CN211729223U - Switching mechanism between mechanical arm and tail end executing mechanism - Google Patents
Switching mechanism between mechanical arm and tail end executing mechanism Download PDFInfo
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- CN211729223U CN211729223U CN201922413802.6U CN201922413802U CN211729223U CN 211729223 U CN211729223 U CN 211729223U CN 201922413802 U CN201922413802 U CN 201922413802U CN 211729223 U CN211729223 U CN 211729223U
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- middle finger
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- 230000007246 mechanism Effects 0.000 title claims abstract description 56
- 210000000707 wrist Anatomy 0.000 claims abstract description 40
- 238000009434 installation Methods 0.000 claims abstract description 6
- 239000012636 effector Substances 0.000 claims 5
- 230000007704 transition Effects 0.000 claims 1
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model relates to an adapter mechanism between arm and terminal actuating mechanism, including the wrist, middle finger module and two limit finger modules in the fixed mounting in wrist top, middle finger module internally mounted actuating mechanism, indicate module and fixed connection drive gear in actuating mechanism's the output shaft is worn out, last fixed mounting primary shaft spare and the secondary shaft spare of middle finger module, assemble first driven gear and second driven gear on primary shaft spare and the secondary shaft spare respectively, first driven gear and drive gear meshing are connected, second driven gear and first driven gear meshing are connected, equal fixed mounting universal driving shaft on two limit finger modules, the universal driving shaft passes through the key-type connection linkage gear, two linkage gears are connected with first driven gear and second driven gear meshing respectively. The switching mechanism of the utility model has compact structure and simple installation module; the two sides of the middle finger module are symmetrically provided with the edge finger modules, and the edge finger modules at the two sides can realize symmetrical 180-degree rotation under the driving of the driving mechanism.
Description
Technical Field
The utility model relates to a mechanical arm switching mechanism field, concretely relates to switching mechanism between arm and the terminal actuating mechanism.
Background
The switching mechanism between the existing mechanical arm and the tail end actuating mechanism is complex, the bearing torsion and the tension force are not strong, the connecting structure of the switching mechanism to the three gear mechanisms is complex, the occupied space is large, the middle symmetry design of the three mechanisms cannot be realized, and the three mechanisms cannot form symmetrical 180-degree rotation of the left seat and the right seat through the motor driving gear.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an adapter mechanism between arm and the end actuating mechanism for solve the problem that the adapter mechanism structure among the prior art is complicated, occupation space is big and the function can not satisfy the demand.
The utility model provides a switching mechanism between a mechanical arm and a terminal actuating mechanism, which comprises a wrist, wherein a middle finger module and two edge finger modules are fixedly arranged at the top of the wrist, and the edge finger modules are symmetrically arranged at two sides of the middle finger module;
a driving mechanism is arranged in the middle finger module, an output shaft of the driving mechanism penetrates through the middle finger module and is fixedly connected with a driving gear, the driving mechanism drives the driving gear to rotate through the output shaft, a first shaft piece and a second shaft piece are fixedly arranged on the middle finger module, a first driven gear and a second driven gear are respectively assembled on the first shaft piece and the second shaft piece, the first driven gear is meshed with the driving gear, and the second driven gear is meshed with the first driven gear;
the two edge finger modules are fixedly provided with universal driving shafts, linkage gears are sleeved on the universal driving shafts, the universal driving shafts are connected with the linkage gears through keys, and the linkage gears are respectively meshed with the first driven gear and the second driven gear.
Furthermore, the middle finger module comprises a middle finger support plate and a middle finger cover plate, the middle finger support plate is fixedly installed on the wrist, the middle finger cover plate is fixedly installed on the middle finger support plate, the driving mechanism is installed on the inner side of the middle finger cover plate, the first shaft element and the second shaft element are installed on the middle finger cover plate, through holes are formed in the positions, corresponding to the bottom of the middle finger support plate and the top of the wrist, of the middle finger support plate, and the bottom of the driving mechanism penetrates through the through holes and extends into the wrist.
