CN109605362B - Self-rotating mechanical arm pickup mechanism - Google Patents
Self-rotating mechanical arm pickup mechanism Download PDFInfo
- Publication number
- CN109605362B CN109605362B CN201811652279.6A CN201811652279A CN109605362B CN 109605362 B CN109605362 B CN 109605362B CN 201811652279 A CN201811652279 A CN 201811652279A CN 109605362 B CN109605362 B CN 109605362B
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- self
- picking
- mechanical arm
- rotating
- driving motor
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- 230000007246 mechanism Effects 0.000 title claims abstract description 26
- 230000007306 turnover Effects 0.000 claims abstract description 10
- 239000003638 chemical reducing agent Substances 0.000 claims description 18
- 230000007547 defect Effects 0.000 abstract description 11
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/146—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a self-rotating mechanical arm picking mechanism which comprises a picking mechanical arm support, a bearing connecting frame, a telescopic mechanical arm support, a picking driving motor, a self-rotating driving motor, a turnover connecting seat and a telescopic air pump rod piece, wherein one end of the picking mechanical arm support and one end of the telescopic mechanical arm support are respectively matched and connected with the telescopic mechanical arm support, the bearing connecting frame is rotationally connected with the turnover connecting seat, the output end of the picking driving motor is matched and connected with the picking mechanical arm support, the output end of the self-rotating driving motor is matched and connected with the turnover connecting seat, and two ends of the telescopic air pump rod piece are respectively matched and connected with the telescopic mechanical arm support and the bearing connecting frame. The invention integrally solves the technical defect that the existing robot grabbing mechanism is mainly focused on direct grabbing and is easy to scratch the object to be grabbed, and realizes the telescopic locking picking purpose of the space self-rotation function.
Description
Technical Field
The invention relates to a self-rotating mechanical arm pickup mechanism, and belongs to the technical field of robot paw design.
Background
Along with the continuous development of robot application scale, current robot snatchs the mechanism and focuses on directly snatching more, has neglected the flexible cooperation between snatch the mechanism and wait to snatch the thing, leads to current robot snatch mechanism overall design comparatively coarse, and intelligent pick up the operation weaker, wait to snatch the technical defect that the thing caused the mar easily.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a self-rotating mechanical arm pickup mechanism.
In order to solve the technical problems, the invention adopts the following technical scheme: the utility model provides a self-rotating mechanical arm picking mechanism which characterized in that, including picking up mechanical arm support, bear the weight of the link, flexible mechanical arm support, pick up driving motor, self-rotating driving motor, upset connecting seat, flexible air pump member, pick up mechanical arm support's one end flexible mechanical arm support's one end respectively with flexible mechanical arm support cooperation hookup, bear the weight of the link with the upset connecting seat rotates the hookup, pick up driving motor's output with pick up mechanical arm support cooperation hookup, self-rotating driving motor's output with the cooperation of upset connecting seat is hookup, flexible mechanical arm support is cooperateed respectively to flexible air pump member's both ends cooperation hookup the flexible mechanical arm support bear the link.
As a preferred embodiment, the picking mechanical arm support is provided with a picking driven sprocket, a picking chain and a picking driving sprocket, the input end of the picking driving sprocket is connected with the output end of the picking driving motor in a matched mode, the picking driving sprocket is connected with the picking driven sprocket in a matched mode through the picking chain, and the picking driving sprocket is connected with the picking mechanical arm support in a hinged mode through a first hinged nut.
As a preferred embodiment, two sides of the picking driven sprocket are matched and provided with coaxial picking pulleys which are symmetrically distributed, and the center of each picking pulley is fixedly connected with the center of each picking pulley through a hinged fastening cap.
As a preferred embodiment, a pickup speed reducer is cooperatively arranged between the pickup driving sprocket and the pickup driving motor, and an output end of the pickup driving motor is cooperatively connected with an input end of the pickup driving sprocket through the pickup speed reducer.
