CN208529101U - A kind of manipulator - Google Patents
A kind of manipulator Download PDFInfo
- Publication number
- CN208529101U CN208529101U CN201820867462.7U CN201820867462U CN208529101U CN 208529101 U CN208529101 U CN 208529101U CN 201820867462 U CN201820867462 U CN 201820867462U CN 208529101 U CN208529101 U CN 208529101U
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- China
- Prior art keywords
- bevel gear
- axis
- connecting rod
- retarder
- hanging ring
- Prior art date
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- 210000000245 forearm Anatomy 0.000 claims description 8
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 239000007787 solid Substances 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims 1
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 14
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Abstract
The utility model relates to a kind of manipulators, belong to robot arm field comprising rotating basis, Multi-shaft mechanical arm, gear connecting rod manipulator, Multi-shaft mechanical arm one end are installed on rotating basis, and the other end is connect with gear connecting rod manipulator；The utility model manipulator, mate gear link robot manipulator use, and quick flexibly crawl may be implemented, accurate transmission positioning, mechanical arm multiple degrees of freedom is structurally reasonable, and reliably, use scope is wide.
Description
Technical field
The utility model relates to a kind of manipulators, belong to robot arm field.
Background technique
With the continuous progress of science and technology, more and more machines get their way into people's lives, especially in recent years intelligent machine
Tool is receive more and more attention, and various robots subsequently enter in daily life, and especially mechanical arm is as machine
Important composition component in device people develops even more swift and violent.
And existing machinery arm mostly use motor or it is hydraulic directly drive, move precisely steady control difficult to realize, and this reality
With a kind of Multi-shaft mechanical arm is provided in novel, motor and RV retarder are used cooperatively, and each joint controls difference respectively
Freedom degree on direction, whole arm lifting are controlled by servo-driver, mechanical arm may be implemented and precisely quickly run.
Utility model content
The purpose of the utility model is to provide a kind of manipulators, by providing multi-degree-of-freemechanical mechanical arm, then mate gear company
Quick crawl can be realized in linkage.
This machinery hand includes rotating basis, Multi-shaft mechanical arm, gear connecting rod manipulator, and Multi-shaft mechanical arm one end is installed on rotation
Turn on pedestal, the other end is connect with gear connecting rod manipulator；
The rotating basis includes retarder fixing sleeve, servo deceleration device, driving member, pedestal, axis, drive chuck, limit
Position chuck, retarder fixing sleeve are set on servo deceleration device, fix its position, the output shaft of servo deceleration device is fixed on transmission
At chuck hub, drive chuck is fixed on the right side of driving member, and 2 limit chucks are mounted on the through-hole both ends of pedestal, axis one end
It is fixed on driving member across limit chuck and through-hole；
The Multi-shaft mechanical arm includes forearm, an armshaft, two armshafts, linking arm, Delta motor I, RV retarder I, Delta
Motor II, RV retarder II, gripper rotating electric machine, gripper connector, forearm one end are connect with gripper rotating electric machine, the other end with
RV retarder II connects, and gripper connector is mounted on the output shaft of gripper rotating electric machine, and gear connecting rod manipulator is fixed on hand
Pawl connector bottom；RV retarder II is fixed on two armshaft one end, and II output shaft of Delta motor is connect with RV retarder II, and
Delta motor II is arranged in two armshafts, and RV retarder I is arranged on the two armshaft other ends, and I output end of Delta motor subtracts with RV
Fast device I connects, and an armshaft one end is sleeved on Delta motor I and RV retarder I, and the other end is connect with linking arm, linking arm and
Axis connection；The gear connecting rod manipulator includes shell, paw mechanism, and paw mechanism is arranged in the shell, and shell is fixed on
Gripper connector bottom.
The hollow tube that two armshaft is made of two armshafts I, two armshafts II, two armshafts, II one end and RV retarder
II is connected, and the other end and RV retarder I are connected, and two armshafts I are mounted on two armshafts II.
The hollow tube that one armshaft is made of an armshaft I, an armshaft II, II one end of an armshaft are sleeved on RV and subtract
On fast device I, the other end is connect with linking arm, and I one end of an armshaft is sleeved on Delta motor I, and the other end is connect with linking arm.
Bearing support hanging ring I, axis fixed hanging ring I, driving motor retainer plate, bearing support hanging ring are provided in the shell
II, the fixed hanging ring II of axis, the fixed hanging ring I of bearing support hanging ring I, axis and the fixed hanging ring II of bearing support hanging ring II, axis are distinguished
Symmetrically it is fixed on shell Inner Front End, the fixed middle part inside the shell of driving motor retainer plate.
