CN219522169U - Mechanical arm wrist joint control device convenient to detach - Google Patents

Abstract

The utility model discloses a mechanical arm wrist joint control device convenient to detach, and relates to the technical field of mechanical arms. The steering engine comprises a steering engine, a mechanical claw, a fixed shell and a fixed arm, wherein the fixed shell is positioned at one end of the steering engine, the mechanical claw is positioned at the other end of the steering engine, the fixed arm is positioned at one end of the fixed shell, which is far away from the steering engine, the top and the bottom of the fixed shell, which are close to one end of the steering engine, are both connected with clamping plates in a sliding manner, and a displacement mechanism for driving the clamping plates to move is arranged in the fixed shell. According to the utility model, through the cooperation of the clamping plate, the rotating rod, the lifting thread section, the positioning plate and the clamping plate, the mechanical claw can be fixed more stably when the device is used, and through the cooperation of the rotating motor, the rotating disc, the threaded rod, the displacement block and the limiting block, the mechanical claw and the fixing arm can be assembled and disassembled conveniently when the device is used.

Description

Mechanical arm wrist joint control device convenient to detach

Technical Field

The utility model belongs to the technical field of mechanical arms, and particularly relates to a mechanical arm wrist joint control device capable of being detached conveniently.

Background

In the automatic production operation process, the mechanical arm is generally used for transferring the workpiece, and the mechanical arm generally relates to translation and rotation actions when transferring the workpiece so as to realize the movement and rotation of the workpiece, and the mechanical arm needs to perform angle control through a steering engine when being used, so that the steering engine on the existing mechanical arm is inconvenient to replace.

Disclosure of Invention

The utility model aims to provide a mechanical arm wrist joint control device which can be conveniently disassembled, so as to solve the existing problems: the steering engine on the existing mechanical arm is not convenient to replace.

In order to solve the technical problems, the utility model is realized by the following technical scheme: the utility model provides a mechanical arm wrist joint control device convenient to dismantle, includes steering wheel, gripper, fixed shell and fixed arm, and the fixed shell is located the one end of steering wheel, and the gripper is located the other end of steering wheel, and the fixed arm is located the fixed shell and keeps away from steering wheel one end, the inside top and the equal sliding connection in bottom that is close to steering wheel one end of fixed shell have splint, the internally mounted of fixed shell has the displacement mechanism who is used for driving splint to remove.

Further, the displacement mechanism comprises a clamping driving motor, a first bevel gear, a second bevel gear, a rotating rod, lifting thread sections, lifting plates and positioning plates, wherein the clamping driving motor is fixed with a fixed shell, the output end of the clamping driving motor is connected with the first bevel gear, one side of the first bevel gear is connected with the second bevel gear in a meshed mode, the rotating rod is fixed in the second bevel gear, the lifting thread sections are arranged on the outer side of the rotating rod and located the top and the bottom of the second bevel gear, the threads of the lifting thread sections are opposite in direction, the lifting plates are connected with the outer side threads of the lifting thread sections, and one end of each lifting plate is fixedly provided with the positioning plate, and the positioning plates are connected with the clamping plates in a sliding mode.

Further, the inside bottom sliding connection of locating plate one end has the cardboard, just also rotate between cardboard and the splint and be connected, the inside of cardboard is fixed with the axis of rotation, just rotate between axis of rotation and the locating plate and be connected, the internally mounted of locating plate has and is used for driving the axis of rotation and carries out pivoted rotary mechanism.

Further, rotary mechanism includes rotating electrical machines, worm and worm wheel, the rotating electrical machines is fixed with the locating plate, the output of rotating electrical machines is connected with the worm, the top meshing of worm is connected with the worm wheel, the outside at the axis of rotation is fixed to the worm wheel.

Further, the one end that the fixed shell is close to the fixed arm is fixed with the connection shell, the inside sliding connection that the connection shell is close to fixed arm one end has the displacement piece, the one end of displacement piece is fixed with the stopper, just stopper and fixed arm sliding connection, the rotation groove has still been seted up to the inside of fixed arm, the internally mounted of connection shell has the stop gear who is used for driving the displacement piece and fixes a position.

