CN106737633B - A kind of novel combination type machinery arm - Google Patents
A kind of novel combination type machinery arm Download PDFInfo
- Publication number
- CN106737633B CN106737633B CN201710009346.1A CN201710009346A CN106737633B CN 106737633 B CN106737633 B CN 106737633B CN 201710009346 A CN201710009346 A CN 201710009346A CN 106737633 B CN106737633 B CN 106737633B
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- Prior art keywords
- shaft
- stepper motor
- fixed block
- stroke switch
- screw thread
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of novel combination type machinery arms, the novel combination type machinery arm, clever structure, it is powerful, by using the device, it can not only realize multi-faceted and multi-angle adjusting, improve the effect of work, weight detecting can also be carried out to the article of crawl, article is sorted convenient for personnel, and it can also be according to actual needs, increase the length of the mechanical arm or shortens the length of the mechanical arm, to meet the different needs of personnel, finally while greatly alleviating personnel labor intensity, also the subsequent maintenance of the mechanical arm and use are facilitated.
Description
Technical field
The present invention relates to a kind of mechanical device more particularly to a kind of novel combination type machinery arms.
Background technique
With science and technology it is increasingly developed, parts of traditional use artificial production method, be gradually automated replaced machinery, and
In numerous engineering goods, the use of mechanical arm is the most universal and a mostly important ring, mechanical arm can be completed mostly
Artificial impossible technique and the efficiency of remote superman's work production, but traditional mechanical arm is commonly integral type, and inconvenience is to it
Convenient dismounting and change is carried out, brings great inconvenience to subsequent use and maintenance, meanwhile, traditional mechanical arm can not be to object
Product weight is detected, when it is some need to sort article such as logistics company, packaging company when, just can not be easily to not
Article with weight is classified, to improve the labor intensity of staff, has also increase accordingly the production cost of company,
In view of disadvantages described above, it is really necessary to design a kind of novel combination type machinery arm.
Summary of the invention
Technical problem to be solved by the present invention lies in: a kind of novel combination type machinery arm is provided, to solve current tradition
Mechanical arm, do not simply fail to convenient dismounting and change, can not also to the article of different weight carry out weight detecting the problem of.
In order to solve the above technical problems, the technical scheme is that a kind of novel combination type machinery arm, including pedestal,
First electric pushrod, fixing seat, weight display, first stroke switch, second stroke switch, the first stepper motor, first turn
Axis, the first rotor plate, third trip switch, fourth stroke switch, second stepper motor, the second shaft, the first connection shaft, the
Three stepper motors, third shaft, the first fixed block, the first gag lever post, movable sleeve, fifth stroke switch, sixth stroke switch, the
Four stepper motors, the 4th shaft, second connection shaft, the 5th stepper motor, the 5th shaft, the second fixed block, the second gag lever post,
Attachment base, weight sensor, sleeve, pull lever, spring, the first bull stick, the second bull stick, grapple, the second electric pushrod, it is described
First electric pushrod is located at base top, and first electric pushrod is connected with whorl of base, and the fixed seating is in
At the top of one electric pushrod, the fixing seat is connected with the first electric pushrod screw thread, and the weight display is located at fixing seat
On the downside of front end, the weight display is connected with fixing seat screw thread, under the first stroke switch is located on the left of fixing seat
End, the first stroke switch are connected with fixing seat screw thread, and the second stroke switch is located at lower end on the right side of fixing seat, institute
The second stroke switch stated is connected with fixing seat screw thread, and first stepper motor is located at fixing seat front end, and described first
Stepper motor is connected with fixing seat screw thread, and the first rotating shaft is located at the first stepping motor rear end, the first rotating shaft with
First stepper motor close-fitting is connected, and the first rotating shaft is rotatedly connected with fixing seat, first rotor plate through
First rotating shaft, first rotor plate are connected with first rotating shaft close-fitting, and the third trip switch is located at the first rotor plate
Front end, the third trip switch are connected with the first rotor plate screw thread, and the fourth stroke switch is located at the first rotor plate
Rear end, the fourth stroke switch are connected with the first rotor plate screw thread, and the second stepper motor is located at the first rotor plate
Right hand top, the second stepper motor are connected with the first rotor plate screw thread, and second shaft is located at the second stepping electricity
Motor spindle, second shaft are connected with second stepper motor close-fitting, and second shaft and the first rotor plate rotate
It is connected, the first connection shaft is connected through the second shaft, the first connection shaft with the second shaft close-fitting, institute
The third stepper motor stated is located inside on the right side of the first connection shaft, and the third stepper motor connect shaft thread with first
It is connected, the third shaft is located on the right side of third stepper motor, and the third shaft is connected with third stepper motor close-fitting,
First fixed block is located at third shaft outer wall, and first fixed block is connected with third shaft close-fitting, and described
First fixed block connect shaft with first and is rotatedly connected, and first gag lever post is located on the right side of the first fixed block, and described the
One gag lever post is weldingly connected with the first fixed block, and the movable sleeve is located at the first gag lever post outer right wall, the movable sleeve
It is movably connected with the first gag lever post, the fifth stroke switch is located at movable sleeve front end, and the fifth stroke switchs and lives
Dynamic external threading is connected, and the sixth stroke switch is located at movable sleeve rear end, the sixth stroke switch and movable external threading