The paw mechanism includes bevel gear set I, gripper driving motor, bevel gear set II, bearing I, a connecting rod I, two company
Bar I, incorgruous bevel gear set, a connecting rod II, two connecting rods II, bearing II, axis II, axis III, shaft coupling, paw base, finger I, hand
Refer to II, axis I is connected with axis II by shaft coupling, and incorgruous bevel gear set is arranged on axis I and axis II, the output of gripper driving motor
Axis is connect with incorgruous bevel gear set, and bevel gear set I and bevel gear set II are separately mounted on axis I and axis II, and bearing I is arranged in axis
II outer end, the setting of bearing II is in I outer end of axis, and I one end of a connecting rod passes through the fixed hanging ring II of axis and connect with bevel gear set II, the other end
It is connect by pin with two connecting rods, I one end, for two connecting rods, I other end through pin connection on finger I, II one end of a connecting rod is solid across axis
Determine hanging ring I to connect with bevel gear set I, the other end is connect by pin with two connecting rods, II one end, and two connecting rods, II other end is connected by pin
It connects on finger II, finger I, II one end of finger are arranged in paw base by pin respectively, and gripper driving motor is fixed on drive
In dynamic motor retainer plate, bearing I and bearing II are separately positioned on bearing support hanging ring I, in bearing support hanging ring II.
The bevel gear set I includes bevel gear I and bevel gear II, and bevel gear I is mounted on axis I, and the setting of bevel gear II exists
On one connecting rod II, bevel gear I and bevel gear II are matched；Bevel gear set II includes bevel gear III and bevel gear IV, bevel gear III
It is mounted on axis II, bevel gear IV is arranged on a connecting rod I, and bevel gear III and bevel gear IV match.
The incorgruous bevel gear set includes bevel gear V, bevel gear VI, bevel gear VII, and the setting of bevel gear V drives in gripper
On the output shaft of motor, bevel gear VI, bevel gear VII are separately positioned on axis I and axis II.
Utility model device working principle are as follows: the axis in rotating basis can impart power to linking arm, Ji Keshi
The lifting and decline of existing whole manipulator, two armshafts can be around I transverse rotations of an armshaft and two armshafts centre RV retarder, and forearm can
Around the longitudinal rotation of RV retarder II, gripper rotating electric machine can control gripper connector to carry out transverse rotation, to sum up realize manipulator
Agility and flexibility, when crawl, gripper driving motor drives incorgruous bevel gear set work, to make II both ends of axis I and axis
Finger I, finger II can be realized by one connecting rod I of two sides, two connecting rods II of connecting rod I and one, the movement of two connecting rods II in reversed output
Open and close operation.
The utility model has the following beneficial effects:
1, the utility model uses Bevel Gear Transmission structure, realizes that mechanical arm is accurately driven positioning, multiple degrees of freedom combination, work
It is more flexible changeable to make mechanism；
2, the utility model cooperates servo-drive using RV retarder, and movement is accurate, and mechanism reliability is high；
3, this structure is simple, succinct, and reliable for operation, manufacturing cost is low, O&M cost is low, extensively can be used for various robots by model
In structure.
Detailed description of the invention
Fig. 1 is utility model device structural schematic diagram；
Fig. 2 is the rotating basis structural schematic diagram of the utility model；
Fig. 3 is the rotating basis schematic diagram of internal structure of the utility model；
Fig. 4 is the utility model base portion structural schematic diagram；
Fig. 5 is the mechanical arm structural schematic diagram of the utility model；
Fig. 6 is the mechanical arm schematic diagram of internal structure of the utility model；
Fig. 7 is two armshafts, II structural schematic diagram of the utility model；
Fig. 8 is two armshafts, I structural schematic diagram of the utility model；
Fig. 9 is II structural schematic diagram of an armshaft of the utility model；
Figure 10 is I structural schematic diagram of an armshaft of the utility model；
Figure 11 is gear connecting rod robot manipulator structure schematic diagram
Figure 12 is shell mechanism schematic diagram；
Figure 13 is paw mechanism structural schematic diagram；
Figure 14 is paw mechanism structural schematic diagram；
In figure: 1: rotating basis；2: Multi-shaft mechanical arm, 3: gear connecting rod manipulator；4: retarder fixing sleeve；5: servo subtracts
Fast device；6: driving member；7- pedestal: 8- axis；9: drive chuck；10: limit chuck；11: forearm；12: two armshafts I；13: two axis
Arm II；14: one armshafts I；15: one armshafts II；16: linking arm；17: through-hole；18: Delta motor I；19:RV retarder I；20: platform
Up to motor II；21:RV retarder II；22: one armshafts；23: two armshafts；24: shell；25: paw mechanism；26: bearing support
Hanging ring I；27: the fixed hanging ring I of axis；28: driving motor retainer plate；29: bearing support hanging ring II；30: the fixed hanging ring II of axis；31:
Bevel gear set I；32: gripper driving motor；33: bevel gear set II；34: bearing I；35: one connecting rods I；36: two connecting rods I；37:
Bevel gear V；38: incorgruous bevel gear set；39: one connecting rods II；40: two connecting rods II；41: bearing II；42: axis I；43: axis II；44:
Shaft coupling；45: gripper rotating electric machine；46: gripper connector；47: bevel gear VI；48: paw base；49: finger I；50: hand
Refer to II；51: bevel gear I；52: bevel gear II；53: bevel gear III；54: bevel gear IV；55: bevel gear VII.
