CN104369183A - Multidirectional mechanical arm - Google Patents
Multidirectional mechanical arm Download PDFInfo
- Publication number
- CN104369183A CN104369183A CN201410661464.7A CN201410661464A CN104369183A CN 104369183 A CN104369183 A CN 104369183A CN 201410661464 A CN201410661464 A CN 201410661464A CN 104369183 A CN104369183 A CN 104369183A
- Authority
- CN
- China
- Prior art keywords
- motion motor
- mechanical arm
- mechanical
- sliding sleeve
- universal joint
- 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
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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
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0051—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a multidirectional mechanical arm. The multidirectional mechanical arm comprises a movement motor, a mechanical arm rod, a universal connector, a sliding sleeve, a pneumatic element installation plate and a clamping head. The movement motor is a servo motor and is wide in use and high in accuracy; the mechanical arm rod is an aluminum type hollow tube, so that the weight of the mechanical arm rod is reduced, quick movement of the mechanism is facilitated; a clamping head is installed through the universal connector, so that convenience is brought to installation and replacement of any clamping hand, nozzle and the like; a sliding block is replaced with the sliding sleeve, so that the stroke and the accuracy requirement of the motor during rotation are guaranteed; the pneumatic element installation plate is installed in an indent mode, so that the whole is attractive, and the function of protecting elements is achieved.
Description
Technical field
The present invention relates to mechanical manufacturing field, specifically mechanical universal hand.
Background technology
Electronic technology is late nineteenth century, earlier 1900s starts the emerging technology that grows up, and twentieth century development is the rapidest, most widely used general, becomes an important symbol of modern science technical development.
First generation electronic product take electron tube as core.Be born first transistor in the world at the forties end, and it, with features such as small and exquisite, light, power saving, life-span length, should be used by various countries soon, in very large range instead of electron tube.The fifties latter stage, occurred first piece of integrated circuit in the world, it on one piece of silicon, makes electronic product to more miniaturization the electronic component integrations such as many transistors.Integrated circuit develops large scale integrated circuit and super large-scale integration rapidly from small scale integration, thus makes electronic product towards high-effect low consumption, high accuracy, high stable, intelligentized future development.
Along with the development of society, human cost by liter, the rise of automation industry, widely using of automation equipment, cannot replace, and wideling popularize of this important instrument of automation equipment, can save a large amount of man power and materials to every profession and trade.Improve the quality of product, increase Economic returns.
In automation equipment, usually will use robot manipulator structure, manipulator is primarily of executing agency, driving mechanism and control system three parts composition.Hand is used to the parts grasping workpiece (or instrument), has various structures form according to by grasping the shape of object, size, weight, material and job requirements, as clamp-type, holding type and absorbent-type etc.Motion, makes that hand completes various rotation (swing), mobile or compound motion realizes the action that specifies, change and grasped the position of object and posture.The self-movement modes such as the lifting of motion, flexible, rotation, are called the free degree of manipulator.Due to the structural design reason of conventional robot, often have a definite limitation to manipulator clamping angle, also do not have at present a kind of with low cost, low-profile, structure simply, multidirectional flexibly multi cylinder mechanical universal hand.
Summary of the invention
The present invention just for above technical problem, provide a kind of with low cost, low-profile, structure simply, multidirectional flexibly multi cylinder mechanical universal hand.
The present invention is achieved through the following technical solutions:
Mechanical universal hand, comprise motion motor, mechanical armed lever, universal joint, sliding sleeve, pneumatic original paper installing plate, clamping head, it is characterized in that motion motor is multiple, multiple motion motor is evenly distributed on pneumatic original paper installing plate, one end of the output shaft junctor mechanical arm bar of each motion motor, the other end of machinery armed lever is connected on universal joint, pneumatic original paper installing plate central authorities are arranged on by sliding sleeve below universal joint, clamping head is arranged on sliding sleeve by universal joint, and pneumatic original paper installing plate has multiple concave type mounting groove.Motion motor is three.The preferred servomotor of motion motor.Motion motor output is the output shaft of rotatable 90 degree.Universal joint is L-type.
Motion motor of the present invention selects servomotor, and use extensively, precision is high; manipulator armed lever aluminium type hollow tube, alleviates the weight of manipulator armed lever, effectively in the rapid movement of mechanism; clamping head is installed by universal joint; conveniently install and replace any one tong, suction nozzle etc., sliding sleeve replaces slide block; stroke during guarantee electric machine rotation and required precision; pneumatic original paper installing plate is installed by concave type, makes overall appearance, and that plays again the pneumatic original paper of protection does use.
Accompanying drawing explanation
In accompanying drawing, Fig. 1 is structural representation of the present invention, wherein:
1-motion motor, 2-mechanical armed lever, 3-universal joint, 4-sliding sleeve, 5-pneumatic original paper installing plate, 6-clamping head.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
Mechanical universal hand, comprise motion motor 1, machinery armed lever 2, universal joint 3, sliding sleeve 4, pneumatic original paper installing plate 5, clamping head 6, it is characterized in that motion motor 1 is for multiple, multiple motion motor 1 is evenly distributed on pneumatic original paper installing plate 5, one end of the output shaft junctor mechanical arm bar 2 of each motion motor 1, the other end of machinery armed lever 2 is connected on universal joint 3, pneumatic original paper installing plate 5 central authorities are arranged on by sliding sleeve 4 below universal joint 3, clamping head 6 is arranged on sliding sleeve 4 by universal joint 3, pneumatic original paper installing plate 5 there is multiple concave type mounting groove.Motion motor 1 is three.Motion motor 1 is servomotor preferably.Motion motor 1 output is the output shaft of rotatable 90 degree.Universal joint 3 is in L-type.
