CN106041997B - It is a kind of can all-direction rotation concertina type mechanical arm - Google Patents
It is a kind of can all-direction rotation concertina type mechanical arm Download PDFInfo
- Publication number
- CN106041997B CN106041997B CN201610639961.6A CN201610639961A CN106041997B CN 106041997 B CN106041997 B CN 106041997B CN 201610639961 A CN201610639961 A CN 201610639961A CN 106041997 B CN106041997 B CN 106041997B
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- Prior art keywords
- mechanical arm
- gear
- direction rotation
- shaft
- arm
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses it is a kind of can all-direction rotation concertina type mechanical arm, including the first gear and second gear being meshed, first gear is threaded through in first rotating shaft, and it is connected by first rotating shaft with first support, second gear is threaded through in the second shaft, and be connected by the second shaft with second support, linking arm is equipped between first rotating shaft and the second shaft；Wherein first rotating shaft is connected with first driving device, and first support is connected with the second driving device, and second support is connected with telescopic outside robotic arm；The outside robotic arm includes first mechanical arm and second mechanical arm, and wherein second mechanical arm one end is arranged in the hollow cavity of first mechanical arm, and gear and rack teeth mechanism is equipped between first mechanical arm and second mechanical arm.The flexible and all-direction rotation of mechanical arm may be implemented, and have the characteristics that structure is simple, at low cost, stable structure, reliable transmission.
Description
Technical field
The present invention relates to the technical field of mechanical arm, in particular to it is a kind of can all-direction rotation concertina type manipulator
Arm.
Background technique
Articulated robot, also referred to as joint arm robot or joint Manipulator arm are most common in current industrial circle
One of form of industrial robot, the mechanical automation operation suitable for many industrial circles.For articulated robot, joint
It is its important component, realizes the relative motion of mechanical arm.
Currently, most of articulated robots, only a kind of relative motion between every two mechanical arms, when joint machine
When people needs more complex movement or needs to reach wider regional scope, need to be combined with multiple arms and multiple joints and
At its structure is complicated, bulky.
Summary of the invention
The purpose of invention: the present invention disclose it is a kind of can all-direction rotation concertina type mechanical arm, structure is simple, cost
It is low, the flexible and all-direction rotation of mechanical arm may be implemented, can thus reduce mechanical arm and the pass of articulated robot
The quantity of section simplifies articulated robot structure.
Technical solution: in order to achieve the goal above, the invention discloses it is a kind of can all-direction rotation concertina type manipulator
Arm, including the first gear and second gear being meshed, first gear is threaded through in first rotating shaft, and passes through first rotating shaft and the
One bracket is connected, and second gear is threaded through in the second shaft, and is connected by the second shaft with second support, first rotating shaft
Linking arm is equipped between the second shaft；Wherein first rotating shaft is connected with first driving device, first support and the second driving
Device is connected, and second support is connected with telescopic outside robotic arm；The outside robotic arm include first mechanical arm and
Second mechanical arm, wherein second mechanical arm one end is arranged in the hollow cavity of first mechanical arm, first mechanical arm and the second machine
Gear and rack teeth mechanism is equipped between tool arm.This design drives mechanical joint to rotate around axis X by the second driving device, leads to
It crosses first driving device and first gear drives second gear and second support to rotate around first gear, therefore may be implemented
The flexible and all-direction rotation of mechanical arm, and have the characteristics that structure is simple, at low cost, stable structure, reliable transmission.
Further, above-mentioned one kind can all-direction rotation concertina type mechanical arm, the first support include bottom plate and
Be separately positioned on two side plates at bottom plate both ends, first rotating shaft both ends are connected with two side plates respectively, the second driving device with
Bottom plate is connected.This design structure is compact, simple, and the axis X and first rotating shaft of mechanical joint are perpendicular；Mechanical joint rotation
Precision is high, controllability is good.
