CN205704255U - Manipulator component of a general robot - Google Patents

Abstract

The utility model discloses a universal robot's manipulator subassembly, including arm, pin joint at the swing arm of arm front end, fix the manipulator on swing arm front end rotary disk. The manipulator comprises a shell and a claw driving mechanism; the claw driving mechanism comprises a driving motor, a worm wheel, a central gear, a plurality of branch gears, a plurality of cams and a plurality of claws. The utility model discloses a gear drive and cam combination can order about the cleft hand and move simultaneously and motion amplitude is the same to the all-round and accurately promptly work piece of mechanical cleft hand.

Description

Manipulator component of a general robot

technical field

The utility model relates to the technical field of robots, in particular to a manipulator assembly of a general robot.

Background technique

The utility model patent application with the application number CN201210566463.5 discloses a light-duty six-axis general-purpose robot. The shaft seat is fixed on the arm shaft, and the shaft seat protection box is fixed on the shaft seat. , The drive motor of the fifth axis and the drive motor of the sixth axis are placed in the shaft seat protection box; the housing of the arm rod and the housing of the extension rod of the arm are respectively fixed Among the five axes, the fifth axis is inserted into the fourth axis, and the fourth axis is inserted into the forearm housing, the forearm reducer and the forearm extension rod housing, the fourth axis, the fifth axis and the fourth axis The fourth shaft driven gear, the fifth shaft driven gear and the sixth shaft driven gear are respectively fixed on the six shafts.

Wherein, a wrist is installed at the end of the forearm, and a manipulator in contact with the workpiece is installed on the wrist, and the above-mentioned forearm, wrist, and manipulator constitute a manipulator assembly. The manipulator in the prior art includes a mechanical gripper for grabbing workpieces. It is difficult for the driving device in the gripper to drive the range of movement of multiple grippers to be consistent. In this way, it is difficult for the gripper to grasp the workpiece in all directions, which may cause the workpiece Fall out of the gripper.

Utility model content

The utility model aims at the above-mentioned technical problems, and provides a manipulator assembly of a universal robot that can drive the grippers to move at the same time and have the same range of motion through the combination of gear transmission and cam.

In order to achieve the above object, the utility model provides a manipulator assembly of a universal robot, including an arm, a swing arm pivotally connected to the front end of the arm, a first drive unit for driving the swing arm to swing, and a manipulator fixed on the rotating disk at the front end of the swing arm And the second drive unit that drives the rotating disc to rotate; the center line of the swing arm is perpendicular to the rotating center line of the rotating disc; the manipulator includes a housing and a gripper drive mechanism; the gripper drive mechanism includes a drive motor, a worm, worm gear, central gear, several sub-gears, several cams and several grippers;

The housing is a cuboid with a cavity inside; the gripper drive mechanism is set in the inner cavity of the housing; the center of the housing is formed with a first support plate and a second support plate arranged horizontally and parallel up and down; the upper side wall of the housing There are several upper support holes; the upper support rods are fixed between the side walls of the upper support holes; the first support plate is provided with several lower support holes; the lower support holes are located below the upper support holes;

A pair of support plates are formed on the lower side wall of the cavity of the housing, and a worm is pivoted horizontally between the support plates; a drive motor is fixed on the support plates; the output shaft of the drive motor is fixedly connected to the worm; the center of the second support plate The position is vertically pivoted with the first drive shaft; the first drive shaft is located on the upper part of the second support plate and fixed with a central gear; the first drive shaft is located at the bottom of the second support plate and fixed with a worm gear; the worm gear meshes with the worm; the first support A number of second drive shafts are pivotally connected between the plate and the second support plate; the upper end of the second drive shaft passes through the first support plate; gear; the second drive shaft is located on the upper part of the second support plate and a cam is fixed; the sub-gear meshes with the central gear;

The upper part of the gripper passes through the upper side wall of the housing through the upper support hole, the middle part is pivotally connected to the upper support rod, and the lower part passes through the first support plate through the upper support hole; a compression spring is arranged in the lower support hole; Lean against the side wall of the lower support hole, and the other end leans against the side wall of the lower part of the gripper; the side wall of the lower part of the gripper leans against the cam.

As a preference of the above technical solution, the sub-gear, the second drive shaft, the cam, and the gripper are arranged in pairs; the number of the upper support hole, the lower support hole, and the upper support rod is the same as the number of the gripper.

As a preference of the above technical solution, the number of grippers is set to four.

As a preference of the above technical solution, the first driving unit includes a fourth motor installed on the arm, and a first transmission unit connecting the fourth motor and the swing arm; the first transmission unit includes a The second gear and the third gear arranged on the shaft, the fourth gear and the first synchronous pulley pivoted on the arm and coaxially arranged, the third shaft pivoted on the arm, the third shaft fixedly installed on the third shaft Two synchronous pulleys; the output shaft of the fourth motor is equipped with a first gear, the first gear meshes with the second gear, the third gear meshes with the fourth gear, and the first synchronous pulley is synchronized with the second synchronous belt through a synchronous belt The belt wheel is connected, and the third shaft is fixedly connected with the swing arm.

