CN105033990B - A kind of simple type manipulator - Google Patents

Abstract

The invention provides a kind of simple type manipulator, belong to manipulator technical field；It solves that existing manipulator volume is big, complex structure, runs inflexible technical problem；A kind of simple type manipulator, including mechanical arm assembly, it is used to fold up workpiece；First controlling organization, it control machinery hand component can circumferentially rotate and swing respectively；Forearm, its one end is connected with the first controlling organization；Second controlling organization, it can control principal arm itself to rotate；3rd controlling organization, it can control the second controlling organization to swing in vertical plane；Principal arm, its one end is connected with the 3rd controlling organization；4th controlling organization, it can control principal arm to swing in vertical plane；Pedestal, its own rotatable and the 4th controlling organization is arranged on pedestal；By four controlling organizations, realize this manipulator and flexibly moved in Different Plane, its scope of activities is bigger, and flexibility is stronger, therefore improve the operating efficiency of this manipulator.

Description

A kind of simple type manipulator

Technical field

The invention belongs to manipulator technical field, it is related to a kind of simple type manipulator.

Background technology

Manipulator is to replace in industry people to complete high-volume, the automatic producing device of high-quality requirement, it include hand with Include multiple connected arms in motion, motion, various rotations, swing, movement or multiple are completed by arm Defined action is realized in resultant motion, changes position and the posture for being crawled object.

Existing manipulator mainly includes activity between multiple mechanical arms that is sequentially connected and can move, each mechanical arm and connected Connect and each mechanical arm can be with free movement, for example, a kind of disclosure of the invention machine of the Authorization Notice No. for CN 102615654 A Tool arm, this mechanical arm is arranged on the whirligig that can be circumferentially rotated by principal arm, and principal arm controls it certainly by controlling organization Body rotates and circumferentially rotated, and it has a following technical problem, 1, the mobilizable joint of whole manipulator it is less, cause manipulator Scope of activities is smaller, causes that the kinematic dexterity of manipulator is poor, and operating efficiency is relatively low；2nd, whole mechanical arm volume is larger, control The structure for making each shoulder joint is more complicated, causes the problem of cost is big, energy consumption is big, because volume is larger, and it moves more slow, right There is also influence for the operating efficiency of manipulator itself.

In summary, in order to solve technical problem that above-mentioned manipulator is present, it is necessary to design a kind of small volume, structure letter Single, the operation relatively flexible and higher simple type manipulator of operating efficiency.

The content of the invention

The purpose of the present invention is in view of the above-mentioned problems existing in the prior art, it is proposed that a kind of small volume, simple in construction, fortune The row relatively flexible and higher simple type manipulator of operating efficiency.

The purpose of the present invention can be realized by following technical proposal：A kind of simple type manipulator, including

Mechanical arm assembly, it is used to fold up workpiece；

First controlling organization, it is connected with mechanical arm assembly and control machinery hand component can circumferentially rotate and swing respectively；

Forearm, its one end is connected with the first controlling organization；

Second controlling organization, it is connected with the forearm other end and principal arm itself can be controlled to rotate；

3rd controlling organization, it is connected with the second controlling organization and the second controlling organization can be controlled to put in vertical plane It is dynamic；

Principal arm, its one end is connected with the 3rd controlling organization；

4th controlling organization, it is connected with the principal arm other end and principal arm can be controlled to swing in vertical plane；

Pedestal, its own rotatable and the 4th controlling organization is arranged on pedestal.

In a kind of above-mentioned simple type manipulator, the first controlling organization includes

Installation casing, it is connected with forearm；

Pivoted arm, it is flexibly connected with installation casing, and the mechanical arm assembly is arranged on pivoted arm；

First motor, it is arranged in installation casing, and the first motor is connected with pivoted arm and can make pivoted arm in installation casing Swing；

Second motor, it is arranged in installation casing, and the second motor is connected with mechanical arm assembly and can make mechanical arm assembly Rotated on pivoted arm.

In a kind of above-mentioned simple type manipulator, the first controlling organization also includes

First decelerator, it is arranged in installation casing right arm and is connected with pivoted arm side,

First Timing Belt, its one end is connected with the first decelerator；

First motor is fastened transversely on installation casing right side wall and is connected with the first Timing Belt other end；

First motor drives the first decelerator to rotate and pivoted arm is swung in installation casing.

