CN208305059U - A kind of balance mechanical arm of meal delivery robot - Google Patents
A kind of balance mechanical arm of meal delivery robot Download PDFInfo
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- CN208305059U CN208305059U CN201820522436.0U CN201820522436U CN208305059U CN 208305059 U CN208305059 U CN 208305059U CN 201820522436 U CN201820522436 U CN 201820522436U CN 208305059 U CN208305059 U CN 208305059U
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- motor
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- mechanical arm
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- side wall
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Abstract
A kind of balance mechanical arm of meal delivery robot, belongs to mechanical arm technical field.The balance mechanical arm of the meal delivery robot includes lifting device, rotating device and clamping device；The lifting device includes BF support base, the upper surface left side wall of the BF support base is welded with fixed upright bar, the lateral wall of fixed upright bar slidably connects coaster, the right side wall of the coaster is fixedly installed with feed screw nut base connector, the output end of first motor is fixedly connected with shaft coupling, the lower surface of shaft coupling is socketed with BK type lead screw support base, and the lower surface of BK type lead screw support base is plugged with lead screw, and the lateral wall of the lead screw is socketed feed screw nut connector.The settings of two freedom degrees of the utility model can adapt to more, more complicated environment, while the utility model can be realized automatic balance by connecting rod and claw so that mechanical arm has higher flexibility in rotary course.
Description
Technical field
The utility model relates to mechanical arm technical field, in particular to the balance mechanical arm of a kind of meal delivery robot.
Background technique
Mechanical arm is the certain holding functions that can imitate manpower and arm, be to grab, carry by fixed routine object or
The automatic pilot of operational instrument, it can replace the heavy labor of people to realize the mechanization and automation of production, can have
Operation is under evil environment to protect personal safety, thus is widely used in the portions such as machine-building, metallurgy, electronics, light industry and atomic energy
Door, manipulator research starts from 20th century mid-term, with the development of computer and automatic technology, the urgent need of mass production
The progress of automatic technology is pushed, has been laid a good foundation for the exploitation of robot, and with social development, the recruitment commonly to work
Difficult, recruitment famine problem is got worse, and the trend that simple repeated work gives robot to do all starts to rise in all trades and professions,
Meal delivery robot is to generate under this thinking, and the problem of current meal delivery robot maximum is exactly that robot can only be
By dish end to table, balance cannot be completed, can only do it yourself to complete by customer, not only waste the time in this way, reduce work
Efficiency, while also reducing the practicability of meal delivery robot, and meal delivery robot during food delivery since extraneous being trembled
It is dynamic, stability and also to be improved with flexibility.
Utility model content
Of the existing technology in order to solve the problems, such as, the balance that the utility model provides a kind of meal delivery robot is mechanical
Arm, the balance mechanical arm of the meal delivery robot include lifting device, rotating device and clamping device；
The lifting device includes BF support base, and the upper surface left side wall of the BF support base is welded with fixed upright bar, Gu
The lateral wall for determining upright bar slidably connects coaster, and the right side wall of the coaster is fixedly installed with feed screw nut base connector, described
The upper surface of fixed upright bar is equipped with first motor, and first motor is electrically connected external power supply, and the output end of first motor is fixed
It is connected with shaft coupling, the lower surface of shaft coupling is socketed with BK type lead screw support base, and the left side wall of BK type lead screw support base is fixed
It is connected and fixed upright bar, the lower surface of BK type lead screw support base is plugged with lead screw, and the lower surface of lead screw is fixedly connected with the support of BF type
The lateral wall of seat, the lead screw is socketed feed screw nut connector；
The rotating device includes the second motor and connecting plate, and the second motor is electrically connected external power supply, second electricity
The output end of machine is fixedly connected with first pulley, and the left side wall of the second motor is fixedly connected with feed screw nut connector, the company
The upper surface of fishplate bar is equipped with the second belt wheel, and the right side wall of connecting plate is rotatablely connected coaster, and the left side wall of the connecting plate is solid
Surely it being connected with third motor, and third motor is electrically connected external power supply, the output end of the third motor is equipped with electric pushrod,
Electric pushrod is electrically connected external power supply；
The clamping device includes the first fixed tray, and the right side wall of the first fixed tray is spirally connected electric pushrod, described
The upper surface left and right ends riveting of first fixed tray has the first connecting plate, fixes between two first connecting plate upper surfaces
It is connected with the second fixed tray, the first lead screw is installed, and the first lead screw passes through at the upper surface center of first fixed tray
The second fixed tray is worn, the lateral wall of first lead screw is successively screwed with the 4th belt wheel from top to bottom and moves pallet, and the
Four belt wheels are located at the top of the second fixed tray, one end of the left and right sides wall rotation connection connecting rod of the mobile pallet, described
The other end of connecting rod is rotatably connected to claw, and the right side wall of second fixed tray is welded with fixed plate, under fixed plate
Surface is equipped with the 4th motor, and the 4th motor is electrically connected external power supply, and the input terminal of the 4th motor is socketed with third band
Wheel.
