CN102189275B - Mechanical arm - Google Patents
Mechanical arm Download PDFInfo
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- CN102189275B CN102189275B CN 201110120192 CN201110120192A CN102189275B CN 102189275 B CN102189275 B CN 102189275B CN 201110120192 CN201110120192 CN 201110120192 CN 201110120192 A CN201110120192 A CN 201110120192A CN 102189275 B CN102189275 B CN 102189275B
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- motor
- driving
- linking arm
- worm
- finger
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Abstract
The invention relates to a mechanical arm. The mechanical arm comprises a connection arm, a finger assembly, a first driving mechanism which drives the finger assembly to do straight reciprocating motion on a horizontal plane, and a second driving mechanism which drives the finger assembly to do circular motion on the horizontal plane; a first end of the connection arm is connected the finger assembly; a second end of the connection arm is connected with the first driving mechanism and the second driving mechanism; the mechanical arm is characterized by also comprising a third driving mechanism which drives the connection arm to rotate on a vertical plane; the third driving mechanism comprises a third motor, a third worm which is connected with the output shaft of the third motor, a third worm gear and a rotation foundation; the third worm gear is connected with the rotation foundation through a coupler, and the third motor, the third worm and the third worm gear are arranged in a third shell; and the rotation foundation is arranged on the side wall of the shell and is connected with the second end of the connection arm. Compared with the prior art, the mechanical arm can move in a three-dimensional space.
Description
Technical field
The present invention relates to a kind of manipulator.
Background technology
The metal-working plants such as existing Digit Control Machine Tool, automatic lathe, instrument automatic lathe, although realized the automation processing of workpiece, but the crawl of workpiece, placement etc. must the workman manual operations, so in fact the overall process of workpiece processing belongs to semiautomation operation.People have studied various manipulators and have replaced the manually-operated part for this reason.
Be that CN102019616A namely discloses＜a kind of electric grasping manipulator such as publication number 〉, it comprises the first direction of principal axis travel mechanism, the second direction of principal axis travel mechanism, the 3rd direction of principal axis travel mechanism and a manipulator part, this manipulator part comprises the finger motor, upper finger, lower finger, leading screw and nut, finger motor and leading screw are fixedly connected on the lower finger, upper finger is connected with nut, the first direction of principal axis travel mechanism comprises the first spindle motor, the first axis rail, the first axle Timing Belt and the first axle Timing Belt briquetting, the first spindle motor moves back and forth along the first axis rail by the first axle Timing Belt and the first axle Timing Belt briquetting driving device hand unit, the second direction of principal axis travel mechanism comprises the second spindle motor, the second axis rail, the second axle Timing Belt and the synchronous briquetting of the second axle, the second spindle motor moves back and forth along the second axis rail by the second axle Timing Belt and the synchronous briquetting driving device of the second axle hand unit, and the 3rd direction of principal axis travel mechanism comprises the 3rd spindle motor, the 3rd axis rail, the 3rd axle Timing Belt and the 3rd axle Timing Belt briquetting driving device hand unit move back and forth along the 3rd axis rail.
Manipulator in this patent application can be located the arbitrfary point on the direct coordinate in plane.But can not in three-dimensional space, locate.
Summary of the invention
Technical problem to be solved by this invention is that the present situation for prior art provides a kind of and can locate in three-dimensional space and manipulator that control accuracy is high.
The present invention solves the problems of the technologies described above the technical scheme that adopts: this manipulator, comprise linking arm, finger assembly and driving finger assembly are done the first driving mechanism of straight reciprocating motion and drive the second driving mechanism that the finger assembly moves in a circle in horizontal planes in horizontal plane, wherein, the first end of described linking arm connects described finger assembly, the second end of described linking arm connects described the first driving mechanism and the second driving mechanism, it is characterized in that this manipulator also comprises the 3rd driving mechanism that the described linking arm of driving rotates at vertical guide, the 3rd driving mechanism comprises the 3rd motor, the 3rd worm screw that is connected with the output shaft of the 3rd motor, the 3rd worm gear and rotating base, the 3rd worm gear connects rotating base by shaft coupling, and, described the 3rd motor, the 3rd worm screw and the 3rd worm gear are arranged in the 3rd housing, and described rotating base is arranged on the sidewall of housing and with the second end of described linking arm and is connected.