Further, above-mentioned one kind can all-direction rotation concertina type mechanical arm, the first gear both ends are set respectively
There is baffle, and baffle is higher than the tooth top of first gear.This design plays the position-limiting action to second gear, due to bracket, even
The gap that the components such as arm generate during installation is connect, when the second driving device drives mechanical joint to rotate around axis X, the first tooth
Wheel has the tendency that second gear is driven to rotate around axis X, can collide and shift between the gear teeth, if things go on like this, may lead
The abrasion and fracture of the gear teeth are caused, and baffle is contacted with the end face of second gear, stress, can alleviate the abrasion between the gear teeth significantly
And shock, it improves service life.
Further, above-mentioned one kind can all-direction rotation concertina type mechanical arm, the first driving device includes the
One stepper motor, the first motor gear being mounted on the first stepper motor, and be meshed with first motor gear first
Transmission gear, wherein the first transmission gear is mounted in first rotating shaft.This design structure is simple, stable drive, can pass through
The angular displacement for controlling stepper motor, to control the turned position of second gear and second support, to reach accurate positionin
Purpose；The position of setting can also be reached with device combined with induction.
Further, above-mentioned one kind can all-direction rotation concertina type mechanical arm, second driving device includes the
Two stepping motor, the second motor gear being mounted on second stepper motor, and be meshed with the second motor gear second
Transmission gear, wherein the second transmission gear is connected by third shaft with bottom plate, and the axis of third shaft passes through the first tooth
The center of circle of wheel.This design structure is simple, stable drive, and accurate positionin is equally achieved the purpose that by stepper motor, mechanical
The rotation in joint can stop and start at any time, and be maintained at arbitrary position；Third shaft axis passes through first gear circle
The design of the heart, the spherical shape in region that reach mechanical joint can by rotation.
Further, above-mentioned one kind can all-direction rotation concertina type mechanical arm, the second support be equipped with it is one group long
Circular hole, and be fixedly connected by slotted hole with first mechanical arm.The installation site of this adjustable external mechanical wall of design, is fitted
It is wide with property.
Further, above-mentioned one kind can all-direction rotation concertina type mechanical arm, further include pedestal, pedestal and third turn
It is connected between axis by bearing, second stepper motor is installed on the base, and pedestal is fixedly connected with third mechanical arm.
Further, above-mentioned one kind can all-direction rotation concertina type mechanical arm, the gear and rack teeth mechanism include set
The first rack gear on first mechanical arm hollow cavity inner wall is set, the second rack gear of second mechanical arm outer surface is set, and
The pinion gear being meshed respectively with the first rack gear, the second rack gear, wherein pinion gear is by third stepping motor driven.This design knot
Structure is simple and reliable, can be accurately controlled to stroke by stepper motor, in conjunction with external sensor, can make manipulator
Arm reaches desired position.
Further, above-mentioned one kind can all-direction rotation concertina type mechanical arm, the first mechanical arm and the second machine
One group of ball is equipped between tool arm, first mechanical arm is equipped with the recessed portion that shape is adapted.The design of this ball is by first
Sliding friction between mechanical arm and second mechanical arm is converted into rolling friction, makes the flexible more smooth of mechanical arm.
Above-mentioned technical proposal can be seen that the invention has the following beneficial effects: one kind of the present invention can be comprehensive
The concertina type mechanical arm of rotation, structure is simple, at low cost, stable structure, reliable transmission；Stretching for mechanical arm may be implemented
Contracting and all-direction rotation, the region that can be reached are that while the accurate positionin in region may be implemented in spherical space,
The position of setting can be reached with device combined with induction；Its running accuracy is high, and controllability is good；In addition good there are also applicability, use the longevity
Order long feature.
Detailed description of the invention
Fig. 1 be one kind of the present invention can all-direction rotation concertina type mechanical arm structural schematic diagram；
Fig. 2 be one kind of the present invention can all-direction rotation concertina type mechanical arm joint structural schematic diagram；
In figure: 1- first gear, 2- second gear, 3- first rotating shaft, 4- first support, 41- bottom plate, 42- side plate, 5-
Two shafts, 6- second support, 61- slotted hole, 7- linking arm, 8- first driving device, the first stepper motor of 81-, the first electricity of 82-
Machine gear, the first transmission gear of 83-, the second driving device of 9-, 91- second stepper motor, the second motor gear of 92-, 93- second
Transmission gear, 10- baffle, 11- third shaft, 12- pedestal, 13- outside robotic arm, 131- first mechanical arm, the second machine of 132-
Tool arm, 14- gear and rack teeth mechanism, the first rack gear of 141-, the second rack gear of 142-, 143- pinion gear, 15- third mechanical arm, 16- rolling
Pearl.