Further, stop gear includes rotating electrical machines, rolling disc, displacement motor, threaded rod, sliding plate and slide bar, the rotating electrical machines is fixed with the connection shell, the output of rotating electrical machines is connected with the rolling disc, the centre of a circle position that the rolling disc kept away from rotating electrical machines one end is fixed with the displacement motor, the output of displacement motor is connected with the threaded rod, the outside and the displacement piece threaded connection of threaded rod one end, the outside and the inside that is located the connection shell of displacement piece are fixed with the sliding plate, the inside sliding connection of sliding plate one end has the slide bar, just slide bar one of them one end is fixed with the rolling disc.

The utility model has the following beneficial effects:

1. according to the utility model, through the cooperation of the clamping plate, the rotating rod, the lifting thread section, the positioning plate and the clamping plate, the device can be more firmly fixed on the mechanical claw during use.

2. According to the utility model, through the cooperation of the rotating motor, the rotating disc, the threaded rod, the displacement block and the limiting block, the device can be convenient to assemble and disassemble between the mechanical claw and the fixed arm when in use.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of the overall structure of the present utility model;

FIG. 2 is a schematic view of the internal structure of the fixing case of the present utility model;

FIG. 3 is a schematic view of a connection structure between a locating plate and a clamping plate according to the present utility model;

FIG. 4 is a schematic view of the internal structure of the clamping plate and the positioning plate according to the present utility model;

FIG. 5 is an enlarged view of a portion of FIG. 4A in accordance with the present utility model;

fig. 6 is a schematic view showing the internal structure of the connection housing of the present utility model.

In the drawings, the list of components represented by the various numbers is as follows:

1. steering engine; 2. a mechanical claw; 3. a fixed case; 4. a connection housing; 5. a clamping plate; 6. clamping a driving motor; 7. a first bevel gear; 8. a second bevel gear; 9. a rotating lever; 10. lifting the thread section; 11. a lifting plate; 12. a positioning plate; 13. a clamping plate; 14. a rotating shaft; 15. a rotating electric machine; 16. a worm; 17. a worm wheel; 18. a fixed arm; 19. a rotating motor; 20. a rotating disc; 21. a displacement motor; 22. a threaded rod; 23. a displacement block; 24. a limiting block; 25. a sliding plate; 26. and a slide bar.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Embodiment one:

referring to fig. 1-6, the utility model discloses a mechanical arm wrist joint control device convenient to disassemble, which comprises a steering engine 1, a mechanical claw 2, a fixed shell 3 and a fixed arm 18, wherein the fixed shell 3 is positioned at one end of the steering engine 1, the mechanical claw 2 is positioned at the other end of the steering engine 1, the fixed arm 18 is positioned at one end of the fixed shell 3 far away from the steering engine 1, so that the position of the mechanical claw 2 can be positioned and limited, clamping plates 5 are slidably connected at the top and the bottom of the inner part of the fixed shell 3, which are close to one end of the steering engine 1, and a displacement mechanism for driving the clamping plates 5 to move is arranged in the inner part of the fixed shell 3;

further, the displacement mechanism comprises a clamping driving motor 6, a first bevel gear 7, a second bevel gear 8, a rotating rod 9, a lifting thread section 10, a lifting plate 11 and a positioning plate 12, wherein the clamping driving motor 6 is fixed with the fixed shell 3, the output end of the clamping driving motor 6 is connected with the first bevel gear 7, one side of the first bevel gear 7 is connected with the second bevel gear 8 in a meshed manner, and the rotating rod 9 is fixed in the second bevel gear 8, so that the rotating rod 9 can be rapidly driven to rotate;

