CN206690084U - A kind of multi-degree-of-freemechanical mechanical arm of double-manipulator - Google Patents
A kind of multi-degree-of-freemechanical mechanical arm of double-manipulator Download PDFInfo
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- CN206690084U CN206690084U CN201720310790.2U CN201720310790U CN206690084U CN 206690084 U CN206690084 U CN 206690084U CN 201720310790 U CN201720310790 U CN 201720310790U CN 206690084 U CN206690084 U CN 206690084U
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Abstract
A kind of multi-degree-of-freemechanical mechanical arm of double-manipulator is the utility model is related to, belongs to multi-degree-of-freemechanical mechanical arm technical field.The utility model includes two manipulators, principal arm, main motor, main motor bevel gear, rotating shaft bevel gear, rotating shaft；Two manipulator is connected by swivel mount with principal arm respectively, and principal arm is coordinated by rotating shaft and rotating shaft bevel gear, and rotating shaft bevel gear is engaged with main motor bevel gear and main motor bevel gear is installed on main motor shaft；Whole mechanical arm is used as driving link by the use of each motor, realize that pitching, rotation of mechanical arm etc. acts by gear mechanism, toggle etc., manipulator realizes the action such as rotation, opening and closing by mechanisms such as gear, screw mandrels, can efficiently accomplish the work of crawl article.
Description
Technical field
A kind of multi-degree-of-freemechanical mechanical arm of double-manipulator is the utility model is related to, belongs to multi-degree-of-freemechanical mechanical arm technology neck
Domain.
Background technology
China is currently under the stage of industrial repositioning, is quickly gone up by China's labor cost, and enterprise transformation upgrading needs
Ask and continue to increase, robot replaces manually having become inevitable trend.It is required for substantial amounts of worker to be responsible for production in usual workshop
The carrying of product, had not only taken manpower effectiveness but also not high, was just needing that a cost is low, automaticity is high, efficient work is steady now
Fixed multi-degree-of-freemechanical mechanical arm is applied in the industry, for realizing the autonomous crawl to article in automatic Material Handling System.It is a
The cooperation of good mechanical arm and carrier can save many costs, improve efficiency.
The content of the invention
The technical problems to be solved in the utility model is to provide a kind of multi-degree-of-freemechanical mechanical arm of double-manipulator, to solve
The defects of multi-degree-of-freemechanical mechanical arm is complicated in the prior art, cost is high, portable poor.
The technical solution of the utility model is：A kind of multi-degree-of-freemechanical mechanical arm of double-manipulator, including two manipulators, master
Arm, main motor 20, main motor bevel gear 27, rotating shaft bevel gear 26, rotating shaft 25；Two manipulator is led by swivel mount 30 respectively
Arm is connected, and principal arm is engaged by rotating shaft 25 with rotating shaft bevel gear 26, rotating shaft bevel gear 26 engaged with main motor bevel gear 27 and
Main motor bevel gear 27 is installed on the axle of main motor 20.
