CN105922281A - Universal manipulator assembly of light-weight six-axis robot - Google Patents
Universal manipulator assembly of light-weight six-axis robot Download PDFInfo
- Publication number
- CN105922281A CN105922281A CN201610370333.2A CN201610370333A CN105922281A CN 105922281 A CN105922281 A CN 105922281A CN 201610370333 A CN201610370333 A CN 201610370333A CN 105922281 A CN105922281 A CN 105922281A
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- gear
- cleft
- pair
- cleft hand
- articulated
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- 210000000078 claw Anatomy 0.000 claims abstract description 44
- 230000007246 mechanism Effects 0.000 claims abstract description 12
- 210000000245 forearm Anatomy 0.000 claims description 30
- 235000012364 Peperomia pellucida Nutrition 0.000 claims description 26
- 240000007711 Peperomia pellucida Species 0.000 claims description 26
- 230000005540 biological transmission Effects 0.000 claims description 23
- 230000001360 synchronised effect Effects 0.000 claims description 12
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 210000004247 hand Anatomy 0.000 description 30
- 230000007423 decrease Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 3
- 210000000707 wrist Anatomy 0.000 description 3
- 230000000630 rising effect Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
Classifications
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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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- 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
- 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
- B25J15/0233—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by chains, cables or ribbons
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a universal manipulator assembly of a light-weight six-axis robot. The universal manipulator assembly comprises a small arm, a swing arm pivoted to the small arm and a mechanical gripper mounted on the swing arm. The mechanical gripper comprises two pairs of claws hinged to a gripper rack and a claw driving mechanism mounted on the gripper rack and used for driving the claws to act. The claw driving mechanism comprises a first locking body provided with first studs, a second locking body provided with second studs, and a support body provided with a big gear, medium gears and small gears, and the big gear, the medium gears and the small gears are engaged. The small gears and the medium gears are in threaded connection with the first studs and the second studs correspondingly. The first pair of claws and the second pair of claws are connected with the first locking body and the second locking body correspondingly. The big gear rotates to drive the two locking bodies to ascend and descend through the first studs and the second studs and then drives the two pairs of claws to do retraction action and opening action so as to grip and release workpieces. The two pairs of claws can act simultaneously and are identical in action amplitude, so that the mechanical gripper accurately grips the workpieces.
Description
Technical field:
The present invention relates to robotics, in particular to the mechanical hand of a kind of light-duty six axle all-purpose robots
Assembly.
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, axle
Seat is fixed on arm axle, and axle bed is fixed with axle bed guard box, Three-axis drive motor, the 4th axis drive motor, the
Five axis drive motors and the 6th axis drive motor are placed in axle bed guard box；Forearm rod shell and forearm extension bar housing divide
Before and after not being fixed on forearm decelerator, the 6th axle sleeve in the 5th axle, the 5th axle sleeve in the 4th axle,
In four axles, sleeve is in forearm rod shell, forearm decelerator and forearm extension bar housing, the 4th axle, the 5th axle and the 6th
The 4th axle driven gear, the 5th axle driven gear and the 6th axle driven gear it is respectively fixed with on axle.
Wherein, the end of forearm installs wrist, and wrist installs the mechanical hand with absorption surface, above-mentioned forearm, wrist,
Mechanical hand constitutes mechanical arm assembly.Mechanical hand of the prior art includes the mechanical claw hand for grabbing workpiece, gripper
Driving means in hands is difficult to order about the motion amplitude of multiple paw and keeps consistent, and so, mechanical claw hand is difficult to comprehensive
Ground promptly workpiece, may result in workpiece and comes off from mechanical claw hand.
Summary of the invention:
Technical problem solved by the invention: perform the mechanical claw hand of end as robot is when grabbing workpiece, many
The motion amplitude of individual paw is difficult to keep unanimously and in all directions firmly grasping workpiece.
For solving above-mentioned technical problem, the present invention provides following technical scheme:
A kind of mechanical arm assembly of light-duty six axle all-purpose robots, the swing arm including forearm, being articulated in forearm front end,
The first driver element driving swing arm swing, the mechanical claw hand being arranged on swing arm front end, driving mechanical claw hand rotate
The second driver element；Central axis when described swing arm swings is in the rotation centerline of mechanical claw hand；
Described mechanical claw hand includes cleft hand frame, be hinged in cleft hand frame two pairs of cleft hands, it is arranged in cleft hand frame
For driving the two cleft hand drive mechanisms to cleft hand action；Described cleft hand drive mechanism include stake body, the first locking body,
Second locking body；Gear wheel, the second middle gear, the first little gear, power transmission shaft it is articulated with on described stake body, described
Power transmission shaft is vertically arranged and couples with the power set being arranged on stake body, and described gear wheel is fixed on power transmission shaft,
Gear wheel and the engagement of the second middle gear, the second middle gear and the engagement of the first little gear；Described first locking body includes fixing
The first stud arranged, the centre of described first little gear offers the screwed hole being spirally connected with the first stud；Described second
Locking body includes that the second stud being fixedly installed, the centre of described second middle gear offer the spiral shell being spirally connected with the second stud
Pit；Stake body is provided with the guide post that the lifting to the first locking body and the second locking body guides；Described two right
Two cleft hands in first pair of cleft hand in cleft hand are symmetrical set, two in second pair of cleft hand in two pairs of cleft hands
Being symmetrical arranged before and after cleft hand, the first slide slot being obliquely installed is offered in the bottom of two cleft hands in first pair of cleft hand, the
The second slide slot being obliquely installed is offered in the bottom of two cleft hands in two pairs of cleft hands, and the top of described first locking body sets
Having the first sliding pin being slidably matched with the first slide slot, the top of the second locking body is provided with and is slidably matched with the second slide slot
The second sliding pin.