Described the first driving mechanism and the second driving mechanism can use various structure of the prior art, for example driving mechanism in the background technology.Preferably, consider the structure of matching used lathe, described the first driving mechanism can comprise and is arranged on the lip-deep base of lathe, slide block, the first motor and the first screw mandrel, wherein, described slide block is slidingly arranged on the base, and an end of described the first screw mandrel connects the output shaft of described the first motor, the other end of the first screw mandrel is fixedly connected with described base, the first nut sleeve is located on the first screw mandrel, and, this first nut and described slide block interlock.This structure can be according to the structure of lathe, with floor installation platform as these other parts of manipulator of carrying on the upper surface of lathe.
On the basis of such scheme, described the first driving mechanism can comprise base, slide block, the first motor and the first screw mandrel, wherein, described slide block can be slidingly arranged on the described base, one end of described the first screw mandrel connects the output shaft of described the first motor, and the other end of the first screw mandrel is fixedly connected with described base.
Described the second driving mechanism can be arranged on the described slide block, this second driving mechanism comprises the second motor, the second worm screw, the second worm gear and the second rotating disk that are connected with the output shaft of the second motor, and described the second rotating disk is connected with described the second worm gear by shaft coupling.
In order to take into account the connection between each mechanism and to adapt to governable area on the lathe, as improvement, described the second rotating disk is provided with support, and an end of described linking arm connects the other end of this support; Also being provided with on the other end of support can be at the first micro-adjusting mechanism that changes the linking arm position perpendicular to the direction of linking arm, this first micro-adjusting mechanism comprises the first fine setting motor, the first fine setting screw mandrel that is connected with the output shaft of this first fine setting motor, this first fine setting screw mandrel and described the 3rd housing interlock.This design can be at the front and back position of vertical guide fine setting finger assembly, so that it aims at the Workpiece clamping head on the lathe.
Described manipulator also comprises second micro-adjusting mechanism that can change in the direction of described linking arm the linking arm relative position, described the second micro-adjusting mechanism comprises the second fine setting motor, the second fine setting screw mandrel that is connected with the output shaft of the second fine setting motor, and this second fine setting screw mandrel drives the second end that connects described linking arm.This design can be finely tuned the relative distance between linking arm and the base, with the processing request of applicable different workpieces.
In above-mentioned each scheme, described finger assembly can use various crawl structure of the prior art, consider the concrete structure that needs to cooperate lathe, preferably, described finger assembly comprises at least two fingers, head rod, the second connecting rod, positioning head, driving wheel, motor and the output torque of motor can be delivered to the transmission mechanism of driving wheel; Wherein, described transmission mechanism is arranged between described motor and the described driving wheel, and described driving wheel is provided with mounting hole; The quantity of head rod, the second connecting rod and mounting hole is corresponding with the quantity of described finger; Wherein, corresponding each finger that connects of the first end of each head rod, the second end of each head rod is corresponding to connect each described the second connecting rod one end, and head rod is mutually vertical with the second connecting rod; The other end of each second connecting rod is arranged in each corresponding mounting hole by bearing pin, and the other end of connecting rod is articulated with an end of corresponding finger; Be provided with accommodating each second connecting rod in the described positioning head and limit the second groove of the second connecting rod direction of motion, be provided with the first groove of accommodating each head rod on the perisporium of positioning head corresponding to each head rod, and the middle part of each head rod is connected with the side-wall shaft of described the first groove; The end face of the described finger of subtend is provided with groove on the described positioning head, and spring is arranged in this groove and conflicts on thimble, and this thimble passes the thimble shell and exposes, and described thimble shell is connected with described positioning head.
Described finger assembly also comprises the flexible telescoping mechanism of the described finger of driving, and this telescoping mechanism comprises the flexible motor that is set in the outer sleeve of described cover core, telescopic screw rod and the rotation of driving telescopic screw rod; Wherein said telescopic screw rod is fixedly connected with described cover core.
Consider picking and placeing of whorl work piece, described finger assembly can also comprise the rotating mechanism that drives described sleeve rotation, and this rotating mechanism comprises rotary electric machine, drives the worm and worm wheel that rotate by this rotary electric machine, and described worm gear is connected with described sleeve.
This manipulator also comprises the feed table that takes, puts for described finger assembly for place work piece, be provided with annular recess in the described feed table, be provided with gear band in this groove, described gear is meshed with driving gear set, and described driving gear set connects the output shaft of feeding motor; And the upper surface of described gear band is provided with dismountable workseat for place work piece.
