CN105922281B - A kind of mechanical arm assembly of light-duty six axles all-purpose robot - Google Patents
A kind of mechanical arm assembly of light-duty six axles all-purpose robot Download PDFInfo
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- CN105922281B CN105922281B CN201610370333.2A CN201610370333A CN105922281B CN 105922281 B CN105922281 B CN 105922281B CN 201610370333 A CN201610370333 A CN 201610370333A CN 105922281 B CN105922281 B CN 105922281B
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- hand
- stud
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- 210000000078 claw Anatomy 0.000 claims abstract description 44
- 210000000245 forearm Anatomy 0.000 claims abstract description 33
- 235000012364 Peperomia pellucida Nutrition 0.000 claims description 25
- 240000007711 Peperomia pellucida Species 0.000 claims description 25
- 230000005540 biological transmission Effects 0.000 claims description 22
- 230000001360 synchronised effect Effects 0.000 claims description 13
- 238000003780 insertion Methods 0.000 claims description 6
- 230000037431 insertion Effects 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 abstract description 2
- 210000004247 hand Anatomy 0.000 description 25
- 230000007423 decrease Effects 0.000 description 6
- 210000003464 cuspid Anatomy 0.000 description 4
- 210000000707 wrist Anatomy 0.000 description 3
- 241000237858 Gastropoda Species 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000630 rising effect Effects 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
-
- 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 kind of mechanical arm assembly of light-duty six axles all-purpose robot, including forearm, the swing arm being articulated on forearm, the mechanical claw hand of installation on a swing arm.Mechanical claw hand includes two pairs of cleft hands being hinged in cleft hand frame, the cleft hand drive mechanism made manually for driving claw in cleft hand frame.Cleft hand drive mechanism includes the first locking body provided with the first stud, the second locking body provided with the second stud, is provided with the gear wheel meshed together, middle gear, the stake body of little gear, little gear and middle gear are correspondingly spirally connected with the first stud and the second stud, first pair of cleft hand and correspondingly connected first locking body of second pair of cleft hand and the second locking body, the rotation of gear wheel can drive two locking body liftings by the first stud and the second stud, and then drive two pairs of cleft hands to make the action of folding and unfolding, with pick-and-place workpiece.The present invention can make two pairs of cleft hands and meanwhile action and motion amplitude it is identical, so as to mechanical claw hand exactly firmly grasp workpiece.
Description
Technical field：
The present invention relates to robotic technology field, in particular to a kind of manipulator of light-duty six axles all-purpose robot
Component.
Background technology：
Application No. CN201210566463.5 application for a patent for invention discloses a kind of light-duty six axles all-purpose robot, axle
Seat is fixed on arm axle, and axle bed guard box is fixed with axle bed, and Three-axis drive motor, the 4th axle motor, the 5th axle drive
Dynamic motor and the 6th axle motor are placed in axle bed guard box；Forearm rod shell and forearm lengthening rod shell are separately fixed at small
The front and rear part of arm decelerator, the 6th axle sleeve is in the 5th axle, and the 5th axle sleeve is in the 4th axle, and sleeve is in forearm in the 4th axle
Rod shell, forearm decelerator and forearm are lengthened in rod shell, be respectively fixed with the 4th axle, the 5th axle and the 6th axle the 4th axle from
Moving gear, the 5th axle driven gear and the 6th axle driven gear.
Wherein, wrist is installed in the end of forearm, and the manipulator contacted with workpiece, above-mentioned forearm, wrist, machine are installed in wrist
Tool hand forms mechanical arm assembly.Manipulator of the prior art includes the mechanical claw hand for grabbing workpiece, in mechanical claw hand
Drive device is difficult to drive the motion amplitude of multiple paws to be consistent, in this way, mechanical claw hand is difficult to firmly grasp workpiece in all directions,
Workpiece can be caused to be come off from mechanical claw hand.
The content of the invention：
Technical problem solved by the invention：The mechanical claw hand of end is performed as robot, it is multiple in grabbing workpiece
The motion amplitude of paw is difficult to be consistent and firmly grasps workpiece in all directions.