By technique scheme, gripper in the mechanical arm assembly of a kind of light-duty six axle all-purpose robots of the present invention
The operation principle of hands is as follows: power set drive power transmission shaft to rotate, and power transmission shaft drives gear wheel to rotate, and gear wheel drives
Second middle gear rotates, and the second middle gear drives the first little gear to rotate；Described second middle gear drives on the second stud
Rising, the second stud drives the second locking body to rise, owing to the second slide slot is obliquely installed, therefore, and the vertically risen
Two sliding pins can order about arbitrary cleft hand in second pair of cleft hand and rotate with the hinged place of cleft hand frame around it, make second pair of cleft hand
Swing in opposite directions；Described first little gear drives the first stud to decline, and the first stud drives the first locking body to decline, by
It is obliquely installed (direction that the first slide slot tilts is in opposite direction with what the second slide slot tilted) in the first slide slot, therefore,
The first sliding pin being vertically lowered orders about arbitrary cleft hand in first pair of cleft hand and rotates with the hinged place of cleft hand frame around it, makes
First pair of cleft hand swings in opposite directions；So far, two pairs of cleft hands are in drawing shape in, for grabbing workpiece.
By technique scheme, first pair of cleft hand connects the first locking body, and second pair of cleft hand connects the second locking body,
And drive the first little gear of the first locking body lifting to engage and by greatly with the second middle gear driving the second locking body lifting
Gear drives, and 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 forearm with swing arm annexation, the front end of described forearm is offered a spill and is slitted
Mouthful, described swing arm is articulated in spill gap.As described above, described swing arm is put in the spill gap of forearm
Dynamic.
As the present invention a kind of explanation to the first driver element, described first driver element includes being arranged on forearm
First motor, couple the first gear unit of the first motor and swing arm；Described first gear unit includes being articulated in little
On arm and the second gear of being coaxially disposed and the 3rd gear, the 4th gear and first being articulated on forearm and being coaxially disposed
Synchronous pulley, the 3rd axle being articulated on forearm, the second synchronous pulley of being fixedly mounted on the 3rd axle；Described first
Being provided with the first gear, the first gear and the engagement of the second gear on the output shaft of motor, the 3rd gear and the 4th gear are nibbled
Closing, the 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.By upper
State bright, the first motor by power successively through the first gear, the second gear, the 3rd gear, the 4th gear, first with
Step band, the second Timing Belt pass to the 3rd axle, and Three-axis drive swing arm swings.
As the present invention a kind of explanation to the second driver element, described second driver element includes installing on a swing arm
The second motor, couple the second gear unit of the second motor and mechanical claw hand；Described second gear unit includes and the
The rotating disk that the decelerator that two motor output shafts couple is connected with decelerator outfan, mechanical claw hand is arranged on rotating disk
On.
As the present invention a kind of explanation to mechanical claw hand, described cleft hand frame includes the cleft hand being arranged on swing arm front end
Framework soleplate, the cleft hand frame support bar being vertically arranged on cleft hand framework soleplate, be fixed on cleft hand frame support masthead
The cleft hand frame top board in portion；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, and four cleft hands in two pairs of cleft hands are correspondingly hinged on four
In individual hinge hole.As described above, being fixed with swivel pin in each hinge hole, four cleft hands lead in man-to-man mode
Cross swivel pin to be hinged in four hinge holes.The bottom of arbitrary cleft hand is positioned at the lower section of hinge hole, i.e. the first of inclination
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 claw hand, described stake body includes base, support plate；Described base is fixed
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 gear wheel, the second middle gear, the first little gear are articulated on support plate, and the top of described power transmission shaft is articulated in support plate
On, the bottom of power transmission shaft is articulated on base；Described first locking body includes the first lifting chassis, a pair first locking
Block, a pair first spill blocks；The first guiding slot port, the first guiding slot port and guide post are offered in described first lifting chassis
It is slidably matched；The quantity of described first stud is two, and two the first studs are vertically arranged on the first lifting chassis,
Offering a pair first through holes on described support plate, a pair first studs are through a pair first through holes；Described first little gear
Quantity is two, and two the first little gears are spirally connected with a pair first studs in man-to-man mode；The pair of first lock
Tight block is arranged on the top of two the first studs in man-to-man mode, and a pair first spill blocks are pacified in man-to-man mode
Being contained in the top of a pair first latch segments, the quantity of described first sliding pin is two, and two the first sliding pins are with man-to-man
Mode is arranged on the top of a pair first spill blocks, and two the first sliding pins are with in man-to-man mode and first pair of cleft hand
First slide slot of two cleft hands is slidably matched；Described second locking body include the second lifting chassis, locking plate, a pair
Second spill block；The second guiding slot port is offered on described second lifting chassis, and the second guiding slot port is slidably matched with guide post；
The quantity of described second stud is two, and two the second studs are vertically arranged on the second lifting chassis, the second lifting end
Dish is positioned at the lower section on the first lifting chassis；The second through hole is offered on described first lifting chassis, and described support plate offers the 3rd
Through hole, two the second studs are upward through the second through hole and third through-hole；The quantity of described second middle gear is two,
Two the second middle gears are spirally connected with two the second studs in man-to-man mode, and two the second middle gears are all nibbled with gear wheel
Closing, two the second middle gears engage with two the first little gears in man-to-man mode；Described locking plate is horizontally arranged at
The top of the second stud, a pair second spill blocks are arranged on locking plate, and the quantity of described second sliding pin is two, and two
Individual second sliding pin is arranged on the top of a pair second spill blocks in man-to-man mode, and two the second sliding pins are with man-to-man
Mode is slidably matched with the second slide slot of two cleft hands in second pair of cleft hand；Fourth hole is offered on described locking plate,
Described first stud passes fourth hole, and described first latch segment is positioned at the top of locking plate.