As a preferred embodiment, one end of the pick-up mechanical arm frame and one end of the telescopic mechanical arm frame are respectively matched and hinged with the telescopic mechanical arm frame through a second hinged nut.
As a preferred embodiment, the telescopic mechanical arm support is hinged with one end of the telescopic air pump rod piece through a telescopic hinged nut, and the bearing connecting frame is fixedly connected with the other end of the telescopic air pump rod piece through a telescopic fastening cap.
As a preferred embodiment, the outer side of the overturning connecting seat is provided with a symmetrically distributed rotary driving motor seat, and the self-rotary driving motor is fixedly arranged on the rotary driving motor seat.
As a preferred embodiment, the rotary driving motor base is fixedly connected with the overturning connecting base through a plurality of connecting fixing rods.
As a preferred embodiment, a self-rotating driving wheel, a self-rotating driven wheel and a self-rotating shaft are arranged on the rotary driving motor seat, the self-rotating shaft is fixedly connected with the overturning connecting seat, the output end of the self-rotating driving motor is matched and connected with the input end of the self-rotating driving wheel, the output end of the self-rotating driving wheel is matched and connected with the input end of the self-rotating driven wheel, and the output end of the self-rotating driven wheel is matched and connected with the self-rotating shaft.
As a preferred embodiment, a self-rotation speed reducer is further arranged between the self-rotation driving motor and the self-rotation driving wheel, and the output end of the self-rotation driving motor is connected with the input end of the self-rotation driving wheel in a matched manner through the self-rotation speed reducer.
The invention has the beneficial effects that: aiming at the technical defects that the existing robot grabbing mechanism is mainly focused on direct grabbing, the flexible matching between the grabbing mechanism and the object to be grabbed is neglected, the overall design of the existing robot grabbing mechanism is rough, intelligent picking operation is weaker, scratches are easily caused on the object to be grabbed, the picking mechanical arm frame, the telescopic mechanical arm frame, the overturning connecting seat and the rotary driving motor seat are arranged on the bearing connecting frame, the self-rotating driving motor is used for sequentially driving the self-rotating speed reducer, the self-rotating driving wheel, the self-rotating driven wheel and the self-rotating shaft to drive the overturning connecting seat to rotate together with the integral bearing connecting frame, the picking driving motor is used for sequentially driving the picking speed reducer, the picking driving sprocket, the picking chain and the picking driven sprocket to drive the symmetrically distributed picking machines to rotate around the second hinged nut, the object to be picked through the smooth picking pulley, the telescopic air pump rod piece drives the telescopic mechanical arm frame to rotate around the second hinged nut to be matched with the picking pulley on the picking machines, the object to be picked is integrally solved, the flexible matching between the grabbing mechanism and the object to be grabbed is mainly focused, the existing robot grabbing mechanism is caused to rotate together with the integral bearing connecting frame, the defects of the existing robot grabbing mechanism is easily caused, the overall design is rough, the intelligent operation is realized, the defects are easily caused, and the automatic grabbing function is easy are realized.
Drawings
Fig. 1 is a schematic structural view of a preferred embodiment of the present invention.
Fig. 2 is a schematic view of the structure of the preferred embodiment of the present invention rotated by a certain angle.
Fig. 3 is a schematic view of the preferred embodiment of the present invention rotated another angle.
Fig. 4 is a schematic top perspective view of a preferred embodiment of the present invention.
Fig. 5 is a schematic bottom perspective view of a preferred embodiment of the present invention.