In order to solve the above technical problems, the present invention provides following technical scheme：
A kind of mechanical arm assembly of light-duty six axles all-purpose robot, including forearm, the swing arm for being articulated in forearm front end, drive
First driver element of movable pendulum movable arm swinging, the mechanical claw hand installed in swing arm front end, the second of driving mechanical claw hand rotation
Driver element；Central axis during the swing arm swing is in the rotation centerline of mechanical claw hand；
The mechanical claw hand includes cleft hand frame, two pairs of cleft hands being hinged in cleft hand frame, in cleft hand frame
For driving the cleft hand drive mechanism of two pairs of cleft hand actions；The cleft hand drive mechanism includes stake body, the first locking body, second
Locking body；Gear wheel, the first middle gear, the first little gear, power transmission shaft are articulated with the stake body, the power transmission shaft is set vertically
Put and couple with the power set on stake body, the gear wheel is fixed on power transmission shaft, tooth in gear wheel and first
Wheel engagement, the first middle gear engage with the first little gear；First locking body includes the first stud of fixed setting, and described the
The centre of one little gear opens up the screwed hole being spirally connected with the first stud；Second locking body includes the second spiral shell of fixed setting
Post, the centre of first middle gear open up the screwed hole being spirally connected with the second stud；Stake body is provided with to the first locking body
The guide rod that lifting with the second locking body is oriented to；Two cleft hands in first pair of cleft hand in two pairs of cleft hands or so
It is symmetrical arranged, is symmetrical arranged before and after two cleft hands in second pair of cleft hand in two pairs of cleft hands, two pawls in first pair of cleft hand
The bottom of hand opens up the first slide slot being obliquely installed, and the bottom of two cleft hands in second pair of cleft hand opens up be obliquely installed
Two slide slots, the top of first locking body are provided with the first sliding pin being slidably matched with the first slide slot, the second locking body
Top is provided with the second sliding pin being slidably matched with the second slide slot.
By above-mentioned technical proposal, gripper in a kind of mechanical arm assembly of light-duty six axles all-purpose robot of the present invention
The operation principle of hand is as follows：Power set driving power transmission shaft rotation, power transmission shaft drives gear wheel to rotate, in canine tooth wheel drive first
Gear rotates, and the first middle gear drives the rotation of the first little gear；First middle gear drives the second stud to rise, the second stud
The second locking body is driven to rise, because the second slide slot is obliquely installed, therefore, the second sliding pin risen vertically can drive second pair
Any cleft hand surrounds it in cleft hand and the hinged place of cleft hand frame rotates, and second pair of cleft hand is made opposite swing；Described first is small
Gear drives the first stud to decline, and the first stud drives the first locking body to decline, and because the first slide slot is obliquely installed, (first slides
The inclined direction of row groove is inclined in opposite direction with the second slide slot), therefore, the first sliding pin being vertically lowered drives first pair of pawl
Any cleft hand surrounds it in hand and the hinged place of cleft hand frame rotates, and first pair of cleft hand is made opposite swing；So far, two pairs of cleft hands
In shape is collapsed, for grabbing workpiece.
Pass through above-mentioned technical proposal, first pair of cleft hand connect the first locking body, and second pair of cleft hand connects the second locking body, and
The first little gear that the first locking body lifts and the first middle gear of driving the second locking body lifting is driven to engage and by gear wheel
Driving, in this way, the present invention can make first pair of cleft hand and meanwhile act and motion amplitude it is identical, can make second pair of cleft hand and meanwhile act and
Motion amplitude is identical, can make first pair of cleft hand and second pair of cleft hand and meanwhile action and motion amplitude it is identical, so that mechanical claw hand is complete
Orientation and exactly firmly grasp workpiece.
The front end of the forearm, which opens up a spill and slitted, to be illustrated to forearm and a kind of of swing arm annexation as the present invention
Mouthful, the swing arm is articulated in spill gap.As described above, the swing arm is swung in the spill gap of forearm.
One kind of the first driver element is illustrated as the present invention, first driver element includes being arranged on forearm
First gear unit of the first motor, the first motor of connection and swing arm；First gear unit includes being articulated on forearm
And the second gear being coaxially disposed and the 3rd gear, the 4th gear and the first timing belt that are articulated on forearm and are coaxially disposed
The small arm axle take turns, being articulated on forearm, the second synchronous pulley being fixedly mounted on small arm axle；The output shaft of first motor
On first gear is installed, first gear engages with second gear, and the 3rd gear engages with the 4th gear, and the first synchronous pulley leads to
Cross timing belt with the second synchronous pulley to couple, small arm axle is fixedly connected with swing arm.As described above, the first motor by power according to
It is secondary to pass to small arm axle through first gear, second gear, the 3rd gear, the 4th gear, the first timing belt, the second timing belt, it is small
Arm axle driving swings arm swing.
Second driver element, which includes installation on a swing arm, to be illustrated to one kind of the second driver element as the present invention
The second motor, connection the second motor and mechanical claw hand the second gear unit；Second gear unit includes and the second electricity
The decelerator of machine output shaft connection, the rotating disk being connected with decelerator output end, mechanical claw hand are installed on the rotating pan.
