CN106272529A - A kind of two refer to formula loading and unloading rotating machine arm - Google Patents
A kind of two refer to formula loading and unloading rotating machine arm Download PDFInfo
- Publication number
- CN106272529A CN106272529A CN201610836410.9A CN201610836410A CN106272529A CN 106272529 A CN106272529 A CN 106272529A CN 201610836410 A CN201610836410 A CN 201610836410A CN 106272529 A CN106272529 A CN 106272529A
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- axle
- bevel gear
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- casing
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of two and refer to formula loading and unloading rotating machine arm, including actuating unit, articulation mechanism and gripping body, wherein actuating unit is made up of three motors being placed on base, three planetary reducers, three Cylinder Gear wheels, three power center (PC) axles；Articulation mechanism is made up of the small bevel gear wheels being arranged in housing, bevel gear wheel group, Cylinder Gear wheels, output bevel gear wheels, two connecting shafts, articulation center axles；Gripping body is made up of the input bevel gear set being arranged in casing, three roller gears, power transmission shaft, two the first short-range missile bars, two the second short-range missile bars, two long guide rods.The present invention by bevel gear and spur gear wheel with the use of mode, it is achieved the gyration of mechanical hand, the motion of lifting workpieces, the motion of gripping workpiece, reduce the difficulty of manipulator design, reduce cost.Improve practicality and economy.
Description
Technical field
The present invention relates to mechanical hand field, specifically a kind of two refer to formula loading and unloading rotating machine arm.
Background technology
Industry mechanical arm is a kind of high-tech automatic producing device grown up nearest a period of time, and it uses bionics
Principle, in structure and the function of contour structures upper mold personification hands, can simulate the action of staff to a certain extent.Industrial machinery
Hands is also an important branch of industrial robot, and it can complete various intended operation by default program, and it was both
Various action can be completed as people, the most untiring, it is fearless of danger, it may be said that industry mechanical arm has concurrently
Staff and the advantage of machine.But Manipulator Model kind is dull in the market, expensive, and very flexible, it is impossible to
Meet the market demand.
Summary of the invention it is an object of the invention to provide a kind of two and refers to formula loading and unloading rotating machine arm, to solve prior art
The problem that mechanical hand exists.
In order to achieve the above object, the technical solution adopted in the present invention is:
A kind of two refer to formula loading and unloading rotating machine arm, it is characterised in that: include actuating unit, articulation mechanism and gripping body, its
In:
Actuating unit includes the base of level, and base is mounted in parallel three identical stepping electricity in output shaft direction in isosceles triangle
The planetary reducer that machine, three output shaft directions are identical, the output shaft one_to_one corresponding of three motors and three planetary reduction gears
Machine power shaft coaxial transmission connects, and the output shaft of each planetary reducer is installed with roller gear, three cylinders respectively
Gear axial mounting distance on corresponding planetary reducer output shaft is different, forms three non-matching relationships of roller gear, also
Including the spur gear wheel that three radiuses are different, three spur gear wheels are sequentially coaxially arranged by radius order from small to large,
Form the non-matching relationship of three spur gear wheels, and three spur gear wheels respectively with three roller gear one_to_one corresponding transmissions
Engagement, is made up of Cylinder Gear wheels, three spur gear wheel centers the spur gear wheel of the corresponding engagement of each roller gear
Coaxial fixing being respectively equipped with power center (PC) axle, three power center (PC) axles are in the most sequentially coaxially intussusception, and wherein radius is
The power center (PC) axle of little spur gear wheel center assembling is solid interior axle, the spur gear wheel center assembling that radius time is little
Power center (PC) axle is the hollow jackshaft being enclosed within outside solid shafting, the power center (PC) of the spur gear wheel center assembling that radius is maximum
Axle is the hollow outer shaft being enclosed within outside jackshaft；
Articulation mechanism includes the housing being arranged on axle axle head side, power center (PC), be provided with in housing a pair bevel pinion, a pair big
Bevel gear, a pair roller gear, a pair output bevel gear wheel, connecting shaft one, connecting shaft two, articulation center axle, in actuating unit
Jackshaft and interior axle are respectively protruding in the housing of articulation mechanism, and wherein first bevel pinion is fixed on interior axle, and first big
