CN204725486U - A kind of robot mechanical arm mechanism - Google Patents
A kind of robot mechanical arm mechanism Download PDFInfo
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- CN204725486U CN204725486U CN201520376014.3U CN201520376014U CN204725486U CN 204725486 U CN204725486 U CN 204725486U CN 201520376014 U CN201520376014 U CN 201520376014U CN 204725486 U CN204725486 U CN 204725486U
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Abstract
The utility model provides a kind of robot mechanical arm mechanism, comprise carrier base, described connecting rod rack seat is provided with worm component, described worm component output connects the worm gear on parallel rod assembly and carries out engaged transmission, parallel rod one and parallel rod two is driven to swing, parallel rod end jockey contiguous block, fixture contiguous block end jockey, thus the swing of parallel rod changes into opening with closed of fixture.Its beneficial effect is: structure is simple, and it is convenient to control, and meets Automated condtrol demand.
Description
Technical field
The utility model relates to manipulator mechanism field, specifically, relates to a kind of robot mechanical arm mechanism.
Background technology
Manipulator is a kind of new device grown up in mechanization, automated production process.In present-day procedure, manipulator is applied in automatic assembly line widely, the research and production of robot has become the emerging technology of of developing rapidly in high-tech sector, it facilitates the development of manipulator more, makes the combination that manipulator can better must realize with mechanization and automation.The most complex structure of existing manipulator, control procedure is loaded down with trivial details, is not suitable for the needs of Automated condtrol.This is the deficiencies in the prior art part.
Utility model content:
The technical problems to be solved in the utility model is to provide a kind of robot mechanical arm mechanism, and structure is simple, and it is convenient to control, and meets Automated condtrol demand.
The utility model adopts following technological means to realize goal of the invention:
A kind of robot mechanical arm mechanism, comprise connecting rod rack seat, described connecting rod rack seat is provided with worm component, described worm component output connects the worm gear on parallel rod assembly and carries out engaged transmission, parallel rod one and parallel rod two is driven to swing, parallel rod end jockey contiguous block, fixture contiguous block end jockey, thus the swing of parallel rod changes into opening with closed of fixture.
As the further restriction to the technical program, described connecting rod rack seat comprises left and right vertical plate and upper lower horizontal board, described vertical plate is provided with the rotary shaft hole of eight fixing parallel rods, wherein four rotary shaft holes are for connecting rotating shaft and flanged bushing two, the parallel rod two be connected on rotating shaft and flanged bushing two can be rotated around it, similar, other four rotary shaft holes are for connecting parallel rod two, described upper level board is provided with perforate, for passing worm component, mount pad fixing hole is used for fixed mounting.
As the further restriction to the technical program, described worm component comprises worm screw, gear on worm, plastic bearing, screw, flanged bushing one, worm tooth wheel case and plastic bearing, gear on worm, worm tooth wheel case and flanged bushing one are installed on worm screw from top to bottom successively, holding screw is fixed in the screwed hole of gear on worm, screwed hole center is just in time positioned at the center having square planar in the middle of worm screw, for gear on worm is fixed on worm screw, flanged bushing one, through worm tooth wheel case, is passed in worm tooth wheel case in worm screw bottom.
As the further restriction to the technical program, described parallel rod assembly contains symmetrical two, includes a worm gear, a parallel rod one, two alignment pins, a rotating shaft, two flanged bushings two.Wherein rotating shaft is through the centre bore of worm gear, two ends are through flanged bushing two, be fixed in " recessed " mouth at parallel rod one top, alignment pin is through in the pin-and-hole at parallel rod one top and the pin-and-hole of worm gear simultaneously, what so just make worm gear rotarily drives parallel rod one swing, it should be noted that simultaneously, parallel rod is with parallel bar positioning seat or all use flanged bushing two on both sides when being connected with fixture contiguous block, the form that rotating shaft passes in centre, so mechanism is altogether containing 16 flanged bushings, two, eight rotating shafts.
Compared with prior art, advantage of the present utility model and good effect are: external torque of the present utility model passes to worm screw makes it rotate, the gear on worm be fixed on worm screw is caused and then to rotate, gear on worm engages with worm gear, drive the swing of the parallel rod be positioned at, parallel rod end drives fixture contiguous block to swing by the mode of flanged bushing two and rotating shaft, finally make the screw turns of the triumphant guest's feed screw nut assembly being screwed in the fixture on it, the external screw thread of the internal thread and leading screw that rotate through sliding nut of leading screw coordinates the slide anteroposterior changing into sliding nut, the slide anteroposterior of sliding nut drives an end motion of parallel rod one and parallel rod two, one end of stationary links one and stationary links two is fixed on the rubber blanket of base, the other end is connected to the middle part of parallel rod and parallel rod two, parallel rod one is become the open and close movement of mechanical gripper connecting rod one and mechanical gripper connecting rod two with the conversion of motion of parallel rod two, the folding driving mechanical handgrip folding of mechanical gripper connecting rod one and mechanical gripper connecting rod two, complete clamping and unclamp action.
Accompanying drawing explanation
Fig. 1 is the general structure schematic diagram of the utility model preferred embodiment;
Fig. 2 is that the utility model is preferably implemented to conceal connecting rod rack seat and the holder structure schematic diagram that is clamped and connected;
Fig. 3 is the horizontal detonation configuration schematic diagram of worm component of the utility model preferred embodiment;
Fig. 4 is the connecting rod rack holder structure schematic diagram of the utility model preferred embodiment;
Fig. 5 is the quick-fried according to structural representation of the parallel rod assembly of the utility model preferred embodiment.
In figure, 1.1 connecting rod rack seats, 1.2, Connection Block, 2.1, worm component, 2.2, fixture contiguous block, 2.3, clamp block, 2.4, mount pad, 2.5, parallel rod assembly, 2.6, parallel rod two, 2.7, screw one, 2.8, screw two; 3.1, worm screw, 3.2, gear on worm, 3.3, plastic bearing, 3.4, screw, 3.5, flanged bushing one, 3.6, worm tooth wheel case; 4.1, tie rod holes, 4.2, worm hole, 4.3, mount pad fixing hole, 4.4, rotary shaft hole; 5.1, worm gear, 5.2, parallel rod one, 5.3, alignment pin, 5.4, rotating shaft, 5.5 flanged bushings two.
Detailed description of the invention:
Below in conjunction with embodiment, further illustrate the utility model.
See Fig. 1-Fig. 5, the utility model comprises connecting rod rack seat 1.1, described connecting rod rack seat 1.1 is provided with worm component 2.1, described worm component 2.1 output connects the worm gear 5.1 on parallel rod assembly 2.5 and carries out engaged transmission, parallel rod 1 and parallel rod 2 2.6 is driven to swing, parallel rod end jockey contiguous block 2.2, fixture contiguous block 2.2 end jockey 2.3, thus the swing of parallel rod changes into opening with closed of fixture 2.3.
Described connecting rod rack seat 1.1 comprises left and right vertical plate and upper lower horizontal board, described vertical plate is provided with the rotary shaft hole 4.4 of eight fixing parallel rods, wherein four rotary shaft holes 4.4 are for connecting rotating shaft 5.4 and flanged bushing two, the parallel rod 2 5.2 be connected on rotating shaft 5.4 and flanged bushing 2 5.5 can be rotated around it, similar, other four rotary shaft holes 4.4 are for connecting parallel rod 2 2.6, described upper level board is provided with perforate 4.2, for passing 2.1 worm components, mount pad fixing hole 4.3 is for fixed mounting 2.4.
Described worm component 2.1 comprises worm screw 3.1, gear on worm 3.2, plastic bearing 3.3, screw 3.4, flanged bushing 1, worm tooth wheel case 3.6 and plastic bearing 3.3, gear on worm 3.2, worm tooth wheel case 3.6 and flanged bushing 1 are installed on worm screw 3.1 from top to bottom successively, holding screw 3.4 is fixed in the screwed hole of gear on worm 3.2, screwed hole center is just in time positioned at the center having square planar in the middle of worm screw 3.1, for gear on worm 3.2 is fixed on worm screw 3.1, worm screw 3.1 bottom is through worm tooth wheel case 3.6, through flanged bushing 1 in worm tooth wheel case 3.6.
Described parallel rod assembly 2.5, containing symmetrical two, includes a worm gear 5.1, parallel rod one 5.2, two alignment pins 5.3, rotating shaft 5.4, two flanged bushings 2 5.5.Wherein rotating shaft 5.4 is through the centre bore of worm gear 5.1, two ends are through flanged bushing 2 5.5, be fixed in " recessed " mouth at parallel rod 1 top, alignment pin 5.3 is through in the pin-and-hole at parallel rod 1 top and the pin-and-hole of worm gear 5.1 simultaneously, the parallel rod 1 that rotarily drives of worm gear 5.1 is so just made to swing, it should be noted that simultaneously, parallel rod is with parallel bar positioning seat 1.1 or all use flanged bushing 2 5.5 on both sides when being connected with fixture contiguous block 2.2, the form that rotating shaft 5.4 passes in centre, so mechanism is altogether containing 16 flanged bushings 2 5.4, eight rotating shafts 5.4.
External torque of the present utility model passes to worm screw 3.1 makes it rotate, the gear on worm 3.2 be fixed on worm screw 3.1 is caused and then to rotate, gear on worm 3.2 engages with worm gear 5.1, drive the swing of the parallel rod be positioned on 5.1, parallel rod end drives fixture contiguous block 2.2 to swing by the mode of flanged bushing 2 5.5 and rotating shaft 5.4, the leading screw 4.1 of the triumphant guest's feed screw nut assembly 1.3 being screwed in the fixture 2.3 on it is finally made to rotate, the internal thread rotating through sliding nut 4.2 of leading screw 4.1 coordinates with the external screw thread of leading screw 4.1 slide anteroposterior changing into sliding nut 4.2, the slide anteroposterior of sliding nut 4.2 drives an end motion of parallel rod 1 and parallel rod 2 3.4, one end of stationary links 1 and stationary links 2 3.2 is fixed on the rubber blanket 2.4 of base 1.1, the other end is connected to the middle part of parallel rod 3.3 and parallel rod 2 3.4, parallel rod 1 is become the open and close movement of mechanical gripper connecting rod 1 and mechanical gripper connecting rod 2 3.6 with the conversion of motion of parallel rod 2 3.4, folding driving mechanical handgrip 1.5 folding of mechanical gripper connecting rod 1 and mechanical gripper connecting rod 2 3.6, complete clamping and unclamp action.
Claims (4)
1. a robot mechanical arm mechanism, comprise connecting rod rack seat, described connecting rod rack seat is provided with worm component, described worm component output connects the worm gear on parallel rod assembly and carries out engaged transmission, parallel rod one and parallel rod two is driven to swing, parallel rod end jockey contiguous block, fixture contiguous block end jockey, thus the swing of parallel rod changes into opening with closed of fixture.
2. robot mechanical arm mechanism according to claim 1, it is characterized in that: described connecting rod rack seat comprises left and right vertical plate and upper lower horizontal board, left and right vertical plate is provided with the rotary shaft hole of eight fixing parallel rods, wherein four rotary shaft holes are for connecting rotating shaft and flanged bushing two, the parallel rod two be connected on rotating shaft and flanged bushing two can be rotated around it, similar, other four rotary shaft holes are for connecting parallel rod two, upper level board is provided with perforate, for passing worm component, mount pad fixing hole is used for fixed mounting.
3. robot mechanical arm mechanism according to claim 1, it is characterized in that: described worm component comprises worm screw, gear on worm, plastic bearing, screw, flanged bushing one, worm tooth wheel case and plastic bearing, gear on worm, worm tooth wheel case and flanged bushing one are installed on worm screw from top to bottom successively, holding screw is fixed in the screwed hole of gear on worm, screwed hole center is just in time positioned at the center having square planar in the middle of worm screw, for gear on worm is fixed on worm screw, worm screw bottom is through worm tooth wheel case, through flanged bushing one in worm tooth wheel case.
4. robot mechanical arm mechanism according to claim 1, it is characterized in that: described parallel rod assembly contains symmetrical two, include a worm gear, a parallel rod one, two alignment pins, a rotating shaft, two flanged bushings two, wherein rotating shaft is through the centre bore of worm gear, two ends are through flanged bushing two, be fixed in the recess at parallel rod one top, alignment pin is through in the pin-and-hole at parallel rod one top and the pin-and-hole of worm gear simultaneously, what so just make worm gear rotarily drives parallel rod one swing, parallel rod is with parallel bar positioning seat or all use flanged bushing two on both sides when being connected with fixture contiguous block, the form that rotating shaft passes in centre, mechanism is altogether containing 16 flanged bushings two, eight rotating shafts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520376014.3U CN204725486U (en) | 2015-06-03 | 2015-06-03 | A kind of robot mechanical arm mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520376014.3U CN204725486U (en) | 2015-06-03 | 2015-06-03 | A kind of robot mechanical arm mechanism |
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| CN204725486U true CN204725486U (en) | 2015-10-28 |
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| CN201520376014.3U Active CN204725486U (en) | 2015-06-03 | 2015-06-03 | A kind of robot mechanical arm mechanism |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105563511A (en) * | 2016-01-18 | 2016-05-11 | 苏州艾力光电科技有限公司 | Multi-claw mechanical arm |
| CN106002928A (en) * | 2016-07-19 | 2016-10-12 | 安徽理工大学 | Multi-arm rotary carrying device |
| CN106430053A (en) * | 2016-09-07 | 2017-02-22 | 三峡大学 | Medical blood sampling test tube automatic cap taking device and method |
| CN106514682A (en) * | 2016-12-29 | 2017-03-22 | 苏州匠博智能科技有限公司 | Puncture clamping jaw |
| CN107010418A (en) * | 2017-03-22 | 2017-08-04 | 东旭科技集团有限公司 | Clamping device |
| CN107042522A (en) * | 2017-03-06 | 2017-08-15 | 广东工业大学 | A kind of robot end self-clamping module of servo driving |
| CN107157542A (en) * | 2017-06-28 | 2017-09-15 | 谢北平 | A kind of operating theater instruments |
| CN107161691A (en) * | 2017-07-07 | 2017-09-15 | 上海观谷科技有限公司 | Vertical clamping administration device |
| CN109916466A (en) * | 2019-03-05 | 2019-06-21 | 广州能源检测研究院 | It is a kind of to examine and determine or calibrate tested flowmeter installation centralising device |
| CN110576997A (en) * | 2019-09-05 | 2019-12-17 | 湖南人文科技学院 | Sealing device suitable for ampoule bottle |
| CN110842959A (en) * | 2019-11-15 | 2020-02-28 | 腾讯科技（深圳）有限公司 | Manipulator and robot |
| CN111550684A (en) * | 2020-04-30 | 2020-08-18 | 大连民族大学 | Pipeline patrolling system capable of crossing obstacles during patrolling and machine learning leakage monitoring system |
| CN112243606A (en) * | 2020-10-19 | 2021-01-22 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Crop thinning machine |
| CN112621804A (en) * | 2020-12-09 | 2021-04-09 | 江苏科技大学 | Automobile shifting fork forging under-actuated clamp |
| CN114713603A (en) * | 2022-04-12 | 2022-07-08 | 朱明辰 | Construction waste metal recovery device |
| CN115213673A (en) * | 2022-08-19 | 2022-10-21 | 杭州凯达电力建设有限公司 | Tightening device for live-wire operation mechanical arm |
-
2015
- 2015-06-03 CN CN201520376014.3U patent/CN204725486U/en active Active
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105563511A (en) * | 2016-01-18 | 2016-05-11 | 苏州艾力光电科技有限公司 | Multi-claw mechanical arm |
| CN106002928A (en) * | 2016-07-19 | 2016-10-12 | 安徽理工大学 | Multi-arm rotary carrying device |
| CN106430053A (en) * | 2016-09-07 | 2017-02-22 | 三峡大学 | Medical blood sampling test tube automatic cap taking device and method |
| CN106430053B (en) * | 2016-09-07 | 2018-11-30 | 三峡大学 | Medical blood taking test tube takes lid arrangement automatically and takes lid method |
| CN106514682A (en) * | 2016-12-29 | 2017-03-22 | 苏州匠博智能科技有限公司 | Puncture clamping jaw |
| CN107042522A (en) * | 2017-03-06 | 2017-08-15 | 广东工业大学 | A kind of robot end self-clamping module of servo driving |
| CN107010418A (en) * | 2017-03-22 | 2017-08-04 | 东旭科技集团有限公司 | Clamping device |
| CN107157542A (en) * | 2017-06-28 | 2017-09-15 | 谢北平 | A kind of operating theater instruments |
| CN107161691A (en) * | 2017-07-07 | 2017-09-15 | 上海观谷科技有限公司 | Vertical clamping administration device |
| CN109916466B (en) * | 2019-03-05 | 2020-08-04 | 广州能源检测研究院 | Verification or calibration to be detected flowmeter installation centering device |
| CN109916466A (en) * | 2019-03-05 | 2019-06-21 | 广州能源检测研究院 | It is a kind of to examine and determine or calibrate tested flowmeter installation centralising device |
| CN110576997A (en) * | 2019-09-05 | 2019-12-17 | 湖南人文科技学院 | Sealing device suitable for ampoule bottle |
| CN110842959A (en) * | 2019-11-15 | 2020-02-28 | 腾讯科技（深圳）有限公司 | Manipulator and robot |
| CN111550684A (en) * | 2020-04-30 | 2020-08-18 | 大连民族大学 | Pipeline patrolling system capable of crossing obstacles during patrolling and machine learning leakage monitoring system |
| CN112243606A (en) * | 2020-10-19 | 2021-01-22 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Crop thinning machine |
| CN112621804A (en) * | 2020-12-09 | 2021-04-09 | 江苏科技大学 | Automobile shifting fork forging under-actuated clamp |
| CN114713603A (en) * | 2022-04-12 | 2022-07-08 | 朱明辰 | Construction waste metal recovery device |
| CN114713603B (en) * | 2022-04-12 | 2024-07-23 | 戚明海 | Metal recycling device for construction waste |
| CN115213673A (en) * | 2022-08-19 | 2022-10-21 | 杭州凯达电力建设有限公司 | Tightening device for live-wire operation mechanical arm |
| CN115213673B (en) * | 2022-08-19 | 2023-09-26 | 杭州凯达电力建设有限公司 | Tightening device for live working mechanical arm |
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