CN105798897A - Control device capable of achieving intelligent operation - Google Patents
Control device capable of achieving intelligent operation Download PDFInfo
- Publication number
- CN105798897A CN105798897A CN201610228217.7A CN201610228217A CN105798897A CN 105798897 A CN105798897 A CN 105798897A CN 201610228217 A CN201610228217 A CN 201610228217A CN 105798897 A CN105798897 A CN 105798897A
- Authority
- CN
- China
- Prior art keywords
- motor
- gripper
- fixed
- rotating shaft
- inner ring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
-
- 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
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- 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
Abstract
The invention discloses a control device capable of achieving intelligent operation. A first stepping motor and a rotary table bearing are fixed to a base. The rotary table bearing comprises a rotary table bearing inner ring and a rotary table bearing outer ring. The rotary table bearing outer ring is fixed to the base through rotary table supporting columns. A first electric jack is arranged at the center position of the upper portion of the rotary table bearing inner ring. Two parallel vertical sliding grooves of triangular prism structures are fixed to the positions, on the two sides of the first electric jack, of the rotary table bearing inner ring through stabilizing bars. The two sides of a function plate are vertically arranged in the vertical sliding grooves in a sliding fit manner through sliding blocks of triangular prism structures matched with the vertical sliding grooves. The middle portion of the lower side of the function plate is fixed to the first electric jack. A sliding rod of a triangular prism structure is fixed to the other side of the rotary table bearing inner ring and connected with a mechanical claw through a mechanical arm. The control device is novel in structure, reasonable in design, complete in function, low in cost, high in practicality, convenient to operate and wide in work range.
Description
Technical field
The invention belongs to robotics, be specifically related to a kind of control device realizing intelligent operation.
Background technology
Along with the development of mechanical industry, increasing mechanical processing process use industrial robot realize automated production.In actual applications, it is necessary to mounting industrial robot in different environment and space.But, the mounting means of existing industrial robot is single, and installing/dismounting gets up cumbersome.
Summary of the invention
Present invention solves the technical problem that there is provided a kind of multiple functional, less costly, novel structure, the control device realizing intelligent operation that practical, easy to operate and working range is wide.
nullThe present invention solves that above-mentioned technical problem adopts the following technical scheme that，A kind of control device realizing intelligent operation，It is characterized in that: base is fixed with the first motor and turntable bearing，The rotating shaft of the first motor is provided with the first driving gear，Turntable bearing includes turntable bearing inner ring and turntable bearing outer ring，Center bottom turntable bearing inner ring is provided with the first driven gear，The first driving gear on this first driven gear and the first stepping motor rotating shaft is meshed，Turntable bearing outer ring is fixed on base by rotating disk pillar，Turntable bearing outer ring is provided with tank filler sleeve，The center on turntable bearing inner ring top is provided with the first motor-driven jack，The turntable bearing inner ring of the first motor-driven jack both sides is fixed with two by firm bar be arranged in parallel and vertical chute in triangular prism structure，The both sides of feature board are assigned in vertical chute by vertically sliding with the triangular prism structure slide block that vertical chute matches，The lower middle side part of feature board is fixed on the first motor-driven jack，The middle part of feature board is provided with swivel bearing，Functional device outside swivel bearing is provided with the second motor，The rotating shaft of the second motor is provided with the second driving gear，Swivel bearing includes swivel bearing inner ring and swivel bearing outer ring，The side of swivel bearing inner ring is provided with the second driven gear，The second driving gear on this second driven gear and the second stepping motor rotating shaft is meshed，The opposite side of swivel bearing inner ring is fixed with the slide bar of triangular prism structure，Slide bar be respectively arranged at two ends with