Bevel gear is fixed on jackshaft, first bevel pinion and first bevel gear wheel axially pacifying on the axle of respective power center (PC)
Dress distance is different, and second bevel pinion, second bevel gear wheel and first roller gear are coaxially fixedly mounted on connecting shaft
On one, and first bevel pinion and second bevel pinion vertical-transmission engagement constitute small bevel gear wheels, first auger tooth
Wheel engages composition bevel gear wheel group, second roller gear, first output bevel gear wheel with second bevel gear wheel vertical-transmission
Coaxially it is fixedly mounted in connecting shaft two, and second roller gear and first column gear transmission engagement constitute roller gear
Group, second output bevel gear wheel is coaxially fixed on articulation center axle, and second output bevel gear is taken turns and first output bevel gear
Wheel vertical-transmission engagement constitutes output bevel gear wheels, and described articulation center axle passes from housing；
Gripping body includes the casing being arranged on articulation center axle axle head side, and casing rear wall has to be worn for articulation center axle
The circular hole entered, cabinet front is uncovered, slots respectively in casing left and right sidewall front end, and described articulation center axle is by rear side of casing
Wall perforate penetrates in casing, is provided with a pair input bevel gear, three roller gears, power transmission shafts in casing, wherein first
Bevel gear is coaxially fixed on articulation center axle in input, and second input bevel gear is coaxially fixed on biography with first roller gear
On moving axis, and second input bevel gear engages with first input bevel gear vertical-transmission and constitutes input bevel gear set, and second
Individual roller gear, the 3rd roller gear is symmetrical is rotatably installed in casing, and second roller gear and first
Column gear transmission engages, and the second roller gear center, the 3rd roller gear center are the most each hinged with the first short-range missile bar,
Left and right side the first short-range missile bar passes casing from casing respective side fluting rear end respectively, be positioned in casing the second roller gear, the
Three roller gear fronts are rotatably connected to the second short-range missile bar by bearing pin respectively, and left and right side the second short-range missile bar is respectively from casing pair
Answering fluting front end, side to pass casing, be provided with long guide rod outside casing left and right side the most along the longitudinal direction, the first short-range missile bar rod end divides
Tong Guo not be connected with the long guide rod rear end thereof of homonymy by bearing pin, the second short-range missile bar rod end is respectively by the long guide rod of bearing pin with homonymy
Central rotational connects, by two long guide rods respectively as manipulator finger.
2, according to claim 1 a kind of two refer to formula loading and unloading rotating machine arm, it is characterised in that: described mechanical hand
Soft pad is studded with in case damaging caught workpiece when gripping inside finger.
3, according to claim 1 a kind of two refer to formula loading and unloading rotating machine arm, it is characterised in that: actuating unit
In, outer shaft is provided with bearing and rotary flange near roller gear position.
4, according to claim 1 a kind of two refer to formula loading and unloading rotating machine arm, it is characterised in that: articulation mechanism
In, coaxially it is cased with the hollow axle as overcoat outside articulation center axle.
The present invention is mainly made up of dynamical system, articulation mechanism, three parts of gripping body.Using three motors as
Power source, is outputed power by three pairs of meshing gears, controls gyration, the motion of lifting workpieces respectively, grips workpiece
Motion, articulation mechanism be designed with bevel gear engagement and straight spur gear engage matching used scheme, power via
Power transmission shaft is delivered to articulation mechanism, it is achieved the gyration of mechanical hand and lifter motion, and the design of gripping body also uses cone
Gear engagement and the matching used scheme of engagement of roller gear, transfer power on two fingers, it is achieved the phase of two fingers
To rotation, thus realize gripping the action of workpiece.
It is an advantage of the current invention that: remain the articulation mechanism between traditional industry mechanical hand large arm forearm, i.e. within axle,
Jackshaft, outer shaft, as large arm, using articulation center axle, hollow axle as forearm, add articulation mechanism simultaneously on this basis
Revolution degree of freedom, eliminate the articulation mechanism between large arm and base, large arm is directly anchored on base.By above-mentioned change
Change, both ensure that mechanical hand can realize gyration lifter motion and workpiece grabbing motion, and reduced simultaneously and mechanical hand is set
The difficulty of meter, reduces manufacturing cost.
