CN105881514A - Robot with manipulator assembly on paired small arms - Google Patents
Robot with manipulator assembly on paired small arms Download PDFInfo
- Publication number
- CN105881514A CN105881514A CN201610368502.9A CN201610368502A CN105881514A CN 105881514 A CN105881514 A CN 105881514A CN 201610368502 A CN201610368502 A CN 201610368502A CN 105881514 A CN105881514 A CN 105881514A
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- China
- Prior art keywords
- forearm
- cleft
- gear
- type supporting
- pair
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot with a manipulator assembly on paired small arms. The robot comprises a base body, a waist rotating assembly connected to the base body in a pivoted mode, a big arm connected to the waist rotating assembly in a pivoted mode and the small arms installed on the big arm, wherein the number of the small arms is two and the two small arms are installed on the big arm through a split mechanism. During actual operation, the two small arms can rotate relative to the big arm through the split mechanism and can rotate oppositely under the driving effect of the split mechanism for adapting to various machining conditions and improving the working efficiency of the robot. The two small arms are provided with the manipulator assembly, the manipulator assembly comprises a mechanical gripper, and the mechanical gripper comprises two pairs of gripper bodies hinged to a gripper rack and a gripper driving mechanism installed on the gripper rack and used for driving the two pairs of gripper bodies to move. The gripper driving mechanism can drive the two pairs of gripper bodies to be closed and opened for accurately grabbing and releasing work-pieces.
Description
Technical field
The present invention relates to robotics, in particular to the machine being arranged with mechanical arm assembly on a pair forearm
Device people.
Background technology
The application for a patent for invention of Application No. CN201210566463.5 discloses a kind of light-duty six axle all-purpose robots, bag
Including base body, waist rotation member, large arm, axle bed, forearm, waist rotation member rotates around base body, and large arm is around waist rotation member
Rotate.
Summary of the invention
Technical problem solved by the invention: light-duty six axle all-purpose robots of the prior art, it has a forearm,
Whole machine task efficiency is made to be difficult to get a promotion.
For solving above-mentioned technical problem, the present invention provides following technical scheme: be arranged with mechanical arm assembly on a pair forearm
Robot, the waist rotation member including base body, being articulated on base body, the large arm being articulated on waist rotation member, peace
The forearm being contained in large arm, the mechanical arm assembly being arranged on forearm, waist rotation member rotates around base body, and large arm is around waist
Rotation member rotates；
The quantity of described forearm is two, the respectively first forearm and the second forearm, and two forearms are pacified by split mechanism
It is contained in large arm；Described split mechanism includes the first Split type supporting stand, the spool being articulated on the first Split type supporting stand, fixes
Ratchet, the second Split type supporting stand being articulated on spool at spool two ends, connect the first Split type supporting stand and the second split is propped up
The expansion link of frame；Described first Split type supporting stand be provided with snap in hook tooth the first elastic card, to order about first elastic
Card departs from the first driving means contacted with ratchet, and described second Split type supporting stand is provided with second snapped in hook tooth
Elastic card, order about the second elastic card and depart from the second driving means of contacting with ratchet；Described ratchet includes being fixed on
First ratchet of spool left end and be fixed on the second ratchet of spool right-hand member, the first ratchet and the second coaxial ratchet and reverse
Arrange；Being fixed with the 3rd motor in described large arm, the output shaft of the 3rd motor couples with spool；Described first forearm peace
Being contained on the first Split type supporting stand, the second forearm is arranged on the second Split type supporting stand；
Described mechanical arm assembly include being articulated in the swing arm of forearm front end, the first driver element driving swing arm to swing,
The mechanical claw hand being arranged on swing arm front end, the second driver element driving mechanical claw hand to rotate；Described swing arm swings
Time central axis in the rotation centerline of mechanical claw hand.
By technique scheme, a pair forearm of the present invention is arranged with the operation principle of the robot of mechanical arm assembly
As follows:
First, under the driving of the 3rd motor, split mechanism and on two forearms can rotate relative to large arm.
Second, when the angle between two forearms need to change, the first driving means order about first elastic card depart from
Ratchet contacts, or, the second driving means is ordered about the second elastic card disengaging and is contacted with ratchet, afterwards, and expansion link
Flexible can order about the first Split type supporting stand and the second Split type supporting stand relatively rotates, the first Split type supporting stand and the second Split type supporting stand
Between variable angle, and then, the angle between two forearms obtains required change；Afterwards, the first elastic card or
Person's the second elastic card resets, and snaps in the tooth of the first ratchet and the second ratchet, owing to the first ratchet and the second ratchet are anti-
To setting, therefore, the tooth of the first ratchet and the tooth of the second ratchet in opposite direction, so, snap in the first ratchet simultaneously
The first Split type supporting stand or the second split can be limited with the first elastic card in the tooth of the second ratchet or the second elastic card
Holder pivots.
By technique scheme, two forearms both can rotate relative to large arm, and two forearms also can make relative rotation,
To adapt to various processing operating mode, the working performance of hoisting machine people.
As the present invention a kind of explanation to split mechanism, described first elastic card includes the first card, first stretches
Spring, first fix seat；Offering the first chute on described first Split type supporting stand, described first card is slidably fitted in
In one chute, described first coil tension spring one end is set on the first card, and the other end of the first coil tension spring is against
One fixes on seat, and first fixes seat is fixed on the first Split type supporting stand；Described first driving means includes being fixed on first
The first cylinder on Split type supporting stand, the first drive block being arranged on the first cylinder piston rod, in the driving of the first cylinder
Under, the first drive block drives the first card to slide along the first chute, and the first card orders about first along sliding of the first chute
Coil tension spring shrinks.Wherein, described first card is provided with guide part, and described first coil tension spring is set on guide part,
Described first fixes seat offers pilot hole, and guide part activity is plugged in pilot hole.