The cleft hand frame, which includes the cleft hand installed in swing arm front end, to be illustrated to one kind of mechanical claw hand as the present invention
Framework soleplate, the cleft hand frame support bar being vertically arranged on cleft hand framework soleplate, it is fixed on cleft hand frame support bar top
Cleft hand frame top plate；The cleft hand drive mechanism is arranged on cleft hand framework soleplate and positioned at the lower section of cleft hand frame top plate, institute
State and four hinge holes are opened up on cleft hand frame top plate, four cleft hands in two pairs of cleft hands are correspondingly hinged in four hinge holes.
As described above, swivel pin is fixed with each hinge hole, four cleft hands are hinged on four in a manner of man-to-man by swivel pin
In individual hinge hole.The bottom of any cleft hand is located at the lower section of hinge hole, i.e. the inclined equal position of first slide slot and the second slide slot
In the lower section of hinge hole.
The stake body, which includes base, support plate, to be illustrated to one kind of mechanical claw hand as the present invention；The base is fixed and set
Put in cleft hand frame, the guide rod is fixed on base, and the support plate is horizontally fixed on the top of guide rod；The canine tooth
Wheel, the first middle gear, the first little gear are articulated on support plate, and the top of the power transmission shaft is articulated on support plate, the bottom of power transmission shaft
End is articulated on base；First locking body includes the first lifting chassis, a pair of first latch segments, a pair of first spill blocks；
The first lifting chassis opens up the first guiding slot port, and the first guiding slot port is slidably matched with guide rod；First stud
Quantity is two, and two the first studs are vertically arranged on the first lifting chassis, opens up a pair of first through hole on the support plate, one
A pair of first through hole are passed through to the first stud；The quantity of first little gear is two, and two the first little gears are with one-to-one
Mode be spirally connected with a pair of first studs；The pair of first latch segment is arranged on two the first studs in a manner of man-to-man
Top, a pair of first spill blocks are arranged on the top of a pair of first latch segments, the number of first sliding pin in a manner of man-to-man
Measure as two, two the first sliding pins are arranged on the top of a pair of first spill blocks in a manner of man-to-man, two the first sliding pins with
Man-to-man mode and the first slide slot of two cleft hands in first pair of cleft hand are slidably matched；Second locking body includes the
Two lifting chassis, locking plate, a pair of second spill blocks；The second lifting chassis opens up the second guiding slot port, the second guide groove
Mouth is slidably matched with guide rod；The quantity of second stud is two, and two the second studs are vertically arranged in the second lifting bottom
On disk, the second lifting chassis is positioned at the lower section on the first lifting chassis；The first lifting chassis opens up the second through hole, the support plate
On open up third through-hole, two the second studs are upward through the second through hole and third through-hole；The quantity of first middle gear is
Two, two the first middle gears are spirally connected in a manner of man-to-man with two the second studs, and two the first middle gears are and gear wheel
Engagement, two the first middle gears are engaged in a manner of man-to-man with two the first little gears；The locking plate is horizontally arranged at
The top of two studs, a pair of second spill blocks are arranged on locking plate, and the quantity of second sliding pin is two, two second cunnings
Sell the top that a pair second spill blocks are arranged in a manner of man-to-man, two the second sliding pins in a manner of man-to-man with second pair
Second slide slot of two cleft hands in cleft hand is slidably matched；Fourth hole is opened up on the locking plate, first stud is worn
Fourth hole is crossed, first latch segment is located at the top of locking plate.
As described above, a pair of first middle gears that the canine tooth wheel drive is symmetrical set, a pair of first middle gears
Drive a pair of first little gears being symmetrical set.The pair of first middle gear drives a pair of second studs to rise, a pair
Second stud drives locking plate to rise, and symmetrically arranged second spill block rises before and after locking plate drives a pair, and a pair second recessed
Shape block drives a pair of second sliding pins to rise vertically, and a pair of second sliding pins are symmetrically arranged before and after being driven by a pair of second slide slots
Second pair of opposite swing of cleft hand.The pair of first little gear drives a pair of first studs to decline, and a pair of first studs drive one
First latch segment is declined, a pair of first latch segments drive a pair of the first spill blocks being symmetrical set to decline, a pair first
Spill block drives a pair of first sliding pins to be vertically lowered, and a pair of first sliding pins are symmetrical set by a pair of first slide slot drivings
First pair of opposite swing of cleft hand.