The front-rear side walls of the fixed upright bar offer multiple slideways, and the upper surface slide of slideway is equipped with coaster.
The Basolateral wall of the claw is socketed with Anti-slip cover.
The diameter of the shaft coupling is equal with lead screw diameter and is just in close contact.
The utility model has the advantages that the utility model passes through lead screw transmission, and allow coaster to fix stand as slideway, limits coaster
And nut base connector ensure that the stability of mechanical arm while the movement in xoy plane, the utility model uses two
The rotation of a motor control, the settings of two freedom degrees is so that mechanical arm has higher flexibility and bigger in rotary course
Working range makes the utility model can adapt to more, more complicated environment, while the utility model passes through connecting rod and claw
The link mechanism of composition pushes claw to rotate around the first fixed tray, completes holding action, realizes automatic balance.
Detailed description of the invention
Fig. 1 is that the utility model provides main view；
Fig. 2 is lifting structure schematic diagram provided by the utility model；
Fig. 3 is rotational structure schematic diagram provided by the utility model；
Fig. 4 is claw clamped condition schematic diagram provided by the utility model；
Fig. 5 is claw open configuration schematic diagram provided by the utility model.
Wherein,
1, BF type support base, 2, coaster, 3, fixed upright bar, 4, first motor, 5, shaft coupling, 6, BK type lead screw support base,
7, lead screw, 8, feed screw nut base connector, the 9, second motor, 10, first pulley, the 11, second belt wheel, 12, connecting plate, 13,
Three motors, 14, electric pushrod, the 15, first fixed tray, the 16, first lead screw, 17, mobile pallet, 18, connecting rod, 19, claw,
20, the second fixed tray, 21, fixed plate, the 22, the 4th motor, 23, third belt wheel, the 24, the 4th belt wheel, the 25, first connecting plate.
Specific embodiment
Below in conjunction with the attached drawing in utility model embodiment, the technical solution in utility model embodiment is carried out clear
Chu is fully described by.
As shown in Figures 1 to 5, the utility model provides a kind of balance mechanical arm of meal delivery robot, the feeder
The balance mechanical arm of device people includes lifting device, rotating device and clamping device；
The lifting device includes BF support base 1, and the upper surface left side wall of the BF support base 1 is welded with fixed upright bar 3,
The lateral wall of fixed upright bar 3 slidably connects coaster 2, and coaster 2 is swung for preventing lead screw 7 from rotating bring, the coaster 2
Right side wall be fixedly installed with feed screw nut base connector 8, the upper surface of the fixed upright bar 3 is equipped with first motor 4, and
One motor 4 is electrically connected external power supply, and the output end of first motor 4 is fixedly connected with shaft coupling 5, the lower surface socket of shaft coupling 5
There is BK type lead screw support base 6, and the left side wall of BK type lead screw support base 6 is fixedly connected with fixed upright bar 3, BK type lead screw support base 6
Lower surface be plugged with lead screw 7, and the lower surface of lead screw 7 is fixedly connected with BF type support base 1, the lateral wall socket of the lead screw 7
Feed screw nut connector 8, and feed screw nut base connector 8 can move up and down on lead screw 7, such lifting device ensure that machine
The stability of tool arm during the motion；
The rotating device includes the second motor 9 and connecting plate 12, and the second motor 9 is electrically connected external power supply, and described the
The output end of two motors 9 is fixedly connected with first pulley 10, and the left side wall of the second motor 9 is fixedly connected with feed screw nut connector
8, the upper surface of the connecting plate 12 is equipped with the second belt wheel 11, and first pulley 10 is connected by synchronous belt with the second belt wheel 11,
And the right side wall of connecting plate 12 is rotatablely connected coaster 2, the left side wall of the connecting plate 12 is fixedly connected with third motor 13, and the
Three motors 13 are electrically connected external power supply, and the output end of the third motor 13 is equipped with electric pushrod 14, and electric pushrod 14 is electrically connected
External power supply is connect, and electric pushrod 14 can make the first fixed tray 15 do linear reciprocating motion, uses two motors, two
The rotating device of freedom degree makes mechanical arm have higher flexibility in rotary course, especially close to machine human body
Position can adapt to more more complicated working environments；
The clamping device includes the first fixed tray 15, and the right side wall of the first fixed tray 15 is spirally connected electric pushrod
14, the upper surface left and right ends riveting of first fixed tray 15 has the first connecting plate 25, two first connecting plates 25
It is fixedly connected with the second fixed tray 20 between upper surface, is equipped with first at the upper surface center of first fixed tray 15
Lead screw 16, and the first lead screw 16 runs through the second fixed tray 20, the lateral wall of first lead screw 16 is successively screwed on from top to bottom