As the present invention a kind of explanation to split mechanism, state the second elastic card and include the second card, second stretch bullet
Spring, second fix seat；Offering the second chute on described second Split type supporting stand, described second card is slidably fitted in second
In chute, described second coil tension spring one end is set on the second card, and the other end of the second coil tension spring is against second
On fixing seat, second fixes seat is fixed on the second Split type supporting stand；Described second driving means includes being fixed on second point
The second cylinder on body support frame, the second drive block being arranged on the second cylinder piston rod, under the driving of the second cylinder,
Second drive block drives the second card to slide along the second chute, the second card along the second chute slide order about second stretch
Spring contraction.Wherein, described second card is provided with guide part, and described second coil tension spring is set on guide part, institute
Stating second to fix seat and offer pilot hole, guide part activity is plugged in pilot hole.
As the present invention a kind of explanation to split mechanism, one end that described first Split type supporting stand is articulated with spool is provided with the
One arcuate projection, described first arcuate projection is offered the bayonet socket that can coordinate with the second elastic card.State on by
Bright, the second driving means order about second elastic card depart from contact with ratchet on the premise of, the stretching, extension of expansion link is ordered about
Second Split type supporting stand rotates relative to the first Split type supporting stand, and the first arcuate projection acts on the second elastic card, the second bullet
Property card slide on the first arcuate projection, angle between the first Split type supporting stand and the second Split type supporting stand become big until
Reaching 180 degree, now, the second elastic card snaps in the bayonet socket of the first arcuate projection, the first Split type supporting stand and
Angle between second Split type supporting stand is positioned at 180 degree, i.e. the angle between two forearms is positioned at 108
Ten degree.
As the present invention a kind of explanation to split mechanism, described expansion link include being fixed on the first Split type supporting stand the
One pole, the second pole being fixed on the second Split type supporting stand, one end threaded rod hinged with the first pole, one end with
The sleeve that second pole is hinged, the first gear being articulated in the sleeve other end and the second gear of the first gear engagement,
The 4th motor that output shaft and the second gear couple；The centre of described first gear offers screwed hole, threaded rod and spiral shell
Pit is spirally connected, and the other end activity of threaded rod is plugged in sleeve, and described 4th motor is fixed on sleeve.By above-mentioned
Illustrating, the operation principle of described expansion link is as follows: the 4th motor drives the second gear to rotate, and the second gear drives first
Gear rotates, and the first gear drives threaded rod relative sleeve to extend into or out action, so, and threaded rod and sleeve
Total length changes, and makees relative rotation ordering about the first Split type supporting stand and the second Split type supporting stand.
As the present invention a kind of explanation to mechanical arm assembly, described mechanical claw hand includes cleft hand frame, is hinged on cleft hand
Two pairs of cleft hands in frame, it is arranged in cleft hand frame for driving the two cleft hand drive mechanisms to cleft hand action；Described
Cleft hand drive mechanism includes stake body, the first locking body, the second locking body；Head and the tail connection vertically it is provided with on described stake body
The left hand thread bar connect and right-handed thread bar, for the power set driving left hand thread bar and right-handed thread bar to rotate；
Described first locking body is spirally connected with left hand thread bar, and the second locking body is spirally connected with right-handed thread bar, and stake body is provided with right
The lifting of the first locking body and the second locking body carries out the guide post guided；In first pair of cleft hand in described two pairs of cleft hands
Two cleft hands be symmetrical set, be symmetrical arranged before and after two cleft hands in second pair of cleft hand in two pairs of cleft hands,
The first slide slot being obliquely installed is offered in the bottom of two cleft hands in a pair cleft hand, two cleft hands in second pair of cleft hand
Bottom offer the second slide slot being obliquely installed, the top of described first locking body be provided with first slide slot slide joins
The first sliding pin closed, the top of the second locking body is provided with the second sliding pin being slidably matched with the second slide slot.
As described above, in mechanical arm assembly, the operation principle of mechanical claw hand is as follows: the left hand thread bar being linked together
Being fixed together with right-handed thread bar head and the tail, left hand thread bar and right-handed thread bar are coaxially disposed, left hand thread bar and the right side
Rotation threaded rod rotates simultaneously, and left hand thread bar drives the first locking body to decline, and right-handed thread bar drives on the second locking body
Rising, the first locking body drives the first sliding pin to decline, owing to the first slide slot is obliquely installed, therefore, and the be vertically lowered
One sliding pin can order about arbitrary cleft hand in first pair of cleft hand and rotate with the hinged place of cleft hand frame around it, and so, first is right
Cleft hand swings in opposite directions；Meanwhile, the second locking body drives the second sliding pin to rise, owing to the second slide slot is obliquely installed (the
The direction that two slide slots tilt is in opposite direction with what the first slide slot tilted), therefore, the second sliding pin vertically risen orders about
In second pair of cleft hand, arbitrary cleft hand rotates around it with the hinged place of cleft hand frame, and so, second pair of cleft hand is put in opposite directions
Dynamic；So far, two pairs of cleft hands are in drawing shape in, for grabbing workpiece.
By above-mentioned mechanical claw hand, first pair of cleft hand connects the first locking body, and second pair of cleft hand connects the second locking body,
And the left hand thread bar being spirally connected with the first locking body and the right-handed thread bar being spirally connected with the second locking body are linked together, for
Integrative-structure, so, the present invention can make the action simultaneously of first pair of cleft hand and motion amplitude identical, can make second pair of cleft hand
Action simultaneously and motion amplitude are identical, and first pair of cleft hand and second pair of cleft hand action simultaneously and motion amplitude can be made identical,
So that mechanical claw hand is comprehensive and firmly grasps workpiece exactly.