Above-mentioned manipulator can arrange a cover, by rotation direction, the angle of each motor of programme-control, thereby finishes the automatic clamping and placing of workpiece.In order to raise the efficiency, can adopt two cover robot devices, a cover is used for grabbing workpiece and is placed in the Workpiece clamping head of lathe, and is another set of be used to taking off the workpiece of completion of processing and being placed into preposition.This two covers manipulator is symmetrical arranged, but it can share a base.Concrete scheme is as follows:
Described base is provided with slide rail, slide rail is provided with two slide blocks, described linking arm, finger assembly and drive the finger assembly and do the first driving mechanism of straight reciprocating motion and drive the second driving mechanism that the finger assembly moves in a circle and drive described linking arm in horizontal plane in horizontal plane and be provided with two covers in the equal correspondence of the 3rd driving mechanism that vertical guide rotates.
Compared with prior art, the present invention so that manipulator provided by the present invention can operate, has strengthened the applicability of this manipulator owing to be provided with the described linking arm of driving at the 3rd driving mechanism that vertical guide rotates in three-dimensional space; The design of pointing simultaneously telescoping mechanism in the assembly has further enlarged the scope of application of this manipulator, can grasp the workpiece of any size, and the design of rotating mechanism has then increased the automation mechanized operation of this manipulator double thread docking workpiece in the finger assembly; In a word, manipulator applicability provided by the present invention is wide, and automaticity is high.
Description of drawings
Fig. 1 is the schematic perspective view of embodiment of the invention assembly structure;
Fig. 2 is the three-dimensional exploded view of the first driving mechanism in the embodiment of the invention;
Fig. 3 is the schematic perspective view of the first driving mechanism assembly structure in the embodiment of the invention;
Fig. 4 is the cutaway view of the first driving mechanism;
Fig. 5 is the three-dimensional exploded view of the second driving mechanism in the embodiment of the invention;
Fig. 6 is the schematic perspective view of motor, worm gear, worm screw and rotating disk assembly structure in the second driving mechanism in the embodiment of the invention;
Fig. 7 is the schematic perspective view of the first micro-adjusting mechanism middle part sub-unit assembly structure in the embodiment of the invention;
Fig. 8 is the three-dimensional exploded view of the 3rd driving mechanism in the embodiment of the invention;
Fig. 9 is the schematic perspective view of removing assembly structure behind the pedestal in the embodiment of the invention the 3rd driving mechanism;
Figure 10 is the schematic perspective view of the second micro-adjusting mechanism middle part sub-unit assembly structure in the embodiment of the invention;
Figure 11 is the schematic perspective view (not comprising housing) of finger mechanism assembly structure in the embodiment of the invention;
Figure 12 and Figure 13 are the planar structure schematic diagram of the other two kinds of driving wheels of the present invention;
Figure 14 is the schematic perspective view (not comprising sleeve) of telescoping mechanism assembly structure in the embodiment of the invention;
Figure 15 is the schematic perspective view (not comprising housing) of the first rotating mechanism assembly structure in the embodiment of the invention;
Figure 16 is the schematic perspective view (not comprising housing) of the second rotating mechanism assembly structure in the embodiment of the invention;
Figure 17 is the three-dimensional exploded view of feed table in the embodiment of the invention;
Figure 18 is the schematic perspective view of removing feed table remaining part assembly structure behind the base in the embodiment of the invention;
Figure 19 and Figure 20 are the schematic perspective view of two duties of manipulator in the embodiment of the invention;
Figure 21 is the schematic perspective view of the decomposition texture of finger mechanism in the embodiment of the invention;
Figure 22 is the cutaway view of finger mechanism assembly structure in the embodiment of the invention.
The specific embodiment
Embodiment is described in further detail the present invention below in conjunction with accompanying drawing.
To shown in Figure 22, this manipulator comprises such as Fig. 1:
The first driving mechanism 1, such as Fig. 2, Fig. 3 and shown in Figure 4, the first driving mechanism has two, and these two first driving mechanisms share a base 11, and base 11 is provided with slide rail 12, and the middle part of base 11 is provided with mounting groove 13; Two slide block 14 subtends are arranged on the slide rail 12.Two the first motors 15, the first screw mandrels 16 are arranged in the mounting groove 13, and one section of the first screw mandrel 16 is passed Connection Block 17 and is connected with the output shaft of the first motor, and the other end axle of the first screw mandrel is located on the sidewall of mounting groove 13; The first nut 18 is threaded on the first screw mandrel 16, and the first nut 18 is fixedly connected with slide block 14.During work, the first electric machine rotation drives the first screw mandrel original place and rotates, and the first nut that is screwed onto on the screw mandrel is moved back and forth at the first screw mandrel, thereby drive slide block 14 is moved back and forth.