As the present invention to mechanical claw hand one kind illustrate, it is described second lifting chassis on be vertically arranged with the 3rd stud,
4th stud, the 3rd stud, the 4th stud are upward through the first lifting chassis and support plate, and the locking plate is arranged on the 3rd spiral shell
The top of post, the 4th stud；The second middle gear, the 3rd middle gear, the second middle gear, the 3rd middle gear are articulated with the support plate
Between support plate and the first lifting chassis, the centre of the second middle gear, the centre of the 3rd middle gear open up screwed hole,
3rd stud is screwed onto in the screwed hole of the second middle gear, and the second middle gear engages with gear wheel, and the 4th stud is screwed onto the 3rd
In the screwed hole of middle gear, the 3rd middle gear engages with gear wheel.As described above, gear wheel is driving a pair of first middle gears
While rotation, the second middle gear and the rotation of the 3rd middle gear are driven, the second middle gear and the 3rd middle gear correspondingly drive the
Three studs and the 4th stud rise, and the 3rd stud and the 4th stud drive locking plate to rise jointly with a pair of first middle gears.
The power set, which include the snail installed in power transmission shaft bottom, to be illustrated to one kind of mechanical claw hand as the present invention
Wheel, the worm screw engaged with worm gear, the first servomotor coupled with worm screw, worm screw are horizontally disposed with, and worm screw is articulated on base, the
One servomotor is arranged on base.Because worm and gear has good auto-lock function, therefore, two pairs of pawls of the present invention
Hand can stably rest on the optional position in space in swing process.
First middle gear, which includes second gear portion and the second tooth, to be illustrated to one kind of mechanical claw hand as the present invention
The second articulated section that wheel portion is coaxially disposed；The centre in the second gear portion and the second articulated section is provided with insertion second gear portion
With the screwed hole of the second articulated section；Second articulated section is articulated in the third through-hole of support plate.First little gear includes
First gear portion, the first articulated section being coaxially disposed with first gear portion；The center in the first gear portion and the first articulated section
Place is provided with the screwed hole of insertion first gear portion and the first articulated section；First articulated section is articulated in the first through hole of support plate
It is interior.
Brief description of the drawings：
The present invention is described further below in conjunction with the accompanying drawings：
Fig. 1 is a kind of structural representation of the mechanical arm assembly of light-duty six axles all-purpose robot 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 any cleft hand in first pair of cleft hand 51 in Fig. 2；
Fig. 5 is the structural representation of any 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 the first middle gear 612 is articulated in the structural representation on support plate 617 in Fig. 3.
Symbol description in figure：
10th, arm；11st, first gear；12nd, second gear；14th, the 4th gear；15th, the first synchronous pulley；16th, forearm
Axle；17th, the second synchronous pulley；18th, timing belt；
20th, swing arm；21st, rotating disk；
30th, mechanical claw hand；
40th, cleft hand frame；41st, cleft hand framework soleplate；42nd, cleft hand frame support bar；43rd, cleft hand frame top plate；
50th, two pairs of cleft hands；51st, first pair of cleft hand；511st, the first slide slot；512nd, the first hinge hole；52nd, second pair of pawl
Hand；521st, the second slide slot；522nd, the second hinge hole；
60th, cleft hand drive mechanism；611st, gear wheel；612nd, the first middle gear；6121st, second gear portion；6122nd, the second pivot
Socket part；6123rd, screwed hole；613rd, the first little gear；614th, power transmission shaft；615th, guide rod；616th, base；617th, support plate；618、
Second middle gear；619th, the 3rd middle gear；621st, the first stud；622nd, the first sliding pin；623rd, the first lifting chassis；624th, first
Latch segment；625th, the first spill block；626th, the first guiding slot port；631st, the second stud；633rd, the second lifting chassis；634th, lock
Disk；635th, the second spill block；636th, the second guiding slot port；637th, the 3rd stud；638th, the 4th stud；641st, worm gear；642nd, snail
Bar；643rd, the first servomotor.
Embodiment：
Such as Fig. 1, a kind of mechanical arm assembly of light-duty six axles all-purpose robot, including forearm 10, it is articulated in forearm front end
Swing arm 20, driving swing the first driver element, the mechanical claw hand 30 installed in swing arm front end, driving gripper of arm swing
Second driver element of hand rotation；Central axis during the swing arm swing is in the rotation centerline of mechanical claw hand.Wherein,
The front end of the forearm 10 opens up a spill gap, and the swing arm 20 is articulated in spill gap.
Such as Fig. 1, first driver element includes the first motor, the first motor of connection and swing being arranged on forearm 10
First gear unit of arm；First gear unit includes being articulated in the second gear 12 and the 3rd on forearm and being coaxially disposed
Gear, the 4th gear 14 for being articulated on forearm and being coaxially disposed and the first synchronous pulley 15, the small arm axle being articulated on forearm
16th, the second synchronous pulley 17 being fixedly mounted on small arm axle；First gear 11 is installed on the output shaft of first motor,
First gear engages with second gear, and the 3rd gear engages with the 4th gear, and the first synchronous pulley passes through timing belt 18 and second
Synchronous pulley couples, and small arm axle is fixedly connected with swing arm 20.