As the present invention a kind of explanation to mechanical arm assembly, a spill gap, described pendulum are offered in the front end of described forearm
Swing arm is articulated in spill gap.As described above, described swing arm swings in the spill gap of forearm.
As the present invention a kind of explanation to mechanical arm assembly, described first driver element include being arranged on forearm the
One motor, couple the first gear unit of the first motor and swing arm；Described first gear unit includes being articulated in forearm
Upper and that be coaxially disposed the second gear and the 3rd gear, the 4th gear being articulated on forearm and being coaxially disposed and first are same
Step belt wheel, the 3rd axle being articulated on forearm, the second synchronous pulley of being fixedly mounted on the 3rd axle；Described first electricity
First gear, the first gear and the engagement of the second gear, the 3rd gear and the engagement of the 4th gear are installed on the output shaft of machine,
First synchronous pulley is coupled by Timing Belt and the second synchronous pulley, and the 3rd axle is fixing with swing arm to be connected.State on by
Bright, the first motor by power successively through the first gear, the second gear, the 3rd gear, the 4th gear, the first Timing Belt,
Second Timing Belt passes to the 3rd axle, and Three-axis drive swing arm swings.
As the present invention a kind of explanation to mechanical arm assembly, described second driver element includes installing on a swing arm
Second motor, couple the second gear unit of the second motor and mechanical claw hand；Described second gear unit includes and second
The rotating disk that the decelerator that motor output shaft couples is connected with decelerator outfan, mechanical claw hand is installed on the rotating pan.
As the present invention a kind of explanation to mechanical arm assembly, described cleft hand frame includes the pawl being arranged on swing arm front end
Handset mounting base plate, the cleft hand frame support bar being vertically arranged on cleft hand framework soleplate, it is fixed on cleft hand frame support bar
The cleft hand frame top board at top；Described cleft hand drive mechanism is arranged on cleft hand framework soleplate and is positioned at cleft hand frame top board
Lower section, described cleft hand frame top board is offered four hinge holes, four cleft hands in two pairs of cleft hands are correspondingly hinged on
In four hinge holes.As described above, being fixed with swivel pin in each hinge hole, four cleft hands are in man-to-man mode
It is hinged in four hinge holes by swivel pin.The bottom of arbitrary cleft hand is positioned at the lower section of hinge hole, i.e. the of inclination
One slide slot and the second slide slot are respectively positioned on the lower section of hinge hole.
As the present invention a kind of explanation to mechanical arm assembly, described stake body includes base, support plate；Described base is solid
Surely being arranged in cleft hand frame, described guide post is fixed on base, and described support plate is horizontally fixed on the top of guide post；
Described first locking body includes the first lifting chassis, a pair first leads, the first latch segment, the first spill blocks；Institute
Stating the first lifting chassis to be screwed onto on left hand thread bar, the first guiding slot port is offered on the first lifting chassis, and described first leads
It is slidably matched with guide post to notch；The pair of first lead is vertically arranged on the first lifting chassis, described
Offering a pair first pilot holes on plate, a pair first leads coordinate in a pair first pilot holes in man-to-man mode,
Described first latch segment is arranged on the top of the first lead, and described first spill block is arranged on the top of the first latch segment,
Described first sliding pin is arranged on the top of the first spill block；Described second locking body includes the second lifting chassis, second leads
Xiang Zhu, locking plate, the second spill block；Described second lifting chassis is screwed onto on right-handed thread bar, the second lifting chassis
Offering the second guiding slot port, described second guiding slot port is slidably matched with guide post；Described second lead is vertically arranged
On the second lifting chassis, the second lifting chassis is positioned at the lower section on the first lifting chassis；Described first lifting chassis is offered
Second pilot hole, described support plate is offered the 3rd pilot hole, and described second lead is upward through the second pilot hole and
Three pilot holes；Described locking plate is horizontally arranged at the top of the second lead, and described second spill block is arranged on locking plate
On, described second sliding pin is arranged on the top of the second spill block；The 4th pilot hole is offered on described locking plate, described
One lead passes the 4th pilot hole, and described first latch segment is positioned at the top of locking plate.
As described above, the left hand thread bar being linked together rotates with right-handed thread bar simultaneously, and left hand thread bar drives
First lifting chassis lifting, right-handed thread bar drives the second lifting chassis lifting, and the lifting on the first lifting chassis is first
Carry out under the guiding of guiding slot port and guide post, lifting the leading at the second guiding slot port and guide post on the second lifting chassis
Carry out downwards.
As the present invention a kind of explanation to mechanical arm assembly, described right-handed thread bar is positioned at the lower section of left hand thread bar,
The bottom of right-handed thread bar is articulated on base, and the top of left hand thread bar is articulated on support plate, the end of right-handed thread bar
Portion is provided with worm gear, and worm gear is engaged with worm screw, and worm screw is horizontally disposed with, and worm screw is articulated on base, and worm screw is watched with first
Taking motor to couple, the first servomotor is arranged on base.As described above, left hand thread bar and right-handed thread bar
Rotate and driven by the worm and gear of the first driven by servomotor, owing to worm and gear has a good auto-lock function, therefore,
Two pairs of cleft hands of the present invention can stably rest on the optional position in space in swing process.