As described above, described gear wheel drives a pair second middle gears being symmetrical set, a pair second middle gears
Drive a pair first little gears being symmetrical set.The pair of second middle gear drives a pair second studs to rise,
A pair second studs drive locking plate to rise, and locking plate is symmetrically arranged second spill block rising before and after driving a pair, and one
A pair second sliding pins are driven vertically to rise the second spill block, before a pair second sliding pins are driven by a pair second slide slots
The most symmetrically arranged second pair of cleft hand swings in opposite directions.The pair of first little gear drives a pair first studs to decline, and one
First stud drives a pair first latch segments decline, and a pair first latch segments drive first be symmetrical set for a pair
Spill block declines, and a pair first spill blocks drive a pair first sliding pins to be vertically lowered, and a pair first sliding pins are by a pair the
One slide slot drives the first pair of cleft hand being symmetrical set to swing in opposite directions.
As the present invention a kind of explanation to mechanical claw hand, described second lifting chassis is vertically arranged with the 4th stud,
6th stud, the 4th stud, the 6th stud be upward through the first lifting chassis and support plate, and described locking plate is arranged on
Four studs, the top of the 6th stud；The 4th middle gear, the 6th middle gear it is articulated with on described support plate, the 4th middle gear,
6th middle gear lifts between chassis at support plate and first, the centre of the 4th middle gear, the central authorities of the 6th middle gear
Place all offers screwed hole, and the 4th stud is screwed onto in the screwed hole of the 4th middle gear, and the 4th middle gear engages with gear wheel,
6th stud is screwed onto in the screwed hole of the 6th middle gear, and the 6th middle gear engages with gear wheel.As described above, greatly
Gear, while driving a pair second middle gears to rotate, drives the 4th middle gear and the 6th middle gear to rotate, in the 4th
Gear and the 6th middle gear correspondingly drive the 4th stud and the 6th stud to rise, the 4th stud and the 6th stud and a pair
Second middle gear drives locking plate to rise jointly.
As the present invention a kind of explanation to mechanical claw hand, described power set include being arranged on the worm gear bottom power transmission shaft,
The first servomotor that the worm screw engaged with worm gear couples with worm screw, worm screw is horizontally disposed with, and worm screw is articulated on base,
First servomotor is arranged on base.Owing to worm and gear has good auto-lock function, therefore, of the present invention
Two pairs of cleft hands can stably rest on the optional position in space in swing process.
As the present invention a kind of explanation to mechanical claw hand, described second middle gear includes the second gear part and the second tooth
The second articulated section that wheel portion is coaxially disposed；The centre of described second gear part and the second articulated section is provided with through second tooth
Wheel portion and the screwed hole of the second articulated section；Described second articulated section is articulated in the third through-hole of support plate.Described first little
Gear includes the first articulated section that the first gear part and the first gear part are coaxially disposed；Described first gear part and first
The centre of articulated section is provided with through first gear part and the screwed hole of the first articulated section；Described first articulated section is articulated in
In first through hole of support plate.
Accompanying drawing illustrates:
The present invention is described further below in conjunction with the accompanying drawings:
Fig. 1 is the structural representation of the mechanical arm assembly of a kind of light-duty six axle all-purpose robots of the present invention；
Fig. 2 is the structural representation of mechanical claw hand 30 in Fig. 1；
Fig. 3 be in Fig. 2 A-A to sectional view；
Fig. 4 is the structural representation of arbitrary cleft hand in first pair of cleft hand 51 in Fig. 2；
Fig. 5 is the structural representation of arbitrary cleft hand in second pair of cleft hand 52 in Fig. 2；
Fig. 6 is the structural representation of the first spill block 625 in Fig. 2；
Fig. 7 is that in Fig. 3, the second middle gear 612 is articulated in the structural representation on support plate 617.
Symbol description in figure:
10, arm；11, the first gear；12, the second gear；14, the 4th gear；15, the first synchronous pulley；
16, the 3rd axle；17, the second synchronous pulley；18, Timing Belt；
20, swing arm；21, rotating disk；
30, mechanical claw hand；
40, cleft hand frame；41, cleft hand framework soleplate；42, cleft hand frame support bar；43, cleft hand frame top board；
50, two pairs of cleft hands；51, first pair of cleft hand；511, the first slide slot；512, the first hinge hole；52,
Two pairs of cleft hands；521, the second slide slot；522, the second hinge hole；
60, cleft hand drive mechanism；611, gear wheel；612, the second middle gear；6121, the second gear part；6122、
Second articulated section；6123, screwed hole；613, the first little gear；614, power transmission shaft；615, guide post；616、
Base；617, support plate；618, the 4th middle gear；619, the 6th middle gear；621, the first stud；622, first
Sliding pin；623, the first lifting chassis；624, the first latch segment；625, the first spill block；626, the first gathering sill
Mouthful；631, the second stud；633, the second lifting chassis；634, locking plate；635, the second spill block；636,
Two guiding slot ports；637, the 4th stud；638, the 6th stud；641, worm gear；642, worm screw；643, first watch
Take motor.
