CN108032287A - A kind of energy-saving mechanical hand conveniently removed and installed - Google Patents
A kind of energy-saving mechanical hand conveniently removed and installed Download PDFInfo
- Publication number
- CN108032287A CN108032287A CN201711488421.3A CN201711488421A CN108032287A CN 108032287 A CN108032287 A CN 108032287A CN 201711488421 A CN201711488421 A CN 201711488421A CN 108032287 A CN108032287 A CN 108032287A
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- CN
- China
- Prior art keywords
- swing arm
- drive motor
- linking
- base
- wrist
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of energy-saving mechanical hand conveniently removed and installed, including installation pedestal and agent structure for mounting body structure, the agent structure is all composition structures of manipulator, is mainly included：Locking mechanism, put on shoulder joint structure, big swing arm, small swing arm articulation mechanism, small swing arm, wrist joint mechanism, wrist, actuator；Two groups of locking mechanisms are provided with the top of the installation pedestal, base is provided with the top of the locking mechanism, it is connected so that base is fixed with installation pedestal, bottom is provided with cavity under base in the base, base intermediate throughholes are provided with the base among cavity top, the base intermediate throughholes are rotatably provided with the first rotation axis, apparatus of the present invention are simple in structure, it is easy to use, realize high-precision position positioning work, improve manipulator production efficiency and the convenience removed and installed, using simplified style structure and energy-saving type motivation device, improve the energy saving of manipulator.
Description
Technical field
The present invention relates to intelligence manufacture field, and in particular to a kind of energy-saving mechanical hand conveniently removed and installed.
Background technology
With the arrival of industry 4.0, sight has been put into intelligence manufacture field by more and more people, and intelligence manufacture is existing
A magnificent achievement the most dazzling, a kind of solution party of modernization is provided to traditional factory in some industrial development courses
Case, changes the general layout that traditional factory's human resources are excessively concentrated, and in intelligence manufacture field, the most widely used is machine
Tool arm, domestic mechanical arm market are almost occupied by external large enterprises, and in actual use, installing and dismounting repairs always
Be perplex everybody main problem, and advocate energy-saving and emission-reduction today, for equipment power saving function propose new demand, this sets
It is standby to use the structure conveniently removed and installed and energy saving function, it will largely solve the problems, such as these, and improve production efficiency.
The content of the invention
It is an object of the invention to provide a kind of energy-saving mechanical hand conveniently removed and installed, the prior art can be overcome
Drawbacks described above.
According to the present invention, a kind of energy-saving mechanical hand conveniently removed and installed of apparatus of the present invention, including for installing master
The installation pedestal and agent structure of body structure, the agent structure are all composition structures of manipulator, are mainly included：Locking knot
Structure, put on shoulder joint structure, big swing arm, small swing arm articulation mechanism, small swing arm, wrist joint mechanism, wrist, actuator；It is described
Two groups of locking mechanisms are provided with the top of installation pedestal, base is provided with the top of the locking mechanism, so that base and installation base
The fixed linking of seat, bottom is provided with cavity under base in the base, is provided with the base among cavity top in base
Between through hole, the base intermediate throughholes are rotatably provided with the first rotation axis, and the first rotation axis bottom is rotatable to be set
Base flange bearing is placed in, the base flange bearing fixes linking and is arranged at base flange bearing installation cavity, the base method
Blue bearing installation cavity is arranged at base flange, and bottom is provided with base flange cavity in the base flange, so that described
One rotation axis bottom does not contact with the base flange and then rotates conveniently, and the base flange fixes linking and is arranged at the bottom
The lower cavity top of seat, top is provided with base upper plenum in the base, and the base upper plenum top is fixed linking and is provided with
Cover board, is provided with cover board bearing hole among the cover board, cover board bearing is rotatably provided with the cover board bearing hole, described
Cover board bearing inner race it is rotatable pass through first rotation axis, the first rotation axis centre position fix linking be provided with from
Moving gear, the driven gear right end engagement linking are provided with driving gear, and fixing linking among the driving gear is provided with
First output shaft, first output shaft it is rotatable pass through cover plate through hole, the cover plate through hole is arranged at the cover board right end,
The right top of cover board fixes linking and is provided with the first drive motor, is rotatably set among first drive motor
The first output shaft is stated, the first rotation axis top fixation linking, which is provided with, puts on shoulder joint structure, described to put on shoulder joint knot
Structure is arranged at big swing arm one end, and the big swing arm other end is provided with small swing arm articulation mechanism, the small swing arm articulation mechanism rank
The one end connect is provided with small swing arm, and the small swing arm other end is provided with wrist joint mechanism, the wrist joint mechanism linking
One end be provided with wrist.
Further technical solution, the locking mechanism include being arranged in the installation pedestal and open upward vertical
Shrink elongated slot and the vertical stop column shunk in elongated slot can be slidably mounted at up and down, be provided with the base
It is engaged with the stop column and open downward locking groove, fixing groove, the stop column is provided with the stop groove sidewall
In be provided with open sliding horizontal groove outwardly, slided in the sliding horizontal groove be provided with it is matched solid with the fixing groove
Rationed marketing, is installed with drive motor in the sliding horizontal groove sidewall, is provided with the fixed pin open towards the drive
The helical flute of dynamic motor, helical, which coordinates, in the helical flute is provided with helical bar, and the helical bar coordinates with the drive motor
Linking, vertical shrink in elongated slot effect side wall are provided with stop slide slot, can be slided up and down in the stop slide slot
Ground is provided with fixes the stop sliding block being connected with the stop column, and vertical shrink is installed with pressure in stretching, extension groove bottom wall
Tight spring, the holddown spring upper end and the stop column, which are fixed, to be connected, and the stop column upper end is provided with correcting and inclines face, so that
The stop column is facilitated to be engaged with the locking groove.