Accompanying drawing explanation
Fig. 1 is the perspective view of the present invention.
Fig. 2 is the structural representation of dynamical system.
Fig. 3 is the structural representation of articulation mechanism.
Fig. 4 is the structural representation of gripping body.
Detailed description of the invention
As shown in Fig. 1 Fig. 4, a kind of two refer to formula loading and unloading rotating machine arm, including actuating unit, articulation mechanism and gripping
Mechanism, wherein:
Actuating unit includes the base 1 of level, and base 1 is mounted in parallel three identical steppings in output shaft direction in isosceles triangle
2,3,4, three planetary reducers that output shaft direction is identical 5,6,7 of motor, the output shaft of three motors 2,3,4 one a pair
Ying Yusan planetary reducer 5,6,7 power shaft coaxial transmission connects, solid respectively on the output shaft of each planetary reducer 5,6,7
Dingan County is equipped with roller gear 8.1,9.1,10.1, and three roller gears 8.1,9.1,10.1 are at corresponding planetary reducer 5,6,7
On output shaft, axial mounting distance is different, forms three Cylinder Gears 8.1,9.1,10.1 and takes turns non-matching relationship, also includes three and half
The spur gear wheel 8.2,9.2,10.2 that footpath is different, three spur gear wheels 8.2,9.2,10.2 press radius order from small to large
Sequentially coaxially arrange, form the non-matching relationship of three spur gear wheels 8.2,9.2,10.2, and three spur gear wheels 8.2,
9.2,10.2 engage with three roller gears 8.1,9.1,10.1 one_to_one corresponding transmission respectively, by each roller gear 8.1,9.1,
The spur gear wheel 8.2,9.2,10.2 of 10.1 corresponding engagements constitutes Cylinder Gear wheels 8,9,10, three spur gear wheels
8.2,9.2, the 10.2 centers the most fixing power center (PC) axle 13,14,15 that is equipped with, three power center (PC) axles 13,14,15 in
The most sequentially coaxially intussusception, the power center (PC) axle 13 of the spur gear wheel 8.2 center assembling that wherein radius is minimum is solid
Interior axle, the power center (PC) axle 14 of the spur gear wheel 9.2 center assembling that radius is time little for be enclosed within outside solid shafting hollow in
Countershaft, the power center (PC) axle 15 of the spur gear wheel 10.2 center assembling that radius is maximum for be enclosed within outside jackshaft hollow outside
Axle；
Articulation mechanism includes the housing being arranged on power center (PC) axle 13,14,15 axle head side, is provided with a pair bevel pinion in housing
18.1 and 18.2, a pair bevel gear wheel 19.1 and 19.2, a pair roller gear 20.1 and 20.2, a pair output bevel gear wheel 23.1 and
23.2, connecting shaft 1, connecting shaft 2 22, articulation center axle 24, the power center (PC) axle 14 as jackshaft in actuating unit,
Power center (PC) axle 13 as interior axle is respectively protruding in the housing of articulation mechanism, and wherein first bevel pinion 18.1 is fixed on work
For on the power center (PC) axle 13 of interior axle, first bevel gear wheel 19.1 is fixed on as on the power center (PC) axle 14 of jackshaft, and
Axially mounted apart from different on the axle of respective power center (PC) of one bevel pinion 18.1 and first bevel gear wheel 19.1, second
18.2, second bevel gear wheel 19.2 of individual bevel pinion and first roller gear 20.1 are coaxially fixedly mounted on connecting shaft 1
On, and first bevel pinion 18.1 engage composition small bevel gear wheels 18 with second bevel pinion 18.2 vertical-transmission, first
Individual bevel gear wheel 19.1 engages composition bevel gear wheel group 19, second roller gear with second bevel gear wheel 19.2 vertical-transmission
20.2, first output bevel gear wheel 23.1 is coaxially fixedly mounted in connecting shaft 2 22, and second roller gear 20.2 and the
One roller gear 20.1 transmission engagement constitutes Cylinder Gear wheels 20, and second output bevel gear wheel 23.2 is coaxially fixed in joint
In mandrel 24, and second output bevel gear wheel 23.2 is taken turns 23.1 vertical-transmissions with first output bevel gear and is engaged composition output bevel gear
Wheels 23, articulation center axle 24 passes from housing；
Gripping body includes the casing 26 being arranged on articulation center axle axle head side, and casing 26 rear wall has for articulation center