Accompanying drawing explanation
The present invention is described further below in conjunction with the accompanying drawings:
Fig. 1 is the structural representation of the robot being arranged with mechanical arm assembly on a pair forearm of the present invention；
Fig. 2 is the combinative structure schematic diagram of Tu1Zhong split mechanism 200 and forearm 50；
Fig. 3 is the schematic diagram observing split mechanism 200 and the combinative structure gained of forearm 50 in Fig. 2 from left front；
Fig. 4 is the structural representation of mechanical arm assembly a in Fig. 1；
Fig. 5 is the structural representation of mechanical claw hand a30 in Fig. 4；
Fig. 6 is the structural representation of arbitrary cleft hand in first couple of cleft hand a51 in Fig. 5；
Fig. 7 is the structural representation of arbitrary cleft hand in second couple of cleft hand a52 in Fig. 5；
Fig. 8 is the structural representation of the first spill block a625 in Fig. 5.
Symbol description in figure:
10, base body；20, large arm；200, split mechanism；21, the 3rd motor；24, the first Split type supporting stand；240、
First chute；241, the first elastic card；242, the first driving means；243, the first card；244, first stretches
Contracting spring；245, first seat is fixed；246, bayonet socket；25, spool；261, the first ratchet；262, the second ratchet；
27, the second Split type supporting stand；270, the second chute；271, the second elastic card；272, the second driving means；273、
Second card；274, the second coil tension spring；275, second seat is fixed；28, expansion link；281, threaded rod；282、
Sleeve；283, the first gear；284, the second gear；285, the 4th motor；30, waist rotation member；50, forearm；
A, mechanical arm assembly；A11, the first gear；A12, the second gear；A14, the 4th gear；A15, first with
Step belt wheel；A16, the 3rd axle；A17, the second synchronous pulley；A18, Timing Belt；A20, swing arm；A21, rotation
Dish；A30, mechanical claw hand；A40, cleft hand frame；A41, cleft hand framework soleplate；A42, cleft hand frame support bar；
A43, cleft hand frame top board；A50, two pairs of cleft hands；A51, first pair of cleft hand；A511, the first slide slot；a512、
First hinge hole；A52, second pair of cleft hand；A521, the second slide slot；A522, the second hinge hole；A60, cleft hand
Drive mechanism；A611, left hand thread bar；A612, right-handed thread bar；A613, guide post；A614, base；a615、
Support plate；A616, worm gear；A617, worm screw；A618, the first servomotor；A621, the first sliding pin；A622,
One lifting chassis；A623, the first lead；A624, the first latch segment；A625, the first spill block；A626,
One guiding slot port；A632, the second lifting chassis；A633, the second lead；A634, locking plate；A635, second
Spill block；A636, the second guiding slot port.
Detailed description of the invention
Such as Fig. 1, a pair forearm is arranged with the robot of mechanical arm assembly, including base body 10, is articulated in base body
On waist rotation member 30, the large arm 20 being articulated on waist rotation member, the forearm 50 being arranged in large arm, be arranged on forearm
On mechanical arm assembly a, waist rotation member around base body rotate, large arm around waist rotation member rotate.The quantity of described forearm is
Article two, the respectively first forearm and the second forearm, two forearms are arranged in large arm by split mechanism 200.
In conjunction with Fig. 2 to Fig. 3, described split mechanism includes the first Split type supporting stand 24, is articulated on the first Split type supporting stand
Spool 25, the ratchet being fixed on spool two ends, the second Split type supporting stand 27 being articulated on spool, connect the first split and prop up
The expansion link 28 of frame and the second Split type supporting stand；Described first Split type supporting stand is provided with the first elastic card snapped in hook tooth
Sheet 241, order about the first elastic card and depart from the first driving means 242 of contacting with ratchet, on described second Split type supporting stand
Be provided with snap in hook tooth the second elastic card 271, order about second elastic card depart from contact with ratchet second drive
Device 272；Described ratchet includes the first ratchet 261 being fixed on spool left end and is fixed on the second ratchet of spool right-hand member
262, the first ratchet and the second coaxial ratchet and oppositely arranged；The 3rd motor 21, the 3rd motor it is fixed with in described large arm
Output shaft couple with spool；Described first forearm is arranged on the first Split type supporting stand, and the second forearm is arranged on second point
On body support frame.
In split mechanism 200, described first elastic card 241 include first card the 243, first coil tension spring 244,
First fixes seat 245；Offering the first chute 240 on described first Split type supporting stand 24, described first card is slidably matched
In the first chute, described first coil tension spring one end is set on the first card, and the other end of the first coil tension spring supports
Fixing on seat first, first fixes seat is fixed on the first Split type supporting stand；Described first driving means 242 includes solid
The first cylinder being scheduled on the first Split type supporting stand, the first drive block being arranged on the first cylinder piston rod, at the first gas
Under the driving of cylinder, the first drive block drives the first card to slide along the first chute, and the first card slides along the first chute
Order about the first coil tension spring to shrink.
In split mechanism 200, described first card 243 is provided with guide part, and described first coil tension spring 244 is set in
On guide part, described first fixes seat 245 offers pilot hole, and guide part activity is plugged in pilot hole.
In split mechanism 200, described second elastic card 271 include second card the 273, second coil tension spring 274,
Second fixes seat 275；Offering the second chute 270 on described second Split type supporting stand 27, described second card is slidably matched
In the second chute, described second coil tension spring one end is set on the second card, and the other end of the second coil tension spring supports
Fixing on seat second, second fixes seat is fixed on the second Split type supporting stand；Described second driving means 272 includes solid
The second cylinder being scheduled on the second Split type supporting stand, the second drive block being arranged on the second cylinder piston rod, at the second gas
Under the driving of cylinder, the second drive block drives the second card to slide along the second chute, and the second card slides along the second chute
Order about the second coil tension spring to shrink.
In split mechanism 200, described second card 273 is provided with guide part, and described second coil tension spring 274 is set in
On guide part, described second fixes seat 275 offers pilot hole, and guide part activity is plugged in pilot hole.