Further technical solution, the shoulder joint structure of putting on include being fixedly installed on the first rotation axis top
Rotation seat is provided with the second drive motor installation cavity, the second drive motor peace with shoulder joint, the rotation seat front end is put on
Fixed linking of behaveing affectedly is provided with the second drive motor, the second drive motor front end it is rotatable be provided with the second output shaft,
Second output shaft fixes linking and is provided with active synchronization wheel, and what can be run simultaneously in the active synchronization wheel is provided with synchronization
Band, what described synchronous belt one end can be run simultaneously is provided with driven synchronizing wheel, and fixing linking among the driven synchronizing wheel is set
There is the second rotation axis, second rotation axis mutually claims to be provided with two groups of keyways, and fixing linking on the keyway is provided with flat key, institute
State flat key fixation linking and be arranged at clearance groove, the clearance groove mutually claims to be arranged at big swing arm both sides, is provided with the big swing arm
Cavity under big swing arm, side mutually claims fixed linking to have a rotation seat bushing before and after cavity under the big swing arm, in the rotation seat bushing
Rotatably pass through second rotation axis, it is rotatable outside the rotation seat bushing to be arranged at rotation seat flange through hole, it is described
Rotation seat flange through hole mutually claims to be arranged among rotation seat flange, and the rotation seat flange mutually claims to be provided with close to centre position to be turned
Seat bearing installation cavity is moved, the fixed mutual title of linking is provided with rotation seat bearing, the rotation seat in the rotation seat bearing installation cavity
Rotatably pass through second rotation axis in bearing, it is rotatable among second rotation axis to be arranged at rotation seat straight slot,
The rotation seat straight slot is arranged at the rotation seat top, so that second drive motor drives the big swing arm to rotate.
Further technical solution, the small swing arm articulation mechanism include mutually title and are fixedly installed on described big swing arm one end
3rd drive motor and small swing arm joint, it is rotatable among the 3rd drive motor to be provided with the 3rd output shaft, described the
Three output shafts it is rotatable pass through big swing arm through hole, the big swing arm through hole mutually claims to be arranged at side before and after described big swing arm one end,
3rd output shaft it is rotatable pass through small swing arm through hole, the small swing arm through hole mutually claims to be arranged at before and after small swing arm one end
Side, the 3rd output shaft output terminal fix linking and are provided with First Transition plate, and the First Transition plate mutually claims bolt to fix rank
Side before and after described small swing arm one end is connected to, so that the 3rd drive motor drives the small swing arm to rotate.
Further technical solution, the wrist joint mechanism include that fixed linking is arranged at described small swing arm one end
Four drive motors and wrist joint, the 4th drive motor bottom fix linking and are provided with diaphragm plate, among the diaphragm plate
Diaphragm plate through hole is provided with, the 4th output shaft is rotatably provided with the diaphragm plate through hole, the 4th output shaft can turn
Dynamic fixation linking is arranged at the 4th drive motor bottom, and the 4th output shaft output terminal is fixed linking and is provided with actively
Bevel gear, the drive bevel gear rear side engagement linking are provided with driven wheel of differential, linking are fixed among the driven wheel of differential
The 3rd rotation axis is provided with, the 3rd rotation axis rotatably passes through wrist bearing cross hole, and the wrist bearing cross hole mutually claims
Side before and after described small swing arm one end is arranged at, the 3rd rotation axis rotatably passes through wrist bearing, and the wrist bearing is mutual
Title is arranged at wrist bearing mounting hole, and the wrist bearing mounting hole mutually claims to be arranged at side before and after described small swing arm one end,
3rd rotation axis rotatably passes through wrist flange through hole, and the wrist flange through hole is arranged among wrist flange, institute
State wrist flange mutually to claim to be arranged at side before and after described small swing arm one end, the 3rd rotation axis front and back end mutually claims to be fixedly installed the
Two rebounds, second rebound is bolted with wrist to be connected, and the wrist bottom is provided with the 5th drive motor
Installation cavity, the 5th drive motor installation cavity top are fixedly installed the 5th drive motor, the 5th drive motor bottom
The 5th output shaft rotatably is provided with, the 5th output shaft rotatably passes through the 5th drive motor bearing inner ring, described
5th drive motor bearing is fixedly installed on the 5th drive motor installation cavity bottom, the 5th drive motor bearing bottom
Outer ring is fixedly installed the 5th drive motor cover board, and the 5th drive motor cover board is provided among the 5th drive motor cover board
Through hole, the 5th output shaft rotatably pass through the 5th drive motor cover plate through hole.
Further technical solution, the 5th output shaft bottom is fixed with actuator installation crab bolt to be connected, described to hold
What side mutually claimed before and after row device installing plate is provided with actuator installing plate helical hole, and actuator installing plate helical hole bolt is fixed
Linking has actuator, so as to which the actuator detachably installed is installed on the actuator installing plate, and the described 5th
Drive motor can drive the actuator turns.