The second driving mechanism 2, as shown in Figure 5 and Figure 6, it comprises the second motor 21, the second worm screw 22 that is connected with the output shaft of the second motor, the second worm gear 23 and the second rotating disk 24.Wherein, the second motor 21, the second worm screw 22 and the second worm gear 23 are arranged in the second housing 25, and the second rotating disk 24 is arranged on outside the second housing 25.The second housing 25 is fixed by screws on the slide block 14, and the second rotating disk 24 is connected with the second worm gear 23 by shaft coupling 26.The operation principle of the second driving mechanism is: the second electric machine rotation drives the second worm screw, the second worm gear, the second dial rotation successively.
Be fixed with support 3 on the second rotating disk, as shown in Figure 5, an end of support 3 is fixed on the second rotating disk 24, so support 3 and the second rotating disk 24 interlocks.The other end of support 3 is provided with the first micro-adjusting mechanism 4.
The first micro-adjusting mechanism 4 is used for the relative position that workpiece and lathe dog are adjusted in front and back.As shown in Figure 7, it comprises the first fine setting motor 41, the first fine setting screw mandrel 42 that is connected with the output shaft of this first fine setting motor 41, is bolted with nut 43 and described the 3rd housing interlock on this first fine setting screw mandrel 42.
The 3rd driving mechanism 5 such as Fig. 8 and shown in Figure 9, comprises motor 51, drives worm screw 52, the worm gear 53 that is connected with the output shaft of motor, and this worm gear 53 connects rotating base 55 by shaft coupling 54; Wherein, motor 51, worm screw 52 and worm gear 53 are arranged in the 3rd housing 56, and a side plate of the 3rd housing 56 is provided with the hole that is connected with rotating base 55 for shaft coupling, and rotating base 55 is pressed close to this side plate.Thereby the nut 43 in the first micro-adjusting mechanism is fixedly connected with the side plate relative with this side plate the motion of nut 43 is passed to the 3rd housing 56.The operation principle of the 3rd driving mechanism 5 is: motor 51 will move and pass to successively worm screw, worm gear, shaft coupling, rotating base 55, rotate thereby drive the linking arm 6 that is fixed on the rotating base.
In the present embodiment, the location for firm linking arm 6 is provided with the collar 61, and the collar 61 ring sets are at the second end of linking arm 6, and rotating base 55 and the collar 61 are connected by screw.Linking arm 6 is for having the tubular structure that connects cavity.
The motion of above-mentioned the first driving mechanism 1, the second driving mechanism 2 is delivered to linking arm 6 by support 3.
The second micro-adjusting mechanism 7 as shown in figure 10, is used for regulating the length that linking arm stretches out the collar 61, thus the workpiece of applicable different size; It comprises the second fine setting motor 71 and the second fine setting screw mandrel 72 that is connected with the second output shaft of finely tuning motor, the second end of this second fine setting screw mandrel 72 is arranged in the cavity of linking arm 6 by the nut that is screwed onto on the second fine setting screw mandrel, and fixes with linking arm 6.The operation principle of the second micro-adjusting mechanism 7 is that the second fine setting driven by motor the second fine setting screw mandrel rotates, thereby the nut that drive is screwed onto on the second fine setting screw mandrel moves back and forth along the second fine setting screw mandrel direction, thereby finely tunes the position of the relative collar 61 of linking arm in the direction of the second fine setting screw mandrel.