lifting thread sections 10 are arranged on the outer side of the rotating rod 9 and positioned at the top and the bottom of the second bevel gear 8, the thread directions of the two lifting thread sections 10 are opposite, and lifting plates 11 are connected with the outer side of the lifting thread sections 10 in a threaded manner, so that the two lifting plates 11 are driven to move in the opposite direction through rotation of the lifting thread sections 10 with opposite thread directions, one end of each lifting plate 11 is fixedly provided with a positioning plate 12, the positioning plates 12 are in sliding connection with the clamping plate 5, and further the clamping plate 5 is driven to move in the opposite direction through movement of the two positioning plates 12 in the opposite direction;

when needs are connected between fixed shell 3 and steering wheel 1, place steering wheel 1 between two splint 5, then obtain the electricity and drive first bevel gear 7 through centre gripping driving motor 6 and rotate, first bevel gear 7 rotates and drives the second bevel gear 8 that the meshing is connected and rotate, second bevel gear 8 rotates and drives dwang 9 and rotate, dwang 9 rotates and drives two screw threads and revolves opposite lift screw thread section 10 and rotate, two screw threads revolve opposite lift screw thread section 10 rotate and drive corresponding lifter plate 11 and remove for two lifter plate 11 carry out the opposite direction and remove, lifter plate 11 opposite direction removes and drives splint 5 through locating plate 12 and carry out the opposite direction and remove, and then fix a position steering wheel 1 between two splint 5.

Specifically, the bottom inside one end of the positioning plate 12 is slidably connected with a clamping plate 13, the clamping plate 13 is also rotationally connected with the clamping plate 5, a rotating shaft 14 is fixed inside the clamping plate 13, the rotating shaft 14 is rotationally connected with the positioning plate 12, the clamping plate 5 can be further fixed by the rotation of the clamping plate 13, and a rotating mechanism for driving the rotating shaft 14 to rotate is arranged inside the positioning plate 12;

preferably, the rotating mechanism comprises a rotating motor 15, a worm 16 and a worm wheel 17, wherein the rotating motor 15 is fixed with the positioning plate 12, the output end of the rotating motor 15 is connected with the worm 16, the top of the worm 16 is connected with the worm wheel 17 in a meshed manner, the worm wheel 17 is fixed on the outer side of the rotating shaft 14, and the rotating shaft 14 can be driven to rotate through rotation of the worm wheel 17;

before the steering engine 1 needs to be fixed, through sliding connection between the clamping plate 5 and the fixed shell 3 and between the clamping plate 5 and the locating plate 12, the clamping plate 5 enters the inner side of the locating plate 12, then the worm 16 is driven to rotate through power supply of the rotating motor 15, the worm 16 rotates to drive the worm wheel 17 in meshed connection to rotate, the worm wheel 17 rotates to drive the rotating shaft 14 to rotate, the rotating shaft 14 rotates to drive the clamping plate 13 to rotate, the clamping plate 13 rotates through sliding connection between the clamping plate 5 and the locating plate 12, and then the position of the clamping plate 5 is fixed.

Further, a connecting shell 4 is fixed at one end of the fixed shell 3, which is close to the fixed arm 18, a displacement block 23 is slidably connected inside the connecting shell 4, which is close to one end of the fixed arm 18, a limiting block 24 is fixed at one end of the displacement block 23, the limiting block 24 is slidably connected with the fixed arm 18, a rotating groove is further formed inside the fixed arm 18, so that the limiting block 24 can rotate ninety degrees in the rotating groove, and a limiting mechanism for driving the displacement block 23 to be positioned is arranged inside the connecting shell 4;