The beneficial effects of the invention are as follows：
Since the base in invention device is in original state, the base is fixedly installed in installation base by the locking mechanism
Seat, is embodied in and the base is placed into the installation pedestal, when the stop column and the locking groove misalignment,
The stop column can be by downward top pressure, and when the stop column is aligned with the locking groove, and the stop column can compress bullet
The locking groove is extend under the action of spring to be engaged with the locking groove；When the stop column is engaged with the locking groove
Afterwards, starting drive motor described in the drive motor can drive the fixed pin protruding and extend into the fixing groove,
Thus, the base can be fixed in the installation pedestal, device mounting stability can be improved；In first drive motor
Between the first output shaft for setting fix and be connected with the driving gear, first rotation axis fixes rank with the driven gear
Connect, first rotation axis with it is described put on shoulder joint structure and fix be connected, second drive motor centre is rotatably set
Second output shaft is put, second output shaft is fixed with the active synchronization wheel to be connected, and the active synchronization wheel passes through institute
State synchronous belt to rotate synchronously with the driven synchronizing wheel, the driven synchronizing wheel is fixed with second rotation axis to be connected, described
Fixation is connected second rotation axis indirectly with the big swing arm, and described one end is provided with the small swing arm articulation mechanism, described to put on
Arm one end is fixedly installed the 3rd drive motor, the 3rd output shaft it is rotatable be arranged at the 3rd drive motor, institute
State the 3rd output shaft and fixed indirectly with the small swing arm and is connected, described small swing arm one end fixes linking and is provided with wrist joint machine
Structure, is provided with the 4th drive motor in the wrist joint mechanism, rotatable setting among the 4th drive motor
Have the 4th output shaft, the 4th output shaft is fixed with the drive bevel gear to be connected, the drive bevel gear with it is described
Driven wheel of differential engages, and the fixation of the 3rd rotation axis and the driven wheel of differential is connected, and the 3rd rotation axis is indirectly and institute
State wrist and fix linking, the wrist bottom is provided with the 5th drive motor, and the 5th drive motor centre is rotatable to be set
The 5th output shaft is equipped with, the 5th output shaft is indirectly fixed with the actuator to be connected, so that five driving structures be transported
Use in whole device, improve the precision and use scope of device.
In use, control first drive motor, the second drive motor, the 3rd drive motor, the 4th drive motor, the
Five drive motors carry out positive and negative rotation, so as to drive corresponding construction to synchronize movement, realize actuator in space optional position
Work.
When needing whole device to horizontally rotate, first drive motor is controlled to drive the driving tooth rotation
Move, and then drive driven gear to rotate, while drive the first rotation axis to rotate, put on what first rotation axis fixation was connected
Shoulder joint structure is also rotated, and is horizontally rotated so as to fulfill device, improves device flexibility.
When needing to allow the big swing arm to be swung, control the second drive motor drive active synchronization wheel,
Driven synchronizing wheel rotates synchronously, so as to make to put on arm swing indirectly, so as to improve the activity of device.
When needing to allow the small swing arm to be swung, the 3rd drive motor is controlled to drive the small swing arm pendulum indirectly
It is dynamic, so as to improve the flexible and changeable property of device.
When needing to allow the wrist to be swung, control the 4th drive motor drive the drive bevel gear, from
Dynamic bevel gear rotates, so as to make the wrist swinging indirectly, so as to improve the convenience that device works in narrow working space.
When need to allow the actuator turns when, control the 5th drive motor to drive the actuator turns indirectly,
It is achieved thereby that the feature under high-precision job requirement.
When need manipulator when space optional position carries out positioning work, it is necessary to control at the same time it is described five driving horse
Reach, carry out collaboration operating, you can realize this function.
Apparatus of the present invention are simple in structure, easy to use, realize high-precision position positioning work, improve manipulator production
Efficiency and the convenience removed and installed, using simplified style structure and energy-saving type motivation device, improve the energy saving of manipulator.
Brief description of the drawings
, below will be to embodiment or existing in order to illustrate more clearly of inventive embodiments or technical solution of the prior art
Attached drawing is briefly described needed in technology description, it should be apparent that, drawings in the following description are only to invent
Some embodiments, for those of ordinary skill in the art, without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is a kind of overall structure diagram of energy-saving mechanical hand conveniently removed and installed of the present invention；
Fig. 2 is the schematic diagram of locking mechanism in Fig. 1；
Fig. 3 is the schematic diagram that shoulder joint structure is put in Fig. 1；
Fig. 4 is the schematic diagram of small swing arm joint structure in Fig. 1；
Fig. 5 is the schematic diagram of wrist joint structure in Fig. 1.
Embodiment
All features disclosed in this specification, or disclosed all methods or during the step of, except mutually exclusive
Feature and/or step beyond, can combine in any way.
This specification（Including any accessory claim, summary and attached drawing）Disclosed in any feature, except non-specifically chatting
State, can be replaced by other alternative features that are equivalent or have similar purpose.I.e., unless specifically stated, each feature
It is an example in a series of equivalent or similar characteristics.
