CN202985557U - Robot arm structure - Google Patents
Robot arm structure Download PDFInfo
- Publication number
- CN202985557U CN202985557U CN 201220585721 CN201220585721U CN202985557U CN 202985557 U CN202985557 U CN 202985557U CN 201220585721 CN201220585721 CN 201220585721 CN 201220585721 U CN201220585721 U CN 201220585721U CN 202985557 U CN202985557 U CN 202985557U
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- cylinder pressure
- articulated
- depression bar
- 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.)
- Expired - Fee Related
Links
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 14
- 238000012545 processing Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 9
- 230000009471 action Effects 0.000 description 6
- 238000013461 design Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 210000000707 wrist Anatomy 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000008034 disappearance Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a machine arm structure, it is equipped with the base, first joint seat, first linkage, the second joint seat, the second linkage, the third joint seat, the roating seat, grip slipper and control cabinet, utilize this first joint seat, first linkage and the structure that the second joint seat formed a four-bar linkage, and this second joint seat, second linkage and third joint seat form the structure of another four-bar linkage, for can constantly keep the horizontal direction to remove when pressing from both sides and getting the heavy object, and utilize a power motor to drive this roating seat and make 360 degrees rotations, when making the heavy object put down, can be located the best direction, so that follow-up processing handles, and be equipped with the control unit, can remember the removal route that the heavy object was got, when supplying the second operation, can full automation control, carry with using manpower sparingly.
Description
Technical field
The utility model discloses a kind of robotic arm structure, refer in particular to a kind of structure of utilizing four connection rod set, the permanent movement that keeps horizontal direction when making the gripping weight is so as to the robotic arm structure of avoiding weight to tilt.
Background technology
generally all can use robotic arm at present, in order to the gripping weight, and the structure of this robotic arm, No. the I341778th, the TaiWan, China invention of on May 11st, 2011 announcing just like the Christian era: shown in a kind of patent of mechanical arm, it comprises: a rotating basis, at least comprise that one has the substrate of the epirelief junctor of upper bearing (metal), one forms nested lower protruding junctor with the epirelief junctor, one locking is at lower protruding junctor bottom face, and by worm gear, the worm and gear group of the corresponding bridle joint of worm screw, one end pivot joint and locking are below substrate and in order to drive the first power packages of this worm and gear group transmission, form the mechanical arm the first axle part by the first power packages driven rotary pedestal, and the pedestal of a locking above lower protruding junctor, one principal arm assembly, form pivot joint with the pedestal of rotating basis, by a principal arm, and two with principal arm below the second power packages of corresponding pivot joint, stretch in order to drive this principal arm, regain action, and pedestal pivot joint principal arm assembly one end forms the mechanical arm the second axle part up, one support arm assembly, with the principal arm other end pivot joint of principal arm assembly be mechanical arm the 3rd axial region, by a support arm, the upper and lower affixed of upper and lower end face of support arm, and one with the 3rd power packages of the principal arm corresponding pivot joint in top, stretch, regain and move in order to drive this support arm, one wrist group, the support arm other end pivot joint of an end and support arm assembly is mechanical arm the 4th axial region, by the activity group of an end and the pivot joint of the support arm other end, one and support arm one end pivot joint and control activity group interlock jig arm group the 4th power packages that stretches, regain, one is nested with thrust assembly inner in the activity group and that the jig arm assembly is locked, and an end forms pivot joint and controls the internal tooth wheels that the jig arm assembly turns to movable group, form mechanical arm the 5th axial region with the rotation seat in it, and utilize one the 5th power packages to drive rotation seat so that the spinning movement of wrist group to be provided, one jig arm assembly is arranged on the wrist group other end with scarfing body, and the jaw of scarfing body both sides pivot joint forms mechanical arm the 6th axial region by one the 6th power packages, a worm screw and a worm gear, provides two jaw closure or openness adjustment, in order to pick and place clipped object.
So, so structure, rotate the gripping weights although can spend for 360, and move or during lifting, there is no the horizontal attitude of the prudent thing of Faville in the gripping weight, and the path during the memory manual operation, as the control that repeats the gripping weight, therefore not desirable to the greatest extent yet on using.
In view of this, the design people is not for attaining perfect many disappearances and the inconvenience that causes on above-mentioned mechanical arm structural design, and deeply design, and the active research improvement has a fling at and development and Design goes out this case.