Specific embodiment
With reference to the accompanying drawings and examples, the utility model is described in further detail, but the content of the utility model is not
It is limited to the range.
Embodiment 1: as represented in figures 1 through 14, this machinery hand includes rotating basis 1, Multi-shaft mechanical arm 2, gear connecting rod manipulator
3,2 one end of Multi-shaft mechanical arm is installed on rotating basis 1, and the other end is connect with gear connecting rod manipulator 3；
The rotating basis 1 includes retarder fixing sleeve 4, servo deceleration device 5, driving member 6, pedestal 7, axis 8, transmission card
Disk 9, limit chuck 10, retarder fixing sleeve 4 are set on servo deceleration device 5, fix its position, the output of servo deceleration device 5
Axis is fixed at 9 center of drive chuck, and drive chuck 9 is fixed on 6 right side of driving member, and 2 limit chucks 10 are mounted on pedestal 7
17 both ends of through-hole, 8 one end of axis passes through limit chuck 10 and through-hole is fixed on driving member 6；
The Multi-shaft mechanical arm 2 subtracts including forearm 11, an armshaft 22, two armshafts 23, linking arm 16, Delta motor I 18, RV
Fast device I 19, Delta motor II 20, RV retarder II 21, gripper rotating electric machine 45, gripper connector 46,11 one end of forearm and hand
Pawl rotating electric machine 45 connects, and the other end is connect with RV retarder II 21, and gripper connector 46 is mounted on gripper rotating electric machine 45
On output shaft, gear connecting rod manipulator 3 is fixed on 46 bottom of gripper connector；RV retarder II 21 is fixed on two armshafts, 23 one end
On, II 20 output shaft of Delta motor is connect with RV retarder II 21, and Delta motor II 20 is arranged in two armshafts, RV retarder
I 19 are arranged on the two armshaft other ends, and I 18 output end of Delta motor is connect with RV retarder I 19, and 22 one end of an armshaft is sleeved on
On Delta motor I and RV retarder I, the other end is connect with linking arm 16, and linking arm 16 is connect with axis 8；
The gear connecting rod manipulator 3 includes shell 24, paw mechanism 25, and paw mechanism 25 is arranged in the shell, shell
It is fixed on 46 bottom of gripper connector；It is solid that the fixed hanging ring I 27 of bearing support hanging ring I 26, axis, driving motor are provided in shell 24
Surely the fixed hanging ring II 30 of circle 28, bearing support hanging ring II 29, axis, the fixed hanging ring I 27 of bearing support hanging ring I 26, axis and bearing
The fixed hanging ring II 30 of support hanging ring II 29, axis is respectively symmetrically fixed on shell Inner Front End, and driving motor retainer plate 28 is fixed on outer
Middle part in shell；Paw mechanism 25 includes bevel gear set I 31, gripper driving motor 32, bevel gear set II 33, bearing I 34, a connecting rod
I 35, two connecting rods I 36, incorgruous bevel gear set 38, a connecting rod II 39, two connecting rods II 40, bearing II 41, axis II 42, axis III 43, connection
Axis device 44, paw base 48, finger I 49, finger II 50, axis I 42 and axis II 43 are connected by shaft coupling 44, incorgruous bevel gear set
38 are arranged on axis I 42 and axis II 43, and the output shaft of gripper driving motor 32 is connect with incorgruous bevel gear set 38, bevel gear set I
31 and bevel gear set II 33 be separately mounted on axis I 42 and axis II 43, bearing I 34 be arranged in II 43 outer end of axis, bearing II 41 is set
It sets in I 42 outer end of axis, I 35 one end of a connecting rod passes through the fixed hanging ring II 30 of axis and connect with bevel gear set II 33, and the other end passes through pin
It is connect with two connecting rods, I 36 one end, for two connecting rods, I 36 other end through pin connection on finger I 49, II 39 one end of a connecting rod passes through axis
Fixed hanging ring I 27 is connect with bevel gear set I 31, and the other end is connect by pin with two connecting rods, II 40 one end, and two connecting rods II 40 are another
End is through pin connection on finger II 50, and finger I 49, II 50 one end of finger are arranged in paw base 48 by pin respectively, hand
Pawl driving motor 32 is fixed in driving motor retainer plate 28, and bearing I 34 and bearing II 41 are separately positioned on bearing support hanging ring I
26, in bearing support hanging ring II 29.