The circular hole that axle 24 penetrates, is uncovered on front side of casing 26, and slotting respectively in casing 26 left and right sidewall front end, articulation center axle 24 passes through
Casing 26 rear wall perforate penetrates in casing 26, is provided with a pair input bevel gear 27.1 and 27.2, three Cylinder Gears in casing 26
Taking turns 28,29 and 30, power transmission shaft 31, wherein first input bevel gear 27.1 is coaxially fixed on articulation center axle 24, the
Two input bevel gears 27.2 and first roller gear 28 are coaxially fixed on power transmission shaft 31, and second input bevel gear
27.2 engages composition with first input bevel gear 27.1 vertical-transmission inputs bevel gear set 27, second roller gear 29, the
Three roller gears 30 are symmetrical to be rotatably installed in casing 26, and second roller gear 29 and first roller gear
28 transmissions are engaged, and the second roller gear 29 center, the 3rd roller gear 30 center are the most each hinged with the first short-range missile bar 32,
Left and right side the first short-range missile bar 32 passes casing from casing 26 respective side fluting rear end respectively, is positioned at the second Cylinder Gear in casing 26
Wheel the 29, the 3rd roller gear 30 front is rotatably connected to the second short-range missile bar 33, left and right side the second short-range missile bar 33 by bearing pin respectively
Pass casing 26 from casing 26 respective side fluting front end respectively, outside casing 26 left and right side, be provided with long leading the most along the longitudinal direction
Bar 34, the first short-range missile bar 32 rod end is connected with long guide rod 34 rear end thereof of homonymy by bearing pin respectively, the second short-range missile bar bar 33
End is connected with long guide rod 34 central rotational of homonymy by bearing pin respectively, by two long guide rods 34 respectively as manipulator finger.
Soft pad is studded with in case damaging caught workpiece when gripping inside manipulator finger.
In actuating unit, the power center (PC) axle 15 as outer shaft is provided with bearing 16 and rotary flange near roller gear position
17。
In articulation mechanism, articulation center axle 24 is outer is coaxially cased with the hollow axle 25 as overcoat.
The present invention includes the firm banking 1 being horizontally mounted, three motors 2,3,4, passes through between base 1 and workbench
Bolt connects, three horizontal power providing motion on base 1 that are arranged on of motor 2,3,4, motor 2,3,4 output shaft
Direction dead ahead has 5,6,7 and three Cylinder Gear wheels 8,9,10 of three planetary reducers, three planetary reducers 5,6,7 and step
Enter motor 2,3,4 to be in transmission connection respectively, the roller gear 8.1,9.1,10.1 of three non-cooperations in Cylinder Gear wheels 8,9,10
Bonded with the output shaft 12 stretched out from planetary reducer 5,6,7 each via connecting shaft 11 respectively, non-join for remaining three
The spur gear wheel 8.2,9.2,10.2 closed presses radius order coaxial placement from small to large, respectively with aforesaid three Cylinder Gears
Wheel 8.1,9.1,10.1 formation transmissions engagement connect, these three coaxial placement gear 8.2,9.2,10.2 front have three move
Power central shaft 13,14,15, three the most overlapping placements of power center (PC) axle 13,14,15, wherein internal layer is solid power center (PC)
Axle 13, the power center (PC) axle 14,15 that two outside layers is the most hollow, one end of power center (PC) axle 13,14,15 respectively with three cylinders
Spur gear 8.2,9.2,10.2 is formed bonded, and the power center (PC) axle 15 near these three pairs of Cylinder Gear wheels 8,9,10 is provided with conjunction
Suitable bearing 16 and rotary flange 17, the other end of power center (PC) axle 15 has two concentric bevel gear set 18,19, a cylinder
Gear train 20, a connecting shaft 1, the coaxial bevel pinion 18.1 in bevel gear set 18,19, bevel gear wheel 19.1 difference
Corresponding with two other coaxial bevel pinion 18.2, bevel gear wheel 19.2 it is disposed vertically and is formed transmission engagement, and bevel gear
Group 18, the coaxial bevel pinion 18.1 in 19, bevel gear wheel 19.1 is bonded with power center (PC) axle 13,14 respectively, coaxial