Such as Figure 11, Figure 21 and shown in Figure 22, the finger mechanism 81 in the present embodiment comprises three fingers 811, the three groups of connecting rods 812, driving wheel 813, positioning head 818, motor 814 and the transmission mechanism 815 that are connected with each finger respectively.Described transmission mechanism is arranged between described motor and the described driving wheel, is used for carry-over moment; Arranging of transmission mechanism can be adopted driving gear set as required, also can adopt multiple sets of teeth wheels or worm gear, worm screw to come amplifying moment or change transmission direction; Transmission mechanism in the present embodiment comprises the gear train 8151 that is connected with motor 814 and the worm screw 8152 that is in transmission connection with this gear train, worm gear 8153, connects driving wheel 813 by bearing on the end of worm gear 8153; Offer three mounting holes 817 on the driving wheel 813; Each is organized connecting rod 812 and comprises respectively head rod 8121 and the second connecting rod 8122, wherein an end of head rod 8121 connects respectively corresponding finger 811, the other end of head rod 8121 is fixedly connected with an end of the second connecting rod 8122, and head rod 8121 is mutually vertical with the second connecting rod 8122, the other end of each second connecting rod 8122 is respectively equipped with bearing pin 816, and each bearing pin 816 is spacing in the mounting hole 817 of correspondence respectively.Be provided with three accommodating each second connecting rods in the positioning head 818 and limit the second groove 8181 of the second connecting rod direction of motion, be provided with the first groove 8182 of three accommodating each head rods on the perisporium of positioning head corresponding to each head rod, and the middle part of each second connecting rod is located on the sidewall of the first groove by bearing pin 8183 axles; The end face middle part of subtend finger is provided with groove 8184 on 818 positioning heads, and spring 8185 is arranged in this groove 8184 and conflicts on thimble 8186, and thimble 8186 passes thimble shell 8187 and exposes, and the thimble shell is fixedly connected with positioning head.The operation principle of finger mechanism 81 is that motor passes through transmission mechanism rotating drive wheel, rotation along with driving wheel, thereby the position that bearing pin changes in mounting hole makes the second connecting rod in spacing lower rising or the decline of the second groove, then line of motion is delivered to head rod, head rod is rotated take bearing pin 8183 as axle, each finger of drive opens or closes up, thereby puts down or grabbing workpiece; And thimble can be all the time under the effect of spring be conflicted to stop and is referred to the workpiece that mechanism is grasped, so that crawl is more firm, avoids grasping unstable workpiece and misses between each finger.
Above-mentioned finger also can arrange two, four, or arranges as required a plurality ofly, and the quantity of mounting hole is corresponding with the quantity of finger on the group number of described connecting rod and the driving wheel.Figure 12 and shown in Figure 13 be the shape of the driving wheel of two and four fingers.
Above-mentioned finger mechanism is arranged in the cover core 818, the cover core 818 outer sleeves that also are arranged with.
Telescoping mechanism 82, comprise be set in the outer sleeve 821 of core 817, be arranged in the sleeve 821 telescopic screw rod 822 and by motor 823, gear 825, worm screw 826, worm gear 827, transmission drive the flexible motor 823 that telescopic screw rod 822 rotates; Telescopic screw rod 822 upper ring caps have nut 824, and nut 824 is fixedly connected with cover core 817.The operation principle of this telescoping mechanism is: flexible motor by gear, worm screw, worm gear, pass motion to telescopic screw rod, telescopic screw rod passes motion to cover core 817 by the nut that is spirally connected thereon, thereby makes the finger mechanism that is arranged in the cover core 817 stretch, contract.
The first rotating mechanism 83, as shown in figure 15, this mechanism rotates finger mechanism, to make things convenient for picking and placeing of whorl work piece, it comprises rotary electric machine 831, drives worm screw 832 and the worm gear 833 that rotates by this rotary electric machine, and worm gear 833 is fixedly connected with by the end face of shaft coupling with sleeve 821; Rotating mechanism 83 in the present embodiment also is arranged in the housing 834, to play protection mechanism parts and effect attractive in appearance.The first end of linking arm is fixedly connected with housing 834.The operation principle of this rotating mechanism is: rotary electric machine rotates by the sleeve that worm screw, worm gear drives are fixedly connected with worm gear, finger mechanism with the telescoping mechanism in the moving sleeve and cover in-core rotates together, thereby lathe is twisted or twisted to the workpiece that finger mechanism grasps from lathe.
The second rotating mechanism 84, be used for the second rotating mechanism that the parts in drive sleeve and the sleeve rotate together, as shown in figure 16, this second rotating mechanism comprises the second rotary electric machine 841, the worm screw 842, worm gear 843 and the rotating seat 844 that are connected with the output shaft of the second rotary electric machine, this worm gear 843 connects rotating seat 844 by shaft coupling, and rotating seat 844 is fixedly connected with sleeve 821.The second rotating mechanism 84 also is arranged in the housing, and its operation principle is that the second rotary electric machine rotates by worm screw, worm-gear driven sleeve, thereby all parts in the sleeve are rotated together.