Specific embodiment
With reference to the accompanying drawing, the specific embodiment of the invention is described in detail.
Embodiment
It is of the invention it is a kind of can all-direction rotation concertina type mechanical arm, as depicted in figs. 1 and 2, including what is be meshed
First gear 1 and second gear 2,1 both ends of first gear are respectively equipped with baffle 10, and baffle 10 is higher than the tooth top of first gear 1,
Position-limiting action is played to second gear 2；First gear 1 is threaded through in first rotating shaft 3, and passes through first rotating shaft 3 and first support 4
It is connected, second gear 2 is threaded through in the second shaft 5, and is connected by the second shaft 5 with second support 6, first rotating shaft 3
Linking arm 7 is equipped between the second shaft 5；First support 4 includes bottom plate 41 and two sides for being separately positioned on 41 both ends of bottom plate
Plate 42,3 both ends of first rotating shaft are connected with two side plates 42 respectively, and the second driving device 9 is connected with bottom plate 41；Wherein first
Shaft 3 is connected with first driving device 8, and first driving device 8 includes the first stepper motor 81, is mounted on the first stepper motor
First motor gear 82 on 81, and the first transmission gear 83 being meshed with first motor gear 82, wherein the first transmission
Gear 83 is mounted in first rotating shaft 3；Second driving device 9 includes second stepper motor 91, is mounted on second stepper motor 91
On the second motor gear 92, and the second transmission gear 93 being meshed with the second motor gear 92, wherein the second driving cog
Wheel 93 is connected by third shaft 11 with bottom plate 41, and the axis of third shaft 11 passes through the center of circle of first gear 1.
Second support 6 is equipped with one group of slotted hole 61, and is fixedly connected by slotted hole 61 with first mechanical arm 131；This hair
It is bright it is a kind of can the concertina type mechanical arm of all-direction rotation further include pedestal 12, pass through axis between pedestal 12 and third shaft 11
Connection is held, second stepper motor 91 is mounted on pedestal 12, and pedestal 12 is fixedly connected with third mechanical arm 15.
First gear 1, the first transmission gear 83 are fixedly connected with first rotating shaft 3 respectively, and first rotating shaft 3 passes through bearing and the
The rotation connection of one bracket 4；The bottom plate 41 of first support 4 is fixedly connected with third shaft 11, and the second transmission gear 93 turns with third
Axis 11 is fixedly connected；Second gear 2 is fixedly connected with the second shaft 5.
7 one end of linking arm and the rotation connection of first rotating shaft 3, the other end and the second shaft 5 are rotatablely connected.Second support 6 with
It can be fixedly connected between linking arm 7；It can also be rotatablely connected by bearing, and add driving device, with 6 phase of second support
Connection can drive second support 6 to rotate relative to linking arm 7, for replacing above-mentioned second support 6 and linking arm 7 are fixed to connect
The scheme connect.
Second support 6 is connected with telescopic outside robotic arm 13；The outside robotic arm 13 includes first mechanical arm
131 and second mechanical arm 132, wherein 132 one end of second mechanical arm is arranged in the hollow cavity of first mechanical arm 131, and first
Gear and rack teeth mechanism 14 is equipped between mechanical arm 131 and second mechanical arm 132；Gear and rack teeth mechanism 14 includes being arranged in the first machine
The second rack gear 142 of 132 outer surface of second mechanical arm is arranged in the first rack gear 141 on 131 hollow cavity inner wall of tool arm, with
And the pinion gear 143 being meshed respectively with the first rack gear 141, the second rack gear 142, wherein pinion gear 143 is by third stepper motor
Driving.One group of ball 16,131 hollow cavity inner wall of first mechanical arm are equipped between first mechanical arm 131 and second mechanical arm 132
It is equipped with the recessed portion that shape is adapted.
