CN208147886U - Robot manipulator structure - Google Patents
Robot manipulator structure Download PDFInfo
- Publication number
- CN208147886U CN208147886U CN201820480319.2U CN201820480319U CN208147886U CN 208147886 U CN208147886 U CN 208147886U CN 201820480319 U CN201820480319 U CN 201820480319U CN 208147886 U CN208147886 U CN 208147886U
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- CN
- China
- Prior art keywords
- torsion shaft
- terminal pad
- intermediate terminal
- fork arm
- robot manipulator
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- 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.)
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Abstract
The utility model belongs to robot field, specifically a kind of robot manipulator structure that can grab different objects, including overturning motor, transmission device, terminal pad, intermediate terminal pad, torsion shaft, fork arm, pneumatic hand is grabbed and handgrip plate, intermediate terminal pad is mounted in terminal pad, torsion shaft is passed through by intermediate terminal pad and is rotatablely connected with intermediate terminal pad, and the both ends of torsion shaft are respectively connected with fork arm；Overturning motor is mounted in intermediate terminal pad, and output shaft is connected by transmission device with torsion shaft, driving torsion shaft rotation, and then drives the fork arm at both ends to rotate by torsion shaft；Pneumatic hand grabs the bottom for being installed on intermediate terminal pad, and the both ends of output are connected separately with handgrip plate, and the handgrip plate at both ends is grabbed driving by pneumatic hand and grabbed.The utility model can grab two different objects by fork arm and handgrip plate, no replacement is required handgrip, greatly improve work efficiency.
Description
Technical field
The utility model belongs to robot field, specifically a kind of robot manipulator structure that can grab different objects.
Background technique
With the continuous development of Science and Technology, in past several centuries, the mankind achieve weight in many aspects
It is in progress significantly.Robot technology is as one of greatest utility model of the mankind, since the beginning of the sixties in 2nd century comes out, experience
Short 50 years, have obtained huge progress.Industrial robot is in experience birth, growth, after the maturity period, it has also become manufacturing industry
In the assembly of essential core；And industrial robot is not only in factory at the essential partner of worker, also
It is permeated at an amazing speed to every field.
The history of the industrial robot development in China has had more than 20 years, since " the Seventh Five-Year Plan " tackling of key scientific and technical problems, is formally included in
State plan, under the tissue and support of country, by " the Seventh Five-Year Plan ", " eight or five " tackling of key scientific and technical problems, not only in the basis reason of robot
Important breakthrough is obtained by with key technology aspect, and in terms of industrial robot complete machine, oneself has been grasped spray painting, arc successively
The difference purposes, typical industrial robot technical such as weldering, spot welding, assembly and carrying, and be successfully applied to produce, it grasps
Relevant application project knowledge.But in general, the Industrial Robot Technology in China and its level of engineer application and foreign countries
Compared to there are also a certain distance.
In China's Financial industry, the national treasury of storage bundle coin is frequently necessary to the finishing box equipped with bundle coin is grabbed, moved,
It arranges；In addition it is also necessary to be grabbed to bundle coin.Existing manipulator has a single function, and finishing box, bundle coin have corresponding
Manipulator is grabbed, and not only increases cost, but also reduce working efficiency.
Utility model content
In order to solve the above problem existing for the existing manipulator arranged respectively to national treasury finishing box and bundle coin, this reality
It is designed to provide a kind of robot manipulator structure that can have not only grabbed finishing box but also bundle coin can be grabbed with novel, substantially increases work
Efficiency.