In a kind of above-mentioned simple type manipulator, the first controlling organization also includes

First bearing seat, it is arranged on the left side wall of installation casing and is connected with pivoted arm opposite side；

First power transmission shaft, it is arranged in first bearing seat and is connected with mechanical arm assembly；

Second Timing Belt, its one end is connected with the first power transmission shaft；

Second motor is fastened transversely on installation casing left side wall and is connected with the second Timing Belt other end；

Second motor drives the first drive axis and makes mechanical arm assembly synchronous axial system.

In a kind of above-mentioned simple type manipulator, the first controlling organization also includes

Second bearing seat, it is arranged in pivoted arm；

Second driving shaft, it is arranged in second bearing seat and one end is connected with mechanical arm assembly；

Second helical gear, it is arranged on the other end of second driving shaft；

The first helical gear is provided with the first power transmission shaft and the first helical gear is connected with the engagement of the second helical gear.

In a kind of above-mentioned simple type manipulator, the first controlling organization also includes

Second decelerator, it is arranged in pivoted arm and is connected respectively with second driving shaft and mechanical arm assembly.

In a kind of above-mentioned simple type manipulator, the second controlling organization includes

3rd power transmission shaft, it is connected with forearm；

3rd motor, it is arranged at the 3rd power transmission shaft side；

3rd Timing Belt, its be located at the 3rd motor interband synchronous with the 3rd and respectively with the 3rd motor and the 3rd power transmission shaft phase Even；

3rd motor drives the 3rd drive axis and makes forearm with the 3rd power transmission shaft synchronous axial system.

In a kind of above-mentioned simple type manipulator, the second controlling organization also includes

3rd decelerator, its input shaft is connected with the 3rd power transmission shaft, and its output shaft is connected with forearm.

In a kind of above-mentioned simple type manipulator, the 3rd controlling organization includes

4th decelerator, it is fixedly installed on principal arm,

4th motor, it laterally sets and is connected with the input shaft of the 4th decelerator；

Fixed lasso, its be arranged on the second controlling organization and with the output shaft fixed connection of the 4th decelerator.

In a kind of above-mentioned simple type manipulator, the 4th controlling organization includes

5th decelerator, it is fixedly installed on pedestal and can rotated with pedestal, the output shaft and principal arm of the 5th decelerator The other end is connected.

5th motor, it laterally sets and is connected with the input shaft of the 5th decelerator.

Compared with prior art, the invention has the advantages that：

1st, principal arm, forearm and mechanical arm assembly, the first controlling organization energy control machinery hand component are included in this manipulator Rotation and swing, the second controlling organization control forearm rotation, the 3rd controlling organization control the second controlling organization in vertical plane Swing, the 4th controlling organization control principal arm is swung in vertical plane, by four controlling organizations, realizes this manipulator not Coplanar interior flexible movement, compared to traditional manipulator, its scope of activities is bigger, and flexibility is stronger, therefore improves this machinery The operating efficiency of hand.

2nd, in addition, in this manipulator, the small volume of principal arm and forearm so that the small volume of whole manipulator, its work Required energy consumption is also smaller when making, and mobile also relatively flexibly operating efficiency is higher, and the connection of principal arm, forearm and other parts compared with To be simple so that the structure of whole manipulator is also by a relatively simple, and therefore, the cost of manufacture of this manipulator is relatively fewer.

Brief description of the drawings

Fig. 1 is the overall perspective view of a preferred embodiment of the present invention.

Fig. 2 is the assembling stereogram of mechanical arm assembly and the first controlling organization in a preferred embodiment of the present invention.

Fig. 3 is the section plan of the first controlling organization in a preferred embodiment of the present invention.

Fig. 4 is the plan of the first controlling organization in a preferred embodiment of the present invention.

Fig. 5 is the assembling stereogram of the second controlling organization and the first controlling organization in a preferred embodiment of the present invention.

Fig. 6 is the perspective interior view of the second controlling organization in a preferred embodiment of the present invention.

Fig. 7 is the section plan of the second controlling organization in a preferred embodiment of the present invention.

Fig. 8 is the assembling stereogram of the 3rd controlling organization and the 4th controlling organization in a preferred embodiment of the present invention.

Fig. 9 is the vertical sectional view of the 3rd controlling organization and the 4th controlling organization in a preferred embodiment of the present invention.