Motion motor 1 of the present invention selects servomotor, and use extensively, precision is high; manipulator armed lever aluminium type hollow tube, alleviates the weight of manipulator armed lever, effectively in the rapid movement of mechanism; clamping head 6 is installed by universal joint 3; conveniently install and replace any one tong, suction nozzle etc., sliding sleeve 4 replaces slide block; stroke during guarantee electric machine rotation and required precision; pneumatic original paper installing plate 5 is installed by concave type, makes overall appearance, and that plays again the pneumatic original paper of protection does use.
Claims (5)
1. mechanical universal hand, comprise motion motor, mechanical armed lever, universal joint, sliding sleeve, pneumatic original paper installing plate, clamping head, it is characterized in that motion motor is multiple, multiple motion motor is evenly distributed on pneumatic original paper installing plate, one end of the output shaft junctor mechanical arm bar of each motion motor, the other end of machinery armed lever is connected on universal joint, pneumatic original paper installing plate central authorities are arranged on by sliding sleeve below universal joint, clamping head is arranged on sliding sleeve by universal joint, and pneumatic original paper installing plate has multiple concave type mounting groove.
2. mechanical universal hand according to claim 1, is characterized in that described motion motor is three.
3. mechanical universal hand according to claim 1, is characterized in that the preferred servomotor of described motion motor.
4. mechanical universal hand according to claim 1, is characterized in that described motion motor output is the output shaft of rotatable 90 degree.
5. mechanical universal hand according to claim 1, is characterized in that described universal joint is L-type.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410661464.7A CN104369183A (en) | 2014-11-19 | 2014-11-19 | Multidirectional mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410661464.7A CN104369183A (en) | 2014-11-19 | 2014-11-19 | Multidirectional mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104369183A true CN104369183A (en) | 2015-02-25 |
Family
ID=52548506
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410661464.7A Pending CN104369183A (en) | 2014-11-19 | 2014-11-19 | Multidirectional mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104369183A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102019124358A1 (en) * | 2019-09-11 | 2021-03-11 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | manipulator |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6577093B1 (en) * | 1998-11-12 | 2003-06-10 | Abb Ab | Manipulator |
| CN101554731A (en) * | 2008-04-10 | 2009-10-14 | 村田机械株式会社 | Parallel mechanism |
| US20100206120A1 (en) * | 2009-02-13 | 2010-08-19 | Fanuc Ltd | Parallel robot provided with wrist section having three degrees of freedom |
| CN102049776A (en) * | 2009-10-26 | 2011-05-11 | 发那科株式会社 | Parallel link robot |
| CN102259338A (en) * | 2010-05-28 | 2011-11-30 | 鸿富锦精密工业（深圳）有限公司 | Robot |
| CN102632024A (en) * | 2011-02-09 | 2012-08-15 | 发那科株式会社 | Masking system using masking piece |
| CN103009378A (en) * | 2012-12-13 | 2013-04-03 | 大连理工计算机控制工程有限公司 | High-speed parallel-connection robot pickup device with vision |
| WO2014122338A1 (en) * | 2013-02-08 | 2014-08-14 | Matriruiz, S.L. | Set of mechanical means that can be incorporated into a delta robot for the gumming of lids |
| CN204248887U (en) * | 2014-11-19 | 2015-04-08 | 苏州赛腾精密电子有限公司 | Mechanical universal hand |
-
2014
- 2014-11-19 CN CN201410661464.7A patent/CN104369183A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6577093B1 (en) * | 1998-11-12 | 2003-06-10 | Abb Ab | Manipulator |
| CN101554731A (en) * | 2008-04-10 | 2009-10-14 | 村田机械株式会社 | Parallel mechanism |
| US20100206120A1 (en) * | 2009-02-13 | 2010-08-19 | Fanuc Ltd | Parallel robot provided with wrist section having three degrees of freedom |
| CN102049776A (en) * | 2009-10-26 | 2011-05-11 | 发那科株式会社 | Parallel link robot |
| CN102259338A (en) * | 2010-05-28 | 2011-11-30 | 鸿富锦精密工业（深圳）有限公司 | Robot |
| CN102632024A (en) * | 2011-02-09 | 2012-08-15 | 发那科株式会社 | Masking system using masking piece |
| CN103009378A (en) * | 2012-12-13 | 2013-04-03 | 大连理工计算机控制工程有限公司 | High-speed parallel-connection robot pickup device with vision |
| WO2014122338A1 (en) * | 2013-02-08 | 2014-08-14 | Matriruiz, S.L. | Set of mechanical means that can be incorporated into a delta robot for the gumming of lids |
| CN204248887U (en) * | 2014-11-19 | 2015-04-08 | 苏州赛腾精密电子有限公司 | Mechanical universal hand |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102019124358A1 (en) * | 2019-09-11 | 2021-03-11 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | manipulator |
| DE102019124358B4 (en) | 2019-09-11 | 2021-11-11 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: Suzhou Wuzhong District City, Jiangsu province 215168 Soochow Road No. 4 Building A Applicant after: Suzhou Sai Teng precise electronic limited company Address before: Suzhou Wuzhong District City, Jiangsu province 215168 Soochow Road No. 4 Building A Applicant before: Suzhou Secote Precision Electronic Co., Ltd. |
|
| COR | Change of bibliographic data | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20150225 |