The purpose of this utility model is achieved through the following technical solutions：
The utility model includes overturning motor, transmission device, terminal pad, intermediate terminal pad, torsion shaft, fork arm, pneumatic hand
Grab and handgrip plate, wherein intermediate terminal pad is mounted in terminal pad, the torsion shaft passed through by the intermediate terminal pad and with centre
Terminal pad rotation connection, the both ends of the torsion shaft are respectively connected with the fork arm；The overturning motor is mounted in intermediate terminal pad,
Output shaft is connected by the transmission device with torsion shaft, and the torsion shaft is driven to rotate, and then drives two by the torsion shaft
The fork arm at end rotates；The pneumatic hand grabs the bottom for being installed on intermediate terminal pad, and the both ends of output are connected separately with handgrip plate, and two
The handgrip plate at end is grabbed driving by the pneumatic hand and is grabbed；
Wherein：The transmission device includes motor gear and turning gear, and the motor gear is defeated with the overturning motor
Shaft is connected, and the turning gear is mounted on torsion shaft, and interlocks with the torsion shaft；The turning gear is fan-shaped, band
The corresponding arc of cambered surface with teeth is major arc；
The torsion shaft is equipped with backing pin, and the intermediate terminal pad is equipped with block, which rotates with the torsion shaft,
The block is located in the rotary motion trace of backing pin, limits to the backing pin；
The fork arm is vertical with torsion shaft to be connect；One end of the fork arm is working end, and the other end is inserted into the torsion shaft
End, and fixed by nut；Edge is axially arranged with strip groove on the outer surface of the fork arm.
The advantages of the utility model is with good effect：
1. the utility model can grab two different objects by fork arm and handgrip plate, no replacement is required handgrip,
It greatly improves work efficiency.
2. the turning gear of the utility model is designed to sector, torsion shaft can be driven to carry out in required angular range
Rotation.
3. being provided with backing pin on the torsion shaft of the utility model, it is correspondingly arranged block in intermediate terminal pad, has avoided overturning
Axis inordinate rotation.
Detailed description of the invention
Fig. 1 is the schematic perspective view of the utility model；
Wherein：1 is overturning motor, and 2 be motor gear, and 3 be turning gear, and 4 be terminal pad, and 5 be intermediate terminal pad, and 6 are
Torsion shaft, 7 be fork arm, and 8 grab for pneumatic hand, and 9 be handgrip plate, and 10 be backing pin, and 11 be block, and 12 be nut, and 13 install for motor
Plate, 14 be strip groove.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawing.
As shown in Figure 1, the utility model includes overturning motor 1, transmission device, terminal pad 4, intermediate terminal pad 5, torsion shaft
6, fork arm 7, pneumatic hand grab 8, handgrip plate 9, backing pin 10, block 11 and motor mounting plate 13, and wherein terminal pad 4 is located at entire mechanical
The top of hand structure, and the fixed reference of entire robot manipulator structure, the connection for the utility model and mechanical arm.In
Between terminal pad 5 be located at the lower section of terminal pad 4, be attached and fix with terminal pad 4 by bolt.Torsion shaft 6 is connected by centre
Disk 5 passes through, and is rotatablely connected with the intermediate terminal pad 5 by bearing.
The both ends of torsion shaft 6 are respectively connected with fork arm 7, and one end of fork arm 7 is working end, and the other end is inserted into the end of torsion shaft 6
Portion, and it is fixed by nut 12, and the longitudinal center line of the longitudinal center line and torsion shaft 6 of fork arm 7 is perpendicular.Fork arm 7 is in cylinder
Shape, in order to avoid finishing box slides fork arm 7 at work, edge is axially arranged with strip groove 14 on the outer surface of fork arm 7.
Overturning motor 1 is fixed on the side of intermediate terminal pad 5 by motor mounting plate 13, and the output shaft of overturning motor 1 is logical
It crosses transmission device to be connected with torsion shaft 6, the torsion shaft 6 is driven to rotate, and then drive the fork arm 7 at both ends to rotate by torsion shaft 6.
The transmission device of the utility model includes motor gear 2 and turning gear 3, the output shaft phase of the motor gear 2 and overturning motor 1
Even, turning gear 3 is mounted on torsion shaft 6, and is interlocked with torsion shaft 6.Turning gear 3 is fan-shaped, with cambered surface pair with teeth
The arc answered is major arc, it is ensured that turning gear 3 drives torsion shaft 6 to rotate in required range, cannot rotate 360 °.?
Torsion shaft 6 is equipped with backing pin 10, and intermediate terminal pad 5 is equipped with block 11, which rotates with torsion shaft 6, and block 11 is located at
In the rotary motion trace of backing pin 10, which is limited.
Pneumatic hand grabs 8 bottoms for being installed on intermediate terminal pad 5, and the both ends of output are connected separately with handgrip plate 9, and both ends are grabbed
Palm 9 is grabbed 8 drivings by the pneumatic hand and is grabbed.