Bevel pinion 18.2, bevel gear wheel 19.2 is by connecting shaft 1 and first roller gear 20.1 shape in Cylinder Gear wheels 20
Becoming bonded, second roller gear 20.2 is formed bonded with the connecting shaft 2 22 being placed on front, roller gear
20.1 are connected with roller gear 20.2 engagement, and front is placed with output bevel gear wheels 23, first output bevel gear therein
Wheel 23.1 is formed bonded with connecting shaft 2 22, and another output bevel gear wheel 23.2 is taken turns 23.1 and vertical put with first output bevel gear
Putting and transmission engagement connects, the output bevel gear wheel 23.2 articulation center axle 24 longer with the one of front is bonded, articulation center
The outer of axle 24 is with a hollow axle 25, and as its overcoat, the other end of articulation center axle 24 is provided with groove at side surface, and front end opens
Opening, the casing 26 of circular hole is driven in rear end, an input bevel gear set 27, three roller gears 28,29,30, power transmission shaft 31, and two
Individual first guide rod 32, two the second short-range missile bars 33, and the in irregular shape long guide rod 34 of longer a pair, first input cone tooth
Wheel 27.1 and first roller gear 28 are by bonded on power transmission shaft 31, and second input bevel gear 27.2 is through casing 26
The circular hole of rear end is formed bonded with articulation center axle 24, and two input bevel gear 27.1,27.2 Vertical Meshing connect, and other two
Individual roller gear 29,30 one gear train of composition and being relatively rotated by the formation of bearing pin and casing 26 bottom surface is coordinated, and two to short
The long guide rod 34 of guide rod 32,33 and longer a pair is symmetrically placed respectively along casing 26 centrage, wherein, and two first short-range missile bars 32
Hinged with the two roller gear 29,30 respectively, two second short-range missile bars 33 are relatively rotated with the formation of casing 26 bottom surface by bearing pin
Coordinating, the long guide rod 34 of longer a pair is formed to relatively rotate with first short-range missile bar the 32, second short-range missile bar 33 by bearing pin respectively joins
Closing, the second roller gear 29 being connected in the gear train on casing 26 hangs down with the first roller gear 28 being connected on power transmission shaft
Straight placement forms engagement connection.
Motor 2,3,4 are arranged on base 1 by Cylinder Gear wheels 8,9,10 offer power, and power transmits through power transmission shaft
On the movable device that there is a need to motor controls, variable-ratio.
The THE NEST STRUCTURE of power center (PC) axle 13,14,15 constitutes large arm, articulation center axle 24 and its outside hollow axle 25 structure
Becoming forearm, large arm is directly anchored on base 1, reduces the design difficulty of mechanical hand.
Mechanical hand adds the revolution degree of freedom between large arm and forearm on articulation mechanism, it is achieved the revolution fortune of mechanical hand
Dynamic.
Two long guide rods 34 refer to as mechanical hand two, stud with soft pad to prevent from damaging clipped object inside mechanical hand two finger
Body.
The present invention mainly by actuating unit, articulation mechanism, gripping body three part composition, with three motors 2,3,
4, as power source, are outputed power by three pairs of Cylinder Gear wheels 8,9,10, are engaged and Cylinder Gear by bevel gear set 18,19
Wheels 20 engagement with the use of, it is achieved the gyration of mechanical hand and lifter motion, reuse input bevel gear set 27 nibble
Close and roller gear 28,29,30 engagement with the use of mode, transfer power to two as on the long guide rod 34 of finger,
Realize relatively rotating of two fingers, complete to grip the action of workpiece.
The present invention uses PLC to be controlled, and when the motion flow of mechanical hand needs to change, only need to change PLC program.Separately
Being also equipped with outward position detecting device, position detecting device is typically all various sensor, and by detecting specific signal, position passes
Sensor is obtained in that the real-time status situation of each parts of mechanical hand, and status signal can be passed to control system, helps
Control system judges.By comparing with the position that pre-sets in system, mechanical hand state position is adjusted.