There are the 4th belt wheel 24 and mobile pallet 17, mobile pallet 17 can move up and down on the first lead screw 16, and the 4th belt wheel 24
In 20 top of the second fixed tray, one end of the left and right sides wall rotation connection connecting rod 18 of the mobile pallet 17, the company
The other end of extension bar 18 is rotatably connected to claw 19, and the right side wall of second fixed tray 20 is welded with fixed plate 21, fixed
The lower surface of plate 21 is equipped with the 4th motor 22, and the 4th motor 22 is electrically connected external power supply, the input of the 4th motor 22
End cap is connected to 23 third belt wheel 23 of third belt wheel and is connected by synchronous belt with the 4th belt wheel 24, drives the rotation of the 4th belt wheel 24, and
16 stable transmission of the first lead screw in clamping device, accuracy is higher, while position is opposite between claw 19 and electric pushrod 14
It is fixed, so that mechanical arm is less likely to occur pouring down or forth for food product in the process of running.
The front-rear side walls of the fixed upright bar 3 offer multiple slideways, and the upper surface slide of slideway is equipped with coaster 2,
Slideway limits movement of the coaster 2 in xoy plane, ensure that the stabilization of device motion process while playing the guiding role
Property.
In order to increase the frictional force of 19 pairs of claw crawl articles, the Basolateral wall of the claw 19 is socketed with Anti-slip cover.
In order to guarantee the stability in 8 lifting process of feed screw nut base connector, the diameter and lead screw 7 of the shaft coupling 5
Diameter is equal and is just in close contact.
The application method of the balance mechanical arm of meal delivery robot in the utility model includes:
Step 1 connects external power supply, starts the first motor 4, and the first motor 4 is transmitted by the shaft coupling 5
Torque drives the lead screw 7 to rotate, and the rotation of lead screw 7 drives 8 raising and lowering of feed screw nut base connector, the silk
Thick stick nut base connector 8 drives whole device to move up and down by the connecting plate 12 of left side wall and the second motor 9 of right side wall, silk
Thick stick 7 is driven transmission accuracy with higher, higher transmission stability；
Step 2, the second motor 9 of starting, second motor 9 drives first pulley 10 to rotate, and the first pulley 10
Spinning movement is acted on into second belt wheel 11 by synchronous belt, second belt wheel 11 is driven to rotate, thus described in driving
Connecting plate 11 rotates, and the connecting plate 11 drives the third motor 13 to rotate, to drive electric pushrod 14 to rotate, while institute
It states electric pushrod 14 to stretch by set speed to predeterminated position, 13 two electricity of the second motor 9 and third motor is used in device
Two freedom degrees of machine, so that mechanical arm has higher flexibility during rotation；
Step 3, the 4th motor 22 of starting, make the 4th motor 22 that the third belt wheel 23 be driven to rotate, the third belt wheel
23 drive the 4th belt wheel 24 to move by synchronous belt, so that first lead screw 16 be driven to rotate, make to be screwed in described the
Mobile pallet 17 on one lead screw 16 moves up and down, and makes the connecting rod 18 and the claw 19 around first fixed tray
15 rotations, complete holding action, the position for changing simultaneously mobile pallet 17 can clamp various sizes of service plate, and will need to press from both sides
The service plate held is put into designated position.
Working principle: when utility model works, connection external power supply, starting first motor 4 make first motor 4 first
Transmitting torque by shaft coupling 5 drives lead screw 7 to rotate, since coaster 2 is slidably connected BF type support base 1, so feed screw nut seat
Connector 8 can be moved up and down in the outer surface of lead screw 7, the lifting of realization device, while the second motor 9 starts, the second motor 9
First pulley 10 is driven to rotate, spinning movement is passed to the second belt wheel 11 by synchronous belt by first pulley 10, completes first
The rotation of freedom degree starts third motor 13, drives electric pushrod 14 to rotate by third motor 13, completes second freedom degree
Rotation, enhance the flexibility of mechanical arm, expand the working range of mechanical arm, electric pushrod 14 can by it is flexible reach it is default
Position, the 4th motor 22 starts at this time, and when needing to clamp service plate, the 4th motor 22 drives third belt wheel 23 to rotate, and leads to simultaneously
It crosses synchronous belt and spinning movement is passed into the 4th belt wheel 24, turn the first lead screw 16 being plugged in the 4th belt wheel 24 counterclockwise
It is dynamic, while mobile pallet 17 moves down, and is rotated counterclockwise by connecting rod 18 and claw 19 around the first fixed tray 15, completes
Holding action；When needing balance to put down plate, the rotation of 22 opposite direction of the 4th motor, so that the first lead screw 16 rotates clockwise,
Mobile pallet 17 is driven to move up simultaneously, so that connecting rod 18 and claw 19 are rotated clockwise around the first fixed tray 15,
Claw 19 is opened, balance work is completed.
