CN214818566U - Manipulator using servo side posture mechanism - Google Patents
Manipulator using servo side posture mechanism Download PDFInfo
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- CN214818566U CN214818566U CN202121229140.8U CN202121229140U CN214818566U CN 214818566 U CN214818566 U CN 214818566U CN 202121229140 U CN202121229140 U CN 202121229140U CN 214818566 U CN214818566 U CN 214818566U
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Abstract
The utility model relates to a machine-building technical field, concretely relates to use manipulator of servo side appearance mechanism, including first arm, second arm and servo side appearance mechanism, first arm with the second arm is connected through servo side appearance mechanism, servo side appearance mechanism includes first servo motor, drive screw, side appearance rotor plate, drive screw sets up in first servo motor's the pivot, be equipped with the gear on the appearance rotor plate of inclining, the gear with screw thread intermeshing on the drive screw, the beneficial effects of the utility model are that speed is stable in the driving process, the rotation is steady, compares cylinder side appearance subassembly and has longer life, and has bigger drive power.
Description
Technical Field
The utility model relates to a machine-building technical field, concretely relates to use servo side appearance rotary mechanism's manipulator.
Background
The requirement of the mechanical arm in the prior art is increasingly raised in the mechanical manufacturing industry, the existing mechanical arm side posture rotating mechanism generally uses a cylinder as a power source, a connecting rod or a rack is connected to a piston of the cylinder, but the cylinder and the connecting rod are used as a driving side posture group.
Similarly, when the cylinder and the rack are used as the driving side posture group, the rotating speed of the rack driving the side posture group in the moving process is not constant due to the structural principle defect of the cylinder, and the service life of the side posture group is influenced.
Disclosure of Invention
The utility model discloses an aim at overcoming prior art not enough, provides a rotatory process speed is invariable, drive power stronger has the manipulator device of servo motor drive side appearance group.
In order to achieve the above object, the present invention provides a manipulator using a servo side posture mechanism, comprising a first manipulator arm, a second manipulator arm and a servo side posture mechanism, wherein the first manipulator arm is connected with the second manipulator arm through the servo side posture mechanism, the servo side posture mechanism comprises a first servo motor, a transmission screw, a first fixed side plate, a second fixed side plate and a side posture rotating plate, the first manipulator arm is sleeved outside the first servo motor, the side posture rotating plate is provided with the second manipulator arm, the transmission screw is arranged on a rotating shaft of the first servo motor, the first fixed side plate and the second fixed side plate are respectively fixed on two sides of the first servo motor, a rotating shaft is arranged between the first fixed side plate and the second fixed side plate, the side posture rotating plate is provided with a gear, the rotating shaft passes through the gear, the gear can be followed the rotation axis is rotatory, the gear with screw thread intermeshing on the drive screw, the utility model discloses well servo motor-drive screw's that adopts structure compares in the structure of traditional cylinder-rack, has more stable speed, stronger drive power and longer life.
As the utility model discloses further improve, be equipped with first harmonic reduction gear on the first servo motor, first harmonic reduction gear with first servo motor pivot rigid connection, drive screw sets up on the first harmonic reduction gear, the principle of harmonic reduction gear is by wave generator assembly flexible bearing messenger flexible gear produce controllable elastic deformation to with the gear drive of rigid gear meshing transfer motion and power, when wave generator rotated along the direction of drawing the picture in succession, the deformation of flexbile gear constantly changed, make the meshing state of flexbile gear and rigid wheel also constantly change, by nibbling, meshing, nibble out, throw off, nibble into … … again, go on in cycles, thereby realize the slow rotation of flexbile gear relative rigid wheel along wave generator H opposite direction, its main function is for adjusting the velocity of motion and increaseing working torque.
As the utility model discloses the further improvement can rotate in another orientation for letting the second arm to the adjustment direction of putting of the product that snatchs, be equipped with second servo motor on the appearance rotor plate that inclines, be equipped with the rotor plate on the second servo motor, the second arm is fixed on the rotor plate.
As the utility model discloses the further improvement, be equipped with the second harmonic reduction gear on the second servo motor, the second harmonic reduction gear with second servo motor rigid connection, the second arm with the second harmonic reduction gear is connected.
As the utility model discloses further improve, for the efficiency of further improvement manipulator, can say that the quantity of side appearance rotor plate sets up to two, sets up respectively drive screw's both sides, like this first servo motor can drive the side appearance rotor plate of both sides simultaneously rotating the in-process, snatchs article simultaneously in two directions.
As the utility model discloses further improve, first fixed curb plate with be equipped with on the fixed curb plate of second and be used for detecting the photoelectric switch of side appearance rotating plate position, this photoelectric switch can monitor the position of side appearance rotor plate, and when the rotation of side appearance rotor plate arrived corresponding position, can in time stop servo motor's rotation, avoid the manipulator structure to receive the damage.
The utility model has the advantages that: the servo motor-screw transmission mode is adopted, the driving force is larger, the constant transmission speed is higher, the service life is longer, the side posture rotating plate and the second mechanical arm can rotate to any angle by setting the torque of the servo motor, and the servo motor-screw transmission mode has wider applicability.
Drawings
For the purpose of illustration, the invention is described in detail with reference to the following preferred embodiments and the accompanying drawings.