Second driver element includes the second motor, the second motor of connection and rotation hand being arranged on swing arm 20
Second gear unit；Second gear unit includes the decelerator coupled with the second motor output shaft and decelerator output end
The rotating disk 21 of connection, mechanical claw hand 30 are installed on the rotating pan.
With reference to Fig. 2 to Fig. 7, the mechanical claw hand include cleft hand frame 40, be hinged in cleft hand frame two pairs of cleft hands 50,
It is used for the cleft hand drive mechanism 60 for driving two pairs of cleft hand actions in cleft hand frame.The cleft hand drive mechanism includes support
Body, the first locking body, the second locking body.Gear wheel 611, the first middle gear 612, the first little gear are articulated with the stake body
613rd, power transmission shaft 614, the power transmission shaft are vertically arranged and coupled with the power set on stake body, and the gear wheel is consolidated
It is scheduled on power transmission shaft, gear wheel engages with the first middle gear, and the first middle gear engages with the first little gear；First locking body
The first stud 621 including fixed setting, the centre of first middle gear open up the screwed hole being spirally connected with the second stud；Institute
Stating the second locking body includes the second stud 631 of fixed setting, and the centre of first little gear opens up and the first stud spiral shell
The screwed hole connect；Stake body is provided with the guide rod 615 that the lifting to the first locking body and the second locking body is oriented to.It is described
Two cleft hands in first pair of cleft hand 51 in two pairs of cleft hands are symmetrical set, in second pair of cleft hand 52 in two pairs of cleft hands
It is symmetrical arranged before and after two cleft hands, the bottom of two cleft hands in first pair of cleft hand opens up the first slide slot 511 being obliquely installed,
The bottom of two cleft hands in second pair of cleft hand opens up the second slide slot 521 being obliquely installed, the top of first locking body
Provided with the first sliding pin 622 being slidably matched with the first slide slot, the top of the second locking body, which is provided with to slide with the second slide slot, matches somebody with somebody
The second sliding pin closed.
In mechanical claw hand 30, the cleft hand frame 40 includes the cleft hand framework soleplate 41 installed in the front end of swing arm 20, erected
The straight cleft hand frame support bar 42 being arranged on cleft hand framework soleplate, the cleft hand frame top for being fixed on cleft hand frame support bar top
Plate 43；The cleft hand drive mechanism 60 is arranged on cleft hand framework soleplate and positioned at the lower section of cleft hand frame top plate, the cleft hand
Open up four hinge holes on frame top plate, four cleft hands in two pairs of cleft hands are correspondingly hinged in four hinge holes.
In mechanical claw hand 30, the stake body includes base 616, support plate 617；The base is fixedly installed on cleft hand frame
On 40, the guide rod 615 is fixed on base, and the support plate is horizontally fixed on the top of guide rod；The gear wheel 611,
First middle gear 612, the first little gear 613 are articulated on support plate, and the top of the power transmission shaft 614 is articulated on support plate, transmission
The bottom of axle is articulated on base.First locking body include first lifting chassis 623, a pair of first latch segments 624, a pair
First spill block 625；The first lifting chassis opens up the first guiding slot port 626, and the first guiding slot port slides with guide rod matches somebody with somebody
Close；The quantity of first stud 621 is two, and two the first studs are vertically arranged on the first lifting chassis, the support plate
On open up a pair of first through hole, a pair of first studs pass through a pair of first through hole；The quantity of first little gear be two, two
Individual first little gear is spirally connected in a manner of man-to-man with a pair of first studs；The pair of first latch segment is in a manner of man-to-man
Installed in the top of two the first studs, a pair of first spill blocks are arranged on the top of a pair of first latch segments in a manner of man-to-man
Portion, the quantity of first sliding pin 622 is two, and two the first sliding pins are arranged on a pair of first spill blocks in a manner of man-to-man
Top, first slide slot 511 of two the first sliding pins with two cleft hands in first pair of cleft hand 51 in a manner of man-to-man slide
It is dynamic to coordinate.Second locking body includes the second lifting chassis 633, locking plate 634, a pair of second spill blocks 635；Described second
Lifting chassis opens up the second guiding slot port 636, and the second guiding slot port is slidably matched with guide rod；The number of second stud 631
Measure as two, two the second studs are vertically arranged on the second lifting chassis, and the second lifting chassis is positioned at the first lifting chassis
Lower section；The first lifting chassis opens up the second through hole, third through-hole is opened up on the support plate, two the second studs are upward through
Second through hole and third through-hole；The quantity of first middle gear 612 is two, and two the first middle gears are in a manner of man-to-man
It is spirally connected with two the second studs, two the first middle gears engage with gear wheel, and two the first middle gears are in a manner of man-to-man
Engaged with two the first little gears；The locking plate is horizontally arranged at the top of the second stud, and a pair of second spill blocks are arranged on
On locking plate, the quantity of second sliding pin is two, two the second sliding pins be arranged in a manner of man-to-man a pair it is second recessed
The top of shape block, two the second sliding pins are slided in a manner of man-to-man with the second slide slot of two cleft hands in second pair of cleft hand 52
It is dynamic to coordinate；Fourth hole is opened up on the locking plate, first stud passes through fourth hole, and first latch segment is positioned at lock
The top of tight disk.