preferably, the limiting mechanism comprises a rotating motor 19, a rotating disc 20, a displacement motor 21, a threaded rod 22, a sliding plate 25 and a sliding rod 26, wherein the rotating motor 19 is fixed with the connecting shell 4, the output end of the rotating motor 19 is connected with the rotating disc 20, the position of the circle center of one end of the rotating disc 20 far away from the rotating motor 19 is fixed with the displacement motor 21, the output end of the displacement motor 21 is connected with the threaded rod 22, the outer side of one end of the threaded rod 22 is in threaded connection with the displacement block 23, the displacement block 23 can be driven to move through the rotation of the threaded rod 22, the limiting block 24 can rotate in the rotating groove through the rotation of the rotating disc 20, limiting is realized, the sliding plate 25 is fixed at the outer side of the displacement block 23 and positioned in the connecting shell 4, the sliding rod 26 is connected at the inner part of one end of the sliding plate 25 in a sliding manner, one end of the sliding rod 26 is fixed with the rotating disc 20, and the displacement block 23 can not rotate along with the threaded rod 22;

when the fixed shell 3 and the fixed arm 18 are required to be installed, the sliding connection between the limiting block 24 and the fixed arm 18 is used for enabling the sliding connection to enter the fixed arm 18, then the displacement motor 21 is used for electrically driving the threaded rod 22 to rotate, the threaded rod 22 is used for rotationally driving the threaded connection displacement block 23 to move, the displacement block 23 is used for limiting through sliding connection with the connecting shell 4, the displacement block 23 drives the limiting block 24 to move, the limiting block 24 enters the inside of the rotating groove, then the rotating motor 19 is used for electrically driving the rotating disc 20 to rotate, the rotating disc 20 is used for rotationally driving the displacement motor 21 to rotate, meanwhile, the sliding connection between the sliding plate 25 and the sliding rod 26 is used for enabling the limiting block 24 to rotate ninety degrees in the inside of the rotating groove, and assembly positioning is carried out between the connecting shell 4 and the fixed arm 18.

Embodiment two:

the wrist joint degree of freedom calculation method is used in the first embodiment, and as the Kinect camera is used for identifying the skeleton points of the human body, the space vector method is used for calculating the included angles among the skeleton points of the human body in space. For space vector method

The space is divided into first to eighth quadrants by X, Y, Z axes, then the corresponding included angle is obtained by a cosine formula by utilizing the three-dimensional coordinates of each point, and the expression of the cosine theorem is as follows:

c ² ＝a ² +b ² -2ab cosγ

taking the angle of the perpendicular direction of the shoulder joint as an example for calculating the included angle:

for the vertical direction of the shoulder joint, the joint angle can be observed from the YOZ plane, and according to the shoulder joint point a, it is assumed that a point C is located directly below the point a, so the coordinates of the point C are (x 1, y2, z 1), and y2=y1-20 is set. Wherein θ1 ranges from 0 ° to 180 °, just corresponding to the rotatable angle of the steering engine, the dashed line is the posture of raising the elbow joint point to the highest position, that is θ1=180°. The X plane is removed when the angle is observed from the YOZ plane, so that x3=x1; also = (X1-X1, Y2-Y1, Z1-Z1) = (X1-X3, Y2-Y3, Z1-Z3), then the included angle is calculated according to the cosine formula:

the wrist joint rotation is identified by using the included angles formed by the thumb, the middle finger tip and the shoulder joint points, three skeleton points are projected on the XOY plane, when the wrist joint rotates, the included angles projected on the XOY plane are also changed, the included angles are calculated through the cosine equation and the cosine acos, and the calculated included angles are multiplied by 11.11PWM/° due to the steering engine, and then the calculated included angles are multiplied by 11.11 to obtain PWM, and the PWM is given to the steering engine to enable the steering engine (namely the steering engine at the wrist) to perform corresponding motion. Here, it is explained that the steering engine can move because the motion of the steering engine is given to the PWM value, wherein 500PWM represents that the steering engine is at 0 °,2500PWM represents that the steering engine is at 180 °, i.e. the PWM value corresponding to each ° is obtained from 2000/180.

In the description of the present specification, the descriptions of the terms "one embodiment," "example," "specific example," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present utility model. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The preferred embodiments of the utility model disclosed above are intended only to assist in the explanation of the utility model. The preferred embodiments are not exhaustive or to limit the utility model to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the utility model and the practical application, to thereby enable others skilled in the art to best understand and utilize the utility model. The utility model is limited only by the claims and the full scope and equivalents thereof.