Detailed description of the invention:
Such as Fig. 1, the mechanical arm assembly of a kind of light-duty six axle all-purpose robots, including forearm 10, it is articulated in forearm front end
Swing arm 20, drive the first driver element that swing arm swings, be arranged on the mechanical claw hand 30 of swing arm front end, drive
The second driver element that dynamic mechanical claw hand rotates；Central axis when described swing arm swings is in the rotation of mechanical claw hand
Centrage.Wherein, a spill gap is offered in the front end of described forearm 10, and described swing arm 20 is articulated in spill gap
In.
Such as Fig. 1, described first driver element includes the first motor being arranged on forearm 10, couples the first motor and pendulum
First gear unit of swing arm；Described first gear unit includes the second gear 12 being articulated on forearm and being coaxially disposed
The 4th gear 14 and the first synchronous pulley 15 that with the 3rd gear, are articulated on forearm and are coaxially disposed, it is articulated in forearm
On the 3rd axle 16, the second synchronous pulley 17 of being fixedly mounted on the 3rd axle；Pacify on the output shaft of described first motor
Equipped with the first gear 11, the first gear and the engagement of the second gear, the 3rd gear and the engagement of the 4th gear, the first Timing Belt
Wheel is coupled with the second synchronous pulley by Timing Belt 18, and the 3rd axle is fixing with swing arm 20 to be connected.
Described second driver element includes the second motor being arranged on swing arm 20, couples the second motor and rotate hands
Second gear unit；Described second gear unit includes that the decelerator coupled with the second motor output shaft is defeated with decelerator
Going out the rotating disk 21 that end connects, mechanical claw hand 30 is installed on the rotating pan.
In conjunction with Fig. 2 to Fig. 7, two pairs of cleft hands that described mechanical claw hand includes cleft hand frame 40, is hinged in cleft hand frame
50, it is arranged in cleft hand frame for driving the two cleft hand drive mechanisms 60 to cleft hand action.Described cleft hand drive mechanism
Including stake body, the first locking body, the second locking body.Gear wheel the 611, second middle gear it is articulated with on described stake body
612, the first little gear 613, power transmission shaft 614, described power transmission shaft be vertically arranged and with the power being arranged on stake body
Device couples, and described gear wheel is fixed on power transmission shaft, and gear wheel and the second middle gear engage, the second middle gear and the
One little gear engagement；Described first locking body includes the first stud 621 being fixedly installed, the central authorities of described second middle gear
Place offers the screwed hole being spirally connected with the second stud；Described second locking body includes the second stud 631 being fixedly installed, described
The centre of the first little gear offers the screwed hole being spirally connected with the first stud；Stake body is provided with the first locking body and
The lifting of two locking bodies carries out the guide post 615 guided.Two pawls in first pair of cleft hand 51 in described two pairs of cleft hands
Hands is symmetrical set, and is symmetrical arranged, first pair of pawl before and after two cleft hands in second pair of cleft hand 52 in two pairs of cleft hands
The first slide slot 511 being obliquely installed, the end of two cleft hands in second pair of cleft hand, offered in the bottom of two cleft hands in hands
Portion offers the second slide slot 521 being obliquely installed, and the top of described first locking body is provided with and is slidably matched with the first slide slot
The first sliding pin 622, the top of the second locking body is provided with the second sliding pin being slidably matched with the second slide slot.
In mechanical claw hand 30, described cleft hand frame 40 include being arranged on swing arm 20 front end cleft hand framework soleplate 41,
The cleft hand frame support bar 42 being vertically arranged on cleft hand framework soleplate, the cleft hand being fixed on cleft hand frame support bar top
Frame top board 43；Described cleft hand drive mechanism 60 is arranged on cleft hand framework soleplate and is positioned at the lower section of cleft hand frame top board,
Offer four hinge holes on described cleft hand frame top board, four cleft hands in two pairs of cleft hands be correspondingly hinged on four hinged
In hole.