The meaning of the labels in the figures: 101-pick-up mechanical arm support, 102-bearing connecting frame, 103-telescopic mechanical arm support, 104-pick-up driving motor, 105-self-rotation driving motor, 106-turnover connecting seat, 107-telescopic air pump rod, 108-pick-up pulley, 109-hinged fastening cap, 110-pick-up driven sprocket, 111-pick-up chain, 112-pick-up driving sprocket, 113-first hinged nut, 114-second hinged nut, 115-telescopic hinged nut, 116-telescopic fastening cap, 117-self-rotation driving wheel, 118-self-rotation driven wheel, 119-self-rotation shaft, 120-rotation driving motor seat, 121-pick-up speed reducer, 122-self-rotation speed reducer and 123-connection fixing rod. The meaning of the labels in the figures: 101-pick-up mechanical arm support, 102-bearing connecting frame, 103-telescopic mechanical arm support, 104-pick-up driving motor, 105-self-rotation driving motor, 106-turnover connecting seat, 107-telescopic air pump rod, 108-pick-up pulley, 109-hinged fastening cap, 110-pick-up driven sprocket, 111-pick-up chain, 112-pick-up driving sprocket, 113-first hinged nut, 114-second hinged nut, 115-telescopic hinged nut, 116-telescopic fastening cap, 117-self-rotation driving wheel, 118-self-rotation driven wheel, 119-self-rotation shaft, 120-rotation driving motor seat, 121-pick-up speed reducer, 122-self-rotation speed reducer and 123-connection fixing rod.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
As shown in fig. 1, fig. 2, fig. 3, fig. 4 and fig. 5, the invention provides a self-rotating mechanical arm picking mechanism, which comprises a picking mechanical arm support 101, a bearing connection frame 102, a telescopic mechanical arm support 103, a picking driving motor 104, a self-rotating driving motor 105, a turnover connection seat 106 and a telescopic air pump rod piece 107, wherein one end of the picking mechanical arm support 101 and one end of the telescopic mechanical arm support 103 are respectively matched and connected with the telescopic mechanical arm support 103, the bearing connection frame 102 is rotationally connected with the turnover connection seat 106, the output end of the picking driving motor 104 is matched and connected with the picking mechanical arm support 101, the output end of the self-rotating driving motor 105 is matched and connected with the turnover connection seat 106, and two ends of the telescopic air pump rod piece 107 are respectively matched and connected with the telescopic mechanical arm support 103 and the bearing connection frame 102.
As a preferred embodiment, the picking mechanical arm support 101 is provided with a picking driven sprocket 110, a picking chain 111 and a picking driving sprocket 112, an input end of the picking driving sprocket 112 is cooperatively connected with an output end of the picking driving motor 104, the picking driving sprocket 112 is cooperatively connected with the picking driven sprocket 110 through the picking chain 111, and the picking driving sprocket 112 is hingedly connected with the picking mechanical arm support 101 through a first hinge nut 113.
As a preferred embodiment, two sides of the pick-up driven sprocket 110 are cooperatively provided with symmetrically distributed coaxial pick-up pulleys 108, and the center of the pick-up pulley 108 is fastened to the center of the pick-up pulley 108 by a hinge fastening cap 109.
As a preferred embodiment, a pickup speed reducer 121 is cooperatively disposed between the pickup drive sprocket 112 and the pickup drive motor 104, and an output end of the pickup drive motor 104 is cooperatively coupled to an input end of the pickup drive sprocket 112 through the pickup speed reducer 121.
As a preferred embodiment, one end of the pick-up mechanical arm 101 and one end of the telescopic mechanical arm 103 are respectively hinged with the telescopic mechanical arm 103 by a second hinge nut 114.
As a preferred embodiment, the telescopic mechanical arm support 103 is hinged to one end of the telescopic air pump rod member 107 through a telescopic hinge nut 115, and the bearing coupling frame 102 is fastened to the other end of the telescopic air pump rod member 107 through a telescopic fastening cap 116.
As a preferred embodiment, the outer side of the flip connection seat 106 is provided with symmetrically distributed rotary driving motor seats 120, and the self-rotary driving motor 105 is fixedly arranged on the rotary driving motor seats 120.
As a preferred embodiment, the rotary driving motor base 120 is fastened to the flip-over coupling base 106 by a plurality of connection fixing rods 123.