Claims (6)

1. The utility model provides a mechanical arm wrist joint control device convenient to dismantle, includes steering wheel (1), gripper (2), fixed shell (3) and fixed arm (18), and fixed shell (3) are located the one end of steering wheel (1), and gripper (2) are located the other end of steering wheel (1), and fixed arm (18) are located fixed shell (3) and keep away from steering wheel (1) one end, its characterized in that: the inside top and the bottom that is close to steering wheel (1) one end of fixed casing (3) are all sliding connection have splint (5), the internally mounted of fixed casing (3) has the displacement mechanism who is used for driving splint (5) to remove.

2. The manipulator wrist joint control device capable of being disassembled conveniently according to claim 1, wherein: the displacement mechanism comprises a clamping driving motor (6), a first bevel gear (7), a second bevel gear (8), a rotating rod (9), lifting thread sections (10), lifting plates (11) and positioning plates (12), wherein the clamping driving motor (6) is fixed with a fixed shell (3), the output end of the clamping driving motor (6) is connected with the first bevel gear (7), one side of the first bevel gear (7) is meshed and connected with the second bevel gear (8), the rotating rod (9) is fixed in the second bevel gear (8), the lifting thread sections (10) are respectively arranged on the outer side of the rotating rod (9) and on the top and the bottom of the second bevel gear (8), the two lifting thread sections (10) are opposite in thread rotation direction, the lifting plates (11) are connected with the outer side threads of the lifting thread sections (10), one end of each lifting plate (11) is fixed with the positioning plate (12), and the positioning plates (12) are in sliding connection with clamping plates (5).

3. The manipulator wrist control device capable of being disassembled conveniently according to claim 2, wherein: the bottom inside locating plate (12) one end sliding connection has cardboard (13), just also rotate between cardboard (13) and splint (5) and be connected, the inside of cardboard (13) is fixed with axis of rotation (14), just rotate between axis of rotation (14) and locating plate (12) and be connected, the internally mounted of locating plate (12) has the rotary mechanism who is used for driving axis of rotation (14) and carries out pivoted.

4. A manipulator wrist control assembly for facilitating disassembly as claimed in claim 3, wherein: the rotary mechanism comprises a rotary motor (15), a worm (16) and a worm wheel (17), wherein the rotary motor (15) is fixed with the positioning plate (12), the output end of the rotary motor (15) is connected with the worm (16), the top of the worm (16) is connected with the worm wheel (17) in a meshed mode, and the worm wheel (17) is fixed on the outer side of the rotating shaft (14).

5. The manipulator wrist joint control device capable of being disassembled conveniently according to claim 1, wherein: the utility model discloses a fixed arm, including fixed arm (18), fixed shell (3), connecting shell (4), inside sliding connection that fixed arm (18) one end was close to connecting shell (4) has displacement piece (23), the one end of displacement piece (23) is fixed with stopper (24), just stopper (24) and fixed arm (18) sliding connection, the rotation groove has still been seted up to the inside of fixed arm (18), the internally mounted of connecting shell (4) has the stop gear who is used for driving displacement piece (23) and fixes a position.

6. The manipulator wrist control assembly of claim 5, wherein the manipulator wrist control assembly is further adapted to: stop gear includes rotation motor (19), rolling disc (20), displacement motor (21), threaded rod (22), sliding plate (25) and slide bar (26), rotation motor (19) are fixed with coupling shell (4), the output of rolling motor (19) is connected with rolling disc (20), the centre of a circle position that rolling motor (19) one end was kept away from to rolling disc (20) is fixed with displacement motor (21), the output of displacement motor (21) is connected with threaded rod (22), the outside and displacement piece (23) threaded connection of threaded rod (22) one end, the outside and the inside that is located coupling shell (4) of displacement piece (23) are fixed with sliding plate (25), the inside sliding connection of sliding plate (25) one end has slide bar (26), just slide bar (26) one end is fixed with rolling disc (20).