Embodiment 2: as shown in Fig. 6-10,14, with embodiment 1, difference is the present embodiment device: two armshafts 23 are by two
One hollow tube of armshaft I 12, two armshafts II 13 composition, two armshafts, II 13 one end and RV retarder II 21 are connected, the other end with
RV retarder I 19 is connected, and two armshafts I 12 are mounted on two armshafts II 13；One armshaft 22 is by an armshaft I 14, an armshaft II 15
One hollow tube of composition, II 15 one end of an armshaft are sleeved on RV retarder I 19, and the other end is connect with linking arm 16, an axis
I 14 one end of arm is sleeved on Delta motor I 18, and the other end is connect with linking arm 16；Bevel gear set I 31 includes I 51 He of bevel gear
Bevel gear II 52, bevel gear I are mounted on axis I 42, and bevel gear II 52 is arranged on a connecting rod II 39, bevel gear I 51 and cone tooth
II 52 are taken turns to match；Bevel gear set II 33 includes bevel gear III 53 and bevel gear IV 54, and bevel gear III 53 is mounted on axis II 43,
Bevel gear IV 54 is arranged on a connecting rod I 35, and bevel gear III 53 and bevel gear IV 54 match；Incorgruous bevel gear set 38 includes cone
Gear V 37, bevel gear VI 47, bevel gear VII 55, bevel gear V 37 are arranged on the output shaft of gripper driving motor 32, bore tooth
VI 47, bevel gear VII 55 is taken turns to be separately positioned on axis I 42 and axis II 43.
Claims (7)
1. a kind of manipulator, it is characterised in that: including rotating basis (1), Multi-shaft mechanical arm (2), gear connecting rod manipulator (3),
Multi-shaft mechanical arm (2) one end is installed on rotating basis (1), and the other end is connect with gear connecting rod manipulator (3)；
The rotating basis (1) includes retarder fixing sleeve (4), servo deceleration device (5), driving member (6), pedestal (7), axis
(8), drive chuck (9), limit chuck (10), retarder fixing sleeve (4) are set on servo deceleration device (5), fix its position,
The output shaft of servo deceleration device (5) is fixed at drive chuck (9) center, and drive chuck (9) is fixed on the right side of driving member (6), and 2
A limit chuck (10) is mounted on through-hole (17) both ends of pedestal (7), and axis (8) one end passes through limit chuck (10) and through-hole is solid
It is scheduled on driving member (6)；
The Multi-shaft mechanical arm (2) includes forearm (11), an armshaft (22), two armshafts (23), linking arm (16), Delta motor I
(18), RV retarder I (19), Delta motor II (20), RV retarder II (21), gripper rotating electric machine (45), gripper connector
(46), forearm (11) one end is connect with gripper rotating electric machine (45), and the other end is connect with RV retarder II (21), gripper connector
(46) it is mounted on the output shaft of gripper rotating electric machine (45), gear connecting rod manipulator (3) is fixed on gripper connector (46) bottom
Portion；RV retarder II (21) is fixed on two armshafts (23) one end, Delta motor II (20) output shaft and RV retarder II (21)
Connection, and Delta motor II (20) is arranged in two armshafts, RV retarder I (19) is arranged on the two armshaft other ends, Delta electricity
Machine I (18) output end is connect with RV retarder I (19), and an armshaft (22) one end is sleeved on Delta motor I and RV retarder I,
The other end is connect with linking arm (16), and linking arm (16) is connect with axis (8)；
The gear connecting rod manipulator (3) includes shell (24), paw mechanism (25), and paw mechanism (25) is arranged in the shell,
Shell is fixed on gripper connector (46) bottom.