In figure, 100, mechanical arm assembly；110th, mounting seat；120th, Pneumatic clamping jaw；130th, rotary shaft；200th, the first control machine Structure；210th, installation casing；211st, installation gap；220th, pivoted arm；221st, swing part；222nd, movable part；222a, the first oil nozzle； 230th, the first motor；231st, first rotating shaft；232nd, the first driving wheel；233rd, the first Timing Belt；240th, the first decelerator；241st, One input shaft；242nd, the first output shaft；243rd, the first driven pulley；250th, the second motor；251st, the second rotating shaft；252nd, second actively Wheel；253rd, the second Timing Belt；260th, first bearing seat；261st, sliding bearing；262nd, the first power transmission shaft；262a, the first helical gear； 262b, the second driven pulley；270th, second bearing seat；271st, second driving shaft；272nd, the second helical gear；280th, the second decelerator； 290th, outer cover；300th, forearm；310th, drive sleeve；400th, the second controlling organization；410th, the first reduction box；411st, fixed plate；411a、 Positioning hole；412nd, front chamber；412a, centring ring；412b, positioning bearing；413rd, rear chamber；414th, the second oil nozzle；415th, it is fixed Lasso；420th, the 3rd power transmission shaft；421st, the 3rd driven pulley；430th, the 3rd decelerator；431st, the 3rd input shaft；432nd, the 3rd output Axle；432a, adapter sleeve；433rd, locating piece；440th, the 3rd motor；441st, the 3rd rotating shaft；442nd, the 3rd driving wheel；443rd, the 3rd is same Walk band；450th, motor case body；500th, the 3rd controlling organization；510th, the 4th decelerator；511st, the 4th input shaft；512nd, the 4th output Axle；520th, the 4th motor；521st, the 4th rotating shaft；530th, the second reduction box；600th, principal arm；610th, the first mounting disc；611st, the 3rd Oil nozzle；620th, the second mounting disc；621st, annular mounting groove；622nd, the 4th oil nozzle；630th, reinforcing plate；631st, reinforcing prop；700th, Four controlling organizations；710th, the 5th decelerator；711st, the 5th input shaft；712nd, the 5th output shaft；720th, the 5th motor；721st, the 5th Rotating shaft；730th, the 3rd reduction box；800th, pedestal；810th, riser；820th, chassis；900th, base.

Embodiment

The following is specific embodiment of the invention and with reference to accompanying drawing, technical scheme is further described, But the present invention is not limited to these embodiments.

As shown in figure 1, a kind of simple type manipulator of the invention, including it is sequentially connected mechanical arm assembly 100, the first control machine Structure 200, forearm 300, the second controlling organization 400, the 3rd controlling organization 500, principal arm 600, the 4th controlling organization 700, pedestal 800。

As shown in Fig. 2 mechanical arm assembly 100, it includes mounting seat 110 and Pneumatic clamping jaw 120.

Mounting seat 110 is triangle body shape and has two adjacent mounting surfaces and fixation adjacent with two mounting surfaces respectively Face, the Pneumatic clamping jaw 120 is used to fold up workpiece, and the Pneumatic clamping jaw 120 has two and is separately mounted on two mounting surfaces.

As shown in Figure 3, Figure 4, the first controlling organization 200, it includes installation casing 210 and pivoted arm 220.

It is T-shape in the pivoted arm 220, it includes the activity that the axially arranged swing part 221 in front end is laterally set with rear end Portion 222, the swing part 221 is connected by rotary shaft 130 with mounting seat 110.

Installation gap 211 is formed with the front end depression of installation casing 210, the pivoted arm 220 is located in installation gap 211.

First motor 230 is installed in installation casing 210, first motor 230 is fastened transversely to installation casing 210 On right side wall, the first rotating shaft 231 of the first motor 230 passes through the right side wall of installation casing 210 and stretched out outside installation casing 210, The first driving wheel 232 is provided with the part that first rotating shaft 231 is located at outside installation casing 210.

The first decelerator 240 is also equipped with the right side wall of installation casing 210, first decelerator 240 has the first input The output shaft 242 of axle 241 and first, the first output shaft 242 stretch into installation gap 211 and with one end of movable part 222 of pivoted arm 220 It is connected, the first input shaft 241 is located at the outside of installation casing 210 and is provided with the first driven pulley on first input shaft 241 243, the first Timing Belt being connected respectively with the first driving wheel 232 and the first driven pulley 243 is provided with outside installation casing 210 233。

The second motor 250 is additionally provided with installation casing 210, the second motor 250 is secured transverse to a left side for installation casing 210 On the wall of side, pass through the left side wall of installation casing 210 in the second rotating shaft 251 of the second motor 250 and stretch out outside installation casing 210, The second driving wheel 252 is provided with the part that second rotating shaft 251 is located at outside installation casing 210.