The principal arm includes principal arm I cranks 1, principal arm I connecting rods 2, principal arm II motor housings 3, principal arm III cranks 4, principal arm
III connecting rods 5, principal arm II6, principal arm III7, train shell 15, principal arm I16, mechanical arm turntable 17, principal arm train shell 19, principal arm
I gear wheels 21, principal arm I little gears 22, principal arm II gear wheels 23, principal arm II gear motors 24, dual-output motor 28, right manipulator
Bevel gear 29, swivel mount 30, swivel mount bevel gear 31, support frame 32, left manipulator bevel gear 33.Wherein mechanical arm turntable 17 is pacified
In rotating shaft 25, principal arm I gear wheels 21, principal arm I little gears 22 are installed, two gears are meshed on tool arm turntable 17.Principal arm I
The lower end of crank 1 is installed on tool arm turntable 17 with the axle coaxial with principal arm I gear wheels 21 is crossed.In addition on mechanical arm turntable 17 also
Principal arm I16 is installed, principal arm I16 middle upper end is connected by principal arm I connecting rods 2 with the other end of principal arm I cranks 1.On principal arm I16
Principal arm II6 is installed, principal arm II gear wheels 23, principal arm II gear motors 24 and the and of principal arm II gear wheels 23 are housed on principal arm II6
Principal arm II gear motors 24 are meshed.Be bolted outside two gears equipped with principal arm II motor housings 3, principal arm III cranks 4 with
Principal arm II gear wheels 23 are coaxial and are interference fit.The principal arm II6 other end is provided with principal arm III7, and principal arm III7 passes through principal arm
III connecting rods 5 are connected with principal arm III cranks 4.Principal arm III7 lower end is equipped with dual-output motor 28, two of dual-output motor 28
Output shaft is respectively provided with right manipulator bevel gear 29 and left manipulator bevel gear 33, and two gears respectively with installed in support frame
Swivel mount bevel gear 31 on 32 is meshed.The lower end that support frame 32 is installed on dual-output motor 28 is used to hold whole train machine
Structure, the outside of gear mechanism are provided with principal arm train shell 19.
Two robot manipulator structure is identical, including silk braid shell 8, interior core housing 9, gripper connecting rod 10, gripper
11st, mechanical pawl carrying body 12, inner core 13, auxiliary connection 14, silk braid motor 34, silk braid 35, silk braid motor housing 36.Wherein each machinery
Pawl 11 is arranged on mechanical pawl carrying body 12 by bolt, and inner core 13 is also mounted on supporter 12, supporter 12 and gripper
11 are connected by gripper connecting rod 10.Interior core housing 9 is also provided with by bolt on this outer support 12, silk braid shell 8 is pacified
On interior core housing 9, and one end of silk braid motor housing 36 is in turn mounted on silk braid shell 8.The wherein inside of silk braid shell 8
Equipped with silk braid 35, with inner core 13 to be threadedly coupled, the other end is then interference fit with silk braid motor 34 for one end of silk braid 35.Silk braid
Motor 34 is arranged on the inside of silk braid motor housing 36, and silk braid motor housing 36 is in turn mounted on auxiliary connection 14.Two-arm auxiliary connection
14 are separately mounted on up and down on swivel mount 30.
The connection between mechanical arm turntable 17 in the rotating shaft 25 and principal arm is interference fit.
The principal arm I gear wheels 21 and principal arm I little gears 22 are meshed, and principal arm I gear wheels 21 are installed on mechanical arm turntable
On 17, matching relationship is interference fit.
The principal arm II6 is provided with groove, and principal arm II gear wheels 23 and principal arm II gear motors 24 are provided with groove.
It is that square groove is used to install dual-output motor 28 inside the lower end of the principal arm III7.The peace of dual-output motor 28
Dress mode exports for left and right, i.e., equipped with being equipped with right mechanical bradawl tooth on left manipulator bevel gear 33, right output shaft on left output shaft
Wheel 29.
Support frame as described above 32 has open slot to be used to install swivel mount bevel gear 31；And the lower end of support frame 32 is provided with screw thread
Hole, it can be installed on by studs on dual-output motor 28.
The mechanical pawl carrying body 12 is a semicylinder for having centre bore and end to be provided with axis hole, centre bore built with
One section of the left end of inner core 13 and inner core 13 is externally threaded；Coordinated on two axis holes of the mechanical end of pawl carrying body 12 by gap
Axis connection has gripper 11, and wherein gripper 11 is connected with inner core 13 by gripper connecting rod 10.
The connection that internal thread and inner core 13 are tapped with the hole of silk braid 35 is threaded connection, and the left end of silk braid 35 is provided with addition
With the axle of silk braid motor 34 with interference fit is combined into, last silk braid 35 is placed in silk braid shell 8 aperture, is coordinated for gap.