As a preferred embodiment, the rotary driving motor base 120 is provided with a self-rotary driving wheel 117, a self-rotary driven wheel 118 and a self-rotary shaft 119, the self-rotary shaft 119 is fixedly connected with the overturning connecting base 106, the output end of the self-rotary driving motor 105 is connected with the input end of the self-rotary driving wheel 117 in a matching way, the output end of the self-rotary driving wheel 117 is connected with the input end of the self-rotary driven wheel 118 in a matching way, and the output end of the self-rotary driven wheel 118 is connected with the self-rotary shaft 119 in a matching way.
As a preferred embodiment, a self-rotation speed reducer 122 is further disposed between the self-rotation driving motor 105 and the self-rotation driving wheel 117, and an output end of the self-rotation driving motor 105 is coupled to an input end of the self-rotation driving wheel 117 through the self-rotation speed reducer 122.
The specific working process of the invention is as follows: aiming at the technical defects that the existing robot grabbing mechanism is mainly focused on direct grabbing, the flexible matching between the grabbing mechanism and the object to be grabbed is neglected, the overall design of the existing robot grabbing mechanism is rough, intelligent picking operation is weaker, scratches are easily caused on the object to be grabbed, the object to be grabbed is picked up through the smooth picking pulley 108, the telescopic mechanical arm support 101, the telescopic mechanical arm support 103, the overturning connecting seat 106 and the rotary driving motor seat 120 are arranged on the bearing connecting frame 102, the self-rotating driving motor 105 is used for sequentially driving the self-rotating speed reducer 122, the self-rotating driving wheel 117, the self-rotating driven wheel 118 and the self-rotating shaft 119 to drive the overturning connecting seat 106 to rotate along with the integral bearing connecting frame 102, the picking driving motor 104 is used for sequentially driving the picking speed reducer 121, the picking driving sprocket 112, the picking chain 111 and the picking driven sprocket 110 to drive the symmetrically distributed picking mechanical arm support 101 to rotate around the second hinge nut 114, the telescopic air pump 107 drives the telescopic mechanical arm support 103 to rotate around the second hinge nut 114 to be matched with the picking pulley 108 on the object to be picked up, the defects that the existing robot grabbing mechanism is mainly focused on the object to rotate, the defect that the existing robot grabbing mechanism is easily caused by the flexible matching is overcome, and the overall design is easy, the defects of the overall design of the robot is easy to be grabbed, and the defects are ignored.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (4)
1. The automatic rotating mechanical arm picking mechanism is characterized by comprising a picking mechanical arm support (101), a bearing connecting frame (102), a telescopic mechanical arm support (103), a picking driving motor (104), a self-rotating driving motor (105), a turnover connecting seat (106) and a telescopic air pump rod piece (107), wherein one end of the picking mechanical arm support (101) and one end of the telescopic mechanical arm support (103) are respectively matched and connected with the telescopic mechanical arm support (103), the bearing connecting frame (102) is rotatably connected with the turnover connecting seat (106), the output end of the picking driving motor (104) is matched and connected with the picking mechanical arm support (101), the output end of the self-rotating driving motor (105) is matched and connected with the turnover connecting seat (106), and two ends of the telescopic air pump rod piece (107) are respectively matched and connected with the telescopic mechanical arm support (103) and the bearing connecting frame (102);
the mechanical arm support (101) is provided with a picking driven sprocket (110), a picking chain (111) and a picking driving sprocket (112), the input end of the picking driving sprocket (112) is connected with the output end of the picking driving motor (104) in a matched mode, the picking driving sprocket (112) is connected with the picking driven sprocket (110) in a matched mode through the picking chain (111), and the picking driving sprocket (112) is connected with the mechanical arm support (101) in a hinged mode through a first hinged nut (113);
two sides of the picking driven sprocket (110) are matched and provided with coaxial picking pulleys (108) which are symmetrically distributed, and the center of the picking pulleys (108) is fixedly connected with the center of the picking pulleys (108) through a hinged fastening cap (109);
the telescopic mechanical arm support (103) is hinged with one end of the telescopic air pump rod piece (107) through a telescopic hinged nut (115), and the bearing connecting frame (102) is fixedly connected with the other end of the telescopic air pump rod piece (107) through a telescopic fastening cap (116);
the outer side of the turnover connecting seat (106) is provided with symmetrically distributed rotary driving motor seats (120), and the self-rotation driving motor (105) is fixedly arranged on the rotary driving motor seats (120);
the rotary driving motor base (120) is fixedly connected with the overturning connecting base (106) through a plurality of connecting fixing rods (123).