In mechanical claw hand 30, described stake body includes base 616, support plate 617；Described base is fixedly installed on cleft hand
In frame 40, described guide post 615 is fixed on base, and described support plate is horizontally fixed on the top of guide post；Described
Gear wheel the 611, second middle gear the 612, first little gear 613 is articulated on support plate, the top of described power transmission shaft 614
Being articulated on support plate, the bottom of power transmission shaft is articulated on base.Described first locking body include the first lifting chassis 623,
A pair first latch segments 624, a pair first spill blocks 625；The first guiding slot port 626 is offered on described first lifting chassis,
First guiding slot port is slidably matched with guide post；The quantity of described first stud 621 is two, and two the first studs erect
Directly being arranged on the first lifting chassis, described support plate offers a pair first through holes, a pair first studs are through a pair the
One through hole；The quantity of described first little gear is two, two the first little gears with man-to-man mode with a pair first
Stud is spirally connected；The pair of first latch segment is arranged on the top of two the first studs in man-to-man mode, a pair
One spill block is arranged on the top of a pair first latch segments in man-to-man mode, and the quantity of described first sliding pin 622 is
Two, two the first sliding pins are arranged on the top of a pair first spill blocks in man-to-man mode, two the first sliding pins with
Man-to-man mode is slidably matched with the first slide slot 511 of two cleft hands in first pair of cleft hand 51.Described second lock
Tight body includes the second lifting chassis 633, locking plate 634, a pair second spill blocks 635；Described second lifting chassis is opened
If the second guiding slot port 636, the second guiding slot port is slidably matched with guide post；The quantity of described second stud 631 is two
Individual, two the second studs are vertically arranged on the second lifting chassis, and the second lifting chassis is positioned under the first lifting chassis
Side；The second through hole is offered on described first lifting chassis, and described support plate offers third through-hole, and two the second studs are upwards
Through the second through hole and third through-hole；The quantity of described second middle gear 612 is two, and two the second middle gears are with one
Mode to one is spirally connected with two the second studs, and two the second middle gears all engage with gear wheel, two the second middle gears
Engage with two the first little gears in man-to-man mode；Described locking plate is horizontally arranged at the top of the second stud, and one
Being arranged on the second spill block on locking plate, the quantity of described second sliding pin is two, and two the second sliding pins are with one to one
Mode be arranged on the top of a pair second spill blocks, two the second sliding pins are with man-to-man mode and second pair of cleft hand 52
In the second slide slot of two cleft hands be slidably matched；Offering fourth hole on described locking plate, described first stud is worn
Crossing fourth hole, described first latch segment is positioned at the top of locking plate.
In mechanical claw hand 30, described second lifting chassis 633 is vertically arranged with the 4th stud the 637, the 6th stud 638,
4th stud, the 6th stud are upward through the first lifting chassis 623 and support plate 617, and described locking plate 634 is arranged on
Four studs, the top of the 6th stud.The 4th middle gear the 618, the 6th middle gear 619 it is articulated with on described support plate, the 4th
Middle gear, the 6th middle gear between support plate and the first lifting chassis, the centre of the 4th middle gear, tooth in the 6th
The centre of wheel all offers screwed hole, and the 4th stud is screwed onto in the screwed hole of the 4th middle gear, and the 4th middle gear is with big
Gear 611 engages, and the 6th stud is screwed onto in the screwed hole of the 6th middle gear, and the 6th middle gear engages with gear wheel.
In mechanical claw hand 30, described power set include that being arranged on the worm gear 641 bottom power transmission shaft 614 nibbles with worm gear
The first servomotor 643 that the worm screw 642 closed couples with worm screw, worm screw is horizontally disposed with, and worm screw is articulated on base,
First servomotor is arranged on base.
In mechanical claw hand 30, described second middle gear 612 includes that the second gear part 6121 coaxially sets with the second gear part
The second articulated section 6122 put；The centre of described second gear part and the second articulated section be provided with through second gear part and
The screwed hole 6123 of the second articulated section；Described second articulated section is articulated in the third through-hole of support plate 617.
In mechanical claw hand 30, described first little gear 613 includes what the first gear part and the first gear part were coaxially disposed
First articulated section；The centre of described first gear part and the first articulated section is provided with through first gear part and the first pivot joint
The screwed hole in portion；Described first articulated section is articulated in the first through hole of support plate 617.
In practical operation, mechanical claw hand in the mechanical arm assembly of a kind of light-duty six axle all-purpose robots of the present invention
Workflow is as follows: power set drive power transmission shaft 614 to rotate, and power transmission shaft drives gear wheel 611 to rotate, gear wheel
Driving the second middle gear 612 to rotate, the second middle gear drives the first little gear 613 to rotate；Described second middle gear drives
Dynamic second stud 631 rises, and the second stud drives the second locking body to rise, owing to the second slide slot is obliquely installed, because of
This, the second sliding pin vertically risen can order about arbitrary cleft hand in second pair of cleft hand 52 around its hinge with cleft hand frame 40
Meet place to rotate, make second pair of cleft hand swing in opposite directions；Described first little gear 613 drives the first stud 621 to decline,
First stud drive first locking body decline, due to first slide 622 grooves be obliquely installed (first slide slot tilt side
To in opposite direction with what the second slide slot tilted), therefore, the first sliding pin being vertically lowered orders about in first pair of cleft hand arbitrary
Cleft hand rotates around it with the hinged place of cleft hand frame, makes first pair of cleft hand swing in opposite directions；So far, two pairs of cleft hands 50
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. a mechanical arm assembly for light-duty six axle all-purpose robots, including forearm (10), the pendulum that is articulated in forearm front end
Swing arm (20), drive the first driver element that swing arm swings, be arranged on the mechanical claw hand (30) of swing arm front end, drive
The second driver element that dynamic mechanical claw hand rotates；Central axis when described swing arm swings is in the rotation of mechanical claw hand
Heart line；It is characterized in that:
Described mechanical claw hand includes cleft hand frame (40), be hinged in cleft hand frame two pairs of cleft hands (50), it is arranged on pawl
For driving the two cleft hand drive mechanisms (60) to cleft hand action on handset mounting；
Described cleft hand drive mechanism includes stake body, the first locking body, the second locking body；
Gear wheel (611), the second middle gear (612), the first little gear (613), transmission it is articulated with on described stake body
Axle (614), described power transmission shaft is vertically arranged and couples with the power set being arranged on stake body, and described gear wheel is fixed
On power transmission shaft, gear wheel and the engagement of the second middle gear, the second middle gear and the engagement of the first little gear；Described first locking
Body includes that the first stud (621) being fixedly installed, the centre of described first little gear offer the spiral shell being spirally connected with the first stud
Pit；Described second locking body includes the second stud (631) being fixedly installed, and the centre of described second middle gear is offered
The screwed hole being spirally connected with the second stud；Stake body is provided with what the lifting to the first locking body and the second locking body guided
Guide post (615)；
Two cleft hands in first pair of cleft hand (51) in described two pairs of cleft hands are symmetrical set, in two pairs of cleft hands
Being symmetrical arranged before and after two cleft hands in two pairs of cleft hands (52), inclination is offered in the bottom of two cleft hands in first pair of cleft hand
The first slide slot (511) arranged, the second slide slot being obliquely installed is offered in the bottom of two cleft hands in second pair of cleft hand
(521), the top of described first locking body is provided with the first sliding pin (622) being slidably matched with the first slide slot, the second lock
The top of tight body is provided with the second sliding pin being slidably matched with the second slide slot.