It is connected, the 4th stepper motor is located at movable sleeve top right side, and the 4th stepper motor is connected with movable external threading,
4th shaft is located at the 4th stepper motor bottom, and the 4th shaft is connected with the 4th stepper motor close-fitting, and institute
The 4th shaft stated is rotatedly connected with movable sleeve, and the second connection shaft is connected through the 4th shaft, described second
Shaft is connected with the 4th shaft close-fitting, and the 5th stepper motor is located at internal on the right side of the second connection shaft, described the 5th
Stepper motor connect shaft thread with second and is connected, and the 5th shaft is located on the right side of the 5th stepper motor, and the described the 5th
Shaft is connected with the 5th stepper motor close-fitting, and second fixed block is located at the 5th shaft outer wall, second fixed block
It is connected with the 5th shaft close-fitting, and second fixed block connect shaft with second and is rotatedly connected, second gag lever post
On the right side of the second fixed block, second gag lever post is weldingly connected with the second fixed block, and the attachment base is located at second
Gag lever post outer wall, the attachment base are movably connected with the second gag lever post, and the weight sensor is located at right inside attachment base
Side upper and lower ends, the weight sensor are connected with attachment base screw thread, and the sleeve is located at attachment base outer right wall, described
The sliding of sleeve and attachment base be connected, the pull lever is on the right side of attachment base, the pull lever and attachment base sliding phase
Even, and the pull lever is connected with bush whorl, and the spring is through pull lever left side, the spring and pull lever
It being movably connected, the first bull stick quantity is three, and first bull stick is uniformly distributed on the right side of sleeve, described first
Bull stick is rotatedly connected with sleeve, and second bull stick is located on the right side of the first bull stick, and second bull stick and the first bull stick turn
Dynamic to be connected, the grapple is located on the right side of the second bull stick, and the grapple is connected with the second bar rotation, and described second is electronic
Push rod quantity is three, and second electric pushrod is uniformly distributed in middle-end on the right side of sleeve, second electric pushrod one
End is connected with bush whorl, and the second electric pushrod other end is connected with grapple screw thread.
Further, it is additionally provided with battery on the left of the chassis interior, the battery is connected with whorl of base.
Further, it is additionally provided with plug on the left of the battery, the plug is connected with battery electric wire.
Further, upper and lower ends are additionally provided with the first mounting hole, first mounting hole on the right side of first fixed block
For circular through hole.
Further, upper and lower ends are additionally provided with mounting groove on the left of the movable sleeve, and the mounting groove inner wall is additionally provided with spiral shell
Line.
Further, the first screw rod, first screw rod are additionally provided with inside first mounting hole and inside mounting groove
It is movably connected with the first mounting hole, and first screw rod is connected with mounting groove screw thread.
Further, upper and lower ends are additionally provided with the second mounting hole, second mounting hole on the right side of second fixed block
For circular through hole.
Further, upper and lower ends are additionally provided with third mounting hole on the left of the attachment base, and the third mounting hole is spiral shell
Pit.
Further, the second screw rod, second screw rod are additionally provided with inside second mounting hole and third mounting hole
It is movably connected with the second mounting hole, and second screw rod is connected with third mounting hole screw thread.
Compared with prior art, the novel combination type machinery arm such as needs to grab article according to actual use situation
When being taken as industry, staff is first turned on the second electric pushrod, so that the second electric pushrod is pushed grapple, because of attachment base, first turn
Bar, the second bull stick and grapple are all to be rotatedly connected, to realize the rotating opening of grapple, then staff openable
One electric pushrod, then the first electric pushrod is operated, so that the first electric pushrod is pushed fixing seat, transports fixing seat from bottom to top
Dynamic, after the device reaches staff's desired height, staff operates the first electric pushrod again, stops the first electric pushrod
It only works, that is, realizes the fixation of fixing seat height, then staff can open the first stepper motor, make the first stepper motor
It rotates clockwise, i.e. the first stepper motor drives first rotating shaft the first rotor plate synchronous rotary of linkage, when the first rotor plate is touched
When switching to second stroke, second stroke switch triggering, i.e., the effect switched by second stroke keeps the first stepper motor reversed
Rotation, i.e., the first stepper motor rotates counterclockwise, similarly, when the first rotor plate touches first stroke switch, first stroke
Switch triggering, i.e., the effect switched by first stroke reversely rotate the first stepper motor, switch eventually by first stroke
The effect switched with second stroke, so that the first swivel plate slewing area is effectively limited, when the first rotor plate rotated
After arrival staff needs position in journey, staff can close the first stepper motor, i.e. the first stepper motor stops rotation
Turn and self-locking fixation, thus realize the first rotor plate fixation, then staff can be as needed, and second stepper motor is opened
It opening, i.e., second stepper motor drives the second shaft to rotate clockwise, and make the second shaft that the first connection shaft be driven to rotate forward, when
When first connection shaft touches third trip switch, third trip switch triggering, i.e., the effect switched by third trip makes
Second stepper motor reversely rotates, similarly, when the first connection shaft touches fourth stroke switch, fourth stroke switch touching
Hair, i.e., the effect switched by fourth stroke, reversely rotates second stepper motor, eventually by third trip switch and the 4th
The effect of travel switch, so that slewing area is effectively limited before and after the first connection shaft, when the first connection shaft rotation