First bearing seat 260, the other end of movable part 222 of pivoted arm 220 and are also equipped with the left side wall of installation casing 210 One bearing block 260 is connected and sliding bearing 261, first bearing seat 260 are provided between pivoted arm 220 and first bearing seat 260 First power transmission shaft 262 is inside installed, first power transmission shaft 262 is laterally set, and installation casing is stretched into the one end of the first power transmission shaft 262 Stretch on part in 210 and at this and be provided with the first helical gear 262a, the other end of the first power transmission shaft 262 stretches out installation casing 210 Outside, second driven pulley 262b is installed on the part that the first power transmission shaft 262 is located at outside installation casing 210, in installation casing 210 It is provided with the second Timing Belt 253 being connected respectively with the second driving wheel 252 and the second driven pulley 262b outside.

The swing part 221 of pivoted arm 220 is internally provided with second bearing seat 270, and second is provided with second bearing seat 270 Power transmission shaft 271, the second driving shaft 271 is axially arranged, and the front end of second driving shaft 271 is connected with rotary shaft 130, the second transmission The rear end of axle 271 is provided with the second helical gear 272, and second helical gear 272 is connected with the first helical gear 262a engagements.

During work, the first motor 230 drives the first Timing Belt 233 to rotate, and drives the first decelerator 240 to work, and passes through The output shaft of first decelerator 240 drives the movable part 222 of pivoted arm 220 to rotate, so as to realize pivoted arm 220 in installation casing 210 Upper to swing, the second motor 250 drives the second Timing Belt 253 to rotate, and drives the first power transmission shaft 262 to make with second driving shaft 271 Gear motion, is then rotated axle 130 by second driving shaft 271 and rotates so that mounting seat 110 is with rotary shaft 130 The heart rotates for axle center, so as to realize the conversion of the position of two Pneumatic clamping jaw 120.

As shown in figure 3, being additionally provided with the second decelerator 280 in swing part 221, second decelerator 280 has second Input shaft (not shown) and the second output shaft (not shown), the second input shaft are connected with second driving shaft 271, and second Output shaft 282 is connected with rotary shaft 130, by setting the second decelerator 280 so that the power that second driving shaft 271 is exported is more steady It is fixed, it is ensured that rotary shaft 130 rotates under stable state, so that the rocking and be minimized operationally by manipulator.

As improvement, the first oil nozzle communicated with inside movable part 222 is provided with the movable part 222 of pivoted arm 220 222a, the first oil nozzle 222a and the first helical gear 262a and the second helical gear 272 are relative, can be right by first oil nozzle 222a Movable part 222 injects lubricating oil, and lubricating oil flow to the first helical gear 262a with moistening on the second helical gear 272 and to the two Sliding, the first helical gear 262a made is remained with the second helical gear 272 preferably engage effect, so as to ensure rotary shaft 130 More smoothness during rotation.

As shown in Fig. 2, Fig. 3, Fig. 5, outer cover 290, the edge of outer cover 290 are respectively arranged with the two ends of installation casing 210 It is connected with the edge of installation casing 210.

Mechanical arm assembly 100 is general compared with being worked under complex environment, by set outer cover 290 by the first driving wheel 232, First driven pulley 243, the first Timing Belt 233, the second driving wheel 252, the second driven pulley 262b and the second Timing Belt 253 cover Firmly, prevent that debris is contacted with the water or chip in working environment etc. for it, makes it preferably be protected, it is ensured that it can be normal Work.

As shown in Figures 1 to 7, forearm 300, it is tubulose, and front end and the rear end of installation casing 210 of forearm 300 are connected.

As shown in Figures 5 to 7, the second controlling organization 400, it includes the first reduction box 410, the 3rd power transmission shaft 420, Three decelerators 430 and the 3rd motor 440.

Fixed plate 411 is provided with the madial wall of the first reduction box 410 and fixed plate 411 is by the first reduction box 410 points For front chamber 412 and rear chamber 413, the 3rd decelerator 430 is located in front chamber 412 and is connected with fixed plate 411.

3rd decelerator 430 has the 3rd input shaft 431 and the 3rd output shaft 432, the fixed peace on the 3rd output shaft 432 Be connected equipped with adapter sleeve 432a, adapter sleeve 432a with forearm 300, herein, by adapter sleeve 432a by the 3rd output shaft 432 with Forearm 300 is connected, it is to avoid forearm 300 is directly contacted with the 3rd output shaft 432, prevents between the output shaft 432 of forearm 300 and the 3rd Produce opposing force and damage the 3rd output shaft 432.