The mechanical arm assembly of a kind of light-duty six axle all-purpose robots the most as claimed in claim 1, it is characterised in that: institute
A spill gap is offered in the front end stating forearm (10), and described swing arm (20) is articulated in spill gap.
The mechanical arm assembly of a kind of light-duty six axle all-purpose robots the most as claimed in claim 1, it is characterised in that: institute
State the first driver element to include the first motor being arranged on forearm (10), couple first motor the first biography with swing arm
Moving cell；Described first gear unit include the second gear (12) of being articulated on forearm and being coaxially disposed and the 3rd gear,
The 4th gear (14) being articulated on forearm and being coaxially disposed and the first synchronous pulley (15), be articulated on forearm
Three axles (16), the second synchronous pulley (17) being fixedly mounted on the 3rd axle；Install on the output shaft of described first motor
There are the first gear (11), the first gear and the engagement of the second gear, the 3rd gear and the engagement of the 4th gear, the first Timing Belt
Wheel is coupled with the second synchronous pulley by Timing Belt (18), and the 3rd axle is fixing with swing arm (20) to be connected.
The mechanical arm assembly of a kind of light-duty six axle all-purpose robots the most as claimed in claim 1, it is characterised in that: institute
State the second driver element to include the second motor being arranged on swing arm (20), couple the second motor and rotate the second of hands
Gear unit；Described second gear unit includes that the decelerator coupled with the second motor output shaft and decelerator outfan connect
The rotating disk (21) connect, mechanical claw hand (30) is installed on the rotating pan.
The mechanical arm assembly of a kind of light-duty six axle all-purpose robots the most as claimed in claim 1, it is characterised in that: machine
In tool cleft hand (30), described cleft hand frame (40) include being arranged on swing arm (20) front end cleft hand framework soleplate (41),
Cleft hand frame support bar (42) being vertically arranged on cleft hand framework soleplate, the pawl being fixed on cleft hand frame support bar top
Handset mounting top board (43)；Described cleft hand drive mechanism (60) 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 correspondingly hinged on
In four hinge holes.
The mechanical arm assembly of a kind of light-duty six axle all-purpose robots the most as claimed in claim 1, it is characterised in that: machine
In tool cleft hand (30), described stake body includes base (616), support plate (617)；Described base is fixedly installed on cleft hand
In frame (40), described guide post (615) is fixed on base, described support plate water
The flat top being fixed on guide post；Described gear wheel (611), the second middle gear (612), the first little gear (613)
Being articulated on support plate, the top of described power transmission shaft (614) is articulated on support plate, and the bottom of power transmission shaft is articulated on base；
Described first locking body includes the first lifting chassis (623), a pair first latch segments (624), a pair first spills
Block (625)；The first guiding slot port (626) is offered on described first lifting chassis, and the first guiding slot port slides with guide post and joins
Close；The quantity of described first stud (621) is two, and two the first studs are vertically arranged on the first lifting chassis,
Offering a pair first through holes on described support plate, a pair first studs are through a pair first through holes；The number of described first little gear
Amount is two, and two the first little gears are spirally connected with a pair first studs in man-to-man mode；The pair of first latch segment
Be arranged on the top of two the first studs in man-to-man mode, a pair first spill blocks are arranged on one in man-to-man mode
Top to the first latch segment, the quantity of described first sliding pin (622) is two, and two the first sliding pins are with man-to-man
Mode is arranged on the top of a pair first spill blocks, and two the first sliding pins are with man-to-man mode and first pair of cleft hand (51)
In first slide slot (511) of two cleft hands be slidably matched；
Described second locking body includes the second lifting chassis (633), locking plate (634), a pair second spill blocks (635)；
The second guiding slot port (636) is offered on described second lifting chassis, and the second guiding slot port is slidably matched with guide post；Described
The quantity of two studs (631) is two, and two the second studs are vertically arranged on the second lifting chassis, the second lifting end
Dish is positioned at the lower section on the first lifting chassis；The second through hole is offered on described first lifting chassis, and described support plate offers threeway
Hole, two the second studs are upward through the second through hole and third through-hole；The quantity of described second middle gear (612) is two
Individual, two the second middle gears are spirally connected with two the second studs in man-to-man mode, and two the second middle gears are all and gear wheel
Engagement, two the second middle gears engage with two the first little gears in man-to-man mode；Described locking plate is horizontally arranged at
The top of the second stud, a pair second spill blocks are arranged on locking plate, and the quantity of described second sliding pin is two, two
Second sliding pin is arranged on the top of a pair second spill blocks in man-to-man mode, and two the second sliding pins are in man-to-man mode
It is slidably matched with the second slide slot of two cleft hands in second pair of cleft hand (52)；Fourth hole is offered on described locking plate,
Described first stud passes fourth hole, and described first latch segment is positioned at the top of locking plate.