The course of work of the present utility model is：
When capturing object, mechanical arm whole first turns to correct position, specifically rotates drive main motor by main motor 20
Bevel gear 27 and rotating shaft bevel gear 26, and then rotate mechanical arm turntable 17 by rotating shaft 25.Then by the motor on turntable,
The rotation of control principal arm I little gears 22 and principal arm I gear wheels 21 acts principal arm I cranks 1 and principal arm I connecting rods 2, allows principal arm I16
Forward extend out to correct position, be easy to catch the object of distant place.Next principal arm II canine tooths are passed through by principal arm II gear motors 24
Wheel 23 drives principal arm III cranks 4, the motion of principal arm III connecting rods, principal arm III7 is lifted or drop to correct position.
Two manipulators can flexible rotating in the range of certain angle in the horizontal plane, in order that adapting it to property is stronger；Specially left machinery
The rotation of hand controls left manipulator bevel gear 33 and swivel mount bevel gear 31 to realize by the left output shaft of dual-output motor 28, and right
The rotation of manipulator then controls right manipulator bevel gear 29 and swivel mount above to bore tooth by the right output shaft of dual-output motor 28
Wheel 31 is realized.So far manipulator has moved to correct position, and what is finally carried out is crawl process, due to left and right manipulator
Theory structure is identical, illustrates by taking left manipulator as an example.Action during crawl clamps for the opening and closing of gripper 11, tool
Body is the rotation that silk braid 35 has been driven by the rotation of silk braid motor 34, because the connection of silk braid 35 and inner core 13 connects for screw thread
Connect, therefore screw-driven can be carried out, so as to control moving forward and backward for inner core 13, and because inner core 13 and gripper 11 are to pass through
Gripper connecting rod 10 connect so the final folding for controlling gripper 11, finally realize multiple degrees of freedom cooperate, essence
Really effective crawl goods.
The beneficial effects of the utility model are：
1st, the multi-degree-of-freemechanical mechanical arm of double-manipulator employs be combineding with each other for linkage and gear mechanism, both plays
The long-distance transmission of linkage has the accurate control for having played gear mechanism, makes whole mechanical arm simple in construction, has flexible
The free degree.Preferably overcome in tradition machinery arm of knowing clearly largely using complicated and using linkage the freedom of gear mechanism
Spend the drawbacks of insufficient.
2nd, the multi-degree-of-freemechanical mechanical arm of double-manipulator employs silk braid, the structure that screw mandrel is engaged in the design of manipulator
Carry out the folding of control machine machinery claw, for the complicated gear train of traditional manipulator, it is not only simple in structure and worked
Reliably, cost is significantly reduced in the case where meeting control accuracy requirement.
3rd, the multi-degree-of-freemechanical mechanical arm of double-manipulator employs the structure of double-manipulator, can meeting the free degree and work
In the case of leaning on operating efficiency is greatly improved for traditional Single Mechanical hand.
4th, caterpillar belt structure is simple, novel in design, is easily installed, application is relatively broad, easy to spread.
Brief description of the drawings
Fig. 1 is the utility model complete machine tool arm shaft side figure；
Fig. 2 is the utility model mechanical arm cut-away view；
Fig. 3 is the utility model manipulator wheelset axle Local map；
Fig. 4 is the utility model manipulator sectional view；
Fig. 5 is the utility model manipulator top view figure.
In figure：1- principal arm I cranks, 2- principal arm I connecting rods, 3- principal arm II motor housings, 4- principal arm III cranks, 5- principal arms III
Connecting rod, 6- principal arms II, 7- principal arm III, 8- silk braid shell, core housing in 9-, 10- gripper connecting rods, 11- grippers, 12- machineries
Pawl carrying body, 13- inner cores, 14- auxiliary connections, 15- train shells, 16- principal arms I, 17- mechanical arm turntable, 18- main wheels system shell,
19- principal arm train shells, 20- main motors, 21- principal arm I gear wheels, 22- principal arm I little gears, 23- principal arm II gear wheels, 24- master
Arm II gear motors, 25- rotating shafts, 26- rotating shaft bevel gears, 27- motor bevel gears, 28- dual-output motors, the right mechanical bradawls of 29-
Gear, 30- swivel mounts, 31- swivel mount bevel gears, 32- support frames, the left manipulator bevel gears of 33-, 34- silk braid motors, 35- silks
Set, 36- silk braid motor housings.