When work, the second driving device 9 and first driving device 8 are independent of each other drive system, and are all by control
System is controlled, and so that mechanical joint is turned to the position of setting, two kinds of rotations of mechanical joint can carry out simultaneously；It is around axis
Line X can carry out 360 ° of rotation, can reach 300 ° or so around the rotatable range of first gear 1 and (be unable to reach 360 ° of rotations
Turn to be to avoid pedestal 12), two kinds of rotations, which combine, can drive mechanical arm to realize comprehensive, flexible rotation；Turning
While dynamic, mechanical arm can stretch, and flexible is also to be driven by independent drive system；Therefore mechanical arm can reach
Region can form a spherical form (hollow space for removing evacuation self structure), in this area, can be in conjunction with outer
The control system and sensing device in portion are realized and are accurately positioned.
The above is only a preferred embodiment of the present invention, it should be noted that for those skilled in the art
For, without departing from the principle of the present invention, several improvement can also be made, these improvement also should be regarded as guarantor of the invention
Protect range.
Claims (7)
1. one kind can all-direction rotation concertina type mechanical arm, it is characterised in that: including the first gear (1) being meshed and
Two gears (2), first gear (1) are threaded through on first rotating shaft (3), and are connected by first rotating shaft (3) with first support (4)
It connecing, second gear (2) is threaded through on the second shaft (5), and is connected by the second shaft (5) with second support (6), and first turn
Linking arm (7) are equipped between axis (3) and the second shaft (5), wherein first rotating shaft (3) is connected with first driving device (8), the
One bracket (4) is connected with the second driving device (9), and second support (6) is connected with telescopic outside robotic arm (13)；
The outside robotic arm (13) includes first mechanical arm (131) and second mechanical arm (132), wherein second mechanical arm
(132) one end is arranged in the hollow cavity of first mechanical arm (131), first mechanical arm (131) and second mechanical arm (132) it
Between be equipped with gear and rack teeth mechanism (14)；
The first support (4) includes bottom plate (41) and two side plates (42) for being separately positioned on bottom plate (41) both ends, and first turn
Axis (3) both ends are connected with two side plates (42) respectively, and the second driving device (9) is connected with bottom plate (41)；
Second driving device (9) includes second stepper motor (91), the second electricity being mounted on second stepper motor (91)
Machine gear (92), and the second transmission gear (93) being meshed with the second motor gear (92), wherein the second transmission gear
(93) it is connected by third shaft (11) with bottom plate (41)；
Further include pedestal (12), is connect between pedestal (12) and third shaft (11) by bearing, second stepper motor (91) peace
On pedestal (12), pedestal (12) is fixedly connected with third mechanical arm (15).
2. one kind according to claim 1 can all-direction rotation concertina type mechanical arm, it is characterised in that: described first
Gear (1) both ends are respectively equipped with baffle (10), and baffle (10) is higher than the tooth top of first gear (1).
3. one kind according to claim 1 can all-direction rotation concertina type mechanical arm, it is characterised in that: described first
Driving device (8) is including the first stepper motor (81), the first motor gear (82) being mounted on the first stepper motor (81), with
And the first transmission gear (83) being meshed with first motor gear (82), wherein the first transmission gear (83) is mounted on first turn
On axis (3).
4. one kind according to claim 1 can all-direction rotation concertina type mechanical arm, it is characterised in that: the third
The axis of shaft (11) passes through the center of circle of first gear (1).
5. one kind according to claim 1 can all-direction rotation concertina type mechanical arm, it is characterised in that: described second
Bracket (6) is equipped with one group of slotted hole (61), and is fixedly connected by slotted hole (61) with first mechanical arm (131).
6. one kind according to claim 1 can all-direction rotation concertina type mechanical arm, it is characterised in that: the gear
Rackwork (14) includes the first rack gear (141) being arranged on first mechanical arm (131) hollow cavity inner wall, is arranged second
Second rack gear (142) of mechanical arm (132) outer surface, and be meshed respectively with the first rack gear (141), the second rack gear (142)
Pinion gear (143), wherein pinion gear (143) is by third stepping motor driven.