In mechanical claw hand 30, the 3rd stud 637, the 4th stud 638 are vertically arranged with the second lifting chassis 633,
3rd stud, the 4th stud are upward through the first lifting chassis 623 and support plate 617, and the locking plate 634 is arranged on the 3rd spiral shell
The top of post, the 4th stud.The second middle gear 618, the 3rd middle gear 619, the second middle gear, the 3rd are articulated with the support plate
Middle gear is located between support plate and the first lifting chassis, and the centre of the second middle gear, the centre of the 3rd middle gear open up
Screwed hole, the 3rd stud are screwed onto in the screwed hole of the second middle gear, and the second middle gear engages with gear wheel 611, the 4th stud
It is screwed onto in the screwed hole of the 3rd middle gear, the 3rd middle gear engages with gear wheel.
In mechanical claw hand 30, the power set include the worm gear 641 installed in the bottom of power transmission shaft 614, engaged with worm gear
Worm screw 642, the first servomotor 643 for coupling with worm screw, worm screw is horizontally disposed with, and worm screw is articulated on base, the first servo
Motor is arranged on base.
In mechanical claw hand 30, first middle gear 612 includes second gear portion 6121, is coaxially disposed with second gear portion
The second articulated section 6122；The centre in the second gear portion and the second articulated section is provided with insertion second gear portion and the second pivot
The screwed hole 6123 of socket part；Second articulated section is articulated in the third through-hole of support plate 617.
In mechanical claw hand 30, first little gear 613 includes first gear portion, be coaxially disposed with first gear portion the
One articulated section；The centre in the first gear portion and the first articulated section is provided with the spiral shell of insertion first gear portion and the first articulated section
Pit；First articulated section is articulated in the first through hole of support plate 617.
In practical operation, mechanical claw hand in a kind of mechanical arm assembly of light-duty six axles all-purpose robot of the present invention
Workflow is as follows：Power set driving power transmission shaft 614 rotates, and power transmission shaft drives gear wheel 611 to rotate, canine tooth wheel drive first
Middle gear 612 rotates, and the first middle gear drives the first little gear 613 to rotate；First middle gear is driven on the second stud 631
Rising, the second stud drives the second locking body to rise, because the second slide slot is obliquely installed, therefore, the second sliding pin risen vertically
Any cleft hand in second pair of cleft hand 52 can be driven to be rotated around the hinged place of itself and cleft hand frame 40, make second pair of cleft hand opposite
Swing；First little gear 613 drives the first stud 621 to decline, and the first stud drives the first locking body to decline, due to first
Slide 622 grooves and be obliquely installed (the inclined direction of the first slide slot is inclined in opposite direction with the second slide slot), therefore, under vertical
First sliding pin of drop drives any cleft hand in first pair of cleft hand to be rotated around the hinged place of itself and cleft hand frame, makes first pair of cleft hand
Make opposite swing；So far, two pairs of cleft hands 50 are in shape is collapsed, for grabbing workpiece.
Above content is only the better embodiment of the present invention, for one of ordinary skill in the art, according to the present invention
Thought, there will be changes, this specification content should not be construed as to this hair in specific embodiments and applications
Bright limitation.
