinery hands the most according to claim 1, it is characterised in that: described first arm is along the second degree of freedom direction
Rotational angle be 90 °.
Tablet package machinery hands the most according to claim 1, it is characterised in that: described second arm is along Three Degree Of Freedom direction
Rotational angle be 180 °.
Tablet package machinery hands the most according to claim 1, it is characterised in that: described wrist is along four-degree-of-freedom direction
Rotational angle is 180 °.
Tablet package machinery hands the most according to claim 1, it is characterised in that: described sucker is along five degree of freedom direction
Rotational angle is 360 °.
Tablet package machinery hands the most according to claim 1, it is characterised in that: it is provided with motor on described first arm, should
Motor uses harmonic speed reducer directly to slow down, and after being slowed down by harmonic speed reducer, two gear drives drives the second arm.
Tablet package machinery hands the most according to claim 7, it is characterised in that: the speed reducing ratio of described harmonic speed reducer is
41, the number of teeth of two gears is 30, and modulus is 1.
Tablet package machinery hands the most according to claim 1, it is characterised in that: on described shoulder, motor is installed, this electricity
Cog belt transmission is used between machine and the first arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620545563.3U CN205852796U (en) | 2016-06-07 | 2016-06-07 | Tablet package machinery hands |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620545563.3U CN205852796U (en) | 2016-06-07 | 2016-06-07 | Tablet package machinery hands |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205852796U true CN205852796U (en) | 2017-01-04 |
Family
ID=57639178
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620545563.3U Expired - Fee Related CN205852796U (en) | 2016-06-07 | 2016-06-07 | Tablet package machinery hands |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205852796U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108187946A (en) * | 2018-01-08 | 2018-06-22 | 海宁市豪派新材料科技有限公司 | A kind of clamping conveying device for timber processing |
| CN108858261A (en) * | 2018-09-10 | 2018-11-23 | 安徽海洋药业有限公司 | A kind of multiaxis drug detection clamping arm |
-
2016
- 2016-06-07 CN CN201620545563.3U patent/CN205852796U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108187946A (en) * | 2018-01-08 | 2018-06-22 | 海宁市豪派新材料科技有限公司 | A kind of clamping conveying device for timber processing |
| CN108858261A (en) * | 2018-09-10 | 2018-11-23 | 安徽海洋药业有限公司 | A kind of multiaxis drug detection clamping arm |
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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 |
Granted publication date: 20170104 Termination date: 20170607 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |