CN109352640A - A kind of telescopic bionic machine human arm - Google Patents
A kind of telescopic bionic machine human arm Download PDFInfo
- Publication number
- CN109352640A CN109352640A CN201811336286.5A CN201811336286A CN109352640A CN 109352640 A CN109352640 A CN 109352640A CN 201811336286 A CN201811336286 A CN 201811336286A CN 109352640 A CN109352640 A CN 109352640A
- Authority
- CN
- China
- Prior art keywords
- nut
- telescopic
- leadscrew
- gripper
- machine human
- 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.)
- Withdrawn
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- 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
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
-
- 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
- B25J9/123—Linear actuators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to robot field more particularly to a kind of telescopic bionic machine human arms.A kind of its technical solution are as follows: telescopic bionic machine human arm, including pedestal, hexagonal tube and driving mechanism are fixed on pedestal, leadscrew-nut mechanism is arranged in hexagonal tube, the output end of driving mechanism is connect with leadscrew-nut mechanism, leadscrew-nut mechanism is connected with lifting pipe far from one end of pedestal, and the other end of lifting pipe is connected with gripper.The present invention provides it is a kind of can according to circumstances free extension, guarantee the telescopic bionic machine human arm of accurate clamping article, solve the problems, such as that existing robot arm can not free extension.
Description
Technical field
The present invention relates to robot field more particularly to a kind of telescopic bionic machine human arms.
Background technique
It can be automatic as advanced integral traffic control opinion, mechano-electronic, computer, material and bionic product, robot
Various operations are executed, various severe working environments are adapted to, are brought for release human work burden, raising production efficiency very big
Benefit, thus be widely used in produce and live every field.
The utility model patent that number of patent application is CN201820073929.0 discloses outside a kind of bionic machine human arm
Shell is set between the adjacent segment of bionic machine human arm, including the sequentially connected a plurality of shells of building block system, wherein at least
There is relative rotation, the relative rotation is using the connecting line between the shell involved by it as axis between two shells；It is a kind of
Bionic machine human arm, including sequentially connected shoulder joint, large arm, elbow joint, forearm and wrist joint, the large arm with it is described small
At least one of arm is the bionic machine human arm shell.Bionic machine human arm provided by the invention and its shell have more
Freedom degree and can flexible motion, realize and emulate to the height of human arm that there is significant bionical characteristic.
But above-mentioned robot arm can not stretch, use scope is restricted.Robot arm usually requires
Biggish spatial dimension is touched, and conventional robot arm can not stretch, gripper cannot touch article remotely.
Therefore, existing robot arm can not be suitable for the industry spot of different situations, i.e., existing when the position of article changes
Robot arm will be unable to be applicable in.
Summary of the invention
The present invention overcomes the deficiencies in the prior art, and providing one kind according to circumstances free extension, guarantee accurately can clamp object
The telescopic bionic machine human arm of product, solves the problems, such as that existing robot arm can not free extension.
In order to solve the above technical problems, the invention adopts the following technical scheme:
A kind of telescopic bionic machine human arm, including pedestal are fixed with hexagonal tube and driving mechanism, six sides on pedestal
Leadscrew-nut mechanism is arranged in shape pipe, the output end of driving mechanism is connect with leadscrew-nut mechanism, and leadscrew-nut mechanism is separate
One end of pedestal is connected with lifting pipe, and the other end of lifting pipe is connected with gripper.
As a preferred solution of the present invention, the leadscrew-nut mechanism includes nut, and nut is sheathed in hexagonal tube, spiral shell
Box thread is connected with lead screw, and one end of lead screw is connected with shaft, and shaft is connected in hexagonal tube by bearing, driving mechanism
Output shaft is connected in shaft, and lifting pipe is fixed on nut.
As a preferred solution of the present invention, thrust bearing, the other end and shaft of thrust bearing are installed on the pedestal
Connection.
As a preferred solution of the present invention, the driving mechanism includes motor, and the output shaft of motor is connected with retarder, subtracts
The output shaft of fast device is connected with driving gear, and driving gear is engaged with driven gear, and driven gear is installed on leadscrew-nut mechanism
On.
As a preferred solution of the present invention, the gripper includes support base, and support base is fixed on lifting pipe, support base
On be hinged with two connecting rods, the other end of connecting rod is hinged with gripper jaw, push-and-pull component is equipped on support base, pushes and pulls the another of component
One end is hinged with the middle section of two gripper jaws respectively.
As a preferred solution of the present invention, the push-and-pull component includes cylinder, and the cylinder sleeve of cylinder is fixed on support base, gas
Link block is fixed on the piston rod of cylinder, the middle section of two gripper jaws is articulated on link block.
Compared with prior art, the beneficial effects of the present invention are:
1, driving mechanism of the invention can drive leadscrew-nut mechanism to act, then go up and down under the driving of leadscrew-nut mechanism
Pipe and gripper can accordingly be gone up and down, so that the position of gripper can be adjusted.Since leadscrew-nut mechanism is sheathed on hexagon
In pipe, then when driving mechanism drives driving leadscrew-nut mechanism, hexagonal tube can limit the nut rotation of leadscrew-nut mechanism,
Then the nut of leadscrew-nut mechanism can move linearly under the driving of the lead screw of leadscrew-nut mechanism, realize lifting pipe and gripper
Lifting.By adjusting the position of gripper, gripper is enabled to touch bigger range, guarantees that article remotely also can quilt
Gripper crawl, improves the applicability of robot arm.
2, when driving mechanism drive shaft rotates, lead screw is accordingly rotated, and nut is straight due to limiting rotation by hexagonal tube
Line is mobile, then lifting pipe and gripper can move linearly with nut, and gripper is facilitated to grab the article of different location.
3, thrust bearing can be supported shaft, guarantee the stability of lead screw position, thus nut, lifting pipe, machinery
Pawl can be moved steadily.
4, after electric motor starting, Motor drive decelerator movement, retarder drives driving gear rotation, driving gear driving
Driven gear rotation.Therefore, under the drive of driven gear, leadscrew-nut mechanism can be rotated accordingly, realize leadscrew-nut mechanism
Driving to lifting pipe, structure is simple, easy to operate.
5, when pushing and pulling the middle section of component pulling gripper jaw, gripper jaw occurs under the collective effect of connecting rod and push-and-pull component
It verts, then two gripper jaws can be rotated towards each other or be rotated opposite to each other, realize clamping or relieving of the gripper jaw to article.It is pressed from both sides by control
The verting to grab article and can guarantee enough clamping forces of pawl is held, guarantees that crawl is reliable.
6, when link block is released or retracted by the piston cylinder of cylinder, gripper jaw can be rotated accordingly, realize the crawl of article
Or it puts down.The free-grabbing of article then can be realized by controlling cylinder, operation is simple and reliable.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is part-structure figure of the invention；
Fig. 3 is the structural schematic diagram of gripper.
In figure, 1- pedestal, 2- hexagonal tube, 3- driving mechanism, 4- leadscrew-nut mechanism, 5- lifting pipe, 6- gripper, 7-
Thrust bearing, 31- motor, 32- retarder, 33- driving gear, 34- driven gear, 41- nut, 42- lead screw, 43- shaft,
61- support base, 62- connecting rod, 63- gripper jaw, 64- push and pull component, 641- cylinder, 642- link block.
Specific embodiment
With reference to the accompanying drawing, the present invention is described in detail.
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.
Embodiment one
A kind of telescopic bionic machine human arm, including pedestal 1 are fixed with hexagonal tube 2 and driving mechanism 3 on pedestal 1,
Leadscrew-nut mechanism 4 is arranged in hexagonal tube 2, the output end of driving mechanism 3 is connect with leadscrew-nut mechanism 4, feed screw nut
Mechanism 4 is connected with lifting pipe 5 far from one end of pedestal 1, and the other end of lifting pipe 5 is connected with gripper 6.
Driving mechanism 3 of the invention can drive leadscrew-nut mechanism 4 to act, then rise under the driving of leadscrew-nut mechanism 4
Drop pipe 5 and gripper 6 can accordingly be gone up and down, so that the position of gripper 6 can be adjusted.Since leadscrew-nut mechanism 4 is sheathed on
In hexagonal tube 2, then when driving mechanism 3 drives driving leadscrew-nut mechanism 4, hexagonal tube 2 can limit leadscrew-nut mechanism 4
Nut 41 rotate, then the nut 41 of leadscrew-nut mechanism 4 can under the driving of the lead screw 42 of leadscrew-nut mechanism 4 straight line move
It is dynamic, realize the lifting of lifting pipe 5 and gripper 6.By adjusting the position of gripper 6, gripper 6 is enabled to touch bigger model
It encloses, guarantees that article remotely can also be grabbed by gripper 6, improve the applicability of robot arm.
Embodiment two
On the basis of example 1, the leadscrew-nut mechanism 4 includes nut 41, and nut 41 is sheathed on hexagonal tube 2
Interior, nut 41 is threaded with lead screw 42, and one end of lead screw 42 is connected with shaft 43, and shaft 43 is connected to hexagon by bearing
In pipe 2, the output shaft of driving mechanism 3 is connected in shaft 43, and lifting pipe 5 is fixed on nut 41.
When 3 drive shaft 43 of driving mechanism rotates, lead screw 42 is accordingly rotated, and nut 41 by the limitation of hexagonal tube 2 due to being turned
It moves and moves linearly, then lifting pipe 5 and gripper 6 can move linearly with nut 41, facilitate gripper 6 to the article of different location
It is grabbed.
Embodiment three
On the basis of embodiment one or embodiment two, thrust bearing 7 is installed on the pedestal 1, thrust bearing 7 it is another
One end is connect with shaft 43.
Thrust bearing 7 can be supported shaft 43, guarantee the stability of 42 position of lead screw, thus nut 41, lifting pipe
5, gripper 6 can be moved steadily.
Example IV
On the basis of above-mentioned any one embodiment, the driving mechanism 3 includes motor 31, and the output shaft of motor 31 connects
It is connected to retarder 32, the output shaft of retarder 32 is connected with driving gear 33, and driving gear 33 is engaged with driven gear 34, driven
Gear 34 is installed on leadscrew-nut mechanism 4.
After motor 31 starts, motor 31 drives retarder 3 to act, and retarder 32 drives driving gear 33 to rotate, actively
Gear 33 drives driven gear 34 to rotate.Therefore, under the drive of driven gear 34, leadscrew-nut mechanism 4 can be rotated accordingly, real
Existing driving of the leadscrew-nut mechanism 4 to lifting pipe 5, structure is simple, easy to operate.
Embodiment five
On the basis of above-mentioned any one embodiment, the gripper 6 includes support base 61, and support base 61 is fixed on liter
It drops on pipe 5, two connecting rods 62 is hinged on support base 61, the other end of connecting rod 62 is hinged with gripper jaw 63, pacifies on support base 61
Equipped with push-and-pull component 64, the other end for pushing and pulling component 64 is hinged with the middle section of two gripper jaws 63 respectively.
When pushing and pulling the middle section of the pulling gripper jaw 63 of component 64, common work of the gripper jaw 63 in connecting rod 62 and push-and-pull component 64
It is verted with lower, then two gripper jaws 63 can be rotated towards each other or be rotated opposite to each other, realized gripper jaw 63 to the clamping of article or put
It opens.It grabs article by verting for control gripper jaw 63 and can guarantee enough clamping forces, guarantee that crawl is reliable.
Embodiment six
On the basis of above-mentioned any one embodiment, the push-and-pull component 64 includes cylinder 641, the cylinder sleeve of cylinder 641
It is fixed on support base 61, link block 642 is fixed on the piston rod of cylinder 641, the middle section of two gripper jaws 63 is articulated with
On link block 642.
When link block 642 is released or retracted by the piston cylinder of cylinder 641, gripper jaw 63 can be rotated accordingly, realize article
Crawl or put down.The free-grabbing of article then can be realized by controlling cylinder 641, operation is simple and reliable.
Claims (6)
1. a kind of telescopic bionic machine human arm, which is characterized in that including pedestal (1), pedestal is fixed with hexagonal tube on (1)
(2) and driving mechanism (3) it, is arranged with leadscrew-nut mechanism (4) in hexagonal tube (2), the output end and lead screw of driving mechanism (3)
Nut body (4) connection, leadscrew-nut mechanism (4) are connected with lifting pipe (5) far from the one end of pedestal (1), lifting pipe (5) it is another
One end is connected with gripper (6).
2. a kind of telescopic bionic machine human arm according to claim 1, which is characterized in that the leadscrew-nut mechanism
It (4) include nut (41), nut (41) is sheathed in hexagonal tube (2), and nut (41) is threaded with lead screw (42), lead screw
(42) one end is connected with shaft (43), and shaft (43) is connected in hexagonal tube (2) by bearing, driving mechanism (3) it is defeated
Shaft is connected on shaft (43), and lifting pipe (5) is fixed on nut (41).
3. a kind of telescopic bionic machine human arm according to claim 2, which is characterized in that pacify on the pedestal (1)
Equipped with thrust bearing (7), the other end of thrust bearing (7) is connect with shaft (43).
4. a kind of telescopic bionic machine human arm according to claim 1, which is characterized in that the driving mechanism (3)
Including motor (31), the output shaft of motor (31) is connected with retarder (32), and the output shaft of retarder (32) is connected with driving tooth
It takes turns (33), driving gear (33) is engaged with driven gear (34), and driven gear (34) is installed on leadscrew-nut mechanism (4).