After arrival staff needs position in the process, staff can close second stepper motor, i.e. second stepper motor stops
Rotation and self-locking fixation, to realize the fixation of the first connection shaft, then staff can be as needed, by third stepping electricity
Machine is opened, i.e. third stepping motor driven third shaft rotates clockwise, and third shaft is made to drive the first fixed block synchronous rotary,
After the first fixed block, which turns to staff, needs position, third stepper motor can be closed, stops third stepper motor
Work and self-locking fixation, to realize the fixation of the first fixed block, then staff can be as needed, by the 4th stepper motor
It opens, i.e. the 4th stepper motor drives the 4th shaft to rotate clockwise, and make the 4th shaft that the second connection shaft be driven to rotate forward,
When the second connection shaft touches fifth stroke switch, fifth stroke switch triggering, i.e., the effect switched by fifth stroke,
The 4th stepper motor is reversely rotated, similarly, when the second connection shaft touches sixth stroke switch, sixth stroke switch touching
Hair, i.e., the effect switched by sixth stroke reversely rotate the 4th stepper motor, eventually by fifth stroke switch and the 6th
The effect of travel switch, so that slewing area is effectively limited before and after the second connection shaft, when the second connection shaft rotation
After arrival staff needs position in the process, staff can close the 4th stepper motor, i.e. the 4th stepper motor stops
Rotation and self-locking fixation, to realize the fixation of the second connection shaft, then staff can be as needed, by the 5th stepping electricity
Machine is opened, i.e. the 5th stepper motor drives the 5th shaft to rotate clockwise, and the 5th shaft is made to drive the second fixed block synchronous rotary,
After the second fixed block, which turns to staff, needs position, the 5th stepper motor can be closed, stops the 5th stepper motor
Work and self-locking fixation, so that the fixation of the second fixed block is realized, eventually by above first stepper motor, the second stepping electricity
Machine, third stepper motor, the 4th stepper motor and the common effect of the 5th stepper motor, so that grapple grabs object needed for reaching
Grade is set, and staff can operate the second electric pushrod at this time, and the second electric pushrod is made to drive grapple synchronous, because of connection
Seat, the first bull stick, the second bull stick and grapple are all to be rotatedly connected, so that crawl of the grapple to article is realized, when grapple grabs
After article, because article own wt acts on, make attachment base that pull lever be driven to squeeze spring, i.e. spring forms weight sensor and presses
Force value, even if weight sensor obtains weight value, then staff can understand article weight by observation weight display
Amount, consequently facilitating the article of different weight is carried out classification differentiation by staff, meanwhile, staff can also be as needed, if
When needing to shorten the machinery arm lengths, first the second screw rod can be rotated and gone out, separate attachment base with the second gag lever post, then will
First screw rod rotates and goes out, and separates movable sleeve with the first gag lever post, even if movable sleeve, fifth stroke switch, sixth stroke is opened
It closes, the 4th stepper motor, the 4th shaft, the second connection shaft, the 5th stepper motor, the 5th shaft, the second fixed block and the
Two gag lever posts are integrally detached from the mechanical arm, and then attachment base is inserted into the first gag lever post again by staff, then by the second screw rod
It is inserted into the first mounting hole, then rotates the second screw rod, even if the second screw rod enters third mounting hole, passes through the work of the second screw rod at this time
With fixing attachment base effectively with the second gag lever post, finally realize the shortening of the mechanical arm, similarly, staff
The length of the mechanical arm can be increased according to the above same way, so that the practicability of the mechanical arm has been expanded, the novel combination type
Mechanical arm, clever structure is powerful, by using the device, can not only realize multi-faceted and multi-angle adjusting, mention
The high effect of work, additionally it is possible to weight detecting be carried out to the article of crawl, article is sorted convenient for personnel, and may be used also
According to actual needs, increase the length of the mechanical arm or shorten the length of the mechanical arm, so that the different needs of personnel are met,
Finally while greatly alleviating personnel labor intensity, the subsequent maintenance of the mechanical arm and use are also facilitated, meanwhile,
Battery is in order to the first electric pushrod, the first stepper motor, second stepper motor, third stepper motor, the 4th stepping electricity
Machine, the 5th stepper motor, the second electric pushrod, weight sensor and weight display provide energy supply, plug be in order to
Extraneous power supply is connected, extraneous power supply is made to carry out energy supply to battery by plug.
Detailed description of the invention
Fig. 1 is novel combination type machinery arm main view；
Fig. 2 is novel combination type machinery arm cross-sectional view；
Fig. 3 is novel combination type machinery arm top view；
Fig. 4 is the first gag lever post position enlarged cross-sectional view；
Fig. 5 is attachment base position enlarged cross-sectional view；
Fig. 6 is that the first mounting hole and mounting groove expose Status view；
Fig. 7 is that the second mounting hole and third mounting hole expose Status view.
Pedestal 1, the first electric pushrod 2, fixing seat 3, weight display 4, first stroke switch 5, second stroke switch 6,
First stepper motor 7, first rotating shaft 8, the first rotor plate 9, third trip switch 10, fourth stroke switch 11, the second stepping electricity
Machine 12, the second shaft 13, first connection shaft 14, third stepper motor 15, third shaft 16, the first fixed block 17, first limit
Position bar 18, movable sleeve 19, fifth stroke switch 20, sixth stroke switch 21, the 4th stepper motor 22, the 4th shaft 23, second
Connect shaft 24, the 5th stepper motor 25, the 5th shaft 26, the second fixed block 27, the second gag lever post 28, attachment base 29, weight
Sensor 30, sleeve 31, pull lever 32, spring 33, the first bull stick 34, the second bull stick 35, grapple 36, the second electric pushrod 37,
Battery 101, plug 102, the first mounting hole 1701, mounting groove 1901, the first screw rod 1902, the second mounting hole 2701, third
Mounting hole 2901, the second screw rod 2902.