Claims (4)
1. one kind two refers to formula loading and unloading rotating machine arm, it is characterised in that: include actuating unit, articulation mechanism and gripping body,
Wherein:
Actuating unit includes the base of level, and base is mounted in parallel three identical stepping electricity in output shaft direction in isosceles triangle
The planetary reducer that machine, three output shaft directions are identical, the output shaft one_to_one corresponding of three motors and three planetary reduction gears
Machine power shaft coaxial transmission connects, and the output shaft of each planetary reducer is installed with roller gear, three cylinders respectively
Gear axial mounting distance on corresponding planetary reducer output shaft is different, forms three non-matching relationships of roller gear, also
Including the spur gear wheel that three radiuses are different, three spur gear wheels are sequentially coaxially arranged by radius order from small to large,
Form the non-matching relationship of three spur gear wheels, and three spur gear wheels respectively with three roller gear one_to_one corresponding transmissions
Engagement, is made up of Cylinder Gear wheels, three spur gear wheel centers the spur gear wheel of the corresponding engagement of each roller gear
Coaxial fixing being respectively equipped with power center (PC) axle, three power center (PC) axles are in the most sequentially coaxially intussusception, and wherein radius is
The power center (PC) axle of little spur gear wheel center assembling is solid interior axle, the spur gear wheel center assembling that radius time is little
Power center (PC) axle is the hollow jackshaft being enclosed within outside solid shafting, the power center (PC) of the spur gear wheel center assembling that radius is maximum
Axle is the hollow outer shaft being enclosed within outside jackshaft；
Articulation mechanism includes the housing being arranged on axle axle head side, power center (PC), be provided with in housing a pair bevel pinion, a pair big
Bevel gear, a pair roller gear, a pair output bevel gear wheel, connecting shaft one, connecting shaft two, articulation center axle, in actuating unit
Jackshaft and interior axle are respectively protruding in the housing of articulation mechanism, and wherein first bevel pinion is fixed on interior axle, and first big
Bevel gear is fixed on jackshaft, first bevel pinion and first bevel gear wheel axially pacifying on the axle of respective power center (PC)
Dress distance is different, and second bevel pinion, second bevel gear wheel and first roller gear are coaxially fixedly mounted on connecting shaft
On one, and first bevel pinion and second bevel pinion vertical-transmission engagement constitute small bevel gear wheels, first auger tooth
Wheel engages composition bevel gear wheel group, second roller gear, first output bevel gear wheel with second bevel gear wheel vertical-transmission
Coaxially it is fixedly mounted in connecting shaft two, and second roller gear and first column gear transmission engagement constitute roller gear
Group, second output bevel gear wheel is coaxially fixed on articulation center axle, and second output bevel gear is taken turns and first output bevel gear
Wheel vertical-transmission engagement constitutes output bevel gear wheels, and described articulation center axle passes from housing；
Gripping body includes the casing being arranged on articulation center axle axle head side, and casing rear wall has to be worn for articulation center axle
The circular hole entered, cabinet front is uncovered, slots respectively in casing left and right sidewall front end, and described articulation center axle is by rear side of casing
Wall perforate penetrates in casing, is provided with a pair input bevel gear, three roller gears, power transmission shafts in casing, wherein first
Bevel gear is coaxially fixed on articulation center axle in input, and second input bevel gear is coaxially fixed on biography with first roller gear
On moving axis, and second input bevel gear engages with first input bevel gear vertical-transmission and constitutes input bevel gear set, and second
Individual roller gear, the 3rd roller gear is symmetrical is rotatably installed in casing, and second roller gear and first
Column gear transmission engages, and the second roller gear center, the 3rd roller gear center are the most each hinged with the first short-range missile bar,
Left and right side the first short-range missile bar passes casing from casing respective side fluting rear end respectively, be positioned in casing the second roller gear, the
Three roller gear fronts are rotatably connected to the second short-range missile bar by bearing pin respectively, and left and right side the second short-range missile bar is respectively from casing pair
Answering fluting front end, side to pass casing, be provided with long guide rod outside casing left and right side the most along the longitudinal direction, the first short-range missile bar rod end divides
Tong Guo not be connected with the long guide rod rear end thereof of homonymy by bearing pin, the second short-range missile bar rod end is respectively by the long guide rod of bearing pin with homonymy
Central rotational connects, by two long guide rods respectively as manipulator finger.