5. a kind of telescopic bionic machine human arm described in any one according to claim 1~4, which is characterized in that described
Gripper (6) includes support base (61), and support base (61) is fixed on lifting pipe (5), and two companies are hinged on support base (61)
Bar (62), the other end of connecting rod (62) are hinged with gripper jaw (63), and push-and-pull component (64), push-and-pull group are equipped on support base (61)
The other end of part (64) is hinged with the middle section of two gripper jaws (63) respectively.
6. a kind of telescopic bionic machine human arm according to claim 5, which is characterized in that the push-and-pull component (64)
Including cylinder (641), the cylinder sleeve of cylinder (641) is fixed on support base (61), is fixed with connection on the piston rod of cylinder (641)
Block (642), the middle section of two gripper jaws (63) are articulated on link block (642).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811336286.5A CN109352640A (en) | 2018-11-09 | 2018-11-09 | A kind of telescopic bionic machine human arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811336286.5A CN109352640A (en) | 2018-11-09 | 2018-11-09 | A kind of telescopic bionic machine human arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109352640A true CN109352640A (en) | 2019-02-19 |
Family
ID=65344878
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811336286.5A Withdrawn CN109352640A (en) | 2018-11-09 | 2018-11-09 | A kind of telescopic bionic machine human arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109352640A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110238864A (en) * | 2019-07-09 | 2019-09-17 | 西拓能源集团有限公司 | Steam power plant's aquation workshop accident emergency device |
| CN110434864A (en) * | 2019-07-22 | 2019-11-12 | 大连理工大学 | A kind of rescue robot head grabs device based on small diameter deep well |
| CN112238442A (en) * | 2020-08-28 | 2021-01-19 | 南京驭逡通信科技有限公司 | Multi-curvature adjusting type support arm structure of industrial robot and using method thereof |
| CN112723128A (en) * | 2020-12-23 | 2021-04-30 | 天津现代职业技术学院 | Pipe fitting clamping device |
| CN112743522A (en) * | 2021-01-15 | 2021-05-04 | 许昌学院 | Artificial intelligence robot arm extends and snatchs mechanism |
| CN112916551A (en) * | 2021-01-20 | 2021-06-08 | 蔺学强 | Medical medicine bottle cleaning equipment |
| CN113561164A (en) * | 2021-05-19 | 2021-10-29 | 四川犍小茉科技有限公司 | Mechanical arm |
| CN114851245A (en) * | 2022-04-15 | 2022-08-05 | 郑州大学 | Robot telescopic swing mechanism and bionic robot |
-
2018
- 2018-11-09 CN CN201811336286.5A patent/CN109352640A/en not_active Withdrawn
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110238864A (en) * | 2019-07-09 | 2019-09-17 | 西拓能源集团有限公司 | Steam power plant's aquation workshop accident emergency device |
| CN110434864A (en) * | 2019-07-22 | 2019-11-12 | 大连理工大学 | A kind of rescue robot head grabs device based on small diameter deep well |
| CN110434864B (en) * | 2019-07-22 | 2022-03-29 | 大连理工大学 | Rescue robot head grabbing device based on small-bore deep well |
| CN112238442A (en) * | 2020-08-28 | 2021-01-19 | 南京驭逡通信科技有限公司 | Multi-curvature adjusting type support arm structure of industrial robot and using method thereof |
| CN112723128A (en) * | 2020-12-23 | 2021-04-30 | 天津现代职业技术学院 | Pipe fitting clamping device |
| CN112743522A (en) * | 2021-01-15 | 2021-05-04 | 许昌学院 | Artificial intelligence robot arm extends and snatchs mechanism |
| CN112916551A (en) * | 2021-01-20 | 2021-06-08 | 蔺学强 | Medical medicine bottle cleaning equipment |
| CN113561164A (en) * | 2021-05-19 | 2021-10-29 | 四川犍小茉科技有限公司 | Mechanical arm |
| CN113561164B (en) * | 2021-05-19 | 2023-08-29 | 四川犍小茉科技有限公司 | Mechanical arm |
| CN114851245A (en) * | 2022-04-15 | 2022-08-05 | 郑州大学 | Robot telescopic swing mechanism and bionic robot |
| CN114851245B (en) * | 2022-04-15 | 2024-02-06 | 郑州大学 | Robot telescopic swing mechanism and bionic robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190219 |
|
| WW01 | Invention patent application withdrawn after publication |