As shown in Figs. 1-5, a kind of energy-saving mechanical hand conveniently removed and installed of the invention, including for mounting body knot
The installation pedestal 51 and agent structure of structure, the agent structure are all composition structures of manipulator, are mainly included：Locking mechanism
50th, shoulder joint structure 60, big swing arm 611, small swing arm articulation mechanism 70, small swing arm 701, wrist joint mechanism 80, wrist are put on
815th, actuator 824；The top of installation pedestal 51 is provided with two groups of locking mechanisms 50, and the top of locking mechanism 50 is provided with
Base 30, is connected, bottom is provided with cavity 33 under base, institute in the base 30 so that base 30 is fixed with installation pedestal 51
State and be provided with base intermediate throughholes 38 under base among 33 top of cavity, the base intermediate throughholes 38 are rotatably provided with the
One rotation axis 39,39 bottom of the first rotation axis it is rotatable be arranged at base flange bearing 37, the base flange bearing
37 fixation linkings are arranged at base flange bearing installation cavity 36, and the base flange bearing installation cavity 36 is arranged at base flange
34, bottom is provided with base flange cavity 35 in the base flange 34 so that 39 bottom of the first rotation axis not with institute
State base flange 34 to contact and then rotate conveniently, the fixation of base flange 34 linking is arranged at cavity 33 under the base and pushes up
Hold, top is provided with base upper plenum 40 in the base 30, and 40 top of base upper plenum fixes linking and is provided with cover board
41, cover board bearing hole 47 is provided among the cover board 41, and cover board bearing is rotatably provided with the cover board bearing hole 47
48,48 inner ring of cover board bearing it is rotatable pass through first rotation axis 39,39 centre position of the first rotation axis is consolidated
Fixed linking is provided with driven gear 46, and 46 right end of the driven gear engagement linking is provided with driving gear 42, the driving tooth
Fixed linkings are provided with the first output shaft 45 among wheel 42, first output shaft 45 it is rotatable pass through cover plate through hole 44, institute
State cover plate through hole 44 and be arranged at 41 right end of cover board, the 41 right top of cover board fixes linking and is provided with the first drive motor
43, the centre of the first drive motor 43 is rotatably provided with first output shaft 45,39 top of the first rotation axis
Fixed linking, which is provided with, puts on shoulder joint structure 60, and the shoulder joint structure 60 of putting on is arranged at big 611 one end of swing arm, described big
611 other end of swing arm is provided with small swing arm articulation mechanism 70, and one end that the small swing arm articulation mechanism 70 is connected is provided with small pendulum
Arm 701, small 701 other end of swing arm are provided with wrist joint mechanism 80, and one end that the wrist joint mechanism 80 is connected is set
It is equipped with wrist 815.
Valuably, wherein, the locking mechanism 50 includes being arranged in the installation pedestal 51 and open upward vertical
Shrink elongated slot 328 and the vertical stop column 32 shunk in elongated slot 328, the base can be slidably mounted at up and down
It is provided with and is engaged with the stop column 32 and open downward locking groove 31 in 30, is provided with 31 side wall of locking groove solid
Determine groove, open sliding horizontal groove 322 outwardly is provided with the stop column 32, installation is slided in the sliding horizontal groove 322
There is fixed pin 325 matched with the fixing groove, drive motor 331 be installed with 322 side wall of sliding horizontal groove,
The open helical flute 324 towards the drive motor 331 is provided with the fixed pin 325, helical is matched somebody with somebody in the helical flute 324
Conjunction is provided with helical bar 323, and the helical bar 323 coordinates with the drive motor 331 and is connected, the vertical contraction elongated slot
328 effect side walls in be provided with stop slide slot 327, can be glidingly provided with up and down in the stop slide slot 327 with it is described
Stop column 32 fixes the stop sliding block 326 of linking, and vertical shrink is installed with holddown spring on 328 bottom wall of elongated slot
329,329 upper end of holddown spring and the stop column 32, which are fixed, to be connected, and 32 upper end of stop column is provided with correcting and inclines face
330, so as to facilitate the stop column 32 to be engaged with the locking groove 31.
Valuably, wherein, the shoulder joint structure 60 of putting on includes being fixedly installed on 39 top of the first rotation axis
Rotation seat 601 is provided with the second drive motor installation cavity 603 with shoulder joint, 601 front end of rotation seat is put on, and described second drives
Dynamic motor installation cavity 603 fixes linking and is provided with the second drive motor 602, and 602 front end of the second drive motor is rotatable
The second output shaft 604 is provided with, second output shaft 604 fixes linking and is provided with active synchronization wheel 605, the active synchronization
What can be run simultaneously on wheel 605 is provided with synchronous belt 606, and what described 606 one end of synchronous belt can be run simultaneously is provided with driven same
Step wheel 607, the driven fixed linking in the centre of synchronizing wheel 607 are provided with the second rotation axis 608, and second rotation axis 608 is mutual
Title is provided with two groups of keyways 619, and linking is fixed on the keyway 619 and is provided with flat key 609, the flat key 609 is fixed linking and set
Clearance groove 610 is placed in, the clearance groove 610 mutually claims to be arranged at big 611 both sides of swing arm, is provided with and puts in the big swing arm 611
Cavity 612 under arm, side mutually claims fixed linking to have rotation seat bushing 616, the rotation seat pad before and after cavity 612 under the big swing arm
Rotatably pass through second rotation axis 608 in set 616, the rotation seat bushing 616 is rotatable outside to be arranged at rotation seat
Flange through hole 615, the rotation seat flange through hole 615 mutually claim to be arranged among rotation seat flange 614, the rotation seat flange
614 mutually claim to be provided with rotation seat bearing installation cavity 617 close to centre position, and rank is fixed in the rotation seat bearing installation cavity 617
Connect and mutually claim to be provided with rotation seat bearing 613, second rotation axis 608, institute are rotatably passed through in the rotation seat bearing 613
State it is rotatable among the second rotation axis 608 be arranged at rotation seat straight slot 618, the rotation seat straight slot 618 is arranged at described turn
Dynamic 601 top of seat, so that second drive motor 602 drives the big swing arm 611 to rotate.
Valuably, wherein, the small swing arm articulation mechanism 70 includes mutually title and is fixedly installed on described 611 one end of big swing arm
3rd drive motor 705 and small swing arm joint, the centre of the 3rd drive motor 705 are rotatably provided with the 3rd output shaft
706, the 3rd output shaft 706 it is rotatable pass through big swing arm through hole 704, the big swing arm through hole 704 mutually claims to be arranged at institute
State side before and after big 611 one end of swing arm, the 3rd output shaft 706 it is rotatable pass through small swing arm through hole 703, the small swing arm is led to
Hole 703 mutually claims to be arranged at side before and after small 701 one end of swing arm, and 706 output terminal of the 3rd output shaft fixes linking and is provided with first
Rebound 702, the First Transition plate 702 mutually claims bolt to fix linking side before and after described small 701 one end of swing arm, so that institute
Stating the 3rd drive motor 705 drives the small swing arm 701 to rotate.
