CN206317090U - A kind of conveying robot unit - Google Patents
A kind of conveying robot unit Download PDFInfo
- Publication number
- CN206317090U CN206317090U CN201621354065.7U CN201621354065U CN206317090U CN 206317090 U CN206317090 U CN 206317090U CN 201621354065 U CN201621354065 U CN 201621354065U CN 206317090 U CN206317090 U CN 206317090U
- Authority
- CN
- China
- Prior art keywords
- finger tip
- fixed
- gear shaft
- motor
- bevel gear
- 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 provides a kind of conveying robot unit, belongs to handling machinery technical field.Horizontal beam of the outer top of the trellis of manipulator provided with three 120 ° of arrangements each other, the drive mechanism of manipulator fixed by motor cabinet with horizontal beam；The outer legs of differential motor and motor cabinet are fixed, the axle of differential motor is connected through outer legs by one end of shaft coupling and gear shaft, gear shaft is fixed by the inner side leg of bearing and motor cabinet, the first driving bevel gear that the other end of gear shaft is engaged with passive bevel gear is fixed, and the first passive bevel gear is located at the inner side of transverse axis；Connecting plate is connected by the two ends of flat key and transverse axis, and finger tip motor mounting plate is bolted with connecting plate；The output shaft of finger tip motor is connected with the second driving bevel gear by flat key；Second passive bevel gear is connected with one end of finger tip gear shaft by flat key, and finger tip gear shaft is fixed by the bearing block of bearing and the bottom of installing plate, and finger root is connected by flat key with the middle part of finger tip gear shaft.
Description
Technical field
The utility model is related to object transport field of mechanical technique.
Background technology
With continuing to develop for robot technology, significant progress there has also been to manipulator research.At present, common machinery
Hand is generally made up of three or five fingers, and some application scenarios replace the work(of manipulator just with common clamping device
Energy.Research more is underactuated manipulator, and such manipulator uses tendon rope drive.But the ratio of rigidity gear of tendon rope it is poor and
And tendon transmission accuracy is also high without gear drive.Simultaneously this kind of manipulator own vol just it is small, therefore can not complete to volume compared with
The crawl of big object, it is impossible to meet crawl and carrying of some occasions to object.The free degree of general industry mechanical arm compared with
Few, the usual only one of which free degree of a finger is up to two frees degree, this makes the space of manipulator subtract significantly
It is small, while the flexibility of the manipulator also reduced, causes manipulator very big to connected mechanical arm dependence.In view of some
Occasion is higher to the flexural movement precision of manipulator and needs the object volume captured larger, therefore devises the novel mechanical
Hand.
Chinese patent CN201320241098.0 describes a kind of dexterity for restricting driving and referred to and its Dextrous Hand, although structure letter
Single, dynamical element is less, but its small volume, and transmission accuracy is poor, is not suitable for the crawl of the larger object of volume.Chinese patent
CN201120343116.7 describes a kind of Kiwi picking end effector, employ two fingers clamping, although it is simple in construction can
Lean on, cost is relatively low, but the free degree is very little, very flexible.
Utility model content
The purpose of this utility model is to provide a kind of conveying robot unit, and it can efficiently solve robot movement space
It is small, the problem of very flexible.
The utility model solves the technical scheme that its technical problem used：A kind of conveying robot unit, including
Finger, shaft coupling and servomotor, the horizontal beam of the outer top of the trellis of manipulator provided with three 120 ° of arrangements each other, the drive of manipulator
Motivation structure is fixed by the motor cabinet and horizontal beam of the equilateral channel-section steel shape of waist, leg；The outer legs of differential motor and motor cabinet are consolidated
Fixed, the axle of differential motor is connected through outer legs by one end of shaft coupling and gear shaft, and gear shaft passes through bearing and motor cabinet
Inner side leg fix, the first driving bevel gear that the other end of gear shaft is engaged with passive bevel gear is fixed, the first passive umbrella tooth
Wheel is located at the inner side of transverse axis；Connecting plate is connected by the two ends of flat key and transverse axis, and installing plate and the connecting plate of finger tip motor pass through
Bolt is fixed；The inner side of installing plate is provided with finger tip motor cabinet, and the output shaft of finger tip motor and the second driving bevel gear pass through flat key
Connection；Second passive bevel gear is connected with one end of finger tip gear shaft by flat key, and finger tip gear shaft passes through bearing and installing plate
The bearing block of bottom fix, the root of finger is connected by flat key with the middle part of finger tip gear shaft.