In order to increase work efficiency, manipulator in the present embodiment has two, as previously mentioned, the first driving mechanism of these two manipulators shares a base, and other parts are two covers, and these two manipulators are symmetrical arranged centered by the position that places workpiece on the lathe, like this, in a manipulator crawl workpiece, another manipulator takes off the workpiece that processes from lathe, greatly improved operating efficiency.
Present embodiment also special design feed table 9 be used for placing and the convenient position of grasping of conveying workpieces finger assembly in one's hands.As shown in Figure 17 and Figure 18, be provided with annular recess 91 in this feed table 9, be provided with gear band 92 in the groove 91, gear band 92 transmission that is meshed with driving gear set 96, driving gear set 96 connects the output shaft of feeding motors 93; The upper surface of gear band is provided with dismountable workseat 94 for place work piece; Also be provided with optoelectronic switch 95 in the crawl position of finger assembly on the feed table 9.The operation principle of this feed table is: after the finger assembly grasps away workpiece on the feed table 9, optoelectronic switch 95 starts feeding motor 93, feeding motor 93 rotates by driving gear set driven gear band, when next workpiece touches optoelectronic switch, optoelectronic switch cuts out the feeding motor, gear band stops operating, stay where one is, pending further orders etc. the crawl of finger assembly of this workpiece that touches optoelectronic switch.Workseat is replaceable, with the convenient workpiece of placing different structure.
The operation principle of above-mentioned manipulator is: when needing grabbing workpiece, at first be that finger mechanism work will be grasped the workpiece on the feed table, then the second driving mechanism work, in horizontal plane, be rotationally connected arm with workpiece corresponding position to the lathe, then the first driving mechanism work is transported to workpiece again more near position corresponding on the lathe; The job order of above-mentioned the first driving mechanism and the second driving mechanism can be exchanged.Then be the 3rd driving mechanism work, turning of work piece in vertical guide is delivered to workpiece in the Workpiece clamping head of lathe.
Complete when the 3rd driving mechanism work, the finger assembly reaches the position of Workpiece clamping head on the lathe, but workpiece when a bit of distance in interval, can start the distance that the second micro-adjusting mechanism regulates between workpiece and the Workpiece clamping head and reach appropriate position; And when departing from the position of Workpiece clamping head before and after the workpiece, can start the first micro-adjusting mechanism and come front and back to regulate the position of workpiece to suitable.
In addition, according to structure and the size of workpiece, can also be respectively or start simultaneously telescopic component and be suitable for different work requirements with runner assembly work.
Claims (7)
1. manipulator, comprise linking arm, finger assembly and driving finger assembly are done the first driving mechanism of straight reciprocating motion and drive the second driving mechanism that the finger assembly moves in a circle in horizontal planes in horizontal plane, wherein, the first end of described linking arm connects described finger assembly, the second end of described linking arm connects described the first driving mechanism and the second driving mechanism, it is characterized in that this manipulator also comprises the 3rd driving mechanism that the described linking arm of driving rotates at vertical guide, the 3rd driving mechanism comprises the 3rd motor, the 3rd worm screw that is connected with the output shaft of the 3rd motor, the 3rd worm gear and rotating base, the 3rd worm gear connects rotating base by shaft coupling, and, described the 3rd motor, the 3rd worm screw and the 3rd worm gear are arranged in the 3rd housing, and described rotating base is arranged on the sidewall of the 3rd housing and with the second end of described linking arm and is connected;
Described the first driving mechanism comprises and is arranged on the lip-deep base of lathe, slide block, the first motor and the first screw mandrel, wherein, described slide block can be slidingly arranged on the described base, one end of described the first screw mandrel connects the output shaft of described the first motor, the other end of the first screw mandrel is connected with described base, the first nut sleeve is located on the first screw mandrel, and, this first nut and described slide block interlock;
Described the second driving mechanism is arranged on the described slide block, this second driving mechanism comprises the second motor, the second worm screw, the second worm gear and the second rotating disk that are connected with the output shaft of the second motor, and described the second rotating disk is connected with described the second worm gear by shaft coupling;
Described the second rotating disk is provided with support, and an end of described linking arm connects an end of this support; Also being provided with on the other end of support can be at the first micro-adjusting mechanism that changes the linking arm position perpendicular to the direction of linking arm, this first micro-adjusting mechanism comprises the first fine setting motor, the first fine setting screw mandrel that is connected with the output shaft of this first fine setting motor, this first fine setting screw mandrel and described the 3rd housing interlock.