Valuably, wherein, the wrist joint mechanism 80 includes that fixed linking is arranged at described 701 one end of small swing arm
Four drive motors 801 and wrist joint, 801 bottom of the 4th drive motor fix linking and are provided with diaphragm plate 802, the horizontal stroke
Diaphragm plate through hole 804 is provided among partition plate 802, the 4th output shaft is rotatably provided with the diaphragm plate through hole 804
803, the 4th output shaft 803 rotatably fixes linking and is arranged at 801 bottom of the 4th drive motor, and the described 4th is defeated
803 output terminal of shaft fixes linking and is provided with drive bevel gear 805, and the rear side of the drive bevel gear 805 engagement linking is provided with
Driven wheel of differential 806, the fixed linking in the centre of driven wheel of differential 806 are provided with the 3rd rotation axis 813, the 3rd rotation axis
813 rotatably pass through wrist bearing cross hole 808, and the wrist bearing cross hole 808 mutually claims to be arranged at described 701 one end of small swing arm
Front and rear side, the 3rd rotation axis 813 rotatably pass through wrist bearing 809, and the wrist bearing 809 mutually claims to be arranged at wrist
Bearing mounting hole 810, the wrist bearing mounting hole 810 mutually claims to be arranged at side before and after described small 701 one end of swing arm, described
3rd rotation axis 813 rotatably passes through wrist flange through hole 812, and the wrist flange through hole 812 is arranged at wrist flange 811
Centre, the wrist flange 811 mutually claim to be arranged at side before and after described 701 one end of small swing arm, 813 front and back end of the 3rd rotation axis
Mutually claim to be fixedly installed the second rebound 814, second rebound 814 is bolted with wrist 815 to be connected, the hand
815 bottom of wrist is provided with the 5th drive motor installation cavity 817, and 817 top of the 5th drive motor installation cavity is fixedly installed
5th drive motor 816,816 bottom of the 5th drive motor are rotatably provided with the 5th output shaft 818, and the described 5th is defeated
Shaft 818 rotatably passes through 819 inner ring of the 5th drive motor bearing, and the 5th drive motor bearing 819 is fixedly installed on
5th drive motor installation cavity, 817 bottom, the 819 bottom outer ring of the 5th drive motor bearing are fixedly installed the 5th drive
Dynamic motor cover board 821, is provided with the 5th drive motor cover plate through hole 820 among the 5th drive motor cover board 821, and described the
Five output shafts 818 rotatably pass through the 5th drive motor cover plate through hole 820.
Valuably, wherein, 818 bottom of the 5th output shaft is fixed with 823 bolt of actuator installing plate to be connected, described to hold
What side mutually claimed before and after row device installing plate 823 is provided with actuator installing plate helical hole 822, the actuator installing plate helical hole
822 bolts, which fix linking, actuator 824, pacifies so as to which the actuator detachably installed 824 is installed on the actuator
In loading board, and the 5th drive motor 801 can drive the actuator 824 to rotate.
In original state, the base 30 is fixedly mounted base 30 in apparatus of the present invention by the locking mechanism 50
In installation pedestal 51, it is embodied in and the base 30 is placed into 51 in the installation pedestal, when the stop column 32 and institute
When stating 31 misalignment of locking groove, the stop column understands 32 by downward top pressure, and when the stop column 32 and the locking groove 31 are right
On time, the stop column 32 can extend into the locking groove 31 under the action of holddown spring 329 and match with the locking groove 31
Close；After the stop column 32 is engaged with the locking groove 31, start the drive motor 321 described in drive motor 321 can
Drive the fixed pin 325 protruding and extend into the fixing groove, thus, the base 30 can be fixed on the peace
Fill on pedestal 51；The first output shaft 45 set among first drive motor 43 is fixed with the driving gear 42 to be connected,
First rotation axis 39 is fixed with the driven gear 46 to be connected, and first rotation axis 39 puts on shoulder joint structure with described
60 fix linking, and second output shaft 604, second output are rotatably set among second drive motor 602
Axis 604 and the active synchronization wheel 605, which are fixed, to be connected, the active synchronization wheel 605 by the synchronous belt 606 with it is described driven
Synchronizing wheel 607 rotates synchronously, and the driven synchronizing wheel 607 is fixed with second rotation axis 608 to be connected, second rotation axis
608 are connected with the indirect fixation of the big swing arm 611, and described 611 one end is provided with the small swing arm articulation mechanism 70, described to put on
611 one end of arm is fixedly installed the 3rd drive motor 705, and rotatable being arranged at of the 3rd output shaft 706 the described 3rd is driven
Dynamic motor 705, the 3rd output shaft 706 is fixed with the small swing arm 701 indirectly to be connected, and described small 701 one end of swing arm is fixed
Linking is provided with wrist joint mechanism 80, is provided with the 4th drive motor 801 in the wrist joint mechanism 80, and described the
It is rotatable among four drive motor 801 to be provided with the 4th output shaft 803, the 4th output shaft 803 and the active
Bevel gear 805 fixes linking, and the drive bevel gear 805 is engaged with the driven wheel of differential 806, the 3rd rotation axis 813
Fix and be connected with the driven wheel of differential 806, the 3rd rotation axis 813 is fixed with the wrist 815 indirectly to be connected, the hand
815 bottom of wrist is provided with the 5th drive motor 816, rotatable among the 5th drive motor 816 to be provided with the 5th output
Axis 818, the 5th output shaft 818 is indirectly fixed with the actuator 824 to be connected.