2. manipulator according to claim 1, it is characterised in that: two armshafts (23) are by two armshafts I (12), two armshafts II
(13) hollow tube formed, two armshaft II (13) one end and RV retarder II (21) are connected, the other end and RV retarder I
(19) it is connected, two armshafts I (12) are mounted on two armshafts II (13).
3. manipulator according to claim 1, it is characterised in that: an armshaft (22) is by an armshaft I (14), an armshaft II
(15) hollow tube formed, armshaft II (15) one end are sleeved on RV retarder I (19), the other end and linking arm (16)
Connection, armshaft I (14) one end are sleeved on Delta motor I (18), and the other end is connect with linking arm (16).
4. manipulator according to claim 1, it is characterised in that: be provided in shell (24) bearing support hanging ring I (26),
Axis fixed hanging ring I (27), driving motor retainer plate (28), bearing support hanging ring II (29), axis are fixed hanging ring II (30), bearing branch
It is respectively symmetrically solid to support hanging ring I (26), axis fixed hanging ring I (27) and bearing support hanging ring II (29), axis fixed hanging ring II (30)
It is scheduled on shell Inner Front End, the fixed middle part inside the shell of driving motor retainer plate (28).
5. manipulator according to claim 4, it is characterised in that: paw mechanism (25) includes bevel gear set I (31), gripper
Driving motor (32), bevel gear set II (33), bearing I (34), a connecting rod I (35), two connecting rods I (36), incorgruous bevel gear set
(38), a connecting rod II (39), two connecting rods II (40), bearing II (41), axis I (42), axis II (43), shaft coupling (44), gripper bottom
Seat (48), finger I (49), finger II (50), axis I (42) and axis II (43) are connected by shaft coupling (44), incorgruous bevel gear set
(38) it is arranged on axis I (42) and axis II (43), the output shaft of gripper driving motor (32) is connect with incorgruous bevel gear set (38),
Bevel gear set I (31) and bevel gear set II (33) are separately mounted on axis I (42) and axis II (43), and bearing I (34) is arranged in axis
II (43) outer end, bearing II (41) setting in axis I (42) outer end, connecting rod I (35) one end pass through axis fixed hanging ring II (30) with
Bevel gear set II (33) connection, the other end are connect by pin with two connecting rod I (36) one end, and two connecting rod I (36) other ends pass through pin
It is connected on finger I (49), connecting rod II (39) one end passes through axis fixed hanging ring I (27) and connect with bevel gear set I (31), another
End is connect by pin with two connecting rod II (40) one end, and two connecting rod II (40) other ends pass through pin connection on finger II (50), hand
Refer to that I (49), finger II (50) one end are arranged on paw base (48) by pin respectively, gripper driving motor (32) is fixed on drive
In dynamic motor retainer plate (28), bearing I (34) and bearing II (41) are separately positioned on bearing support hanging ring I (26), bearing support
In hanging ring II (29).
6. manipulator according to claim 5, it is characterised in that: bevel gear set I (31) includes bevel gear I (51) and cone tooth
II (52) are taken turns, bevel gear I is mounted on axis I (42), and bevel gear II (52) is arranged on a connecting rod II (39), bevel gear I (51)
It is matched with bevel gear II (52)；Bevel gear set II (33) includes bevel gear III (53) and bevel gear IV (54), bevel gear III
(53) it is mounted on axis II (43), bevel gear IV (54) is arranged on a connecting rod I (35), bevel gear III (53) and bevel gear IV
(54) it matches.
7. manipulator according to claim 5, it is characterised in that: incorgruous bevel gear set (38) include bevel gear V (37),
Bevel gear VI (47), bevel gear VII (55), bevel gear V (37) are arranged on the output shaft of gripper driving motor (32), bevel gear
VI (47), bevel gear VII (55) are separately positioned on axis I (42) and axis II (43).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820867462.7U CN208529101U (en) | 2018-06-06 | 2018-06-06 | A kind of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820867462.7U CN208529101U (en) | 2018-06-06 | 2018-06-06 | A kind of manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208529101U true CN208529101U (en) | 2019-02-22 |
Family
ID=65382440
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820867462.7U Expired - Fee Related CN208529101U (en) | 2018-06-06 | 2018-06-06 | A kind of manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208529101U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108858174A (en) * | 2018-06-06 | 2018-11-23 | 昆明理工大学 | A kind of manipulator |
-
2018
- 2018-06-06 CN CN201820867462.7U patent/CN208529101U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108858174A (en) * | 2018-06-06 | 2018-11-23 | 昆明理工大学 | A kind of manipulator |
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| 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: 20190222 Termination date: 20190606 |