Embodiment
With reference to the accompanying drawings and detailed description, the utility model is described in further detail.
Embodiment 1：As Figure 1-5, a kind of multi-degree-of-freemechanical mechanical arm of double-manipulator, including two manipulators, principal arm,
Main motor 20, main motor bevel gear 27, rotating shaft bevel gear 26, rotating shaft 25；Two manipulator passes through swivel mount 30 and master respectively
Arm is connected, and principal arm is interference fitted by rotating shaft 25 and rotating shaft bevel gear 26, and rotating shaft bevel gear 26 engages with main motor bevel gear 27
And main motor bevel gear 27 is installed on the axle of main motor 20.
The principal arm includes principal arm I cranks 1, principal arm I connecting rods 2, principal arm II motor housings 3, principal arm III cranks 4, principal arm
III connecting rods 5, principal arm II6, principal arm III7, train shell 15, principal arm I16, mechanical arm turntable 17, principal arm train shell 19, principal arm
I gear wheels 21, principal arm I little gears 22, principal arm II gear wheels 23, principal arm II gear motors 24, dual-output motor 28, right manipulator
Bevel gear 29, swivel mount 30, swivel mount bevel gear 31, support frame 32, left manipulator bevel gear 33；Mechanical arm turntable 17 is arranged on
In rotating shaft 25, principal arm I gear wheels 21, principal arm I little gears 22 are installed, two gears are meshed on tool arm turntable 17；Principal arm I cranks
1 lower end is installed on tool arm turntable 17 with the axle coaxial with principal arm I gear wheels 21 is crossed；It is also equipped with leading on mechanical arm turntable 17
Arm I16, principal arm I16 middle upper end are connected by principal arm I connecting rods 2 with the other end of principal arm I cranks 1, and master is provided with principal arm I16
Principal arm II gear wheels 23, principal arm II gear motors 24 and principal arm II gear wheels 23 and principal arm II teeth are housed on arm II6, principal arm II6
Turbin generator 24 is meshed；It is bolted outside two gears big with principal arm II equipped with principal arm II motor housings 3, principal arm III cranks 4
Gear 23 is coaxial and is interference fit, and the principal arm II6 other end is provided with principal arm III7, and principal arm III7 passes through principal arm III connecting rods 5
It is connected with principal arm III cranks 4, principal arm III7 lower end is equipped with dual-output motor 28, two output shafts point of dual-output motor 28
Not Zhuan You right manipulator bevel gear 29 and left manipulator bevel gear 33, and two gears respectively with the rotation on support frame 32
Pivoted frame bevel gear 31 is meshed, and the lower end that support frame 32 is installed on dual-output motor 28 is used to hold whole gear mechanism, train
The outside of mechanism is provided with principal arm train shell 19.
The manipulator includes silk braid shell 8, interior core housing 9, gripper connecting rod 10, gripper 11, mechanical pawl carrying body
12nd, inner core 13, auxiliary connection 14, silk braid motor 34, silk braid 35, silk braid motor housing 36；Each gripper 11 is arranged on by bolt
On mechanical pawl carrying body 12, inner core 13 is also mounted on supporter 12, and supporter 12 passes through gripper connecting rod 10 with gripper 11
It is connected, interior core housing 9 is also provided with by bolt on supporter 12, silk braid shell 8 is arranged on interior core housing 9, silk braid electricity
One end of machine shell 36 is in turn mounted on silk braid shell 8, and the inside of silk braid shell 8 is equipped with silk braid 35, one end of silk braid 35 with it is interior
Core 13 is threaded connection, and the other end is then interference fit with silk braid motor 34；Silk braid motor 34 is arranged on silk braid motor housing 36
Inside, silk braid motor housing 36 is in turn mounted on auxiliary connection 14, and two-arm auxiliary connection 14 is then separately mounted on swivel mount up and down
On 30.