3rd input shaft 431 stretches out front chamber 412 and entered in rear chamber 413, and the 3rd described power transmission shaft 420 is located at It is connected in rear chamber 413 and with the 3rd input shaft 431, the 3rd driven pulley 421 is installed on the 3rd power transmission shaft 420.

Motor case body 450 is installed on the lateral wall of the first reduction box 410, the 3rd described motor 440 is fixed on On the lateral wall of one reduction box 410 and in the motor case body 450, the 3rd rotating shaft 441 of the 3rd motor 440 is located at and the 3rd The identical side of power transmission shaft 420, is provided with the 3rd driving wheel 442, the 3rd driven pulley 421 and in the 3rd rotating shaft 441 The 3rd Timing Belt 443 being connected respectively with the two is provided between three driving wheels 442, is additionally provided with the 3rd decelerator 430 point The gear reduction (not shown) not being connected with the 3rd input shaft 431 and the 3rd output shaft 432.

During work, the 3rd motor 440 drives the 3rd Timing Belt 443 to rotate and drive the 3rd decelerator 430 to work, by the Three decelerators 430 slow down after, the power of output is passed into forearm 300 and forearm 300 is rotated so that mechanical arm assembly 100 with And first controlling organization 200 can be rotated using the axle center of forearm 300 as the center of circle, it is achieved thereby that mechanical arm assembly 100 is a variety of Forms of motion, improves flexibility and the operating efficiency of mechanical arm assembly 100.

As improvement, the fixed plate 411 is in a ring and around being arranged on the madial wall of the first reduction box 410, in fixed plate 411 middle part is formed with positioning hole 411a, and locating piece 433 is provided with the 3rd decelerator 430 and locating piece 433 is located at positioning It is adjacent in the 411a of hole and with positioning hole 411a hole walls, is coordinated by locating piece 433 and positioning hole 411a so that the 3rd decelerator 430 and first reduction box 410 coordinate more close, the 3rd decelerator 430, which is arranged in the first reduction box 410, more to be stablized, and is kept away Exempting from inertia when forearm 300 is rotated makes the 3rd decelerator 430 occur lateral displacement, it is ensured that the 3rd of the 3rd decelerator 430 is defeated The output accuracy of shaft 432, so as to also ensure that the running accuracy of forearm 300.

And in the case where no locating piece 433 and positioning hole 411a coordinate, depend merely on the 3rd decelerator 430 and be fixedly mounted on In fixed plate 411, under the long-term rotation of forearm 300, the 3rd decelerator 430 easily occurs to loosen phenomenon, when causing the rotation of forearm 300 Rock, largely effect on precision when mechanical arm assembly 100 works.

As a further improvement, centring ring 412a, the centring ring 412a are provided with the madial wall of front chamber 412 makes The front end of one reduction box 410 is formed with the positioning chamber (not shown) separated with front chamber 412, is provided with positioning chamber room Bearing 412b is positioned, drive sleeve 310 is arranged with forearm 300, the rear end of drive sleeve 310 is located at positioning bearing 412b and adapter sleeve It is adjacent between 432a and respectively with positioning bearing 412b and adapter sleeve 432a.

Set after positioning bearing 412b and drive sleeve 310, drive sleeve 310 be located at positioning bearing 412b and adapter sleeve 432a it Between and be adjacent to respectively with the two so that the locating effect of forearm 300 preferably, adds stability when forearm 300 is rotated, it is to avoid Forearm 300 is rocked, so that mechanical arm assembly 100 is operationally more steady, and in positioning bearing 412b work Under, forearm 300 rotates more smooth, and the resistance that it is subject to when rotating is smaller, and rotational efficienty is higher, and positions bearing 412b peaces In the positioning chamber room separated by centring ring 412a, then positioning bearing 412b locating effect is ensure that, it is to avoid locating shaft 412b is held to jump under stressing conditions.

As shown in Figure 5, Figure 6, the second oil nozzle communicated with front chamber 412 is provided with the top of the first reduction box 410 414, second oil nozzle 414 is relative with positioning bearing 412b, by second oil nozzle 414, front chamber 412 can be injected and lubricated Oil, because the second oil nozzle 414 is relative with positioning bearing 412b, is flowed directly on positioning bearing 412b and to fixed after lubricating oil injection Position bearing 412b is lubricated, and positioning bearing 412b is remained preferable sliding effect, to ensure that it is suitable that forearm 300 is rotated Smooth property.