The drive mechanism of the manipulator arranges that every finger is equipped with two sets of differential motors for 120 ° each other.
The motor cabinet back-off of the channel-section steel shape is set, and its waist is fixed by bolt with horizontal beam
The transverse axis is set with gear shaft square crossing.
The outside of the installing plate is provided with obliquity sensor mounting bracket.
Manipulator of the present utility model is made up of three fingers, and the angle of three finger distributions differs 120 °.Three
Finger is fixed by motor cabinet with fixed outrigger top water flat-topped ridge.Each finger has three degree of freedom, the two of finger root
The individual free degree is to carry out Differential Driving by four bevel gears, and the driving bevel gear of two of which first passes through gear shaft and shaft coupling respectively
Device is connected with two servomotors.Finger tip joint is, by the engaged with the second driving bevel gear second passive bevel gear driving, to be somebody's turn to do
Joint is controlled by a servomotor, and the servomotor is finger tip motor, and finger tip electricity is fixed on by finger tip motor cabinet
On the installing plate of machine.Then connected at the top of the installing plate of finger tip motor by the transverse axis two ends of connecting plate and differential gearing.Each
Finger has three degree of freedom, and three fingers can both move alone, can also routing motion.
The beneficial effects of the utility model are that the volume range for the object that can be captured is bigger, and a joint possesses two
The free degree, the crawl to object can be completed for greater flexibility.
Not only space is big for manipulator, and flexibility increase.
Brief description of the drawings
Fig. 1 is stereogram of the present utility model
Fig. 2 is top view of the present utility model
Fig. 3 is single armed side view of the present utility model
Fig. 4 is single armed bottom joint top view of the present utility model
Fig. 5 is single armed finger lower elevational view of the present utility model
Embodiment
The utility model is further illustrated with reference to the accompanying drawings and examples.
A kind of conveying robot unit, including finger, shaft coupling and servomotor, the top of outrigger 1 of manipulator are provided with three
The horizontal beam of root 120 ° of arrangements each other, motor cabinet 4 and level that the drive mechanism of manipulator passes through the equilateral channel-section steel shape of waist, leg
Beam is fixed；The outer legs of differential motor 2 and motor cabinet 4 are fixed, and the outer legs of axle through the motor cabinet 4 of differential motor 2 pass through connection
Axle device 3 is connected with one end of gear shaft 5, and gear shaft 5 is fixed by the inner side leg of bearing and motor cabinet 4, the other end of gear shaft 5
The first driving bevel gear 6 engaged with passive bevel gear is fixed, and the first passive bevel gear 7 is located at the inner side of transverse axis 8；Connecting plate 9
It is connected by flat key with the two ends of transverse axis 8, installing plate 10 and the connecting plate 9 of finger tip motor 12 are bolted；Installing plate 10
Inner side be provided with finger tip motor cabinet 13, the output shaft of finger tip motor 12 is connected with the second driving bevel gear 14 by flat key；Second
Passive bevel gear 15 is connected with one end of finger tip gear shaft 16 by flat key, and finger tip gear shaft 16 passes through bearing and installing plate 10
The bearing block 18 of bottom is fixed, and the root of finger is connected by flat key with the middle part of finger tip gear shaft 16.
The drive mechanism of the manipulator arranges that every finger is equipped with two sets of differential motors 2 for 120 ° each other.
The back-off of motor cabinet 4 of the channel-section steel shape is set, and its waist is fixed by bolt with horizontal beam
The transverse axis 8 is set with the square crossing of gear shaft 5.
The outside of the installing plate 10 is provided with obliquity sensor mounting bracket 11.