Embodiment 2：As Figure 1-5, a kind of multi-degree-of-freemechanical mechanical arm of double-manipulator, including two manipulators, principal arm,
Main motor 20, main motor bevel gear 27, rotating shaft bevel gear 26, rotating shaft 25；Two manipulator passes through swivel mount 30 and master respectively
Arm is connected, and principal arm is interference fitted by rotating shaft 25 and rotating shaft bevel gear 26, and rotating shaft bevel gear 26 engages with main motor bevel gear 27
And main motor bevel gear 27 is installed on the axle of main motor 20.
The principal arm includes principal arm I cranks 1, principal arm I connecting rods 2, principal arm II motor housings 3, principal arm III cranks 4, principal arm
III connecting rods 5, principal arm II6, principal arm III7, train shell 15, principal arm I16, mechanical arm turntable 17, principal arm train shell 19, principal arm
I gear wheels 21, principal arm I little gears 22, principal arm II gear wheels 23, principal arm II gear motors 24, dual-output motor 28, right manipulator
Bevel gear 29, swivel mount 30, swivel mount bevel gear 31, support frame 32, left manipulator bevel gear 33；Mechanical arm turntable 17 is arranged on
In rotating shaft 25, principal arm I gear wheels 21, principal arm I little gears 22 are installed, two gears are meshed on tool arm turntable 17；Principal arm I cranks
1 lower end is installed on tool arm turntable 17 with the axle coaxial with principal arm I gear wheels 21 is crossed；It is also equipped with leading on mechanical arm turntable 17
Arm I16, principal arm I16 middle upper end are connected by principal arm I connecting rods 2 with the other end of principal arm I cranks 1, and master is provided with principal arm I16
Principal arm II gear wheels 23, principal arm II gear motors 24 and principal arm II gear wheels 23 and principal arm II teeth are housed on arm II6, principal arm II6
Turbin generator 24 is meshed；It is bolted outside two gears big with principal arm II equipped with principal arm II motor housings 3, principal arm III cranks 4
Gear 23 is coaxial and is interference fit, and the principal arm II6 other end is provided with principal arm III7, and principal arm III7 passes through principal arm III connecting rods 5
It is connected with principal arm III cranks 4, principal arm III7 lower end is equipped with dual-output motor 28, two output shafts point of dual-output motor 28
Not Zhuan You right manipulator bevel gear 29 and left manipulator bevel gear 33, and two gears respectively with the rotation on support frame 32
Pivoted frame bevel gear 31 is meshed, and the lower end that support frame 32 is installed on dual-output motor 28 is used to hold whole gear mechanism, train
The outside of mechanism is provided with principal arm train shell 19.
The manipulator includes silk braid shell 8, interior core housing 9, gripper connecting rod 10, gripper 11, mechanical pawl carrying body
12nd, inner core 13, auxiliary connection 14, silk braid motor 34, silk braid 35, silk braid motor housing 36；Each gripper 11 is arranged on by bolt
On mechanical pawl carrying body 12, inner core 13 is also mounted on supporter 12, and supporter 12 passes through gripper connecting rod 10 with gripper 11
It is connected, interior core housing 9 is also provided with by bolt on supporter 12, silk braid shell 8 is arranged on interior core housing 9, silk braid electricity
One end of machine shell 36 is in turn mounted on silk braid shell 8, and the inside of silk braid shell 8 is equipped with silk braid 35, one end of silk braid 35 with it is interior
Core 13 is threaded connection, and the other end is then interference fit with silk braid motor 34；Silk braid motor 34 is arranged on silk braid motor housing 36
Inside, silk braid motor housing 36 is in turn mounted on auxiliary connection 14, and two-arm auxiliary connection 14 is then separately mounted on swivel mount up and down
On 30.