As shown in Figure 8, Figure 9, the 3rd controlling organization 500, it includes the 4th decelerator 510 and the 4th motor 520.

4th decelerator 510, its transverse horizontal is set, and the 4th decelerator 510 has the 4th input shaft 511 and the 4th output Axle 512, is additionally provided with the first row being connected respectively with the 4th input shaft 511 and the 4th output shaft 512 in the 4th decelerator 510 Star gear train (not shown).

4th output shaft 512 is gear ring, and the first planetary gearsets are located in the 4th output shaft 512 and the company of engaging Connect, fixed lasso 415 is vertically installed with the bottom of the first reduction box 410, the fixation lasso 415 is placed on the 4th output shaft 512 It is outer and connected with it.

4th motor 520, it is fixedly mounted on the rear end face of the 4th decelerator 510, the 4th rotating shaft of the 4th motor 520 521 are connected with the 4th input shaft 511 of the 4th decelerator 510.

During work, the 4th motor 520 drives the 4th decelerator 510 to work and rotate the 4th output shaft 512, the 4th output Axle 512 drives fixed lasso 415 to rotate so that forearm 300 with the second controlling organization 400 in vertical plane it is a wide range of Swing.

Further, the second reduction box 530 is also installed with the 4th decelerator 510, the 4th motor 520 is located at Second reduction box 530, crosses and installs after the second reduction box 530, play certain protective effect to the 4th motor 520, it is to avoid the 4th Motor 520 collides with the external world, it is not influenceed by processing environment.

As shown in Fig. 1, Fig. 8, Fig. 9, principal arm 600, it is tabular and is in axially extending, and the upper end of principal arm 600 sets first Mounting disc 610, the other end of principal arm 600 is provided with the second mounting disc 620,620 points of 610 and second mounting disc of the first mounting disc It is not welded to connect with principal arm 600.

The 4th described decelerator 510, its front end and the first mounting disc 610 are connected, and the fixed lasso 415 is arranged on the It is located at when on four output shafts 512 between the 4th decelerator 510 and the first mounting disc 610.

The surface both sides of principal arm 600 are respectively arranged with the reinforcing plate 630 extended to the two ends of principal arm 600, the two of reinforcing plate 630 End extends respectively in the first mounting disc 610 and the second mounting disc 620 and solid with the first mounting disc 610 and the second mounting disc 620 Even, the reinforcing plate 630 by way of being welded to connect respectively with the first mounting disc 610, the second mounting disc 620 and principal arm 600 It is connected, reinforcing prop 631 is additionally provided between reinforcing plate 630 and principal arm 600.

The present invention is simple in construction in order to reach, small volume, the purpose of flexible operation, the structure of its principal arm 600 are thiner, its For tabular, thickness is smaller, therefore can not ensure its intensity, and sets up and put after reinforcing plate 630, that is, ensure that the letter of the structure of principal arm 600 Single, small volume, and ensure that the intensity of principal arm 600 makes it have larger support strength, and reinforcing prop 631, then adds Crystallized ability between reinforcing plate 630 and principal arm 600, and then add the ability of anti-deformation of reinforcing plate 630.

As improvement, be provided with the 3rd oil nozzle 611 on the first rotating disk, the 3rd oil nozzle 611 through the first rotating disk and with First planetary gearsets are relative, by the 3rd oil nozzle 611, can be injected into lubricating oil in the first planetary gearsets, through lubrication The first planetary gearsets, more smooth during its engaged transmission, resistance is smaller, thus so that principal arm 600 rotate when it is more steady It is fixed, flexible.

As shown in Figure 8, Figure 9, the 4th controlling organization 700, it includes the 5th decelerator 710 and the 5th motor 720.

5th decelerator 710, its transverse horizontal is set, and it has the 5th input shaft 711 and the 5th output shaft 712, the The second planetary gearsets (not shown) is additionally provided with five decelerators 710, second planetary gearsets are defeated with the 5th respectively Enter axle 711 with the 5th output shaft 712 to be connected.

5th output shaft 712 is gear ring, and the second planetary gearsets are located in the 5th output shaft 712 and engage connection, Annular mounting groove 621 is offered on the second mounting disc 620 outer surface adjacent with the 5th decelerator 710, the annular is installed The internal diameter of groove 621 is more than in the external diameter of the 5th output shaft 712, the 5th output shaft 712 insertion annular mounting groove 621 and pacified with second Sabot 620 is connected.