Claims (4)
1. a kind of balance mechanical arm of meal delivery robot, it is characterised in that: the balance mechanical arm of the meal delivery robot includes rising
Falling unit, rotating device and clamping device；
The lifting device includes BF support base, and the upper surface left side wall of the BF support base is welded with fixed upright bar, fixed vertical
The lateral wall of bar slidably connects coaster, and the right side wall of the coaster is fixedly installed with feed screw nut base connector, the fixation
The upper surface of upright bar is equipped with first motor, and first motor is electrically connected external power supply, and the output end of first motor is fixedly connected
There is shaft coupling, the lower surface of shaft coupling is socketed with BK type lead screw support base, and the left side wall of BK type lead screw support base is fixedly connected
Fixed upright bar, the lower surface of BK type lead screw support base is plugged with lead screw, and the lower surface of lead screw is fixedly connected with BF type support base, institute
State the lateral wall socket feed screw nut connector of lead screw；
The rotating device includes the second motor and connecting plate, and the second motor is electrically connected external power supply, second motor
Output end is fixedly connected with first pulley, and the left side wall of the second motor is fixedly connected with feed screw nut connector, the connecting plate
Upper surface the second belt wheel is installed, and the right side wall of connecting plate is rotatablely connected coaster, and the left side wall of the connecting plate is fixed to be connected
It is connected to third motor, and third motor is electrically connected external power supply, the output end of the third motor is equipped with electric pushrod, electronic
Push rod is electrically connected external power supply；
The clamping device includes the first fixed tray, and the right side wall of the first fixed tray is spirally connected electric pushrod, and described first
The upper surface left and right ends riveting of fixed tray has the first connecting plate, is fixedly connected between two first connecting plate upper surfaces
There is the second fixed tray, the first lead screw is installed at the upper surface center of first fixed tray, and the first lead screw is through the
Two fixed trays, the lateral wall of first lead screw are successively screwed with the 4th belt wheel and mobile pallet, and the 4th band from top to bottom
Wheel is located at the top of the second fixed tray, one end of the left and right sides wall rotation connection connecting rod of the mobile pallet, the connection
The other end of bar is rotatably connected to claw, and the right side wall of second fixed tray is welded with fixed plate, the lower surface of fixed plate
4th motor is installed, and the 4th motor is electrically connected external power supply, the input terminal of the 4th motor is socketed with third belt wheel.
2. a kind of balance mechanical arm of meal delivery robot according to claim 1, which is characterized in that the fixed upright bar
Front-rear side walls offer multiple slideways, and the upper surface slide of slideway is equipped with coaster.
3. a kind of balance mechanical arm of meal delivery robot according to claim 1, which is characterized in that the bottom end of the claw
Lateral wall is socketed with Anti-slip cover.
4. a kind of balance mechanical arm of meal delivery robot according to claim 1, which is characterized in that the shaft coupling it is straight
Diameter is equal with lead screw diameter and is just in close contact.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820522436.0U CN208305059U (en) | 2018-04-13 | 2018-04-13 | A kind of balance mechanical arm of meal delivery robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820522436.0U CN208305059U (en) | 2018-04-13 | 2018-04-13 | A kind of balance mechanical arm of meal delivery robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208305059U true CN208305059U (en) | 2019-01-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820522436.0U Expired - Fee Related CN208305059U (en) | 2018-04-13 | 2018-04-13 | A kind of balance mechanical arm of meal delivery robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN208305059U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108312141A (en) * | 2018-04-13 | 2018-07-24 | 东北大学 | A kind of the balance mechanical arm and application method of meal delivery robot |
-
2018
- 2018-04-13 CN CN201820522436.0U patent/CN208305059U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108312141A (en) * | 2018-04-13 | 2018-07-24 | 东北大学 | A kind of the balance mechanical arm and application method of meal delivery robot |
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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 |
Granted publication date: 20190101 Termination date: 20200413 |
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| CF01 | Termination of patent right due to non-payment of annual fee |