block，The side of slide bar is provided with jack fixed block，Jack fixed block is provided with the second motor-driven jack，This second motor-driven jack is fixing with the sliding gripper slide block being assigned on slide bar in triangular prism structure to be connected，Gripper slide block is provided with firm rotating shaft，Mechanical arm is fixed on gripper slide block by firm rotating shaft，This mechanical arm includes postbrachium、Middle arm and forearm，Wherein one end of postbrachium is fixed on gripper slide block，The other end of postbrachium is hinged with one end of middle arm by bearing pin，The other end of middle arm is hinged with one end of forearm by bearing pin，The other end of forearm is fixed with gripper，Postbrachium、Middle arm and forearm are respectively equipped with rotating shaft，Connected by bearing and mechanical arm motor-driven jack between the rotating shaft of postbrachium and middle arm，It is connected by bearing and mechanical arm motor-driven jack between middle arm and the rotating shaft of forearm，The fixing axle of gripper is fixing with the forearm of mechanical arm to be connected，The fixing axle of gripper is connected to gripper rotating shaft，The middle part of gripper is articulated with in gripper rotating shaft，The tail end of gripper is hinged with one end of gripper motor-driven jack by connecting rod，The other end of this gripper motor-driven jack is hinged with the forearm of mechanical arm by bearing pin，Described chassis outer side is evenly equipped with multiple expansion link in the horizontal direction，The end both sides of this expansion link are axially distributed multiple hook，Being respectively arranged at two ends with and link up with the spacing hole matched of weight-loading rod，Multiple weight-loading rod it is connected between adjacent expansion link，Described vertical chute is formed by connecting by the screw and the bolt matched with screw being arranged at guide groove two ends by the guide groove of more piece triangular prism structure.
Present configuration is novel, reasonable in design, multiple functional, less costly, practical, easy to operate and working range is wide.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of mechanical arm and gripper in the present invention；
Fig. 3 is the structural representation of slide bar in the present invention；
Fig. 4 is the structural representation of gripper in the present invention；
Fig. 5 is the structural representation of forearm in the present invention；
Fig. 6 is the structural representation of feature board in the present invention；
Fig. 7 is the structural representation of vertical chute in the present invention；
Fig. 8 is the attachment structure schematic diagram of vertical chute in the present invention；
Fig. 9 is the structural representation of turntable bearing of the present invention；
Figure 10 is the attachment structure schematic diagram of base expansion link and weight-loading rod in the present invention.
nullIn figure: 1、Turntable bearing，2、Tank filler sleeve，3、First driving gear，4、First driven gear，5、First motor，6、Second motor，7、Base，8、Rotating disk pillar，9、Expansion link，10、Hook，11、Weight-loading rod，12、Spacing hole，13、First motor-driven jack，14、Second motor-driven jack，15、Feature board，16、Vertical chute，17、Bolt hole，18、Bolt，19、Firm bar，20、Swivel bearing，21、Second driving gear，22、Slide bar，23、Gripper slide block，24、Block，25、Jack fixed block，26、Firm rotating shaft，27、Postbrachium，28、Middle arm，29、Forearm，30、Mechanical arm motor-driven jack，31、Bearing，32、Rotating shaft，33、Gripper，34、Gripper fixes axle，35、Gripper rotating shaft，36、Gripper motor-driven jack.
Detailed description of the invention
The particular content of the present invention is described in detail in conjunction with accompanying drawing.nullIt is operable with the tree felling machine of small space，Base 7 is fixed with the first motor 5 and turntable bearing 1，The rotating shaft of the first motor 5 is provided with the first driving gear 3，Turntable bearing 1 includes turntable bearing inner ring and turntable bearing outer ring，Center bottom turntable bearing inner ring is provided with the first driven gear 4，This first driven gear 4 is meshed with the first driving gear 3 in the first motor 5 rotating shaft，Turntable bearing outer ring is fixed on base 7 by rotating disk pillar 8，Turntable bearing outer ring is provided with tank filler sleeve 2，The center on turntable bearing inner ring top is provided with the first motor-driven jack 13，The turntable bearing inner ring of the first motor-driven jack 13 both sides is fixed with two by firm bar 19 be arranged in parallel and vertical chute 16 in triangular prism structure，The both sides of feature board 15 