As a preference of the above technical solution, the top of the gripper is bent inward.

The beneficial effect of the utility model is that: through the combination of the gear transmission and the cam, the grippers can be driven to move at the same time with the same range of motion, so that the mechanical grippers can grasp the workpiece in all directions and accurately.

Description of drawings

Fig. 1 is the structural representation of the utility model;

Fig. 2 is the structural representation of the manipulator of the present utility model;

Fig. 3 is the structural representation of the manipulator transmission mechanism of the present utility model;

Fig. 4 is the structural representation of the manipulator transmission mechanism of the present utility model;

Fig. 5 is the structural representation of the front view of the manipulator of the present utility model;

Fig. 6 is the structural representation of A-A in Fig. 5 of the present utility model;

Fig. 7 is the structural representation of B-B in Fig. 5 of the present utility model;

Fig. 8 is the structural representation of C-C in Fig. 5 of the present utility model;

In the figure, 10, shell; 100, upper support hole; 101, upper support rod; 11, first support plate; 110, lower support hole; 12, second support plate; 20, gripper driving mechanism; 21, worm ; 211, support plate; 22, worm gear; 221, the first drive shaft; 23, central gear; Stage clip; 30, arm; 31, the first gear; 32, the second gear; 34, the fourth gear; 35, the first synchronous pulley; 36, the third shaft; 37, the second synchronous pulley; 38, synchronous Belt; 40, swing arm; 41, rotating disc.

detailed description

As shown in Figures 1 to 8, a manipulator assembly of a general-purpose robot includes an arm 30, a swing arm 40 pivotally connected to the front end of the arm 30, a first drive unit that drives the swing arm 40 to swing, and is fixed at the front end of the swing arm 40 to rotate. The manipulator on the disk 41 and the second drive unit that drives the rotating disk 41 to rotate; the center line of the swing arm 40 when swinging is perpendicular to the rotation center line of the rotating disk 41; the manipulator includes a housing 10 and a gripper drive mechanism 20; The gripper driving mechanism 20 includes a drive motor 27, a worm screw 21, a worm wheel 22, a central gear 23, some sub-gears 24, some cams 25 and some grippers 26;

As shown in Figures 1 to 8, the housing 10 is a cuboid with a cavity inside; the gripper driving mechanism 20 is arranged in the inner cavity of the housing 10; The support plate 11 and the second support plate 12; the upper side wall of the housing 10 is provided with several upper support holes 100; the upper support rods 101 are fixed between the side walls of the upper support holes 100; the first support plate 11 is provided with several lower Support hole 110; the lower support hole 110 is located below the upper support hole 100;

As shown in Figures 2 to 8, a pair of support plates 211 are formed on the lower side wall of the cavity of the housing 10, and a worm 21 is pivoted horizontally between the support plates 211; a drive motor 27 is fixed on the support plate 211; The output shaft of the motor 27 is fixedly connected with the worm screw 21; the center position of the second support plate 12 is vertically pivoted with a first drive shaft 221; the first drive shaft 221 is fixed on the upper part of the second support plate 12 with a central gear 23; A drive shaft 221 is positioned at the bottom of the second support plate 12 and is fixed with a worm wheel 22; The upper end of the shaft 241 passes through the first support plate 11; the second drive shaft 241 is located at the middle part between the first support plate 11 and the second support plate 12 and is fixed with a minute gear 24; the second drive shaft 241 is located at the center of the second support plate 12 The upper part is fixed with a cam 25; the minute gear 24 meshes with the central gear 23;

As shown in Figures 2 to 8, the upper part of the gripper 26 passes through the upper side wall of the housing 10 through the upper support hole 100, the middle part is pivotally connected to the upper support rod 101, and the lower part passes through the upper support hole 100 through the first support plate. 11. The lower support hole 110 is provided with a compression spring 28; one end of the compression spring 28 is against the side wall of the lower support hole 110, and the other end is against the side wall of the lower part of the gripper 26; the side wall of the lower part of the gripper 26 is against the on cam 25.

As shown in Figures 2 to 5, the sub-gear 24, the second drive shaft 241, the cam 25, and the gripper 26 are arranged in pairs; same.

As shown in FIGS. 2 to 5 , the number of grippers 26 is set to four.

As shown in FIG. 1 , the first drive unit includes a fourth motor installed on the arm 30 , a first transmission unit connecting the fourth motor and the swing arm 40 ; The second gear 32 and the third gear coaxially arranged, the fourth gear 34 and the first synchronous pulley 35 pivotally connected on the arm 30 and coaxially arranged, the third shaft 36 pivotally connected on the arm 30, the fixed The second synchronous pulley 37 installed on the third shaft 36; the first gear 31 is installed on the output shaft of the fourth motor, the first gear 31 meshes with the second gear 32, the third gear and the fourth gear 34 meshing, the first synchronous pulley 35 is coupled with the second synchronous pulley 37 through the synchronous belt 38 , and the third shaft 36 is fixedly connected with the swing arm 40 . As shown in FIGS. 2 to 5 , the top of the gripper 26 is bent inward.