The connection between mechanical arm turntable 17 in the rotating shaft 25 and principal arm is interference fit.
The principal arm I gear wheels 21 and principal arm I little gears 22 are meshed, and principal arm I gear wheels 21 are installed on mechanical arm turntable
On 17, matching relationship is interference fit.
The principal arm II6 is provided with groove, and principal arm II gear wheels 23 and principal arm II gear motors 24 are provided with groove.
It is that square groove is used to install dual-output motor 28, the peace of dual-output motor 28 inside the lower end of the principal arm III7
Dress mode exports for left and right, i.e., equipped with being equipped with right mechanical bradawl tooth on left manipulator bevel gear 33, right output shaft on left output shaft
Wheel 29.
Support frame as described above 32 has open slot to be used to install swivel mount bevel gear 31；And the lower end of support frame 32 is provided with screw thread
Hole, it can be installed on by studs on dual-output motor 28.
The mechanical pawl carrying body 12 is the semicylinder for having centre bore and end to be provided with axis hole, and centre bore is built with inner core
13 and one section of the left end of inner core 13 be externally threaded；The axle coordinated on two axis holes of the mechanical end of pawl carrying body 12 by gap connects
Gripper 11 is connected to, wherein gripper 11 is connected with inner core 13 by gripper connecting rod 10.
The connection that internal thread and inner core 13 are tapped with the hole of silk braid 35 is threaded connection, and the left end of silk braid 35 is provided with addition
With the axle of silk braid motor 34 with interference fit is combined into, last silk braid 35 is placed in silk braid shell 8 aperture, is coordinated for gap.
Specific embodiment of the present utility model is explained in detail above in association with accompanying drawing, but the utility model is not
It is limited to above-mentioned embodiment, in those of ordinary skill in the art's possessed knowledge, this practicality can also be not being departed from
Various changes can be made on the premise of new objective.
Claims (10)
- A kind of 1. multi-degree-of-freemechanical mechanical arm of double-manipulator, it is characterised in that：Including two manipulators, principal arm, main motors（20）、 Main motor bevel gear（27）, rotating shaft bevel gear（26）, rotating shaft（25）；Two manipulator passes through swivel mount respectively（30）With principal arm Connection, principal arm pass through rotating shaft（25）With rotating shaft bevel gear（26）Interference fit, rotating shaft bevel gear（26）With main motor bevel gear （27）Engagement and main motor bevel gear（27）It is installed on main motor（20）On axle.