are assigned in vertical chute 16 by vertically sliding with the triangular prism structure slide block that vertical chute 16 matches，The lower middle side part of feature board 15 is fixed on the first motor-driven jack 13，The middle part of feature board 15 is provided with swivel bearing 20，Feature board 15 outside swivel bearing 20 is provided with the second motor 6，The rotating shaft of the second motor 6 is provided with the second driving gear 21，Swivel bearing 20 includes swivel bearing inner ring and swivel bearing outer ring，The side of swivel bearing inner ring is provided with the second driven gear，The second driving gear 21 on this second driven gear and the second motor 6 rotating shaft is meshed，The opposite side of swivel bearing inner ring is fixed with the slide bar 22 of triangular prism structure，Slide bar 22 be respectively arranged at two ends with block 24，The middle part of slide bar 22 is provided with jack fixed block 25，Jack fixed block 25 be respectively provided on two sides with the second motor-driven jack 14，This second motor-driven jack 14 is fixing with the sliding gripper slide block 23 being assigned on slide bar 22 in triangular prism structure to be connected，Gripper slide block 23 is provided with firm rotating shaft 26，Mechanical arm is fixed on gripper slide block 23 by firm rotating shaft 26，This mechanical arm includes postbrachium 27、Middle arm 28 and forearm 29，Wherein one end of postbrachium 27 is fixed on gripper slide block 23，The other end of postbrachium 27 is hinged with one end of middle arm 28 by bearing pin，The other end of middle arm 28 is hinged with one end of forearm 29 by bearing pin，The other end of forearm 29 is fixed with gripper 33，Postbrachium 27、Middle arm 28 and forearm 29 are respectively equipped with rotating shaft 32，Connected by bearing 31 and mechanical arm motor-driven jack 30 between the rotating shaft 32 of postbrachium 27 and middle arm 28，It is connected by bearing 31 and mechanical arm motor-driven jack 30 between middle arm 28 and the rotating shaft 32 of forearm 29，The fixing axle 34 of gripper is fixing with the forearm 29 of mechanical arm to be connected，The fixing axle 34 of gripper is connected to gripper rotating shaft 35，The middle part of gripper 33 is articulated with in gripper rotating shaft 35，The tail end of gripper 33 is hinged with one end of gripper motor-driven jack 36 by connecting rod，The other end of this gripper motor-driven jack 36 is hinged with the forearm 29 of mechanical arm by bearing pin，Multiple expansion link 9 it is evenly equipped with in the horizontal direction outside described base 7，The end both sides of this expansion link 9 are axially distributed multiple hook 10，Being respectively arranged at two ends with and link up with 10 spacing holes 12 matched of weight-loading rod 11，Multiple weight-loading rod 11 it is connected between adjacent expansion link 9，Described vertical chute 16 is formed by connecting by the screw 17 and the bolt 18 matched with screw 17 being arranged at guide groove two ends by the guide groove of more piece triangular prism structure.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described, and without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, and these changes and improvements both fall within claimed the scope of the present invention.
Claims (1)
- null1. the control device realizing intelligent operation，It is characterized in that: base is fixed with the first motor and turntable bearing，The rotating shaft of the first motor is provided with the first driving gear，Turntable bearing includes turntable bearing inner ring and turntable bearing outer ring，Center bottom turntable bearing inner ring is provided with the first driven gear，The first driving gear on this first driven gear and the first stepping motor rotating shaft is meshed，Turntable bearing outer ring is fixed on base by rotating disk pillar，Turntable bearing outer ring is provided with tank filler sleeve，The center on turntable bearing inner ring top is provided with the first motor-driven jack，The turntable bearing inner ring of the first motor-driven jack both sides is fixed with two by firm bar be arranged in parallel and vertical chute in triangular prism structure，The both sides of feature board are assigned in vertical chute by vertically sliding with the triangular prism structure slide block that vertical chute matches，The lower middle side part of feature board is fixed on the first motor-driven jack，The middle part of feature board is provided with swivel bearing，Functional device outside swivel bearing is provided with the second motor，The rotating shaft of the second motor is provided with the second driving gear，Swivel bearing includes