The specific operation is as follows: the operation of the manipulator is as follows: the drive motor 27 drives the worm wheel 22 to rotate through the worm 21, the worm wheel 22 drives the central gear 23 through the first drive shaft 221, the central gear 23 drives the four sub-gears 24 to rotate, and the four sub-gears 24 respectively pass The respective second drive shaft 241 drives the cam 25 to rotate, drives the lower part of the gripper 26 outwards, and the upper part of the gripper 26 moves inward around the upper support rod 101, so that the four grippers move simultaneously and have the same amplitude; in the first drive unit , the second drive unit, the gear transmission structure and the gripper, the manipulator can grasp the workpiece in all directions and accurately.

The above content is only the preferred implementation mode of the present utility model. For those of ordinary skill in the art, according to the idea of the present utility model, there will be changes in the specific implementation mode and application scope. The content of this specification should not be understood as Limitations on the Invention.

Claims (5)

1. A manipulator assembly of a universal robot, comprising an arm (30), a swing arm (40) pivotally connected to the front end of the arm (30), a first drive unit that drives the swing of the swing arm (40), fixed on the swing arm (40) ) the manipulator on the front end rotating disc (41) and the second drive unit that drives the rotating disc (41) to rotate; the center line of the swing arm (40) when swinging is perpendicular to the rotating center line of the rotating disc (41); the manipulator It includes a housing (10), a gripper drive mechanism (20); it is characterized in that: the gripper drive mechanism (20) includes a drive motor (27), a worm (21), a worm wheel (22), a central gear (23), several Sub-gear (24), some cams (25) and some grippers (26); The housing (10) is a cuboid with a cavity inside; the claw hand drive mechanism (20) is arranged in the inner cavity of the housing (10); the center of the housing (10) is formed with a first support arranged horizontally and vertically plate (11) and the second support plate (12); the upper side wall of the housing (10) is provided with several upper support holes (100); upper support rods (101) are fixed between the side walls of the upper support holes (100) ; The first support plate (11) is provided with several lower support holes (110); the lower support holes (110) are located below the upper support holes (100); A pair of support plates (211) are formed on the lower side wall of the cavity of the housing (10), and a worm (21) is pivoted horizontally between the support plates (211); a drive motor (27) is fixed on the support plate (211) ); the output shaft of the drive motor (27) is fixedly connected to the worm (21); the center position of the second support plate (12) is vertically pivoted with the first drive shaft (221); the first drive shaft (221) is located at the second The top of the two support plates (12) is fixed with a central gear (23); the first drive shaft (221) is fixed with a worm wheel (22) at the bottom of the second support plate (12); the worm wheel (22) meshes with the worm (21) ; Some second drive shafts (241) are pivotally connected between the first support plate (11) and the second support plate (12); the second drive shaft (241) upper end passes through the first support plate (11); the second The drive shaft (241) is positioned at the middle part between the first support plate (11) and the second support plate (12) and is fixed with a minute gear (24); the second drive shaft (241) is positioned at the top of the second support plate (12) The cam (25) is fixed; the sub-gear (24) meshes with the central gear (23); the upper part of the gripper (26) passes through the upper support hole (100) through the upper side wall of the housing (10), and the middle part is pivotally connected to the upper The upper and lower parts of the support rod (101) pass through the first support plate (11) through the upper support hole (100); a compression spring (28) is arranged in the lower support hole (110); one end of the compression spring (28) leans against the lower support On the side wall of the hole (110), the other end leans against the side wall of the gripper (26) bottom; the side wall of the gripper (26) bottom leans against the cam (25). 2. The manipulator assembly of a kind of universal robot according to claim 1, characterized in that: the minute gear (24), the second drive shaft (241), the cam (25), and the gripper (26) are arranged in pairs; The number of support holes (100), lower support holes (110), and upper support rods (101) is the same as the number of grippers (26). 3. A manipulator assembly of a general robot according to claim 2, characterized in that: the number of grippers (26) is set to four. 4. The manipulator assembly of a kind of universal robot according to claim 1, characterized in that: the first drive unit includes a fourth motor mounted on the arm (30), and connects the fourth motor with the swing arm (40) The first transmission unit; the first transmission unit includes a second gear (32) and a third gear that are pivotally connected to the arm (30) and coaxially arranged, and a coaxially arranged second gear (32) that is pivotally connected to the arm (30) The fourth gear (34) and the first synchronous pulley (35), the third shaft (36) pivoted on the arm (30), the second synchronous pulley (37) fixedly installed on the third shaft (36) ); the first gear (31) is installed on the output shaft of the fourth motor, the first gear (31) meshes with the second gear (32), the third gear meshes with the fourth gear (34), and the first synchronous The pulley (35) is connected with the second pulley (37) through the timing belt (38), and the third shaft (36) is fixedly connected with the swing arm (40). 5. A manipulator assembly of a universal robot according to claim 1, characterized in that: the top end of the gripper (26) is bent inward.