Furthermore, the edge finger module comprises an edge finger supporting plate and an edge finger cover plate, the edge finger supporting plate is assembled on the wrist in a floating mode through a bearing, the edge finger cover plate is fixedly installed on the edge finger supporting plate, the linkage shaft is fixedly installed on the edge finger cover plate, and the installation end of the linkage shaft on the edge finger module is of a semi-circular arc structure.
Further, bearings are arranged between the first shaft element and the second shaft element and between the first driven gear and the second driven gear respectively.
Further, the first driven gear and the second driven gear have the same number of teeth.
Furthermore, two arc-shaped sliding gaskets are arranged at the top of the wrist and are arranged at the bottom of the edge finger module.
Further, the wrist bottom sets up the apron, the apron passes through the clamping ring to be fixed in the wrist bottom, the wrist bottom outside sets up the external screw thread, the clamping ring sets up the internal thread, the clamping ring passes through the external screw thread connection of internal thread and wrist.
Adopt above-mentioned the utility model discloses technical scheme's beneficial effect is:
the switching mechanism of the utility model has compact structure and simple installation module; the two sides of the middle finger module are symmetrically provided with the edge finger modules, and the edge finger modules at the two sides can realize symmetrical 180-degree rotation under the driving of the driving mechanism; the balance and the stability of rotation are ensured by the meshing connection driving among the driving gear, the first driven gear, the second driven gear and the linkage wheel; the cover plate is tightly pressed on the wrist through the pressing ring threads, and the maximum bearing tail end weight is guaranteed to be achieved on torsion and tension when the cover plate is connected with the mechanical arm.
Drawings
FIG. 1 is a schematic view of the structure of the switching mechanism of the present invention;
FIG. 2 is a schematic structural diagram of a middle finger module of the present invention;
FIG. 3 is a schematic view of the structure of the edge finger module of the present invention;
FIG. 4 is a schematic view of the connection structure of the wrist, the cover plate and the press ring of the present invention;
FIG. 5 is an exploded view of the connection structure of the wrist, the cover plate and the press ring of the present invention;
in the drawings, the components represented by the respective reference numerals are listed below:
1-wrist, 2-middle finger module, 201-driving gear, 202-first shaft element, 203-second shaft element, 204-first driven gear, 205-second driven gear, 206-middle finger supporting plate, 207-middle finger cover plate, 3-edge finger module, 301-universal driving shaft, 302-linkage gear, 303-edge finger supporting plate, 304-edge finger cover plate, 4-driving mechanism, 6-sliding gasket, 7-cover plate and 8-press ring.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention.
As shown in fig. 1-3, the utility model provides an adapter mechanism between a mechanical arm and an end actuator, which comprises a wrist 1, wherein a middle finger module 2 and two edge finger modules 3 are fixedly arranged on the top of the wrist 1, and the edge finger modules 3 are symmetrically arranged on two sides of the middle finger module 2;
a driving mechanism 4 is installed inside the middle finger module 2, an output shaft of the driving mechanism 4 penetrates out of the middle finger module 2 and is fixedly connected with a driving gear 201, the driving gear 201 is driven by the driving mechanism 4 to rotate through the output shaft, a first shaft element 202 and a second shaft element 203 are fixedly installed on the middle finger module 2, a first driven gear 204 and a second driven gear 205 are respectively assembled on the first shaft element 202 and the second shaft element 203, the first driven gear 204 is meshed with the driving gear 201, and the second driven gear 205 is meshed with the first driven gear 204;
the two edge finger modules 3 are fixedly provided with linkage shafts 301, the linkage shafts 301 are sleeved with linkage gears 302, the linkage shafts 301 are connected with the linkage gears 302 through keys, and the two linkage gears 302 are respectively connected with the first driven gear 204 and the second driven gear 205 in a meshed mode.