FIG. 1 is a schematic view of a robot using a servo lateral attitude mechanism;
FIG. 2 is a schematic view of a servo lateral attitude mechanism;
FIG. 3 is a side view of the servo side attitude mechanism;
FIG. 4 is a front view of the servo lateral attitude mechanism;
FIG. 5 is a side view of the robot with a second servo motor;
FIG. 6 is a side view of a servo lateral attitude mechanism with a bi-directional lateral attitude rotation plate;
in the figure: 1-a first mechanical arm, 2-a second mechanical arm, 3-a servo lateral attitude mechanism, 31-a first servo motor, 311-a first harmonic reducer, 32-a transmission screw, 33-a first fixed side plate, 34-a second fixed side plate, 35-a lateral attitude rotating plate, 351-a gear, 352-a second servo motor, 353-a rotating plate, 354-a second harmonic reducer, 36-a rotating shaft and 37-a photoelectric switch.
Detailed Description
An embodiment of the present invention provides a manipulator using a servo side posture mechanism for further description.
As shown in fig. 1-3, a manipulator using a servo lateral gesture mechanism includes a first manipulator 1, a second manipulator 2 and a servo lateral gesture mechanism 3, where the first manipulator 1 is connected to the second manipulator 2 through the servo lateral gesture mechanism 3, the first manipulator 1 mainly functions to connect the manipulator device to a higher-level device, the second manipulator 2 functions to connect to a clamping component for clamping a product, the servo lateral gesture mechanism 3 includes a first servo motor 31, a transmission screw 32, a first fixed side plate 33, a second fixed side plate 34 and a lateral gesture rotation plate 35, the first manipulator 1 is sleeved outside the first servo motor 31, the lateral gesture rotation plate 35 is provided with the second manipulator 2, the transmission screw 32 is arranged on a rotation shaft of the first servo motor 31, the first fixed side plate 33 and the second fixed side plate 34 are respectively fixed on two sides of the first servo motor 31, a rotating shaft 36 is provided between the first fixed side plate 33 and the second fixed side plate 34, a gear 351 is provided on the lateral rotating plate 35, the rotating shaft 36 passes through the gear 351, the gear 351 can rotate along the rotating shaft 36, and the gear 351 is engaged with the thread on the drive screw 32.
As shown in fig. 4, a first harmonic reducer 311 is disposed on the first servo motor 31, the first harmonic reducer 311 is rigidly connected to a rotating shaft of the first servo motor 31, and the drive screw 32 is disposed on the first harmonic reducer 311.
As shown in fig. 5, a second servo motor 352 is provided on the side-posture rotating plate 35, a rotating plate 353 is provided on the second servo motor 352, and the second robot arm 2 is fixed to the rotating plate 353.
As shown in fig. 5, a second harmonic reducer 354 is provided on the second servo motor 352, the second harmonic reducer 354 is rigidly connected to the second servo motor 352, and the second robot arm 2 is connected to the second harmonic reducer 354.
As shown in fig. 6, the number of the side-posture rotating plates 35 is two, and the two side-posture rotating plates are respectively disposed on both sides of the drive screw 32.
As shown in fig. 1 to 6, the first fixed side plate 33 and the second fixed side plate 34 are provided with a photoelectric switch 37 for detecting the position of the side-posture rotating plate 35.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (6)
1. The utility model provides an use manipulator of servo side appearance mechanism, includes first arm (1), second arm (2) and servo side appearance mechanism (3), first arm (1) with second arm (2) are connected through servo side appearance mechanism (3), its characterized in that: the servo side posture mechanism (3) comprises a first servo motor (31), a transmission screw rod (32), a first fixed side plate (33), a second fixed side plate (34) and a side posture rotating plate (35), wherein the first mechanical arm (1) is sleeved outside the first servo motor (31), the side posture rotating plate (35) is provided with a second mechanical arm (2), the transmission screw rod (32) is arranged on a rotating shaft of the first servo motor (31), the first fixed side plate (33) and the second fixed side plate (34) are respectively fixed on two sides of the first servo motor (31), a rotating shaft (36) is arranged between the first fixed side plate (33) and the second fixed side plate (34), the side posture rotating plate (35) is provided with a gear (351), the rotating shaft (36) penetrates through the gear (351), and the gear (351) can rotate along the rotating shaft (36), the gear (351) intermeshes with threads on the drive screw (32).
2. The robot hand using the servo lateral attitude mechanism according to claim 1, wherein: be equipped with first harmonic reduction gear (311) on first servo motor (31), first harmonic reduction gear (311) with first servo motor (31) pivot rigid connection, drive screw (32) set up on first harmonic reduction gear (311).
3. The robot hand using the servo lateral attitude mechanism according to claim 1, wherein: the side posture rotating plate (35) is provided with a second servo motor (352), the second servo motor (352) is provided with a rotating plate (353), and the second mechanical arm (2) is fixed on the rotating plate (353).
4. A robot hand using a servo lateral attitude mechanism according to claim 3, wherein: and a second harmonic reducer (354) is arranged on the second servo motor (352), the second harmonic reducer (354) is rigidly connected with the second servo motor (352), and the second mechanical arm (2) is connected with the second harmonic reducer (354).
5. The robot hand using the servo lateral attitude mechanism according to claim 1, wherein: the number of the side posture rotating plates (35) is two, and the side posture rotating plates are respectively arranged on two sides of the transmission screw rod (32).
6. The robot hand using the servo lateral attitude mechanism according to claim 1, wherein: the first fixed side plate (33) and the second fixed side plate (34) are provided with photoelectric switches (37) for detecting the positions of the side posture rotating plates (35).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121229140.8U CN214818566U (en) | 2021-06-03 | 2021-06-03 | Manipulator using servo side posture mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121229140.8U CN214818566U (en) | 2021-06-03 | 2021-06-03 | Manipulator using servo side posture mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214818566U true CN214818566U (en) | 2021-11-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121229140.8U Active CN214818566U (en) | 2021-06-03 | 2021-06-03 | Manipulator using servo side posture mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214818566U (en) |
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2021
- 2021-06-03 CN CN202121229140.8U patent/CN214818566U/en active Active
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