The following detailed description will be further explained with reference to the above drawings.
Specific embodiment
Hereinafter, a variety of specific details are elaborated, in order to provide to the saturating of the concept for constituting described embodiment basis
Thorough understanding, however, it will be apparent to those skilled in the art that described embodiment can be in these no specific details
In the practice of getting off of some or all situations do not specifically describe well-known processing step in other cases.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, a kind of novel combination type machinery arm, including pedestal 1, first
Electric pushrod 2, fixing seat 3, weight display 4, first stroke switch 5, second stroke switch 6, the first stepper motor 7, first
Shaft 8, the first rotor plate 9, third trip switch 10, fourth stroke switch 11, second stepper motor 12, the second shaft 13,
One connection shaft 14, third stepper motor 15, third shaft 16, the first fixed block 17, the first gag lever post 18, movable sleeve 19, the
Five travel switches 20, sixth stroke switch 21, the 4th stepper motor 22, the 4th shaft 23, second connect shaft 24, the 5th stepping
Motor 25, the second fixed block 27, the second gag lever post 28, attachment base 29, weight sensor 30, sleeve 31, pulls the 5th shaft 26
Bar 32, spring 33, the first bull stick 34, the second bull stick 35, grapple 36, the second electric pushrod 37, first electric pushrod 2
In 1 top of pedestal, first electric pushrod 2 is connected with 1 screw thread of pedestal, and the fixing seat 3 is located at the first electric pushrod 2
Top, the fixing seat 3 are connected with 2 screw thread of the first electric pushrod, and the weight display 4 is located under 3 front end of fixing seat
Side, the weight display 4 are connected with 3 screw thread of fixing seat, and the first stroke switch 5 is located at 3 left side lower end of fixing seat,
The first stroke switch 5 is connected with 3 screw thread of fixing seat, and the second stroke switch 6 is located at 3 right side lower end of fixing seat,
The second stroke switch 6 is connected with 3 screw thread of fixing seat, and first stepper motor 7 is located at 3 front end of fixing seat, described
The first stepper motor 7 be connected with 3 screw thread of fixing seat, the first rotating shaft 8 is located at 7 rear end of the first stepper motor, described
First rotating shaft 8 is connected with 7 close-fitting of the first stepper motor, and the first rotating shaft 8 is rotatedly connected with fixing seat 3, and described
One rotor plate 9 is connected through first rotating shaft 8, first rotor plate 9 with 8 close-fitting of first rotating shaft, the third trip
Switch 10 is located at 9 front end of the first rotor plate, and the third trip switch 10 is connected with 9 screw thread of the first rotor plate, and described
Four travel switches 11 are located at 9 rear end of the first rotor plate, and the fourth stroke switch 11 is connected with 9 screw thread of the first rotor plate, institute
The second stepper motor 12 stated is located at 9 right hand top of the first rotor plate, 9 spiral shell of the second stepper motor 12 and the first rotor plate
Line is connected, and second shaft 13 is located at 12 bottom of second stepper motor, second shaft 13 and second stepper motor
12 close-fittings are connected, and second shaft 13 is rotatedly connected with the first rotor plate 9, described first connect shaft 14 through
Second shaft 13, the first connection shaft 14 are connected with 13 close-fitting of the second shaft, and the third stepper motor 15 is located at
First connection shaft 14 right side is internal, and the third stepper motor 15 connect that 14 screw thread of shaft is connected with first, and described the
Three shafts 16 are located at 15 right side of third stepper motor, and the third shaft 16 is connected with 15 close-fitting of third stepper motor, described
The first fixed block 17 be located at 16 outer wall of third shaft, first fixed block 17 is connected with 16 close-fitting of third shaft, and institute
The first fixed block 17 stated connect shaft 14 with first and is rotatedly connected, and it is right that first gag lever post 18 is located at the first fixed block 17
Side, first gag lever post 18 are weldingly connected with the first fixed block 17, and it is right that the movable sleeve 19 is located at the first gag lever post 18
Side outer wall, the movable sleeve 19 are movably connected with the first gag lever post 18, and the fifth stroke switch 20 is located at movable sleeve 19
Front end, the fifth stroke switch 20 are connected with 19 screw thread of movable sleeve, and the sixth stroke switch 21 is located at movable sleeve 19
Rear end, the sixth stroke switch 21 are connected with 19 screw thread of movable sleeve, and the 4th stepper motor 22 is located at movable sleeve 19
Top right side, the 4th stepper motor 22 are connected with 19 screw thread of movable sleeve, and the 4th shaft 23 is located at the 4th stepping
22 bottom of motor, the 4th shaft 23 are connected with 22 close-fitting of the 4th stepper motor, and the 4th shaft 23 and activity
Set 19 is rotatedly connected, and the second connection shaft 24 connects shaft 24 and the 4th through the 4th shaft 23, described second
23 close-fitting of shaft is connected, and the 5th stepper motor 25 is located at the 5th internal, described stepping of 24 right side of the second connection shaft
Motor 25 connect 24 screw thread of shaft with second and is connected, and the 5th shaft 26 is located at 25 right side of the 5th stepper motor, described
5th shaft 26 is connected with 25 close-fitting of the 5th stepper motor, and second fixed block 27 is located at 26 outer wall of the 5th shaft, described
The second fixed block 27 be connected with 26 close-fitting of the 5th shaft, and second fixed block 27 with second connect shaft 24 rotate phase
Even, second gag lever post 28 is located at 27 right side of the second fixed block, and second gag lever post 28 and the second fixed block 27 weld
It connects connected, described attachment base 29 and is located at 28 outer wall of the second gag lever post, the attachment base 29 and 28 activity phase of the second gag lever post
Even, the weight sensor 30 is located at 29 inner right side upper and lower ends of attachment base, the weight sensor 30 and attachment base