In split mechanism 200, one end that described first Split type supporting stand 24 is articulated with spool 25 is provided with the first arc and highlights
Portion, described first arcuate projection is offered the bayonet socket 246 that can coordinate with the second elastic card 271.
In split mechanism 200, described expansion link 28 includes the first pole being fixed on the first Split type supporting stand 24, consolidates
Threaded rod 281, one end and the second pole that the second pole of being scheduled on the second Split type supporting stand, one end are hinged with the first pole
Hinged sleeve 282, be articulated in the second gear 284 that the first gear 283 of the sleeve other end engages with the first gear,
The 4th motor 285 that output shaft and the second gear couple；The centre of described first gear offers screwed hole, threaded rod with
Screw hole, the other end activity of threaded rod is plugged in sleeve, and described 4th motor is fixed on sleeve.
Include being articulated in the swing arm 20 of forearm front end, driving swing in conjunction with Fig. 4 to Fig. 8, described mechanical arm assembly a
First driver element of arm swing, be arranged on swing arm front end mechanical claw hand 30, drive mechanical claw hand to rotate second
Driver element；Central axis when described swing arm swings is in the rotation centerline of mechanical claw hand.
In mechanical arm assembly a, two pairs of cleft hands that described mechanical claw hand includes cleft hand frame a40, is hinged in cleft hand frame
A50, be arranged in cleft hand frame for drive two cleft hand drive mechanisms a60 to cleft hand action；Described cleft hand drives machine
Structure includes stake body, the first locking body, the second locking body；The left-handed spiral shell that head and the tail couple vertically it is provided with on described stake body
Rasp bar a611 and right-handed thread bar a612, for the power set driving left hand thread bar and right-handed thread bar to rotate；Institute
Stating the first locking body to be spirally connected with left hand thread bar, the second locking body is spirally connected with right-handed thread bar, and stake body is provided with
The lifting of one locking body and the second locking body carries out the guide post a613 guided；First pair of cleft hand in described two pairs of cleft hands
Two cleft hands in a51 are symmetrical set, symmetrical before and after two cleft hands in second couple of cleft hand a52 in two pairs of cleft hands
Arranging, the first slide slot a511 being obliquely installed, second pair of cleft hand are offered in the bottom of two cleft hands in first pair of cleft hand
In the bottom of two cleft hands offer the second slide slot a521 being obliquely installed, the top of described first locking body be provided with
The first sliding pin a621 that first slide slot is slidably matched, the top of the second locking body is provided with and is slidably matched with the second slide slot
The second sliding pin.
In mechanical arm assembly a, a spill gap is offered in the front end of described forearm 50, and described swing arm a20 is articulated in recessed
In shape gap；Described first driver element includes the first motor being arranged on forearm 50, couples the first motor and swing
First gear unit of arm；Described first gear unit includes the second gear a12 being articulated on forearm and being coaxially disposed
The 4th gear a14 and the first synchronous pulley a15 that with the 3rd gear, are articulated on forearm and are coaxially disposed, be articulated in little
The 3rd axle a16 on arm, the second synchronous pulley a17 being fixedly mounted on the 3rd axle；The output shaft of described first motor
On the first gear a11 is installed, the first gear and the engagement of the second gear, the 3rd gear engages with the 4th gear, and first together
Step belt wheel is coupled by Timing Belt a18 and the second synchronous pulley, and the 3rd axle is fixing with swing arm a20 to be connected；Described
Two driver elements include the second motor being arranged on swing arm a20, couple the second motor and the second transmission rotating hands
Unit；Described second gear unit includes that the decelerator coupled with the second motor output shaft is connected with decelerator outfan
Rotating disk a21, mechanical claw hand a30 install on the rotating pan.
In mechanical arm assembly a, described cleft hand frame a40 includes the cleft hand framework soleplate being arranged on swing arm a20 front end
A41, the cleft hand frame support bar a42 being vertically arranged on cleft hand framework soleplate, it is fixed on cleft hand frame support bar top
Cleft hand frame top board a43；Described cleft hand drive mechanism a60 is arranged on cleft hand framework soleplate and is positioned at cleft hand frame top
The lower section of plate, described cleft hand frame top board is offered four hinge holes, and four cleft hands in two pairs of cleft hands are the most hinged
In four hinge holes.
In mechanical arm assembly a, described stake body includes base a614, support plate a615；Described base is fixedly installed on pawl
On handset mounting a40, described guide post a613 is fixed on base, and described support plate is horizontally fixed on the top of guide post；
Described first locking body include the first lifting chassis a622, a pair first lead a623, the first latch segment a624,
One spill block a625；Described first lifting chassis is screwed onto on left hand thread bar a611, and the first lifting chassis offers first
Guiding slot port a626, described first guiding slot port is slidably matched with guide post；The pair of first lead is vertically arranged
On the first lifting chassis, described support plate being offered a pair first pilot holes, a pair first leads are with man-to-man side
Formula coordinates in a pair first pilot holes, and described first latch segment is arranged on the top of the first lead, described first recessed
Shape block is arranged on the top of the first latch segment, and described first sliding pin a621 is arranged on the top of the first spill block；Described
Two locking bodies include the second lifting chassis a632, the second lead a633, locking plate a634, the second spill block a635；
Described second lifting chassis is screwed onto on right-handed thread bar a612, and the second guiding slot port a636 is offered on the second lifting chassis,
Described second guiding slot port is slidably matched with guide post；Described second lead is vertically arranged on the second lifting chassis,
Second lifting chassis is positioned at the lower section on the first lifting chassis；The second pilot hole is offered on described first lifting chassis, described
Offering the 3rd pilot hole on plate, described second lead is upward through the second pilot hole and the 3rd pilot hole；Described locking
Dish is horizontally arranged at the top of the second lead, and described second spill block is arranged on locking plate, described second sliding pin peace
It is contained in the top of the second spill block；Offering the 4th pilot hole on described locking plate, described first lead is led through the 4th
Xiang Kong, described first latch segment is positioned at the top of locking plate.