In this embodiment, the driving mechanism is a motor and a speed reducer, the motor drives the driving gear 201 to rotate through an output shaft of the speed reducer, the driving gear 201 drives the first driven gear 204 to rotate, the first driven gear 204 drives the second driven gear 205 to rotate, the first driven gear 204 and the second driven gear 205 respectively drive the linkage gears 302 on both sides to rotate, the linkage gears 302 drive the linkage shafts 301 through key connection, and further drive the edge finger modules 3 on both sides to rotate, the edge finger modules 3 can rotate 180 °, and the edge finger modules 3 on both sides rotate symmetrically, so as to realize stable balance of the structure, wherein the number of the edge finger modules 3 can be increased according to requirements, the specific number needs to be an even number, the edge finger modules are symmetrically arranged on both sides of the middle finger module 2, the number of the edge finger modules 3 is the same as that of the driven gears in the middle finger module 2, and the two are arranged in.
Specifically, the middle finger module 2 includes a middle finger support plate 206 and a middle finger cover plate 207, the middle finger support plate 206 is fixedly mounted on the wrist 1, the middle finger cover plate 207 is fixedly mounted on the middle finger support plate 206, the driving mechanism 4 is mounted on the inner side of the middle finger cover plate 207, the first shaft element 202 and the second shaft element 203 are mounted on the middle finger cover plate 207, through holes are respectively formed in the bottom of the middle finger support plate 206 and the corresponding positions of the top of the wrist 1, and the bottom of the driving mechanism 4 penetrates through the through holes and extends into the wrist 1.
Specifically, the edge finger module 3 comprises an edge finger support plate 303 and an edge finger cover plate 304, the edge finger support plate 303 is assembled on the wrist 1 in a floating mode through a bearing, the edge finger cover plate 304 is fixedly installed on the edge finger support plate 303, the linkage shaft 301 is fixedly installed on the edge finger cover plate 304, and the installation end of the linkage shaft 301 on the edge finger module 3 is of a semi-circular arc structure.
Specifically, the first driven gear 204 and the second driven gear 205 have the same number of teeth.
Preferably, bearings are respectively arranged between the first shaft member 202 and the second shaft member 203 and between the first driven gear 204 and the second driven gear 205, so that the first driven gear 204 and the second driven gear 205 can transmit rotation.
Preferably, two arc-shaped sliding gaskets 6 are arranged on the top of the wrist 1, the sliding gaskets 6 are arranged at the bottom of the edge finger module 3, and the sliding gaskets 6 are used for facilitating the rotation movement of the edge finger module 3 from 0 degrees to 180 degrees.
Specifically, as shown in fig. 4-5, 1 bottom of wrist sets up apron 7, apron 7 passes through clamping ring 8 to be fixed in 1 bottom of wrist, 1 bottom of wrist outside sets up the external screw thread, clamping ring 8 sets up the internal thread, clamping ring 8 passes through the external screw thread connection of internal thread and wrist 1, and apron 7 is connected with outside arm, and well finger module 2 is connected with outside finger module with border finger module 3 respectively, and 1 inside space that sets up of wrist is used for placing electrical component like PCB board and connector, and on minimum height, both carried out the switching with the arm, provided certain space again and laid electrical components, and had comparable structural stability.