Claims (10)
1. a kind of mechanical arm assembly of light-duty six axles all-purpose robot, including forearm (10), the swing arm for being articulated in forearm front end
(20), driving swings the first driver element, the mechanical claw hand (30) installed in swing arm front end, driving mechanical claw hand of arm swing
Second driver element of rotation；Central axis during the swing arm swing is in the rotation centerline of mechanical claw hand；Its feature
It is：
The mechanical claw hand includes cleft hand frame (40), two pairs of cleft hands (50) being hinged in cleft hand frame, installed in cleft hand machine
It is used for the cleft hand drive mechanism (60) for driving two pairs of cleft hand actions on frame；
The cleft hand drive mechanism includes stake body, the first locking body, the second locking body；
Gear wheel (611), the first middle gear (612), the first little gear (613), power transmission shaft are articulated with the stake body
(614), the power transmission shaft is vertically arranged and coupled with the power set on stake body, and the gear wheel is fixed on transmission
On axle, gear wheel engages with the first middle gear, and the first middle gear engages with the first little gear；First locking body includes fixing
The first stud (621) set, the centre of first little gear open up the screwed hole being spirally connected with the first stud；Described second
Locking body includes the second stud (631) of fixed setting, and the centre of first middle gear opens up what is be spirally connected with the second stud
Screwed hole；Stake body is provided with the guide rod (615) that the lifting to the first locking body and the second locking body is oriented to；
Two cleft hands in first pair of cleft hand (51) in two pairs of cleft hands are symmetrical set, the second couple in two pairs of cleft hands
It is symmetrical arranged before and after two cleft hands in cleft hand (52), the bottom of two cleft hands in first pair of cleft hand opens up be obliquely installed
One slide slot (511), the bottom of two cleft hands in second pair of cleft hand opens up the second slide slot (521) being obliquely installed, described
The top of first locking body is provided with the first sliding pin (622) being slidably matched with the first slide slot, and the top of the second locking body is provided with
The second sliding pin being slidably matched with the second slide slot.
A kind of 2. mechanical arm assembly of light-duty six axles all-purpose robot as claimed in claim 1, it is characterised in that：The forearm
(10) front end opens up a spill gap, and the swing arm (20) is articulated in spill gap.
A kind of 3. mechanical arm assembly of light-duty six axles all-purpose robot as claimed in claim 1, it is characterised in that：Described first
Driver element includes the first gear unit of the first motor, the first motor of connection and the swing arm being arranged on forearm (10)；Institute
Stating the first gear unit includes being articulated in the second gear (12) on forearm and being coaxially disposed and the 3rd gear, being articulated on forearm
And be coaxially disposed the 4th gear (14) and the first synchronous pulley (15), be articulated on forearm small arm axle (16), be fixedly mounted
The second synchronous pulley (17) on small arm axle；First gear (11), the first tooth are installed on the output shaft of first motor
Wheel engages with second gear, and the 3rd gear engages with the 4th gear, and the first synchronous pulley is synchronous with second by timing belt (18)
Belt wheel couples, and small arm axle is fixedly connected with swing arm (20).
A kind of 4. mechanical arm assembly of light-duty six axles all-purpose robot as claimed in claim 1, it is characterised in that：Described second
Second gear unit of the second motor, the second motor of connection that driver element includes being arranged on swing arm (20) with rotating hand；
Second gear unit includes and the decelerator of the second motor output shaft connection, the rotating disk being connected with decelerator output end
(21), mechanical claw hand (30) is installed on the rotating pan.
A kind of 5. mechanical arm assembly of light-duty six axles all-purpose robot as claimed in claim 1, it is characterised in that：Mechanical claw hand
(30) in, the cleft hand frame (40) includes the cleft hand framework soleplate (41) installed in swing arm (20) front end, is vertically arranged in
Cleft hand frame support bar (42) on cleft hand framework soleplate, the cleft hand frame top plate for being fixed on cleft hand frame support bar top
(43)；The cleft hand drive mechanism (60) is arranged on cleft hand framework soleplate and positioned at the lower section of cleft hand frame top plate, the pawl
Open up four hinge holes on handset mounting top plate, four cleft hands in two pairs of cleft hands are correspondingly hinged in four hinge holes.