Shown as shown in Figure 1, Figure 3 and Figure 4, when robot work, the one finger course of work is as follows.The driving of manipulator
Mechanism is fixed by the horizontal beam of the motor cabinet 4 and the outrigger 1 of manipulator of the equilateral channel-section steel shape of waist, leg.When manipulator is carried out
During grasping body, differential motor 2 drives the first driving bevel gear 6 by shaft coupling 3 and gear shaft 5, with the first driving bevel gear
First passive bevel gear 7 of engagement is moved therewith.When the first driving bevel gear 6 and the driving bevel gear symmetrical with it (in figure not
Mark) turn to it is identical when, the joint around differential motor 2 motor axial rotation, turn to it is opposite when, around the axial rotation of transverse axis 8,
The motion of the installing plate 10 of finger tip motor 12 is driven with this.
Finger tip motor 12 is arranged on installing plate 10 by finger tip motor cabinet 13, while being moved with installing plate 10,
Finger tip motor 12 drives the second driving bevel gear 14, and the passive bevel gear 15 of second be engaged with, which drives, is fixed on finger tip gear shaft
Finger tip 17 on 16, the target location for specifying the arrival system of finger tip 17.Now, on obliquity sensor mounting bracket 11
Angle information is fed back to adjustment of the control system completion to position by obliquity sensor.
Other two finger courses of work are identical, by the crawls for cooperating to complete to object of three fingers and remove
Fortune.
Claims (5)
1. a kind of conveying robot unit, including finger, shaft coupling and servomotor, it is characterised in that：The outrigger (1) of manipulator
Horizontal beam of the top provided with three 120 ° of arrangements each other, the electricity that the drive mechanism of manipulator passes through the equilateral channel-section steel shape of waist, leg
Support (4) is fixed with horizontal beam；Differential motor (2) and the outer legs of motor cabinet (4) are fixed, and the axle of differential motor (2) is outside
Side leg is connected by shaft coupling (3) with one end of gear shaft (5), and gear shaft (5) is consolidated by the inner side leg of bearing and motor cabinet (4)
Fixed, the first driving bevel gear (6) that the other end of gear shaft (5) is engaged with passive bevel gear (7) is fixed, the first passive bevel gear
(7) it is located at the inner side of transverse axis (8)；Connecting plate (9) is connected by flat key with the two ends of transverse axis (8), the installing plate of finger tip motor
(10) it is bolted with connecting plate (9)；The inner side of installing plate (10) is provided with finger tip motor cabinet (13), finger tip motor (12)
Output shaft is connected with the second driving bevel gear (14) by flat key；Second passive bevel gear (15) and the one of finger tip gear shaft (16)
End is connected by flat key, and finger tip gear shaft (16) is fixed by bearing and the bearing block (18) of the bottom of installing plate (10), finger
Root be connected by flat key with the middle part of finger tip gear shaft (16).
2. a kind of conveying robot unit according to claim 1, it is characterised in that：The drive mechanism of the manipulator is mutual
For 120 ° of arrangements, every finger is equipped with two sets of differential motors (2).
3. a kind of conveying robot unit according to claim 1, it is characterised in that：The motor cabinet of the channel-section steel shape
(4) back-off is set, and its waist is fixed by bolt with horizontal beam
4. a kind of conveying robot unit according to claim 1, it is characterised in that：The transverse axis (8) and gear shaft (5)
Square crossing is set.
5. a kind of conveying robot unit according to claim 1, it is characterised in that：Set on the outside of the installing plate (10)
There is obliquity sensor mounting bracket (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621354065.7U CN206317090U (en) | 2016-12-12 | 2016-12-12 | A kind of conveying robot unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621354065.7U CN206317090U (en) | 2016-12-12 | 2016-12-12 | A kind of conveying robot unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206317090U true CN206317090U (en) | 2017-07-11 |
Family
ID=59266794
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621354065.7U Expired - Fee Related CN206317090U (en) | 2016-12-12 | 2016-12-12 | A kind of conveying robot unit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206317090U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109896434A (en) * | 2019-04-23 | 2019-06-18 | 西南交通大学 | A kind of plant produced line work piece carrying mechanism |
-
2016
- 2016-12-12 CN CN201621354065.7U patent/CN206317090U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109896434A (en) * | 2019-04-23 | 2019-06-18 | 西南交通大学 | A kind of plant produced line work piece carrying mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20170711 Termination date: 20191212 |