In conclusion, the switching mechanism of the utility model has compact structure and simple installation module; the two sides of the middle finger module are symmetrically provided with the edge finger modules, and the edge finger modules at the two sides can realize symmetrical 180-degree rotation under the driving of the driving mechanism; the balance and the stability of rotation are ensured by the meshing connection driving among the driving gear, the first driven gear, the second driven gear and the linkage wheel; the cover plate is tightly pressed on the wrist through the pressing ring threads, and the maximum bearing tail end weight is guaranteed to be achieved on torsion and tension when the cover plate is connected with the mechanical arm.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (7)
1. The switching mechanism between the mechanical arm and the tail end executing mechanism is characterized by comprising a wrist, wherein a middle finger module and two edge finger modules are fixedly arranged at the top of the wrist, and the edge finger modules are symmetrically arranged at two sides of the middle finger module;
a driving mechanism is arranged in the middle finger module, an output shaft of the driving mechanism penetrates through the middle finger module and is fixedly connected with a driving gear, the driving mechanism drives the driving gear to rotate through the output shaft, a first shaft piece and a second shaft piece are fixedly arranged on the middle finger module, a first driven gear and a second driven gear are respectively assembled on the first shaft piece and the second shaft piece, the first driven gear is meshed with the driving gear, and the second driven gear is meshed with the first driven gear;
the two edge finger modules are fixedly provided with universal driving shafts, linkage gears are sleeved on the universal driving shafts, the universal driving shafts are connected with the linkage gears through keys, and the linkage gears are respectively meshed with the first driven gear and the second driven gear.
2. The switching mechanism between the mechanical arm and the end effector is characterized in that the middle finger module comprises a middle finger support plate and a middle finger cover plate, the middle finger support plate is fixedly installed on the wrist, the middle finger cover plate is fixedly installed on the middle finger support plate, the driving mechanism is installed on the inner side of the middle finger cover plate, the first shaft element and the second shaft element are installed on the middle finger cover plate, through holes are formed in the bottom of the middle finger support plate and the corresponding positions of the top of the wrist, and the bottom of the driving mechanism penetrates through the through holes and extends into the wrist.
3. The transfer mechanism between a mechanical arm and an end effector as claimed in claim 1, wherein the edge finger module comprises an edge finger support plate and an edge finger cover plate, the edge finger support plate is floatingly assembled on the wrist through a bearing, the edge finger cover plate is fixedly installed on the edge finger support plate, the linkage shaft is fixedly installed on the edge finger cover plate, and the installation end of the linkage shaft on the edge finger module is configured to be a semi-circular arc structure.
4. The transfer mechanism between a robotic arm and an end effector as claimed in claim 1, wherein bearings are provided between the first and second shaft members and the first and second driven gears, respectively.
5. The transfer mechanism between a robotic arm and an end effector as claimed in claim 1, wherein the first and second driven gears have the same number of teeth.
6. The transition mechanism between a robotic arm and an end effector as claimed in claim 1, wherein two arcuate sliding pads are mounted on the top of the wrist and are located on the bottom of the edge finger module.
7. The changeover mechanism between the mechanical arm and the tail end actuating mechanism according to claim 1, wherein a cover plate is arranged at the bottom of the wrist and fixed at the bottom of the wrist through a pressing ring, an external thread is arranged on the outer side of the bottom of the wrist, an internal thread is arranged on the pressing ring, and the pressing ring is connected with the external thread of the wrist through the internal thread.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922413802.6U CN211729223U (en) | 2019-12-29 | 2019-12-29 | Switching mechanism between mechanical arm and tail end executing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922413802.6U CN211729223U (en) | 2019-12-29 | 2019-12-29 | Switching mechanism between mechanical arm and tail end executing mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211729223U true CN211729223U (en) | 2020-10-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922413802.6U Active CN211729223U (en) | 2019-12-29 | 2019-12-29 | Switching mechanism between mechanical arm and tail end executing mechanism |
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| CN (1) | CN211729223U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110900646A (en) * | 2019-12-29 | 2020-03-24 | 苏州钧舵机器人有限公司 | A transfer mechanism between a robotic arm and an end effector |
-
2019
- 2019-12-29 CN CN201922413802.6U patent/CN211729223U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110900646A (en) * | 2019-12-29 | 2020-03-24 | 苏州钧舵机器人有限公司 | A transfer mechanism between a robotic arm and an end effector |
| CN110900646B (en) * | 2019-12-29 | 2025-02-11 | 苏州钧舵机器人有限公司 | A transfer mechanism between a mechanical arm and an end effector |
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