In mechanical arm assembly a, described right-handed thread bar a612 is positioned at the lower section of left hand thread bar a611, right-handed thread
The bottom of bar is articulated on base a614, and the top of left hand thread bar is articulated on support plate a615, described power set
The worm screw a617 engaged with worm gear including the worm gear a616 being arranged on bottom right-handed thread bar couple with worm screw first
Servomotor a618, worm screw is horizontally disposed with, and worm screw is articulated on base, and the first servomotor is arranged on base.
In practical operation, the workflow of the robot that a pair forearm of the present invention is arranged with mechanical arm assembly is as follows:
First, under the driving of the 3rd motor 21, split mechanism 200 and two forearms 50 thereon can large arm relatively
20 rotate.
Second, when the angle between two forearms 50 need to change, the first driving means 242 orders about the first elastic card
241 disengagings contact with ratchet, or, the second driving means 272 is ordered about the second elastic card 271 disengaging and is contacted with ratchet,
Afterwards, expansion link 28 flexible can order about the first Split type supporting stand 24 and the second Split type supporting stand 27 relatively rotates, and first
Variable angle between Split type supporting stand and the second Split type supporting stand, and then, the angle between two forearms 50 obtains required change
Change；Afterwards, the first elastic card 241 or the second elastic card 271 reset, and snap in the first ratchet 261 and second
In the tooth of ratchet 262, owing to the first ratchet and the second ratchet are oppositely arranged, therefore, the tooth of the first ratchet and the second spine
Tooth in opposite direction of wheel, so, snaps in first in the tooth of the first ratchet 261 and the second ratchet 262 elastic simultaneously
Card 241 or the second elastic card 271 can limit the first Split type supporting stand 24 or the second Split type supporting stand 27 rotates, and enter
And position the first forearm and the second forearm.
The workflow of the mechanical claw hand a30 of the 3rd, mechanical arm assembly a is as follows: the first servomotor a618 drives snail
Wheel a616 worm screw a617 action, worm and gear drives the left hand thread bar a611 and right-handed thread bar a612 being fixedly connected
Rotate；Left hand thread bar drives the first lifting chassis a622 in the first locking body to decline, and the first lifting chassis drives first
Latch segment a624 declines, and the first latch segment drives the first sliding pin a621 to decline, owing to the first slide slot a511 tilts to set
Putting, the first sliding pin being vertically lowered can order about cleft hand in first couple of cleft hand a51 around its hinge with cleft hand frame a40
Meet place to rotate, make first pair of cleft hand swing in opposite directions；Right-handed thread bar a612 drives second in the second locking body to lift
Chassis a632 rises, and the second lifting chassis drives locking plate a634 to rise, and locking plate drives the second sliding pin to rise, by
It is obliquely installed (direction that the second slide slot tilts is in opposite direction with what the first slide slot tilted) in the second slide slot a521,
Therefore, the second sliding pin vertically risen orders about cleft hand in second couple of cleft hand a52 around its hinge with cleft hand frame a40
Meet place to rotate, make second pair of cleft hand swing in opposite directions；So, two couples of cleft hand a50 are in drawing shape in, for grabbing workpiece.
Above content is only the better embodiment of the present invention, for those of ordinary skill in the art, according to the present invention
Thought, the most all will change, it is right that this specification content should not be construed as
The restriction of the present invention.
Claims (10)
1. on a pair forearm, it is arranged with the robot of mechanical arm assembly, the waist rotation member (30) that including base body (10), is articulated on base body,
The forearm (50) be articulated in the large arm on waist rotation member (20), being arranged in large arm, the mechanical arm assembly (a) being arranged on forearm, waist turns
Parts rotate around base body, and large arm rotates around waist rotation member；It is characterized in that:
The quantity of described forearm is two, the respectively first forearm and the second forearm, and two forearms are arranged on greatly by split mechanism (200)
On arm；
Described split mechanism includes the first Split type supporting stand (24), be articulated on the first Split type supporting stand spool (25), it is fixed on spool two ends
Ratchet, the second Split type supporting stand (27) being articulated on spool, the expansion link (28) that connects the first Split type supporting stand and the second Split type supporting stand；Described
First Split type supporting stand be provided with snap in hook tooth the first elastic card (241), order about first elastic card depart from contact with ratchet first
Driving means (242), described second Split type supporting stand be provided with snap in hook tooth the second elastic card (271), order about the second elastic card
Depart from the second driving means (272) contacted with ratchet；Described ratchet includes the first ratchet (261) being fixed on spool left end and is fixed on
Second ratchet (262) of spool right-hand member, the first ratchet and the second coaxial ratchet and oppositely arranged；The 3rd motor (21) it is fixed with in described large arm,
The output shaft of the 3rd motor couples with spool；Described first forearm is arranged on the first Split type supporting stand, and the second forearm is arranged on the second Split type supporting stand
On；
Described mechanical arm assembly includes being articulated in the swing arm (20) of forearm front end, the first driver element driving swing arm to swing, being arranged on
The second driver element that the mechanical claw hand (30) of swing arm front end, driving mechanical claw hand rotate；Central axis when described swing arm swings
Rotation centerline in mechanical claw hand.