29 screw threads are connected, and the sleeve 31 is located at 29 outer right wall of attachment base, and the sleeve 31 is connected with the sliding of attachment base 29, institute
The pull lever 32 stated is through 29 right side of attachment base, and the pull lever 32 is connected with the sliding of attachment base 29, and the pull lever
32 are connected with 31 screw thread of sleeve, and for the spring 33 through 32 left side of pull lever, the spring 33 and pull lever 32 are movable
It is connected, 34 quantity of the first bull stick is three, and first bull stick 34 is uniformly distributed in 31 right side of sleeve, described the
One bull stick 34 is rotatedly connected with sleeve 31, and second bull stick 35 is located at 34 right side of the first bull stick, second bull stick 35
It is rotatedly connected with the first bull stick 34, the grapple 36 is located at 35 right side of the second bull stick, the grapple 36 and the second bull stick 35
It is rotatedly connected, 37 quantity of the second electric pushrod is three, and second electric pushrod 37 is uniformly distributed in sleeve 31
Right side, described 37 one end of the second electric pushrod are connected with 31 screw thread of sleeve, and 37 other end of the second electric pushrod with
36 screw thread of grapple is connected, and 1 inside left of pedestal is additionally provided with battery 101, the battery 101 and 1 screw thread of pedestal
It is connected, plug 102 is additionally provided on the left of the battery 101, the plug 102 is connected with 101 electric wire of battery, described
First fixed block, 17 right side upper and lower ends are additionally provided with the first mounting hole 1701, and first mounting hole 1701 is circular through hole,
The 19 left side upper and lower ends of movable sleeve are additionally provided with mounting groove 1901, and 1901 inner wall of mounting groove is additionally provided with screw thread, institute
The inside of the first mounting hole 1701 stated and the first screw rod 1902 is additionally provided with inside mounting groove 1901, first screw rod 1902 with
First mounting hole 1701 is movably connected, and first screw rod 1902 is connected with 1901 screw thread of mounting groove, and described second is solid
Determine 27 right side upper and lower ends of block and be additionally provided with the second mounting hole 2701, second mounting hole 2701 is circular through hole, described
29 left side upper and lower ends of attachment base are additionally provided with third mounting hole 2901, and the third mounting hole 2901 is threaded hole, described
The second screw rod 2902, second screw rod 2902 and second are additionally provided with inside second mounting hole 2701 and third mounting hole 2901
Mounting hole 2701 is movably connected, and second screw rod 2902 is connected with 2901 screw thread of third mounting hole.
The novel combination type machinery arm, according to actual use situation, when such as needing to carry out crawl operation to article, work people
Member is first turned on the second electric pushrod 37, and the second electric pushrod 37 is made to push grapple 36, because of attachment base 29, the first bull stick 34, the
Two bull sticks 35 and grapple 36 are all to be rotatedly connected, to realize the rotating opening of grapple 36, then staff is openable
First electric pushrod 2, then the first electric pushrod 2 is operated, so that the first electric pushrod 2 is pushed fixing seat 3, makees fixing seat 3 under
It moves upwards, after the device reaches staff's desired height, staff operates the first electric pushrod 2 again, makes the first electricity
Dynamic push rod 2 stops working, that is, realizes the fixation of 3 height of fixing seat, then staff can open the first stepper motor 7, make
First stepper motor 7 rotates clockwise, i.e. the first stepper motor 7 drives linkage 9 synchronous rotary of the first rotor plate of first rotating shaft 8,
When the first rotor plate 9 touches second stroke switch 6, second stroke switch 6 is triggered, that is, passes through the work of second stroke switch 6
With reversely rotating the first stepper motor 7, i.e. the first stepper motor 7 rotation counterclockwise, similarly, when the first rotor plate 9 touches
When first stroke switch 5, first stroke switch 5 is triggered, i.e., by the effect of first stroke switch 5, keeps the first stepper motor 7 anti-
To rotation, eventually by the effect of first stroke switch 5 and second stroke switch 6, so that 9 slewing area of the first swivel plate obtains
Effective limitation avoided the occurrence of movement, such as after arrival staff needs position in 9 rotation process of the first rotor plate, work
Personnel can close the first stepper motor 7, i.e. the first stepper motor 7 stops rotating and self-locking fixation, to realize the first rotation
The fixation of plate 9, then staff can be as needed, and second stepper motor 12 is opened, i.e. the driving of second stepper motor 12 the
Two shafts 13 rotate clockwise, and make the second shaft 13 that the first connection shaft 14 be driven to rotate forward, when the first connection shaft 14 is touched
When encountering third trip switch 10, third trip switch 10 is triggered, i.e., by the effect of third trip switch 10, makes the second stepping
Motor 12 reversely rotates, and similarly, when the first connection shaft 14 touches fourth stroke switch 11, fourth stroke switch 11 is touched
Hair reversely rotates second stepper motor 12, eventually by third trip switch 10 that is, by the effect of fourth stroke switch 11
With the effect of fourth stroke switch 11 so that first connection 14 front and back slewing area of shaft effectively limited, when first connect
Switching through and is reached in 14 rotation process of axis after staff needs position, staff can close second stepper motor 12, i.e., and the
Two stepping motor 12 stops rotating and self-locking fixation, to realize the fixation of the first connection shaft 14, then staff can root
According to needs, third stepper motor 15 is opened, i.e., third stepper motor 15 drives third shaft 16 to rotate clockwise, and turns third
Axis 16 drives 17 synchronous rotary of the first fixed block that can close after the first fixed block 17, which turns to staff, needs position