- 2. the multi-degree-of-freemechanical mechanical arm of double-manipulator according to claim 1, it is characterised in that：The principal arm includes principal arm I cranks（1）, principal arm I connecting rods（2）, principal arm II motor housings（3）, principal arm III cranks（4）, principal arm III connecting rods（5）, principal arm II （6）, principal arm III（7）, train shell（15）, principal arm I（16）, mechanical arm turntable（17）, principal arm train shell（19）, principal arm I it is big Gear（21）, principal arm I little gears（22）, principal arm II gear wheels（23）, principal arm II gear motors（24）, dual-output motor（28）、 Right manipulator bevel gear（29）, swivel mount（30）, swivel mount bevel gear（31）, support frame（32）, left manipulator bevel gear（33）； Mechanical arm turntable（17）Installed in rotating shaft（25）On, tool arm turntable（17）On principal arm I gear wheels are installed（21）, the small teeth of principal arm I Wheel（22）, two gears are meshed；Principal arm I cranks（1）Lower end with cross and principal arm I gear wheels（21）Coaxial axle is installed on tool arm Turntable（17）On；Mechanical arm turntable（17）On be also equipped with principal arm I（16）, principal arm I（16）Middle upper end pass through principal arm I connecting rods （2）With principal arm I cranks（1）The other end be connected, principal arm I（16）On principal arm II is installed（6）, principal arm II（6）It is upper that principal arm is housed II gear wheels（23）, principal arm II gear motors（24）And principal arm II gear wheels（23）With principal arm II gear motors（24）It is meshed； It is bolted outside two gears equipped with principal arm II motor housings（3）, principal arm III cranks（4）With principal arm II gear wheels（23）Together Axle and for interference fit, principal arm II（6）The other end principal arm III is installed（7）, principal arm III（7）Pass through principal arm III connecting rods（5） With principal arm III cranks（4）Connection, principal arm III（7）Lower end dual-output motor is housed（28）, dual-output motor（28）Two Output shaft is respectively provided with right manipulator bevel gear（29）With left manipulator bevel gear（33）, and two gears respectively with installed in branch Support（32）On swivel mount bevel gear（31）It is meshed, support frame（32）It is installed on dual-output motor（28）Lower end be used for hold in the palm Firmly whole gear mechanism, the outside of gear mechanism are provided with principal arm train shell（19）.
- 3. the multi-degree-of-freemechanical mechanical arm of double-manipulator according to claim 1, it is characterised in that：The manipulator includes silk Cover shell（8）, interior core housing（9）, gripper connecting rod（10）, gripper（11）, mechanical pawl carrying body（12）, inner core（13）, even Connect pair（14）, silk braid motor（34）, silk braid（35）, silk braid motor housing（36）；Each gripper（11）Machine is arranged on by bolt Machinery claw supporter（12）On, inner core（13）It is also mounted at supporter（12）On, supporter（12）With gripper（11）Pass through machinery Pawl connecting rod（10）It is connected, supporter（12）On interior core housing is also provided with by bolt（9）, silk braid shell（8）Installed in interior Core housing（9）On, silk braid motor housing（36）One end be in turn mounted at silk braid shell（8）On, silk braid shell（8）Inside be equipped with Silk braid（35）, silk braid（35）One end and inner core（13）For threaded connection, the other end then with silk braid motor（34）For interference fit； Silk braid motor（34）Installed in silk braid motor housing（36）Inside, silk braid motor housing（36）It is in turn mounted at auxiliary connection（14） On, two-arm auxiliary connection（14）Then it is separately mounted on swivel mount up and down（30）On.
- 4. the multi-degree-of-freemechanical mechanical arm of double-manipulator according to claim 1, it is characterised in that：The rotating shaft（25）With master Mechanical arm turntable on arm（17）Between connection for interference fit.
- 5. the multi-degree-of-freemechanical mechanical arm of double-manipulator according to claim 2, it is characterised in that：The principal arm I gear wheels （21）With principal arm I little gears（22）It is meshed, principal arm I gear wheels（21）It is installed on mechanical arm turntable（17）On, matching relationship is Interference fit.
- 6. the multi-degree-of-freemechanical mechanical arm of double-manipulator according to claim 2, it is characterised in that：The principal arm II（6）If It is fluted, principal arm II gear wheels are installed in groove（23）With principal arm II gear motors（24）.
- 7. the multi-degree-of-freemechanical mechanical arm of double-manipulator according to claim 2, it is characterised in that：The principal arm III（7）'s It is that square groove is used to install dual-output motor inside lower end（28）, dual-output motor（28）Mounting means for left and right export, Left manipulator bevel gear is housed on i.e. left output shaft（33）, right manipulator bevel gear is housed on right output shaft（29）.
- 8. the multi-degree-of-freemechanical mechanical arm of double-manipulator according to claim 2, it is characterised in that：Support frame as described above（32）Have Open slot is used to install swivel mount bevel gear（31）；And support frame（32）Lower end be provided with screwed hole, can pass through studs will It is installed on dual-output motor（28）On.