In use, control first drive motor 43, the second drive motor 602, the 3rd drive motor 705,4 wheel driven
Dynamic motor 801, the 5th drive motor 816 carry out positive and negative rotation,.
When needing whole device to horizontally rotate, first drive motor 43 is controlled to drive the driving gear 42
Rotate, and then drive driven gear 46 to rotate, while drive the first rotation axis 39 to rotate, fix and hold in the mouth with first rotation axis 39
The shoulder joint structure 60 of putting on connect is also rotated.
When needing to allow the big swing arm 611 to be swung, second drive motor 602 is controlled to drive the active same
Step wheel 605, driven synchronizing wheel 607 rotate synchronously, so as to swing indirectly big swing arm 611.
When needing to allow the small swing arm 701 to be swung, the 3rd drive motor 705 is controlled to drive indirectly described small
Swing arm 701 is swung.
When needing to allow the wrist 815 to be swung, the 4th drive motor 801 is controlled to drive the active conical tooth
Wheel 805, driven wheel of differential 806 rotate, so as to swing indirectly the wrist 815.
When needing to allow the actuator 824 to rotate, the 5th drive motor 816 is controlled to drive the actuator indirectly
824 rotate.
When need manipulator when space optional position carries out positioning work, it is necessary to control at the same time it is described five driving horse
Reach, carry out collaboration operating, you can realize this function.
The beneficial effects of the invention are as follows：Since the base in invention device is in original state, the base passes through described
Locking mechanism is fixedly installed in installation pedestal, is embodied in and the base is placed into the installation pedestal, stops when described
When dynamic column is with the locking groove misalignment, the stop column can be by downward top pressure, and works as the stop column and the locking groove pair
On time, the stop column can extend into the locking groove under the action of holddown spring and is engaged with the locking groove；When described
After stop column is engaged with the locking groove, the fixed pin can be driven to overhanging by starting drive motor described in the drive motor
Go out and extend into the fixing groove, thus, the base can be fixed in the installation pedestal, it is steady that device installation can be improved
It is qualitative；The first output shaft set among first drive motor is fixed with the driving gear to be connected, and described first rotates
Axis and the driven gear, which are fixed, be connected, and first rotation axis is put on the fixation of shoulder joint structure and be connected with described, and described second
Second output shaft is rotatably set among drive motor, and second output shaft is fixed with the active synchronization wheel to be held in the mouth
Connect, the active synchronization wheel is rotated synchronously by the synchronous belt and the driven synchronizing wheel, the driven synchronizing wheel with it is described
Second rotation axis fixes linking, and fixation is connected second rotation axis indirectly with the big swing arm, and described one end is provided with described
Small swing arm articulation mechanism, described big swing arm one end are fixedly installed the 3rd drive motor, and the 3rd output shaft is rotatable to be set
The 3rd drive motor is placed in, the 3rd output shaft is fixed with the small swing arm indirectly to be connected, and described small swing arm one end is consolidated
Fixed linking is provided with wrist joint mechanism, and the 4th drive motor, the 4 wheel driven are provided with the wrist joint mechanism
Rotatable among dynamic motor to be provided with the 4th output shaft, the 4th output shaft is fixed with the drive bevel gear to be held in the mouth
Connecing, the drive bevel gear is engaged with the driven wheel of differential, and the 3rd rotation axis is fixed with the driven wheel of differential to be connected,
3rd rotation axis is fixed with the wrist indirectly to be connected, and the wrist bottom is provided with the 5th drive motor, and the described 5th
Rotatable among drive motor to be provided with the 5th output shaft, the 5th output shaft is indirectly fixed with the actuator to be held in the mouth
Connect, so that five driving structures are applied in whole device, improve the precision and use scope of device.
In use, control first drive motor, the second drive motor, the 3rd drive motor, the 4th drive motor, the
Five drive motors carry out positive and negative rotation, so as to drive corresponding construction to synchronize movement, realize actuator in space optional position
Work.
When needing whole device to horizontally rotate, first drive motor is controlled to drive the driving tooth rotation
Move, and then drive driven gear to rotate, while drive the first rotation axis to rotate, put on what first rotation axis fixation was connected
Shoulder joint structure is also rotated, and is horizontally rotated so as to fulfill device, improves device flexibility.
When needing to allow the big swing arm to be swung, control the second drive motor drive active synchronization wheel,
Driven synchronizing wheel rotates synchronously, so as to make to put on arm swing indirectly, so as to improve the activity of device.
When needing to allow the small swing arm to be swung, the 3rd drive motor is controlled to drive the small swing arm pendulum indirectly
It is dynamic, so as to improve the flexible and changeable property of device.
When needing to allow the wrist to be swung, control the 4th drive motor drive the drive bevel gear, from
Dynamic bevel gear rotates, so as to make the wrist swinging indirectly, so as to improve the convenience that device works in narrow working space.
When need to allow the actuator turns when, control the 5th drive motor to drive the actuator turns indirectly,
It is achieved thereby that the feature under high-precision job requirement.
When need manipulator when space optional position carries out positioning work, it is necessary to control at the same time it is described five driving horse
Reach, carry out collaboration operating, you can realize this function.
Apparatus of the present invention are simple in structure, easy to use, realize high-precision position positioning work, improve manipulator production
Efficiency and the convenience removed and installed, using simplified style structure and energy-saving type motivation device, improve the energy saving of manipulator.
The above, the embodiment only invented, but invent protection domain be not limited thereto, it is any without
The change or replacement that creative work is expected are crossed, should all be covered within the protection domain of invention.Therefore, the protection domain of invention
It should be determined by the scope of protection defined in the claims.