swivel bearing inner ring and swivel bearing outer ring，The side of swivel bearing inner ring is provided with the second driven gear，The second driving gear on this second driven gear and the second stepping motor rotating shaft is meshed，The opposite side of swivel bearing inner ring is fixed with the slide bar of triangular prism structure，Slide bar be respectively arranged at two ends with block，The side of slide bar is provided with jack fixed block，Jack fixed block is provided with the second motor-driven jack，This second motor-driven jack is fixing with the sliding gripper slide block being assigned on slide bar in triangular prism structure to be connected，Gripper slide block is provided with firm rotating shaft，Mechanical arm is fixed on gripper slide block by firm rotating shaft，This mechanical arm includes postbrachium、Middle arm and forearm，Wherein one end of postbrachium is fixed on gripper slide block，The other end of postbrachium is hinged with one end of middle arm by bearing pin，The other end of middle arm is hinged with one end of forearm by bearing pin，The other end of forearm is fixed with gripper，Postbrachium、Middle arm and forearm are respectively equipped with rotating shaft，Connected by bearing and mechanical arm motor-driven jack between the rotating shaft of postbrachium and middle arm，It is connected by bearing and mechanical arm motor-driven jack between middle arm and the rotating shaft of forearm，The fixing axle of gripper is fixing with the forearm of mechanical arm to be connected，The fixing axle of gripper is connected to gripper rotating shaft，The middle part of gripper is articulated with in gripper rotating shaft，The tail end of gripper is hinged with one end of gripper motor-driven jack by connecting rod，The other end of this gripper motor-driven jack is hinged with the forearm of mechanical arm by bearing pin，Described chassis outer side is evenly equipped with multiple expansion link in the horizontal direction，The end both sides of this expansion link are axially distributed multiple hook，Being respectively arranged at two ends with and link up with the spacing hole matched of weight-loading rod，Multiple weight-loading rod it is connected between adjacent expansion link，Described vertical chute is formed by connecting by the screw and the bolt matched with screw being arranged at guide groove two ends by the guide groove of more piece triangular prism structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610228217.7A CN105798897A (en) | 2016-04-13 | 2016-04-13 | Control device capable of achieving intelligent operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610228217.7A CN105798897A (en) | 2016-04-13 | 2016-04-13 | Control device capable of achieving intelligent operation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105798897A true CN105798897A (en) | 2016-07-27 |
Family
ID=56460067
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610228217.7A Pending CN105798897A (en) | 2016-04-13 | 2016-04-13 | Control device capable of achieving intelligent operation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105798897A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2055764U (en) * | 1989-06-12 | 1990-04-11 | 成都国营锦江电机厂 | Material feeding bracket for processing pipes and rods |
| US20050196263A1 (en) * | 2004-03-04 | 2005-09-08 | Line Works Co., Ltd. | Transport apparatus |
| CN201455987U (en) * | 2009-07-24 | 2010-05-12 | 陈文定 | Clamp holder suitable for fetching objects in submerged corner of urinal |
| CN203031161U (en) * | 2013-01-24 | 2013-07-03 | 无锡市陆生机械设备有限公司 | Mechanical arm assisting production of steel structural components |
| US8808278B2 (en) * | 2005-12-20 | 2014-08-19 | Intuitive Surgical Operations, Inc. | Patient side systems with a counterbalance subsystem |
| CN204414104U (en) * | 2014-12-24 | 2015-06-24 | 张彪 | automatic mechanical hand |
-
2016
- 2016-04-13 CN CN201610228217.7A patent/CN105798897A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2055764U (en) * | 1989-06-12 | 1990-04-11 | 成都国营锦江电机厂 | Material feeding bracket for processing pipes and rods |
| US20050196263A1 (en) * | 2004-03-04 | 2005-09-08 | Line Works Co., Ltd. | Transport apparatus |
| US8808278B2 (en) * | 2005-12-20 | 2014-08-19 | Intuitive Surgical Operations, Inc. | Patient side systems with a counterbalance subsystem |
| CN201455987U (en) * | 2009-07-24 | 2010-05-12 | 陈文定 | Clamp holder suitable for fetching objects in submerged corner of urinal |
| CN203031161U (en) * | 2013-01-24 | 2013-07-03 | 无锡市陆生机械设备有限公司 | Mechanical arm assisting production of steel structural components |
| CN204414104U (en) * | 2014-12-24 | 2015-06-24 | 张彪 | automatic mechanical hand |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160727 |