The most according to claim 1 a kind of two refer to formula loading and unloading rotating machine arm, it is characterised in that: described manipulator finger
Inner side studs with soft pad in case damaging caught workpiece when gripping.
The most according to claim 1 a kind of two refer to formula loading and unloading rotating machine arm, it is characterised in that: in actuating unit, outward
Axle is provided with bearing and rotary flange near roller gear position.
The most according to claim 1 a kind of two refer to formula loading and unloading rotating machine arm, it is characterised in that: in articulation mechanism, close
The hollow axle as overcoat coaxially it is cased with outside joint central shaft.
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| CN201610836410.9A CN106272529A (en) | 2016-09-20 | 2016-09-20 | A kind of two refer to formula loading and unloading rotating machine arm |
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| CN201610836410.9A CN106272529A (en) | 2016-09-20 | 2016-09-20 | A kind of two refer to formula loading and unloading rotating machine arm |
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| CN108353634A (en) * | 2018-05-18 | 2018-08-03 | 青岛理工大学 | Single-motor multi-joint walking type flexible fruit picking equipment |
| CN108858174A (en) * | 2018-06-06 | 2018-11-23 | 昆明理工大学 | A kind of manipulator |
| CN109178914A (en) * | 2018-09-21 | 2019-01-11 | 常州机电职业技术学院 | Thumb type grabbing mechanism |
| CN109804903A (en) * | 2017-11-21 | 2019-05-28 | 朱银娥 | A kind of afforestation Work robot |
| CN110587571A (en) * | 2019-10-18 | 2019-12-20 | 南京蜘蛛侠智能机器人有限公司 | Mechanical arm trolley |
| WO2020114188A1 (en) * | 2018-12-07 | 2020-06-11 | 北京仙进机器人有限公司 | Robotic arm |
| CN111976352A (en) * | 2020-08-27 | 2020-11-24 | 诺伯特智能装备（山东）有限公司 | High-precision universal double-shaft head and working method thereof |
| CN117381846A (en) * | 2022-07-05 | 2024-01-12 | 苏州艾利特机器人有限公司 | Power assembly of compact mechanical arm |
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Cited By (11)
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| CN109804903A (en) * | 2017-11-21 | 2019-05-28 | 朱银娥 | A kind of afforestation Work robot |
| CN108353634A (en) * | 2018-05-18 | 2018-08-03 | 青岛理工大学 | Single-motor multi-joint walking type flexible fruit picking equipment |
| CN108353634B (en) * | 2018-05-18 | 2023-10-20 | 青岛理工大学 | Single-motor multi-joint walking type flexible fruit picking equipment |
| CN108858174A (en) * | 2018-06-06 | 2018-11-23 | 昆明理工大学 | A kind of manipulator |
| CN108858174B (en) * | 2018-06-06 | 2024-09-03 | 昆明理工大学 | Mechanical arm |
| CN109178914A (en) * | 2018-09-21 | 2019-01-11 | 常州机电职业技术学院 | Thumb type grabbing mechanism |
| WO2020114188A1 (en) * | 2018-12-07 | 2020-06-11 | 北京仙进机器人有限公司 | Robotic arm |
| CN110587571A (en) * | 2019-10-18 | 2019-12-20 | 南京蜘蛛侠智能机器人有限公司 | Mechanical arm trolley |
| CN111976352A (en) * | 2020-08-27 | 2020-11-24 | 诺伯特智能装备（山东）有限公司 | High-precision universal double-shaft head and working method thereof |
| CN111976352B (en) * | 2020-08-27 | 2022-02-11 | 诺伯特智能装备（山东）有限公司 | High-precision universal double-shaft head and working method thereof |
| CN117381846A (en) * | 2022-07-05 | 2024-01-12 | 苏州艾利特机器人有限公司 | Power assembly of compact mechanical arm |
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