Claims (6)
1. a kind of energy-saving mechanical hand conveniently removed and installed, including installation pedestal and main body knot for mounting body structure
Structure, it is characterised in that：The agent structure is all composition structures of manipulator, is mainly included：Locking mechanism, put on shoulder joint
Structure, big swing arm, small swing arm articulation mechanism, small swing arm, wrist joint mechanism, wrist, actuator；Set at the top of the installation pedestal
Two groups of locking mechanisms are equipped with, base is provided with the top of the locking mechanism, are connected so that base is fixed with installation pedestal, it is described
Bottom is provided with cavity under base in base, and base intermediate throughholes, the base are provided among cavity top under the base
Intermediate throughholes are rotatably provided with the first rotation axis, the first rotation axis bottom it is rotatable be arranged at base flange axis
Hold, the base flange bearing fixes linking and is arranged at base flange bearing installation cavity, and the base flange bearing installation cavity is set
Base flange is placed in, bottom is provided with base flange cavity in the base flange, so that the first rotation axis bottom is not
Contacting and then rotated conveniently with the base flange, the base flange fixes linking and is arranged at cavity top under the base,
Top is provided with base upper plenum in the base, and the base upper plenum top fixes linking and is provided with cover board, the cover board
Centre is provided with cover board bearing hole, and cover board bearing, the cover board bearing inner race are rotatably provided with the cover board bearing hole
Rotatable passes through first rotation axis, and the first rotation axis centre position fixes linking and is provided with driven gear, described
The engagement linking of driven gear right end is provided with driving gear, and fixing linking among the driving gear is provided with the first output shaft,
First output shaft it is rotatable pass through cover plate through hole, the cover plate through hole is arranged at the cover board right end, and the cover board is right
Top fixes linking and is provided with the first drive motor, and first output is rotatably provided among first drive motor
Axis, the first rotation axis top fixation linking, which is provided with, puts on shoulder joint structure, and the shoulder joint structure setting of putting on is in big
Swing arm one end, the big swing arm other end are provided with small swing arm articulation mechanism, and one end of the small swing arm articulation mechanism linking is set
Small swing arm is equipped with, the small swing arm other end is provided with wrist joint mechanism, and one end of the wrist joint mechanism linking is set
There is wrist.
A kind of 2. energy-saving mechanical hand conveniently removed and installed as claimed in claim 1, it is characterised in that：The locking mechanism
Including being arranged in the installation pedestal and open upward vertical shrinking elongated slot and can be slidably mounted at up and down described
The vertical stop column shunk in elongated slot, is provided with the base and is engaged with the stop column and open downward stop
Groove, is provided with fixing groove in the stop groove sidewall, and open sliding horizontal groove outwardly, the water are provided with the stop column
Slided in flat slide slot be provided with the matched fixed pin of the fixing groove, be installed with the sliding horizontal groove sidewall
Drive motor, the open helical flute towards the drive motor is provided with the fixed pin, and helical coordinates in the helical flute
Helical bar is installed, the helical bar coordinates with the drive motor and is connected, and vertical shrink in elongated slot effect side wall sets
Stop slide slot is equipped with, the stop fixed and be connected with the stop column can be glidingly installed up and down in the stop slide slot and slided
Row block, vertical shrink are installed with holddown spring, the holddown spring upper end and the stop column in stretching, extension groove bottom wall
Fixed linking, the stop column upper end are provided with correcting and incline face.
A kind of 3. energy-saving mechanical hand conveniently removed and installed as claimed in claim 1, it is characterised in that：The big swing arm is closed
Section structure includes being fixedly installed on the rotation seat on the first rotation axis top and puts on shoulder joint, and the rotation seat front end is set
There is the second drive motor installation cavity, the second drive motor installation cavity fixes linking and is provided with the second drive motor, and described the
Two drive motor front ends it is rotatable be provided with the second output shaft, second output shaft fixes linking and is provided with active synchronization
Take turns, what can be run simultaneously in the active synchronization wheel is provided with synchronous belt, and what described synchronous belt one end can be run simultaneously is provided with
Driven synchronizing wheel, the driven fixed linking in synchronizing wheel centre are provided with the second rotation axis, and second rotation axis mutually claims to set
There are two groups of keyways, linking is fixed on the keyway and is provided with flat key, the flat key fixes linking and is arranged at clearance groove, the gap
Groove mutually claims to be arranged at big swing arm both sides, cavity under big swing arm is provided with the big swing arm, side before and after cavity under the big swing arm
Mutually claim fixed linking to have rotation seat bushing, second rotation axis, the rotation are rotatably passed through in the rotation seat bushing
Seat pad set it is outer it is rotatable be arranged at rotation seat flange through hole, the rotation seat flange through hole mutually claims to be arranged in rotation seat flange
Between, the rotation seat flange mutually claims to be provided with rotation seat bearing installation cavity, the rotation seat bearing installation cavity close to centre position
Interior fixed linking mutually claims to be provided with rotation seat bearing, and second rotation axis, institute are rotatably passed through in the rotation seat bearing
State it is rotatable among the second rotation axis be arranged at rotation seat straight slot, the rotation seat straight slot is arranged at the rotation seat top,
So that second drive motor drives the big swing arm to rotate.
A kind of 4. energy-saving mechanical hand conveniently removed and installed as claimed in claim 1, it is characterised in that：The small swing arm is closed
Section mechanism includes mutually title and is fixedly installed on the 3rd drive motor of described big swing arm one end and small swing arm joint, the 3rd driving
It is rotatable among motor to be provided with the 3rd output shaft, the 3rd output shaft it is rotatable pass through big swing arm through hole, it is described greatly
Swing arm through hole mutually claims to be arranged at side before and after described big swing arm one end, the 3rd output shaft it is rotatable pass through small swing arm through hole,
The small swing arm through hole mutually claims to be arranged at side before and after small swing arm one end, and the 3rd output shaft output terminal fixes linking and is provided with the
One rebound, the First Transition plate mutually claims bolt to fix linking side before and after described small swing arm one end, so that the described 3rd
Drive motor drives the small swing arm to rotate.