2. A self-rotating mechanical arm pick-up mechanism according to claim 1, characterized in that a pick-up reducer (121) is arranged between the pick-up driving sprocket (112) and the pick-up driving motor (104), and an output end of the pick-up driving motor (104) is connected with an input end of the pick-up driving sprocket (112) in a matched manner through the pick-up reducer (121).
3. The self-rotating mechanical arm pickup mechanism according to claim 1, wherein a self-rotating driving wheel (117), a self-rotating driven wheel (118) and a self-rotating shaft (119) are arranged on the rotary driving motor base (120), the self-rotating shaft (119) is fixedly connected with the overturning connecting base (106), an output end of the self-rotating driving motor (105) is connected with an input end of the self-rotating driving wheel (117) in a matched manner, an output end of the self-rotating driving wheel (117) is connected with an input end of the self-rotating driven wheel (118) in a matched manner, and an output end of the self-rotating driven wheel (118) is connected with the self-rotating shaft (119) in a matched manner.
4. A self-rotating mechanical arm pick-up mechanism according to claim 3, characterized in that a self-rotating decelerator (122) is further provided between the self-rotating driving motor (105) and the self-rotating driving wheel (117), and an output end of the self-rotating driving motor (105) is coupled with an input end of the self-rotating driving wheel (117) in a matching manner through the self-rotating decelerator (122).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811652279.6A CN109605362B (en) | 2018-12-31 | 2018-12-31 | Self-rotating mechanical arm pickup mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811652279.6A CN109605362B (en) | 2018-12-31 | 2018-12-31 | Self-rotating mechanical arm pickup mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109605362A CN109605362A (en) | 2019-04-12 |
| CN109605362B true CN109605362B (en) | 2023-09-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811652279.6A Active CN109605362B (en) | 2018-12-31 | 2018-12-31 | Self-rotating mechanical arm pickup mechanism |
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| CN (1) | CN109605362B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4398863A (en) * | 1981-05-15 | 1983-08-16 | Westinghouse Electric Corp. | Pick and place robot |
| CN107892172A (en) * | 2017-12-15 | 2018-04-10 | 镇江高等职业技术学校 | A kind of pickup transfer robot for part handling |
| CN107901024A (en) * | 2017-10-19 | 2018-04-13 | 镇江镇宇金属制品有限公司 | A kind of various dimensions adjustable space clamping device |
| CN207415406U (en) * | 2017-11-08 | 2018-05-29 | 郑淑琴 | A kind of mechanical arm convenient for being captured on auto production line |
-
2018
- 2018-12-31 CN CN201811652279.6A patent/CN109605362B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4398863A (en) * | 1981-05-15 | 1983-08-16 | Westinghouse Electric Corp. | Pick and place robot |
| CN107901024A (en) * | 2017-10-19 | 2018-04-13 | 镇江镇宇金属制品有限公司 | A kind of various dimensions adjustable space clamping device |
| CN207415406U (en) * | 2017-11-08 | 2018-05-29 | 郑淑琴 | A kind of mechanical arm convenient for being captured on auto production line |
| CN107892172A (en) * | 2017-12-15 | 2018-04-10 | 镇江高等职业技术学校 | A kind of pickup transfer robot for part handling |
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| Publication number | Publication date |
|---|---|
| CN109605362A (en) | 2019-04-12 |
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