5th motor 720, it is fixedly mounted on the rear end face of the 5th decelerator 710, the 5th rotating shaft of the 5th motor 720 721 are connected with the 5th input shaft 711 of the 5th decelerator 710.

During work, the 5th motor 720 drives the 5th decelerator 710 to work and rotate the 5th output shaft 712, the 5th output Axle 712 drives principal arm 600 to be swung in vertical plane, it is achieved thereby that the large-scale motion of manipulator principal arm 600.

Further, the outside of the 5th motor 720 is provided with the 3rd reduction box 730, the 3rd reduction box 730 with The rear end of 5th decelerator 710 is connected, by installing after the 3rd reduction box 730, and certain protection is played to the 5th motor 720 and is made With, it is to avoid the 5th motor 720 collides with the external world, it is not influenceed by processing environment.

As improvement, the 4th oil nozzle 622 is provided with the second mounting disc 620, the 4th oil nozzle 622 is installed through second Disk 620 is simultaneously relative with the second planetary gearsets, by the 4th oil nozzle 622, and lubricating oil can be injected into the second planetary gearsets On, the second planetary gearsets through lubrication, more smooth during its engaged transmission, resistance is smaller, thus so that the 5th decelerator 710 driving principal arms 600 are more stablized, flexibly when rotating.

As shown in Fig. 1, Fig. 8, Fig. 9, pedestal 800, it includes riser 810 and chassis 820.

5th decelerator 710 is connected through riser 810 and with riser 810, and riser 810 is perpendicularly fixed on chassis 820, The chassis 820 is installed on a base 900 and can rotated with base 900, by the way that the 5th decelerator 710 to be fixedly installed in and can revolve On the pedestal 800 turned, each controlling organization, principal arm 600, forearm 300 and mechanical arm assembly 100 are realized in horizontal plane inward turning Turn.

During present invention work, the first motor 230 drives the first Timing Belt 233 to rotate, and drives the work of the first decelerator 240 Make, the first output shaft 242 of the first decelerator 240 drives the movable part 222 of pivoted arm 220 to be rotated by the center of circle of its center, realizes Swing part 221 is swung in installation casing 210, so that two Pneumatic clamping jaws 120 are planar swung with mounting seat 110.

Second motor 250 drives the second Timing Belt 253 to rotate, and drives the first power transmission shaft 262 to make with second driving shaft 271 Gear motion, is then rotated axle 130 by second driving shaft 271 and rotates so that mounting seat 110 is with rotary shaft 130 The heart rotates for axle center, so as to realize the conversion of the position of two Pneumatic clamping jaw 120, facilitates it to fold up or change workpiece.

3rd motor 440 drives the 3rd Timing Belt 443 to rotate, and drives the 3rd decelerator 430 to work, and slows down by the 3rd After device 430 slows down, the power of output is passed into forearm 300 and forearm 300 is rotated so that mechanical arm assembly 100 and first Controlling organization 200 can be rotated using the axle center of forearm 300 as the center of circle, so that pivoted arm 220 can be swung in different planes, Realize the multi-motion mode of mechanical arm assembly 100.

4th motor 520 drives the 4th decelerator 510 to work and rotate the 4th output shaft 512, the band of the 4th output shaft 512 Dynamic fixed lasso 415 is rotated so that the wide swing in vertical plane with the second controlling organization 400 of forearm 300, so that real Show whole forearm 300 to move up and down.

5th motor 720 drives the 5th decelerator 710 to work and rotate the 5th output shaft 712, the band of the 5th output shaft 712 Dynamic principal arm 600 is swung in vertical plane, so that forearm 300 is swung with principal arm 600.

5th decelerator 710 and the 5th motor 720 are installed on pedestal 800, and pedestal 800 is arranged on base 900 and energy Rotated on base 900, it is achieved thereby that principal arm 600 and forearm 300 are rotated in horizontal plane.

Specific embodiment described herein is only to spirit explanation for example of the invention.Technology neck belonging to of the invention The technical staff in domain can be made various modifications or supplement to described specific embodiment or be replaced using similar mode Generation, but without departing from the spiritual of the present invention or surmount scope defined in appended claims.