Third stepper motor 15 makes third stepper motor 15 stop working and self-locking fixation, thus realize the fixation of the first fixed block 17,
Then staff can be as needed, and the 4th stepper motor 22 is opened, i.e. the 4th stepper motor 22 drives the 4th shaft 23 suitable
Hour hands rotation makes the 4th shaft 23 that the second connection shaft 24 be driven to rotate forward, when the second connection shaft 24 touches fifth line
When Cheng Kaiguan 20, fifth stroke switch 20 is triggered, i.e., by the effect of fifth stroke switch 20, keeps the 4th stepper motor 22 reversed
Rotation, similarly, when the second connection shaft 24 touches sixth stroke switch 21, the triggering of sixth stroke switch 21 passes through the
The effect of six travel switches 21 reversely rotates the 4th stepper motor 22, eventually by fifth stroke switch 20 and sixth stroke
The effect of switch 21, so that the second connection 24 front and back slewing area of shaft is effectively limited, when the second 24 turns of shaft of connection
After arrival staff needs position during dynamic, staff can close the 4th stepper motor 22, i.e. the 4th stepper motor
22 stop rotating and self-locking fixation, to realize the fixation of the second connection shaft 24, then staff can be as needed, by the
Five stepper motors 25 are opened, i.e. the 5th stepper motor 25 drives the 5th shaft 26 to rotate clockwise, and the 5th shaft 26 is made to drive the
Two fixed blocks, 27 synchronous rotary can close the 5th stepping electricity after the second fixed block 27, which turns to staff, needs position
Machine 25 makes the 5th stepper motor 25 stop working and self-locking fixation, to realize the fixation of the second fixed block 27, eventually by with
Upper first stepper motor 7, second stepper motor 12, third stepper motor 15, the 4th stepper motor 22 and the 5th stepper motor
25 common effects, so that grapple 36 grabs article position needed for reaching, staff can operate the second electric pushrod at this time
37, so that the second electric pushrod 37 is driven 36 synchronous of grapple, because of attachment base 29, the first bull stick 34, the second bull stick 35 and grabs
Hook 36 is all to be rotatedly connected, so that crawl of the grapple 36 to article is realized, after grapple 36 grabs article, because of article own wt
Effect makes attachment base 29 that pull lever 32 be driven to be displaced outwardly, even if spring 33 forms pressure value, i.e. weight to weight sensor 30
Sensor 30 obtains weight value, and then staff can understand Item Weight by observation weight display 4, consequently facilitating
The article of different weight is carried out classification differentiation by staff, meanwhile, staff can also be as needed, if desired shortens the machine
When tool arm lengths, first the second screw rod 2902 can be rotated and be gone out, separate attachment base 29 with the second gag lever post 28, then by first
Screw rod 1902 rotates and goes out, and separates movable sleeve 19 with the first gag lever post 18, even if movable sleeve 19, fifth stroke switch 20, the
Six travel switches 21, the 4th stepper motor 22, the 4th shaft 23, second connect shaft 24, the 5th stepper motor 25, the 5th shaft
26, the second fixed block 27 and the second gag lever post 28 are integrally detached from the mechanical arm, and then staff again inserts attachment base 29
Enter the first gag lever post 18, then the second screw rod 2902 is inserted into the first mounting hole 1701, then rotate the second screw rod 2902, even if second
Screw rod 2902 enters third mounting hole 2901, passes through the effect of the second screw rod 2902 at this time, makes attachment base 29 and the second gag lever post
28 are effectively fixed, and the shortening of the mechanical arm is finally realized, and similarly, staff can also increase according to the above same way
Add the length of the mechanical arm, so that the practicability of the mechanical arm has been expanded, the novel combination type machinery arm, clever structure, function
It is powerful, by using the device, it can not only realize multi-faceted and multi-angle adjusting, improve the effect of work, moreover it is possible to
Enough articles to crawl carry out weight detecting, sort convenient for personnel to article, and can also according to actual needs, and increasing should
The length of mechanical arm or the length for shortening the mechanical arm are finally greatly alleviating to meet the different needs of personnel
While personnel labor intensity, the subsequent maintenance of the mechanical arm and use are also facilitated, meanwhile, staff can be according to need
It wants, when 36 pairs of grapple horizontal front and rear sides articles such as being needed to grab, can directly open the 4th stepper motor 22, even if the
Four stepper motors 22 drive the 4th shaft 23 carry out 0~180 ° of Y direction within the scope of rotation, when grapple 36 reach front or after
When the position Fang Suoxu, staff can close the 4th stepper motor 22, even if the 4th shaft 23 stops working, then work people
Member can operate the second electric pushrod 37, grab grapple 36 to the article of front or behind horizontal direction, similarly, if you need to
When grapple 36 being wanted to grab downward vertical target item, third stepper motor 15 can be first operated, third stepper motor is made
15 drive third shaft 16 to carry out Y-axis orientation rotation, after third stepper motor 15 rotates 90 °, can close third stepping electricity
Machine 15, even if third shaft 16 stops working, then opens the 4th stepper motor 22, even if the 4th stepper motor 22 drives the 4th turn
Axis 23 rotates downwards, after the 4th stepper motor 22 rotates 90 °, the 4th stepper motor 22 can be closed, even if the 4th shaft
23 stop rotating, and cooperation common by third stepper motor 15 and the 4th stepper motor 22 at this time is hung down so that grapple 36 is in
Straight state, then staff can operate the second electric pushrod 37, grab grapple 36 to objects underneath, work as battery
101 be in order to the first electric pushrod 2, the first stepper motor 7, second stepper motor 12, third stepper motor 15, the 4th stepping
Motor 22, the 5th stepper motor 25, the second electric pushrod 37, weight sensor 30 and weight display 4 provide energy supply,
Plug 102 is so that extraneous power supply is carried out energy supply to battery 101 by plug 102 in order to connect extraneous power supply.