A kind of 6. mechanical arm assembly of light-duty six axles all-purpose robot as claimed in claim 1, it is characterised in that：Mechanical claw hand
(30) in, the stake body includes base (616), support plate (617)；The base is fixedly installed in cleft hand frame (40), institute
State guide rod (615) to be fixed on base, the support plate is horizontally fixed on the top of guide rod；The gear wheel (611), first
Middle gear (612), the first little gear (613) are articulated on support plate, and the top of the power transmission shaft (614) is articulated on support plate, are passed
The bottom of moving axis is articulated on base；
First locking body includes the first lifting chassis (623), a pair of first latch segments (624), a pair of first spill blocks
(625)；The first lifting chassis opens up the first guiding slot port (626), and the first guiding slot port is slidably matched with guide rod；It is described
The quantity of first stud (621) is two, and two the first studs are vertically arranged on the first lifting chassis, are opened up on the support plate
A pair of first through hole, a pair of first studs pass through a pair of first through hole；The quantity of first little gear is two, two first
Little gear is spirally connected in a manner of man-to-man with a pair of first studs；The pair of first latch segment is arranged in a manner of man-to-man
The top of two the first studs, a pair of first spill blocks are arranged on the top of a pair of first latch segments, institute in a manner of man-to-man
The quantity for stating the first sliding pin (622) is two, and two the first sliding pins are arranged on a pair first spill blocks in a manner of man-to-man
Top, first slide slot (511) of two the first sliding pins in a manner of man-to-man with two cleft hands in first pair of cleft hand (51)
It is slidably matched；
Second locking body includes the second lifting chassis (633), locking plate (634), a pair of second spill blocks (635)；It is described
Second lifting chassis opens up the second guiding slot port (636), and the second guiding slot port is slidably matched with guide rod；Second stud
(631) quantity is two, and two the second studs are vertically arranged on the second lifting chassis, and the second lifting chassis is located at first liter
The lower section on chassis drops；The first lifting chassis opens up the second through hole, and third through-hole, two the second studs are opened up on the support plate
It is upward through the second through hole and third through-hole；The quantity of first middle gear (612) is two, and two the first middle gears are with one
One mode and two the second studs are spirally connected, two the first middle gears engage with gear wheel, and two the first middle gears are with one
One mode is engaged with two the first little gears；The locking plate is horizontally arranged at the top of the second stud, and a pair second recessed
Shape block is arranged on locking plate, and the quantity of second sliding pin is two, and two the second sliding pins are arranged in a manner of man-to-man
The top of a pair of second spill blocks, two cleft hands of two the second sliding pins in a manner of man-to-man and in second pair of cleft hand (52)
Second slide slot is slidably matched；Opening up fourth hole on the locking plate, first stud passes through fourth hole, and described first
Latch segment is located at the top of locking plate.
A kind of 7. mechanical arm assembly of light-duty six axles all-purpose robot as claimed in claim 6, it is characterised in that：Mechanical claw hand
(30) in, the 3rd stud (637), the 4th stud (638) are vertically arranged with second lifting chassis (633), the 3rd stud,
4th stud is upward through the first lifting chassis (623) and support plate (617), and the locking plate (634) is arranged on the 3rd stud, the
The top of four studs；
The second middle gear (618), the 3rd middle gear (619) are articulated with the support plate, the second middle gear, the 3rd middle gear are located at
Between support plate and the first lifting chassis, the centre of the second middle gear, the centre of the 3rd middle gear open up screwed hole, and the 3rd
Stud is screwed onto in the screwed hole of the second middle gear, and the second middle gear engages with gear wheel (611), and the 4th stud is screwed onto the 3rd
In the screwed hole of middle gear, the 3rd middle gear engages with gear wheel.
A kind of 8. mechanical arm assembly of light-duty six axles all-purpose robot as claimed in claim 6, it is characterised in that：Mechanical claw hand
(30) in, the power set include the worm gear (641) installed in power transmission shaft (614) bottom, the worm screw engaged with worm gear
(642) the first servomotor (643), coupled with worm screw, worm screw is horizontally disposed with, and worm screw is articulated on base, the first servo electricity
Machine is arranged on base.
A kind of 9. mechanical arm assembly of light-duty six axles all-purpose robot as claimed in claim 6, it is characterised in that：Mechanical claw hand
(30) in, first middle gear (612) includes second gear portion (6121), is pivotally connected with second gear portion is coaxially disposed second
Portion (6122)；The centre in the second gear portion and the second articulated section is provided with the spiral shell of insertion second gear portion and the second articulated section
Pit (6123)；Second articulated section is articulated in the third through-hole of support plate (617).
A kind of 10. mechanical arm assembly of light-duty six axles all-purpose robot as claimed in claim 6, it is characterised in that：Gripper
In hand (30), first little gear (613) includes first gear portion, the first articulated section being coaxially disposed with first gear portion；
The centre in the first gear portion and the first articulated section is provided with the screwed hole of insertion first gear portion and the first articulated section；It is described
First articulated section is articulated in the first through hole of support plate (617).
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| Application Number | Priority Date | Filing Date | Title |
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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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| 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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| CN105922281B true CN105922281B (en) | 2017-12-22 |
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| CN108214472A (en) * | 2018-02-24 | 2018-06-29 | 珠海格力智能装备有限公司 | Transmission mechanism and robot |
| CN110171011B (en) * | 2019-04-26 | 2021-06-15 | 湖南大学 | Three-finger robot dexterous hand driven in coordination |
| CN110293580B (en) * | 2019-07-28 | 2021-05-28 | 南京昱晟机器人科技有限公司 | Robot manipulator clamping structure and clamping method |
| CN111645049B (en) * | 2020-05-22 | 2023-05-09 | 湖北工程学院 | Mechanical claw, mechanical arm, carrying robot and carrying system |
| CN112296994B (en) * | 2020-12-30 | 2021-03-26 | 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 |
| 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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| CN105922281A (en) | 2016-09-07 |
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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. |