A kind of 5. energy-saving mechanical hand conveniently removed and installed as claimed in claim 1, it is characterised in that：The wrist joint
Mechanism includes the 4th drive motor and wrist joint that fixed linking is arranged at described small swing arm one end, the 4th drive motor
Bottom fixes linking and is provided with diaphragm plate, and diaphragm plate through hole is provided among the diaphragm plate, can be turned in the diaphragm plate through hole
Dynamic is provided with the 4th output shaft, and the 4th output shaft rotatably fixes linking and is arranged at the 4th drive motor bottom
End, the 4th output shaft output terminal fix linking and are provided with drive bevel gear, and engaging linking on rear side of the drive bevel gear sets
Driven wheel of differential is equipped with, fixing linking among the driven wheel of differential is provided with the 3rd rotation axis, and the 3rd rotation axis can turn
Dynamic to pass through wrist bearing cross hole, the wrist bearing cross hole mutually claims to be arranged at side before and after described small swing arm one end, and the described 3rd
Rotation axis rotatably passes through wrist bearing, and the wrist bearing mutually claims to be arranged at wrist bearing mounting hole, the wrist bearing
Mounting hole mutually claims to be arranged at side before and after described small swing arm one end, and the 3rd rotation axis is rotatably led to through wrist flange
Hole, the wrist flange through hole are arranged among wrist flange, and the wrist flange mutually claims before being arranged at described small swing arm one end
Rear side, the 3rd rotation axis front and back end mutually claim to be fixedly installed the second rebound, and second rebound passes through spiral shell with wrist
Bolt fixes linking, and the wrist bottom is provided with the 5th drive motor installation cavity, and the 5th drive motor installation cavity top is consolidated
Surely the 5th drive motor is provided with, the 5th drive motor bottom is rotatably provided with the 5th output shaft, and the described 5th is defeated
Shaft rotatably passes through the 5th drive motor bearing inner ring, and the 5th drive motor bearing is fixedly installed on the described 5th and drives
Dynamic motor installation cavity bottom, the 5th drive motor bearing bottom outer ring is fixedly installed the 5th drive motor cover board, described
The 5th drive motor cover plate through hole is provided among 5th drive motor cover board, the 5th output shaft is rotatably through described
5th drive motor cover plate through hole.
A kind of 6. energy-saving mechanical hand conveniently removed and installed as claimed in claim 1, it is characterised in that：5th output
Axis bottom is fixed with actuator installation crab bolt to be connected, and what side mutually claimed before and after the actuator installing plate is provided with actuator installation
Plate helical hole, actuator installing plate helical hole bolt, which fixes linking, actuator, so as to be held what is detachably installed
Row device is installed on the actuator installing plate, and the 5th drive motor can drive the actuator turns.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711488421.3A CN108032287A (en) | 2017-12-30 | 2017-12-30 | A kind of energy-saving mechanical hand conveniently removed and installed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711488421.3A CN108032287A (en) | 2017-12-30 | 2017-12-30 | A kind of energy-saving mechanical hand conveniently removed and installed |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108032287A true CN108032287A (en) | 2018-05-15 |
Family
ID=62098070
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711488421.3A Withdrawn CN108032287A (en) | 2017-12-30 | 2017-12-30 | A kind of energy-saving mechanical hand conveniently removed and installed |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108032287A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110243452A (en) * | 2019-06-14 | 2019-09-17 | 浙江省计量科学研究院 | A kind of electronic balance automatic calibrator |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2599290A1 (en) * | 1986-05-27 | 1987-12-04 | Afma Robots | Electromechanical orientation system, especially for a three-axis robot wrist |
| KR20100007203A (en) * | 2008-07-11 | 2010-01-22 | 주식회사 로보테크 | 6 axle arm apparatus of service robot |
| CN202825853U (en) * | 2012-11-01 | 2013-03-27 | 宁波摩科机器人科技有限公司 | Mechanical wrist device |
| CN104002304A (en) * | 2014-05-08 | 2014-08-27 | 昆明理工大学 | Novel pneumatic manipulator |
| CN104308858A (en) * | 2014-10-28 | 2015-01-28 | 济南时代试金试验机有限公司 | Wrist of industrial robot |
| CN106625634A (en) * | 2016-11-15 | 2017-05-10 | 方桥清 | High-performance six-axle robot |
-
2017
- 2017-12-30 CN CN201711488421.3A patent/CN108032287A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2599290A1 (en) * | 1986-05-27 | 1987-12-04 | Afma Robots | Electromechanical orientation system, especially for a three-axis robot wrist |
| KR20100007203A (en) * | 2008-07-11 | 2010-01-22 | 주식회사 로보테크 | 6 axle arm apparatus of service robot |
| CN202825853U (en) * | 2012-11-01 | 2013-03-27 | 宁波摩科机器人科技有限公司 | Mechanical wrist device |
| CN104002304A (en) * | 2014-05-08 | 2014-08-27 | 昆明理工大学 | Novel pneumatic manipulator |
| CN104308858A (en) * | 2014-10-28 | 2015-01-28 | 济南时代试金试验机有限公司 | Wrist of industrial robot |
| CN106625634A (en) * | 2016-11-15 | 2017-05-10 | 方桥清 | High-performance six-axle robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110243452A (en) * | 2019-06-14 | 2019-09-17 | 浙江省计量科学研究院 | A kind of electronic balance automatic calibrator |
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Application publication date: 20180515 |
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