The present invention is not limited to above-mentioned specific embodiment, those skilled in the art from the above idea,
Without creative labor, the various transformation made are within the scope of the present invention.
Claims (9)
1. a kind of novel combination type machinery arm, it is characterised in that including pedestal, the first electric pushrod, fixing seat, weight display,
First stroke switch, second stroke switch, the first stepper motor, first rotating shaft, the first rotor plate, third trip switch, the 4th
Travel switch, second stepper motor, the second shaft, first connection shaft, third stepper motor, third shaft, the first fixed block,
First gag lever post, movable sleeve, fifth stroke switch, sixth stroke switch, the 4th stepper motor, the 4th shaft, the second connection turn
Axis, the 5th stepper motor, the 5th shaft, the second fixed block, the second gag lever post, attachment base, weight sensor, sleeve, pull lever,
Spring, the first bull stick, the second bull stick, grapple, the second electric pushrod, first electric pushrod is located at base top, described
The first electric pushrod be connected with whorl of base, the fixed seating at the top of the first electric pushrod, the fixing seat with
First electric pushrod screw thread is connected, and the weight display is located on the downside of fixing seat front end, the weight display with consolidate
Reservation screw thread is connected, and the first stroke switch is located at lower end on the left of fixing seat, the first stroke switch and fixing seat
Screw thread is connected, and the second stroke switch is located at lower end on the right side of fixing seat, the second stroke switch and fixing seat screw thread
It is connected, first stepper motor is located at fixing seat front end, and first stepper motor is connected with fixing seat screw thread, described
First rotating shaft be located at the first stepping motor rear end, the first rotating shaft is connected with the first stepper motor close-fitting, and described
First rotating shaft is rotatedly connected with fixing seat, and first rotor plate is through first rotating shaft, first rotor plate and
One shaft close-fitting is connected, and the third trip switch is located at the first rotation front edge of board, the third trip switch and first
Rotor plate screw thread is connected, and the fourth stroke switch is located at the first rotor plate rear end, the fourth stroke switch and first
Rotor plate screw thread is connected, and the second stepper motor is located at the first rotor plate right hand top, the second stepper motor and
First rotor plate screw thread is connected, and second shaft is located at second stepper motor bottom, second shaft and second step
Be connected into motor close-fitting, and second shaft is rotatedly connected with the first rotor plate, described first connect shaft through
Second shaft, the first connection shaft are connected with the second shaft close-fitting, and the third stepper motor is located at the first connection
Internal on the right side of shaft, the third stepper motor connect shaft thread with first and is connected, and the third shaft is located at third
On the right side of stepper motor, the third shaft is connected with third stepper motor close-fitting, and first fixed block turns positioned at third
Axis outer wall, first fixed block are connected with third shaft close-fitting, and first fixed block connect shaft with first and turns
Dynamic to be connected, first gag lever post is located on the right side of the first fixed block, first gag lever post and the first fixed block welding phase
Even, the movable sleeve is located at the first gag lever post outer right wall, and the movable sleeve is movably connected with the first gag lever post, described
Fifth stroke switch is located at movable sleeve front end, and the fifth stroke switch is connected with movable external threading, the sixth stroke
Switch is located at movable sleeve rear end, and the sixth stroke switch is connected with movable external threading, and the 4th stepper motor is located at
Movable sleeve top right side, the 4th stepper motor are connected with movable external threading, and the 4th shaft is located at the 4th stepping
Motor bottom, the 4th shaft are connected with the 4th stepper motor close-fitting, and the 4th shaft rotates phase with movable sleeve
Even, through the 4th shaft, the second connection shaft is connected the second connection shaft with the 4th shaft close-fitting, described
The 5th stepper motor be located at internal on the right side of the second connection shaft, the 5th stepper motor connect shaft thread phase with second
Even, the 5th shaft is located on the right side of the 5th stepper motor, and the 5th shaft is connected with the 5th stepper motor close-fitting, institute
The second fixed block stated is located at the 5th shaft outer wall, and second fixed block is connected with the 5th shaft close-fitting, and described
Two fixed blocks connect shaft with second and are rotatedly connected, and second gag lever post is located on the right side of the second fixed block, and described second
Gag lever post is weldingly connected with the second fixed block, and the attachment base is located at the second gag lever post outer wall, the attachment base and second
Gag lever post is movably connected, and the weight sensor is located at attachment base inner right side upper and lower ends, the weight sensor with
Attachment base screw thread is connected, and the sleeve is located at attachment base outer right wall, and the sleeve is connected with attachment base sliding, described
Pull lever is on the right side of attachment base, and the pull lever is connected with attachment base sliding, and the pull lever and bush whorl phase
Even, the spring is movably connected through pull lever left side, the spring with pull lever, and the first bull stick quantity is
Three, first bull stick is uniformly distributed on the right side of sleeve, and first bull stick is rotatedly connected with sleeve, and described second
Bull stick is located on the right side of the first bull stick, and second bull stick is connected with the first bar rotation, and the grapple is located at the second bull stick
Right side, the grapple are connected with the second bar rotation, and the second electric pushrod quantity is three, and described second is electronic
Push rod is uniformly distributed in middle-end on the right side of sleeve, and the second described electric pushrod one end is connected with bush whorl, and described second
The electric pushrod other end is connected with grapple screw thread.