The working principle of the utility model is：
The utility model is a part of mechanical arm, and major function is carried out to the bundle coin in bank vault, finishing box
Crawl, mobile, arrangement.
When needing to grab finishing box, overturning motor 1 works, and is turned over by motor gear 2 and the drive of turning gear 3
Shaft 6 rotates, and drives the fork arm 7 at both ends to pitch into finishing box both ends by torsion shaft 6, it can be achieved that the movement and arrangement of finishing box are dynamic
Make.When needing to grab bundle coin, overturning motor 1 is inverted, and drives torsion shaft 6 reversely to turn by motor gear 2 and turning gear 3
Dynamic, until backing pin 10 touches block 11, overturning motor 1 stops working, so that the fork arm 7 at both ends and the utility model be made to keep
Vertically (i.e. fork arm 7 is vertical with terminal pad 4).Then, pneumatic hand grabs 8 work, and 9 pairs of bundle coin of handgrip plate at both ends is driven to grab
It takes.
Claims (7)
1. a kind of robot manipulator structure, it is characterised in that：Including overturning motor (1), transmission device, terminal pad (4), intermediate terminal pad
(5), torsion shaft (6), fork arm (7), pneumatic hand grab (8) and handgrip plate (9), wherein intermediate terminal pad (5) is mounted on terminal pad (4)
On, the torsion shaft (6) is passed through by the intermediate terminal pad (5) and is rotatablely connected with intermediate terminal pad (5), the torsion shaft (6)
Both ends are respectively connected with the fork arm (7)；The overturning motor (1) is mounted on intermediate terminal pad (5), and output shaft passes through the biography
Dynamic device is connected with torsion shaft (6), and the torsion shaft (6) is driven to rotate, and then the fork arm at both ends is driven by the torsion shaft (6)
(7) it rotates；The pneumatic hand grabs the bottom that (8) are installed on intermediate terminal pad (5), and the both ends of output are connected separately with handgrip plate
(9), the handgrip plate (9) at both ends is grabbed (8) driving by the pneumatic hand and is grabbed.
2. robot manipulator structure according to claim 1, it is characterised in that：The transmission device include motor gear (2) and
Turning gear (3), the motor gear (2) are connected with the output shaft of overturning motor (1), and the turning gear (3) is mounted on
On torsion shaft (6), and interlocked with the torsion shaft (6).
3. robot manipulator structure according to claim 2, it is characterised in that：The turning gear (3) is fan-shaped, with teeth
The corresponding arc of cambered surface be major arc.
4. robot manipulator structure according to claim 1, it is characterised in that：The torsion shaft (6) is equipped with backing pin (10), institute
It states intermediate terminal pad (5) and block (11) is installed, which rotates with the torsion shaft (6), and the block (11) is located at
In the rotary motion trace of backing pin (10), which is limited.
5. robot manipulator structure according to claim 1, it is characterised in that：The fork arm (7) is vertical with torsion shaft (6) to be connected
It connects.
6. robot manipulator structure according to claim 1 or 5, it is characterised in that：One end of the fork arm (7) is working end,
The other end is inserted into the end of the torsion shaft (6), and fixed by nut (12).
7. robot manipulator structure according to claim 1 or 5, it is characterised in that：Along axial direction on the outer surface of the fork arm (7)
Equipped with strip groove (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820480319.2U CN208147886U (en) | 2018-04-04 | 2018-04-04 | Robot manipulator structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820480319.2U CN208147886U (en) | 2018-04-04 | 2018-04-04 | Robot manipulator structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208147886U true CN208147886U (en) | 2018-11-27 |
Family
ID=64381543
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820480319.2U Active CN208147886U (en) | 2018-04-04 | 2018-04-04 | Robot manipulator structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208147886U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110340931A (en) * | 2018-04-04 | 2019-10-18 | 聚龙股份有限公司 | A kind of robot manipulator structure |
-
2018
- 2018-04-04 CN CN201820480319.2U patent/CN208147886U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110340931A (en) * | 2018-04-04 | 2019-10-18 | 聚龙股份有限公司 | A kind of robot manipulator structure |
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