The mechanical arm assembly of a kind of light-duty six axle all-purpose robots the most as claimed in claim 6, it is characterised in that: machine
In tool cleft hand (30), described second lifting chassis (633) is vertically arranged with the 4th stud (637), the 6th stud
(638), the 4th stud, the 6th stud are upward through the first lifting chassis (623) and support plate (617), described locking
Dish (634) is arranged on the 4th stud, the top of the 6th stud；
The 4th middle gear (618), the 6th middle gear (619) it is articulated with, the 4th middle gear, tooth in the 6th on described support plate
Taking turns between support plate and the first lifting chassis, the centre of the 4th middle gear, the centre of the 6th middle gear all offer spiral shell
Pit, the 4th stud is screwed onto in the screwed hole of the 4th middle gear, and the 4th middle gear engages with gear wheel (611), the
Six studs are screwed onto in the screwed hole of the 6th middle gear, and the 6th middle gear engages with gear wheel.
The mechanical arm assembly of a kind of light-duty six axle all-purpose robots the most as claimed in claim 6, it is characterised in that: machine
In tool cleft hand (30), described power set include worm gear (641) and the worm gear being arranged on power transmission shaft (614) bottom
The first servomotor (643) that the worm screw (642) of engagement couples with worm screw, worm screw is horizontally disposed with, and worm screw is articulated in the end
On seat, the first servomotor is arranged on base.
The mechanical arm assembly of a kind of light-duty six axle all-purpose robots the most as claimed in claim 6, it is characterised in that: machine
In tool cleft hand (30), described second middle gear (612) includes that the second gear part (6121) is coaxial with the second gear part
The second articulated section (6122) arranged；The centre of described second gear part and the second articulated section is provided with through second gear
The screwed hole (6123) of portion and the second articulated section；Described second articulated section is articulated in the third through-hole of support plate (617).
The mechanical arm assembly of a kind of light-duty six axle all-purpose robots the most as claimed in claim 6, it is characterised in that:
In mechanical claw hand (30), described first little gear (613) includes that the first gear part is coaxially disposed with the first gear part
The first articulated section；The centre of described first gear part and the first articulated section is provided with through first gear part and the first pivot joint
The screwed hole in portion；Described first articulated section is articulated in the first through hole of support plate (617).
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| CN201610370333.2A CN105922281B (en) | 2016-05-28 | 2016-05-28 | A kind of mechanical arm assembly of light-duty six axles all-purpose robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610370333.2A CN105922281B (en) | 2016-05-28 | 2016-05-28 | A kind of mechanical arm assembly of light-duty six axles all-purpose robot |
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| CN105922281A true CN105922281A (en) | 2016-09-07 |
| CN105922281B CN105922281B (en) | 2017-12-22 |
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| CN106236275A (en) * | 2016-09-21 | 2016-12-21 | 东莞市联洲知识产权运营管理有限公司 | The operating theater instruments that a kind of cleft hand is swingable |
| CN106361438A (en) * | 2016-09-21 | 2017-02-01 | 东莞市联洲知识产权运营管理有限公司 | Surgical robot provided with wrist |
| CN106361439A (en) * | 2016-09-21 | 2017-02-01 | 东莞市联洲知识产权运营管理有限公司 | Surgical robot provided with tool changer |
| CN106426261A (en) * | 2016-11-10 | 2017-02-22 | 合肥工业大学 | Manipulator |
| CN106584494A (en) * | 2016-12-22 | 2017-04-26 | 六安力达生产力促进中心有限公司 | Self-centering grabbing mechanism for manipulator |
| CN106625764A (en) * | 2016-10-09 | 2017-05-10 | 河海大学常州校区 | Mechanical arm |
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| CN107310278A (en) * | 2017-07-18 | 2017-11-03 | 浙江乐佳机电有限公司 | One kind embroidery and air brushing integration apparatus and technique |
| CN107322623A (en) * | 2017-08-15 | 2017-11-07 | 中国地质大学（北京） | A kind of three finger self-centering motor machine paws for accurately capturing |
| CN107471238A (en) * | 2017-08-21 | 2017-12-15 | 北京精密机电控制设备研究所 | A kind of more finger formula end effector of robot and method for capturing variable range |