2. a kind of novel combination type machinery arm as described in claim 1, it is characterised in that also set on the left of the chassis interior
There is battery, the battery is connected with whorl of base.
3. a kind of novel combination type machinery arm as claimed in claim 2, it is characterised in that be additionally provided on the left of the battery
Plug, the plug are connected with battery electric wire.
4. a kind of novel combination type machinery arm as claimed in claim 3, it is characterised in that on the right side of first fixed block
Lower both ends are additionally provided with the first mounting hole, and first mounting hole is circular through hole.
5. a kind of novel combination type machinery arm as claimed in claim 4, it is characterised in that two above and below on the left of the movable sleeve
End is additionally provided with mounting groove, and the mounting groove inner wall is additionally provided with screw thread.
6. a kind of novel combination type machinery arm as claimed in claim 5, it is characterised in that inside first mounting hole and
The first screw rod is additionally provided with inside mounting groove, first screw rod is movably connected with the first mounting hole, and first screw rod
It is connected with mounting groove screw thread.
7. a kind of novel combination type machinery arm as claimed in claim 6, it is characterised in that on the right side of second fixed block
Lower both ends are additionally provided with the second mounting hole, and second mounting hole is circular through hole.
8. a kind of novel combination type machinery arm as claimed in claim 7, it is characterised in that two above and below on the left of the attachment base
End is additionally provided with third mounting hole, and the third mounting hole is threaded hole.
9. a kind of novel combination type machinery arm as claimed in claim 8, it is characterised in that second mounting hole and third
The second screw rod is additionally provided with inside mounting hole, second screw rod is movably connected with the second mounting hole, and second screw rod
It is connected with third mounting hole screw thread.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710009346.1A CN106737633B (en) | 2017-01-06 | 2017-01-06 | A kind of novel combination type machinery arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710009346.1A CN106737633B (en) | 2017-01-06 | 2017-01-06 | A kind of novel combination type machinery arm |
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| CN106737633A CN106737633A (en) | 2017-05-31 |
| CN106737633B true CN106737633B (en) | 2019-02-26 |
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| CN201710009346.1A Expired - Fee Related CN106737633B (en) | 2017-01-06 | 2017-01-06 | A kind of novel combination type machinery arm |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114633268B (en) * | 2022-04-15 | 2023-06-09 | 西安外事学院 | Picking actuating mechanism of agricultural robot |
| CN115533256B (en) * | 2022-12-01 | 2023-03-28 | 快克智能装备股份有限公司 | Wire feeding welding device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011156614A (en) * | 2010-01-29 | 2011-08-18 | B L Auto Tec Kk | Robot hand |
| CN105082169A (en) * | 2015-09-22 | 2015-11-25 | 哈尔滨工业大学 | Large-tolerance mini-sized end effector having electromechanical output function |
| CN105835030A (en) * | 2016-06-22 | 2016-08-10 | 江西师范大学 | Dangerous area multifunctional detection vehicle based on wireless control and video transmission |
| CN106272432A (en) * | 2016-09-28 | 2017-01-04 | 哈尔滨云控机器人科技有限公司 | A kind of six degree of freedom mechanical hand |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4557146B2 (en) * | 2004-09-29 | 2010-10-06 | 株式会社安川電機 | Fastening device |
-
2017
- 2017-01-06 CN CN201710009346.1A patent/CN106737633B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011156614A (en) * | 2010-01-29 | 2011-08-18 | B L Auto Tec Kk | Robot hand |
| CN105082169A (en) * | 2015-09-22 | 2015-11-25 | 哈尔滨工业大学 | Large-tolerance mini-sized end effector having electromechanical output function |
| CN105835030A (en) * | 2016-06-22 | 2016-08-10 | 江西师范大学 | Dangerous area multifunctional detection vehicle based on wireless control and video transmission |
| CN106272432A (en) * | 2016-09-28 | 2017-01-04 | 哈尔滨云控机器人科技有限公司 | A kind of six degree of freedom mechanical hand |
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| CN106737633A (en) | 2017-05-31 |
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Granted publication date: 20190226 Termination date: 20200106 |