2. manipulator according to claim 1, it is characterized in that described manipulator also comprises second micro-adjusting mechanism that can change in the direction of described linking arm the linking arm relative position, described the second micro-adjusting mechanism comprises the second fine setting motor, the second fine setting screw mandrel that is connected with the output shaft of the second fine setting motor, and this second fine setting screw mandrel drives the second end that connects described linking arm.
3. manipulator according to claim 1 and 2 is characterized in that described finger assembly comprises at least two fingers, head rod, the second connecting rod, driving wheel, positioning head, motor and the output torque of motor can be delivered to the transmission mechanism of driving wheel; Wherein, described transmission mechanism is arranged between described motor and the described driving wheel, and described driving wheel is provided with mounting hole; The quantity of head rod, the second connecting rod and mounting hole is corresponding with the quantity of described finger; Wherein, corresponding each finger that connects of the first end of each head rod, the second end of each head rod is corresponding to connect each described the second connecting rod one end, and head rod is mutually vertical with the second connecting rod; The other end of each second connecting rod is arranged in each corresponding mounting hole by bearing pin, and the first end of head rod is articulated with an end of corresponding finger; Be provided with accommodating each second connecting rod in the described positioning head and limit the second groove of the second connecting rod direction of motion, be provided with the first groove of accommodating each head rod on the perisporium of positioning head corresponding to each head rod, and the middle part of each head rod is connected with the side-wall shaft of described the first groove; The end face of the described finger of subtend is provided with groove on the described positioning head, and spring is arranged in this groove and conflicts on thimble, and this thimble passes the thimble shell and exposes, and described thimble shell is connected with described positioning head.
4. manipulator according to claim 3 is characterized in that described finger assembly also comprises the flexible telescoping mechanism of the described finger of driving, and this telescoping mechanism comprises the flexible motor that is set in the outer sleeve of core, telescopic screw rod and the rotation of driving telescopic screw rod; Wherein said telescopic screw rod is fixedly connected with described cover core.
5. manipulator according to claim 4, it is characterized in that described finger assembly also comprises the rotating mechanism that drives described sleeve rotation, this rotating mechanism comprises rotary electric machine, drives the worm and worm wheel that rotate by this rotary electric machine, and described worm gear is connected with described sleeve.
6. manipulator according to claim 5, it is characterized in that also being provided with on the sidewall of described sleeve the second rotating mechanism that the parts in drive sleeve and the sleeve rotate together, described the second rotating mechanism comprise the second rotary electric machine, with the worm and worm wheel that the output shaft of the second rotary electric machine is connected, this worm gear connects described sleeve by shaft coupling.
7. manipulator according to claim 6, it is characterized in that this manipulator also comprises the feed table that takes, puts for described finger assembly for place work piece, be provided with annular recess in the described feed table, be provided with gear band in this groove, described gear band is meshed with driving gear set, and described driving gear set connects the output shaft of feeding motor; And the upper surface of described gear band is provided with dismountable workseat for place work piece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110120192 CN102189275B (en) | 2011-05-04 | 2011-05-04 | Mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201110120192 CN102189275B (en) | 2011-05-04 | 2011-05-04 | Mechanical arm |
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| CN102189275A CN102189275A (en) | 2011-09-21 |
| CN102189275B true CN102189275B (en) | 2013-04-10 |
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| CN104103327B (en) * | 2014-07-01 | 2017-01-04 | 西北核技术研究所 | A kind of reactor sample gripping apparatus |
| CN106948399B (en) * | 2017-05-12 | 2019-03-26 | 武汉理工大学 | Adaptive dual-reamer sludger |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US4187051A (en) * | 1978-05-26 | 1980-02-05 | Jerry Kirsch | Rotary video article centering, orienting and transfer device for computerized electronic operating systems |
| JP4541091B2 (en) * | 2004-10-04 | 2010-09-08 | 本田技研工業株式会社 | Processing transfer device |
| CN201198135Y (en) * | 2008-05-19 | 2009-02-25 | 昆明理工大学 | Laneway storehouse stacking robot |
| CN101797748A (en) * | 2010-01-08 | 2010-08-11 | 武汉若比特机器人有限公司 | Multiple-degree-of-freedom anti-explosion mechanical arm |
| CN202174248U (en) * | 2011-05-04 | 2012-03-28 | 孟秋华 | Manipulator |
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