7. one kind according to claim 1 can all-direction rotation concertina type mechanical arm, it is characterised in that: described first
One group of ball (16) is equipped between mechanical arm (131) and second mechanical arm (132), first mechanical arm (131) is equipped with shape phase
The recessed portion of adaptation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610639961.6A CN106041997B (en) | 2016-08-08 | 2016-08-08 | It is a kind of can all-direction rotation concertina type mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610639961.6A CN106041997B (en) | 2016-08-08 | 2016-08-08 | It is a kind of can all-direction rotation concertina type mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106041997A CN106041997A (en) | 2016-10-26 |
| CN106041997B true CN106041997B (en) | 2019-01-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610639961.6A Active CN106041997B (en) | 2016-08-08 | 2016-08-08 | It is a kind of can all-direction rotation concertina type mechanical arm |
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| CN (1) | CN106041997B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108275032A (en) * | 2018-04-25 | 2018-07-13 | 广州市君望机器人自动化有限公司 | Movable-type intelligent charging system |
| CN111496771A (en) * | 2020-05-28 | 2020-08-07 | 西安建筑科技大学 | Double-rack telescopic heavy-load mechanical arm device and operation method thereof |
| CN111872932A (en) * | 2020-08-04 | 2020-11-03 | 武汉轻工大学 | Mechanical arm |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102602637A (en) * | 2012-03-11 | 2012-07-25 | 东华大学 | Bidirectional telescopic grabbing arm for rail-guided shuttle car |
| CN103395069A (en) * | 2013-08-13 | 2013-11-20 | 戴文钟 | Transmission mechanism capable of increasing relative pendulum angle between two components |
| CN104153416A (en) * | 2014-07-10 | 2014-11-19 | 太原重工股份有限公司 | Mining excavator and pushing gear device thereof |
| CN104959978A (en) * | 2015-07-03 | 2015-10-07 | 佛山市新恒萃材料科技有限公司 | Pipe fitting operation robot |
| CN205870598U (en) * | 2016-08-08 | 2017-01-11 | 江苏捷帝机器人股份有限公司 | Can multidirectional pivoted concertina type robotic arm |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SE0202445L (en) * | 2002-08-19 | 2004-02-20 | Abb Ab | Device at an industrial robot |
-
2016
- 2016-08-08 CN CN201610639961.6A patent/CN106041997B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102602637A (en) * | 2012-03-11 | 2012-07-25 | 东华大学 | Bidirectional telescopic grabbing arm for rail-guided shuttle car |
| CN103395069A (en) * | 2013-08-13 | 2013-11-20 | 戴文钟 | Transmission mechanism capable of increasing relative pendulum angle between two components |
| CN104153416A (en) * | 2014-07-10 | 2014-11-19 | 太原重工股份有限公司 | Mining excavator and pushing gear device thereof |
| CN104959978A (en) * | 2015-07-03 | 2015-10-07 | 佛山市新恒萃材料科技有限公司 | Pipe fitting operation robot |
| CN205870598U (en) * | 2016-08-08 | 2017-01-11 | 江苏捷帝机器人股份有限公司 | Can multidirectional pivoted concertina type robotic arm |
Also Published As
| Publication number | Publication date |
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| CN106041997A (en) | 2016-10-26 |
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Effective date of registration: 20230523 Address after: Room 585, floor 5, building 1, Hutai fashion, No. 10, Nanhai Road, Liuhe Town, Taicang City, Suzhou City, Jiangsu Province 215400 Patentee after: Suzhou huienyuan medical device accessories Co.,Ltd. Address before: 215138 Shitian Road, Yangchenghu Town, Xiangcheng District, Suzhou City, Jiangsu Province Patentee before: JIANGSU JIEDI ROBOT Co.,Ltd. |
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Effective date of registration: 20230821 Address after: Building 1, No. 51 Hongshan South Road, Xuanwu District, Nanjing City, Jiangsu Province, 210000 Patentee after: Nanjing Ningxin Anyu Medical Technology Co.,Ltd. Address before: Room 585, floor 5, building 1, Hutai fashion, No. 10, Nanhai Road, Liuhe Town, Taicang City, Suzhou City, Jiangsu Province 215400 Patentee before: Suzhou huienyuan medical device accessories Co.,Ltd. |