| CN108214472A (en) * | 2018-02-24 | 2018-06-29 | 珠海格力智能装备有限公司 | Transmission mechanism and robot |
| CN110171011A (en) * | 2019-04-26 | 2019-08-27 | 湖南大学 | A kind of three finger robot delicates of coordinated drive |
| CN110293580A (en) * | 2019-07-28 | 2019-10-01 | 南京昱晟机器人科技有限公司 | A kind of robot mechanical arm grasping structures |
| CN111645049A (en) * | 2020-05-22 | 2020-09-11 | 湖北工程学院 | Mechanical claw, mechanical hand, transfer robot and transfer system |
| CN112296994A (en) * | 2020-12-30 | 2021-02-02 | 新乡职业技术学院 | Multi-angle adjusting mechanical gripper |
| CN112643315A (en) * | 2020-12-30 | 2021-04-13 | 苏州三德精密机械有限公司 | Automatic press fitting structure is got to clamp |
| CN112954901A (en) * | 2021-02-04 | 2021-06-11 | 深圳市雅信宏达电子科技有限公司 | Circuit board manufacturing system and method |
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| CN106361438B (en) * | 2016-09-21 | 2018-09-28 | 嘉兴晟源工业设计有限公司 | A kind of operating robot equipped with wrist |
| CN106361438A (en) * | 2016-09-21 | 2017-02-01 | 东莞市联洲知识产权运营管理有限公司 | Surgical robot provided with wrist |
| CN106361439A (en) * | 2016-09-21 | 2017-02-01 | 东莞市联洲知识产权运营管理有限公司 | Surgical robot provided with tool changer |
| CN106236275A (en) * | 2016-09-21 | 2016-12-21 | 东莞市联洲知识产权运营管理有限公司 | The operating theater instruments that a kind of cleft hand is swingable |
| CN106236275B (en) * | 2016-09-21 | 2018-10-23 | 刘清玉 | A kind of surgical instrument that cleft hand is swingable |
| CN106625764A (en) * | 2016-10-09 | 2017-05-10 | 河海大学常州校区 | Mechanical arm |
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| CN106584494A (en) * | 2016-12-22 | 2017-04-26 | 六安力达生产力促进中心有限公司 | Self-centering grabbing mechanism for manipulator |
| CN106584494B (en) * | 2016-12-22 | 2018-11-30 | 江苏昱博自动化设备有限公司 | The self-centering grasping mechanism of manipulator |
| CN107309896A (en) * | 2017-06-30 | 2017-11-03 | 安徽普伦智能装备有限公司 | A kind of mechanical gripper |
| CN107310278A (en) * | 2017-07-18 | 2017-11-03 | 浙江乐佳机电有限公司 | One kind embroidery and air brushing integration apparatus and technique |
| CN107310278B (en) * | 2017-07-18 | 2023-03-24 | 浙江乐佳机电有限公司 | Embroidery and inkjet printing integrated equipment and process |
| CN107322623A (en) * | 2017-08-15 | 2017-11-07 | 中国地质大学（北京） | A kind of three finger self-centering motor machine paws for accurately capturing |
| CN107471238B (en) * | 2017-08-21 | 2020-08-14 | 北京精密机电控制设备研究所 | Multi-finger robot end effector with variable grabbing range and method |
| CN107471238A (en) * | 2017-08-21 | 2017-12-15 | 北京精密机电控制设备研究所 | A kind of more finger formula end effector of robot and method for capturing variable range |
| CN108214472A (en) * | 2018-02-24 | 2018-06-29 | 珠海格力智能装备有限公司 | Transmission mechanism and robot |
| CN110171011A (en) * | 2019-04-26 | 2019-08-27 | 湖南大学 | A kind of three finger robot delicates of coordinated drive |
| CN110171011B (en) * | 2019-04-26 | 2021-06-15 | 湖南大学 | Three-finger robot dexterous hand driven in coordination |
| CN110293580A (en) * | 2019-07-28 | 2019-10-01 | 南京昱晟机器人科技有限公司 | A kind of robot mechanical arm grasping structures |
| CN111645049A (en) * | 2020-05-22 | 2020-09-11 | 湖北工程学院 | Mechanical claw, mechanical hand, transfer robot and transfer system |
| CN112296994A (en) * | 2020-12-30 | 2021-02-02 | 新乡职业技术学院 | Multi-angle adjusting mechanical gripper |
| CN112643315A (en) * | 2020-12-30 | 2021-04-13 | 苏州三德精密机械有限公司 | Automatic press fitting structure is got to clamp |
| CN112954901A (en) * | 2021-02-04 | 2021-06-11 | 深圳市雅信宏达电子科技有限公司 | Circuit board manufacturing system and method |
| CN112954901B (en) * | 2021-02-04 | 2022-07-22 | 深圳市雅信宏达电子科技有限公司 | Circuit board manufacturing system and method |
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Effective date of registration: 20171123 Address after: 221351, Jiangsu Province, Xuzhou City, Pizhou Province Town Hardware Machinery Industry Park Road West Applicant after: Xuzhou Motor Manufacturing Co., 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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Effective date of registration: 20200723 Address after: 226100 Haimen Industrial Park, Haimen City, Nantong City, Jiangsu Province, 3rd Floor, Dishiqiao E-commerce City, South Side of Spindu Avenue Patentee after: Haimen Huaxia Li Li Network Technology Service Co.,Ltd. Address before: 226100 Fuxing Road, Yuet Lai Town, Haimen, Nantong, Jiangsu, 16 Patentee before: Haimen initial Industrial Design Co.,Ltd. |