Claims (8)

1. a kind of simple type manipulator, it is characterised in that：Including the mechanical arm assembly for folding up workpiece, with mechanical arm assembly phase Lian Bingneng respectively control machinery hand component circumferentially rotate with swing the first controlling organization, be connected with the first controlling organization before Arm, it is connected with forearm and the second controlling organization that forearm rotates can be controlled, be connected with the second controlling organization and can control the second control The 3rd controlling organization that mechanism processed is swung in vertical plane, the principal arm being connected with the 3rd controlling organization, be connected simultaneously energy with principal arm Control principal arm swing in vertical plane the 4th controlling organization, itself it is rotatable and connection the 4th controlling organization pedestal, institute The second controlling organization is stated including the first reduction box, the 3rd power transmission shaft, the 3rd decelerator, the 3rd motor, the 3rd Timing Belt, described the One reduction box is connected with the 3rd controlling organization, and the 3rd power transmission shaft is connected with forearm, and the 3rd motor is arranged at the 3rd power transmission shaft side, 3rd Timing Belt connects the 3rd motor and the 3rd power transmission shaft, and ring-type fixing plate is provided with the first deceleration box wall, solid Positioning hole is formed with the middle part of fixed board, be provided with the 3rd decelerator locating piece and locating piece be located in positioning hole and with positioning Hole hole wall is adjacent to, and the fixed plate will be divided into front chamber and rear chamber in the first reduction box, is provided with front chamber's madial wall Centring ring, the centring ring makes the first reduction box front end be formed with the positioning chamber separated with front chamber, is set in positioning chamber room Positioning bearing is equipped with, the output end of the 3rd decelerator is provided with adapter sleeve, drive sleeve, drive sleeve rear end are arranged with forearm Positioned at positioning bearing with being connected inner room and being adjacent to respectively with positioning bearing and adapter sleeve.

2. a kind of simple type manipulator according to claim 1, it is characterised in that：First controlling organization includes

Installation casing, it is connected with forearm；

Pivoted arm, it is flexibly connected with installation casing, and the mechanical arm assembly is arranged on pivoted arm；

First motor, it is arranged in installation casing, and the first motor is connected with pivoted arm and pivoted arm can be made to be swung in installation casing；

Second motor, it is arranged in installation casing, and the second motor is connected with mechanical arm assembly and can turn mechanical arm assembly Rotated on arm.

3. a kind of simple type manipulator according to claim 2, it is characterised in that：First controlling organization also includes

First decelerator, it is arranged in installation casing right arm and is connected with pivoted arm side,

First Timing Belt, its one end is connected with the first decelerator；

First motor is fastened transversely on installation casing right side wall and is connected with the first Timing Belt other end；

First motor drives the first decelerator to rotate and pivoted arm is swung in installation casing.

4. a kind of simple type manipulator according to claim 2, it is characterised in that：First controlling organization also includes

First bearing seat, it is arranged on the left side wall of installation casing and is connected with pivoted arm opposite side；

First power transmission shaft, it is arranged in first bearing seat and is connected with mechanical arm assembly；

Second Timing Belt, its one end is connected with the first power transmission shaft；

Second motor is fastened transversely on installation casing left side wall and is connected with the second Timing Belt other end；

Second motor drives the first drive axis and makes mechanical arm assembly synchronous axial system.

5. a kind of simple type manipulator according to claim 4, it is characterised in that：First controlling organization also includes

Second bearing seat, it is arranged in pivoted arm；

Second driving shaft, it is arranged in second bearing seat and one end is connected with mechanical arm assembly；

Second helical gear, it is arranged on the other end of second driving shaft；

The first helical gear is provided with the first power transmission shaft and the first helical gear is connected with the engagement of the second helical gear.

6. a kind of simple type manipulator according to claim 5, it is characterised in that：First controlling organization also includes

Second decelerator, it is arranged in pivoted arm and is connected respectively with second driving shaft and mechanical arm assembly.

7. a kind of simple type manipulator according to claim 1, it is characterised in that：3rd controlling organization includes

4th decelerator, it is fixedly installed on principal arm；

4th motor, it laterally sets and is connected with the input shaft of the 4th decelerator；

Fixed lasso, its be arranged on the second controlling organization and with the output shaft fixed connection of the 4th decelerator.

8. a kind of simple type manipulator according to claim 1, it is characterised in that：4th controlling organization includes

5th decelerator, it is fixedly installed on pedestal and can rotated with pedestal, and the output shaft and principal arm of the 5th decelerator are another End is connected；

5th motor, it laterally sets and is connected with the input shaft of the 5th decelerator.