The robot of mechanical arm assembly it is arranged with on a pair forearm the most as claimed in claim 1, it is characterised in that: split mechanism (200)
In, described first elastic card (241) includes the first card (243), the first coil tension spring (244), first fixes seat (245)；Institute
Stating and offer the first chute (240) on the first Split type supporting stand (24), described first card is slidably fitted in the first chute, and described first stretches
Spring one end is set on the first card, and the other end of the first coil tension spring is against first and fixes on seat, and first fixes seat is fixed on the first split
On support；
Described first driving means (242) includes the first cylinder being fixed on the first Split type supporting stand, is arranged on the first cylinder piston rod
First drive block, under the driving of the first cylinder, the first drive block drives the first card to slide along the first chute, and the first card is along the first chute
Slide order about first coil tension spring shrink.
The robot of mechanical arm assembly it is arranged with on a pair forearm the most as claimed in claim 2, it is characterised in that: split mechanism (200)
In, described first card (243) is provided with guide part, and described first coil tension spring (244) is set on guide part, and described first fixes seat
(245) offering pilot hole, guide part activity is plugged in pilot hole.
The robot of mechanical arm assembly it is arranged with on a pair forearm the most as claimed in claim 1, it is characterised in that: split mechanism (200)
In, described second elastic card (271) includes the second card (273), the second coil tension spring (274), second fixes seat (275)；Institute
Stating and offer the second chute (270) on the second Split type supporting stand (27), described second card is slidably fitted in the second chute, and described second stretches
Spring one end is set on the second card, and the other end of the second coil tension spring is against second and fixes on seat, and second fixes seat is fixed on the second split
On support；
Described second driving means (272) includes the second cylinder being fixed on the second Split type supporting stand, is arranged on the second cylinder piston rod
Second drive block, under the driving of the second cylinder, the second drive block drives the second card to slide along the second chute, and the second card is along the second chute
Slide order about second coil tension spring shrink.
The robot of mechanical arm assembly it is arranged with on a pair forearm the most as claimed in claim 4, it is characterised in that: split mechanism (200)
In, described second card (273) is provided with guide part, and described second coil tension spring (274) is set on guide part, and described second fixes seat
(275) offering pilot hole, guide part activity is plugged in pilot hole.
The robot of mechanical arm assembly it is arranged with on a pair forearm the most as claimed in claim 1, it is characterised in that: split mechanism (200)
In, one end that described first Split type supporting stand (24) is articulated with spool (25) is provided with the first arcuate projection, on described first arcuate projection
Offer the bayonet socket (246) that can coordinate with the second elastic card (271).
The robot of mechanical arm assembly it is arranged with on a pair forearm the most as claimed in claim 1, it is characterised in that: split mechanism (200)
In, described expansion link (28) include the first pole being fixed on the first Split type supporting stand (24), be fixed on the second Split type supporting stand second
Pole, one end threaded rod (281) hinged with the first pole, one end sleeve (282) hinged with the second pole, it is articulated in the sleeve other end
The second gear (284) of engaging with the first gear of the first gear (283), the 4th motor (285) that couples of output shaft and the second gear；
The centre of described first gear offers screwed hole, threaded rod and screw hole, and the other end activity of threaded rod is plugged in sleeve, described
4th motor is fixed on sleeve.
The robot of mechanical arm assembly it is arranged with on a pair forearm the most as claimed in claim 1, it is characterised in that: mechanical arm assembly (a)
In, described mechanical claw hand includes cleft hand frame (a40), two pairs of cleft hands (a50) being hinged in cleft hand frame, be arranged in cleft hand frame use
In driving the two cleft hand drive mechanisms (a60) to cleft hand action；
Described cleft hand drive mechanism includes stake body, the first locking body, the second locking body；The left side that head and the tail couple vertically it is provided with on described stake body
Revolve threaded rod (a611) and right-handed thread bar (a612), be used for driving left hand thread bar and the power set of right-handed thread bar rotation；Described
First locking body is spirally connected with left hand thread bar, and the second locking body is spirally connected with right-handed thread bar, and stake body is provided with the first locking body and the second lock
The lifting of tight body carries out the guide post (a613) guided；
Two cleft hands in first pair of cleft hand (a51) in described two pairs of cleft hands are symmetrical set, second pair of cleft hand (a52) in two pairs of cleft hands
In two cleft hands before and after be symmetrical arranged, two pawls in first pair of cleft hand
The first slide slot (a511) being obliquely installed is offered in the bottom of hands, and second be obliquely installed is offered in the bottom of two cleft hands in second pair of cleft hand
Slide slot (a521), the top of described first locking body is provided with the first sliding pin (a621) being slidably matched with the first slide slot, the second locking body
Top be provided with the second sliding pin being slidably matched with the second slide slot.
The robot of mechanical arm assembly it is arranged with on a pair forearm the most as claimed in claim 8, it is characterised in that: mechanical arm assembly (a)
In, a spill gap is offered in the front end of described forearm (50), and described swing arm (a20) is articulated in spill gap；Described first drives
Unit includes the first motor being arranged on forearm (50), couples first motor the first gear unit with swing arm；Described first transmission list
The 4th tooth that unit includes the second gear (a12) being articulated on forearm and being coaxially disposed and the 3rd gear, is articulated on forearm and is coaxially disposed
Wheel (a14) and the first synchronous pulley (a15), the 3rd axle (a16) being articulated on forearm, be fixedly mounted on the 3rd axle second synchronize
Belt wheel (a17)；First gear (a11), the first gear and the engagement of the second gear, the 3rd gear are installed on the output shaft of described first motor
Engaging with the 4th gear, the first synchronous pulley is coupled with the second synchronous pulley by Timing Belt (a18), and the 3rd axle is solid with swing arm (a20)
Fixed connection；Described second driver element includes the second motor being arranged on swing arm (a20), couples the second motor and rotate the second of hands
Gear unit；Described second gear unit includes the rotating disk that the decelerator coupled with the second motor output shaft is connected with decelerator outfan
(a21), mechanical claw hand (a30) is installed on the rotating pan.