- 9. the multi-degree-of-freemechanical mechanical arm of double-manipulator according to claim 3, it is characterised in that：The mechanical pawl carrying body （12）To there is the semicylinder that centre bore and end are provided with axis hole, centre bore is built with inner core（13）And inner core（13）Left end one Section is externally threaded；Mechanical pawl carrying body（12）The axis connection coordinated on two axis holes of end by gap has gripper（11）, Wherein gripper（11）With inner core（13）Pass through gripper connecting rod（10）Connection.
- 10. the multi-degree-of-freemechanical mechanical arm of double-manipulator according to claim 3, it is characterised in that：The silk braid（35）Hole Inside it is tapped with internal thread and inner core（13）Connection be threaded connection, silk braid in addition（35）Left end be provided with aperture and silk braid motor （34）Matching somebody with somebody for axle is combined into interference fit, last silk braid（35）It is placed in silk braid shell（8）It is interior, coordinate for gap.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720310790.2U CN206690084U (en) | 2017-03-28 | 2017-03-28 | A kind of multi-degree-of-freemechanical mechanical arm of double-manipulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720310790.2U CN206690084U (en) | 2017-03-28 | 2017-03-28 | A kind of multi-degree-of-freemechanical mechanical arm of double-manipulator |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108582044A (en) * | 2018-05-23 | 2018-09-28 | 北京华信智航科技有限公司 | A kind of 8 degree of freedom integrated machine arms based on both hands pawl |
| CN108619683A (en) * | 2018-05-03 | 2018-10-09 | 北京工业大学 | A kind of robot of pickup various ball |
| CN108789483A (en) * | 2018-07-02 | 2018-11-13 | 芜湖易泽中小企业公共服务股份有限公司 | A kind of multidimensional adjustable type intelligence fishing machinery arm |
| CN108839007A (en) * | 2018-07-02 | 2018-11-20 | 芜湖易泽中小企业公共服务股份有限公司 | A kind of intelligence fishing machinery arm |
| CN108925516A (en) * | 2018-07-02 | 2018-12-04 | 芜湖易泽中小企业公共服务股份有限公司 | A kind of modified intelligence fishing machinery arm |
| CN110104572A (en) * | 2019-05-27 | 2019-08-09 | 宜兴市宜安电力工具制造有限公司 | Hotline maintenance robot rotary-top boom |
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2017
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108619683A (en) * | 2018-05-03 | 2018-10-09 | 北京工业大学 | A kind of robot of pickup various ball |
| CN108582044A (en) * | 2018-05-23 | 2018-09-28 | 北京华信智航科技有限公司 | A kind of 8 degree of freedom integrated machine arms based on both hands pawl |
| CN108582044B (en) * | 2018-05-23 | 2024-04-23 | 北京华信智航科技有限公司 | 8-Degree-of-freedom integrated mechanical arm based on double paws |
| CN108789483A (en) * | 2018-07-02 | 2018-11-13 | 芜湖易泽中小企业公共服务股份有限公司 | A kind of multidimensional adjustable type intelligence fishing machinery arm |
| CN108839007A (en) * | 2018-07-02 | 2018-11-20 | 芜湖易泽中小企业公共服务股份有限公司 | A kind of intelligence fishing machinery arm |
| CN108925516A (en) * | 2018-07-02 | 2018-12-04 | 芜湖易泽中小企业公共服务股份有限公司 | A kind of modified intelligence fishing machinery arm |
| CN110104572A (en) * | 2019-05-27 | 2019-08-09 | 宜兴市宜安电力工具制造有限公司 | Hotline maintenance robot rotary-top boom |
| CN110104572B (en) * | 2019-05-27 | 2024-04-16 | 宜兴市宜安电力工具制造有限公司 | Top rotary suspension arm of electrified overhaul robot |
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