The robot of mechanical arm assembly it is arranged with on a pair forearm the most as claimed in claim 8, it is characterised in that: mechanical arm assembly (a)
In, described cleft hand frame (a40) includes being arranged on the cleft hand framework soleplate (a41) of swing arm (a20) front end, being vertically arranged in cleft hand machine
Cleft hand frame support bar (a42) on frame base plate, it is fixed on cleft hand frame top board (a43) of cleft hand frame support bar top；Described cleft hand drives
Motivation structure (a60) is arranged on cleft hand framework soleplate and is positioned at the lower section of cleft hand frame top board, and described cleft hand frame top board is offered four hinges
Connecing hole, four cleft hands in two pairs of cleft hands are correspondingly hinged in four hinge holes；
In mechanical claw hand (a30), described stake body includes base (a614), support plate (a615)；Described base is fixedly installed on cleft hand machine
On frame (a40), described guide post (a613) is fixed on base, and described support plate is horizontally fixed on the top of guide post；Described first lock
Tight body includes the first lifting chassis (a622), a pair first leads (a623), the first latch segment (a624), the first spill blocks (a625)；
Described first lifting chassis is screwed onto on left hand thread bar (a611), and the first guiding slot port (a626) is offered on the first lifting chassis, and described the
One guiding slot port is slidably matched with guide post；The pair of first lead is vertically arranged on the first lifting chassis, and described support plate offers one
To the first pilot hole, a pair first leads coordinate in a pair first pilot holes in man-to-man mode, and described first latch segment is arranged on
The top of one lead, described first spill block is arranged on the top of the first latch segment, and described first sliding pin (a621) is arranged on the first spill
The top of block；Described second locking body include the second lifting chassis (a632), the second lead (a633), locking plate (a634), second
Spill block (a635)；Described second lifting chassis is screwed onto on right-handed thread bar (a612), and the second guiding slot port is offered on the second lifting chassis
(a636), described second guiding slot port is slidably matched with guide post；Described second lead is vertically arranged on the second lifting chassis, and second
Lifting chassis is positioned at the lower section on the first lifting chassis；The second pilot hole is offered on described first lifting chassis, and described support plate is offered the 3rd pilot hole,
Described second lead is upward through the second pilot hole and the 3rd pilot hole；Described locking plate is horizontally arranged at the top of the second lead, described
Second spill block is arranged on locking plate, and described second sliding pin is arranged on the top of the second spill block；The 4th pilot hole is offered on described locking plate,
Described first lead passes the 4th pilot hole, and described first latch segment is positioned at the top of locking plate；
In mechanical claw hand (a30), described right-handed thread bar (a612) is positioned at the lower section of left hand thread bar (a611), right-handed thread bar
Bottom is articulated on base (a614), and the top of left hand thread bar is articulated on support plate (a615), and described power set include being arranged on the right side
The first servomotor (a618) that the worm screw (a617) that worm gear (a616) bottom rotation threaded rod engages with worm gear couples with worm screw, snail
Bar is horizontally disposed with, and worm screw is articulated on base, and the first servomotor is arranged on base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610368502.9A CN105881514B (en) | 2016-05-28 | 2016-05-28 | The robot of mechanical arm assembly is arranged with a pair of forearms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610368502.9A CN105881514B (en) | 2016-05-28 | 2016-05-28 | The robot of mechanical arm assembly is arranged with a pair of forearms |
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| CN105881514A true CN105881514A (en) | 2016-08-24 |
| CN105881514B CN105881514B (en) | 2017-10-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610368502.9A Active CN105881514B (en) | 2016-05-28 | 2016-05-28 | The robot of mechanical arm assembly is arranged with a pair of forearms |
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Cited By (5)
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| CN106236274A (en) * | 2016-09-21 | 2016-12-21 | 东莞市联洲知识产权运营管理有限公司 | A kind of operating robot being provided with swing arm |
| CN106473796A (en) * | 2016-09-21 | 2017-03-08 | 东莞市联洲知识产权运营管理有限公司 | A kind of actuation end is provided with the operation Zhong Qu thing robot of cleft hand |
| CN106473795A (en) * | 2016-09-21 | 2017-03-08 | 东莞市联洲知识产权运营管理有限公司 | A kind of operation Zhong Qu thing robot |
| CN111203855A (en) * | 2020-01-14 | 2020-05-29 | 腾讯科技（深圳）有限公司 | Mechanical arm |
| CN111364535A (en) * | 2020-04-21 | 2020-07-03 | 苏州科艺油气工程设备服务有限公司 | Motor-driven crawler excavator and working method thereof |
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| CN111364535A (en) * | 2020-04-21 | 2020-07-03 | 苏州科艺油气工程设备服务有限公司 | Motor-driven crawler excavator and working method thereof |
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| CN105881514B (en) | 2017-10-27 |
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Inventor after: Li Guangming Inventor after: Jin Weiguo Inventor before: Wang Wenqing |
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Effective date of registration: 20170920 Address after: 100094, new building, building 5, 7 Hui Feng Road, Beijing, Haidian District, 528 Applicant after: Beijing Zhonghang electrical control technology Limited by Share Ltd Address before: 523000 Guangdong province Dongguan City Songshan Lake high tech Industrial Zone Building 406 industrial development productivity Applicant before: Dongguan Lianzhou Intellectual Property Operation Management Co.,Ltd. |
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