The utility model content
The purpose of this utility model is to provide a kind of robotic arm structure, during its gripping weight, can permanently keep horizontal direction to move, to prevent that weight from tilting, and and the mobile route can remember the gripping weight time, when operating for the second time, omnidistance full automation is controlled, and carries so as to saving manpower.
In order to reach above-mentioned purpose, solution of the present utility model is:
A kind of robotic arm structure, it includes:
One pedestal; One first socket joint is arranged on described pedestal; One first connecting rod group, it is provided with a first connecting rod and a second connecting rod, described first connecting rod and described second connecting rod are articulated in described the first socket joint, described first connecting rod is pivoted with one first cylinder pressure again, described the first cylinder pressure is provided with one first depression bar, and described the first depression bar is articulated in described second connecting rod; One second joint seat, it is articulated in first connecting rod and the second connecting rod of described first connecting rod group, and described the first socket joint, described first connecting rod, described second connecting rod and described second joint seat form one or four connection rod set; One second connecting rod group, it is provided with a third connecting rod and one the 4th connecting rod, and described third connecting rod and the 4th connecting rod are articulated in described second joint seat, and described third connecting rod is pivoted with one second cylinder pressure again, described the second cylinder pressure is provided with one second depression bar, and described the second depression bar is articulated in described the 4th connecting rod; One the 3rd socket joint, it is articulated in third connecting rod and the 4th connecting rod of described second connecting rod group, and described second joint seat, described third connecting rod, described the 4th connecting rod and described the 3rd socket joint form another four connection rod set; One rotating seat, it is respectively equipped with one the 3rd cylinder pressure and a swing arm, and described the 3rd cylinder pressure is provided with one the 3rd depression bar, and described the 3rd cylinder pressure and described swing arm are articulated in respectively described the 3rd socket joint again, described the 3rd depression bar is pivoted to described swing arm, separately is provided with a power motor on described rotating seat; One grip slipper, it is connected on described rotating seat, be articulated with one the 4th cylinder pressure on described grip slipper, described the 4th cylinder pressure is provided with one the 4th depression bar, described grip slipper is articulated with one first jaw and one second jaw relatively again, described the 4th depression bar is articulated in described the first jaw, is articulated with a trace between described the first jaw and described the second jaw again; One console, it is arranged at described the first socket joint, is provided with a control module in described console, and described control module is electrically connected to described the first cylinder pressure, described the second cylinder pressure, described the 3rd cylinder pressure, described power motor and described the 4th cylinder pressure.
Described control module is electrically connected with the perceptron of at least one, detects respectively the mobile route of described first connecting rod group, described second connecting rod group, described rotating seat and described grip slipper, and is remembered by described control module.
Described perceptron is arranged at described first connecting rod group.
Described power motor engagement one gear train.
After adopting said structure, the utility model mechanical arm structure has advantages of following:
1. the utility model mechanical arm structure can be by this control module of operation, control this first cylinder pressure and begin action, the first depression bar of this first cylinder pressure begins to stretch out or when retracting, can promote this second connecting rod, form the structure of one or four connection rod set due to this first socket joint, first connecting rod, second connecting rod and second joint seat, can can permanently keep horizontal direction to move when the gripping weight, tilt to prevent weight.
2. the utility model mechanical arm structure can be by this control module of operation, when controlling this second cylinder pressure and beginning to move, the second depression bar of this second cylinder pressure begins to stretch out or when retracting, can promote this third connecting rod, form the structure of one or four connection rod set due to this second joint seat, third connecting rod, the 4th connecting rod and the 3rd socket joint, but the gripping weight is done 360 degree rotations, makes when putting down weight, can be positioned at best direction, with the carrying out of conveniently follow-up processing processing operation.
3. the utility model mechanical arm structure is electrically connected at least one perceptron at control module, the mobile route when this perceptron can be remembered the gripping weight, and when operating for the second time, omnidistance full automation is controlled, and carries so as to saving manpower.
Description of drawings
Fig. 1 is stereo appearance figure of the present utility model;
Fig. 2 is plane of the present utility model;
Fig. 3 is the schematic diagram that the first depression bar of the utility model the first cylinder pressure is retracted;
Fig. 4 is the schematic diagram that the first depression bar of the utility model the first cylinder pressure stretches out;
Fig. 5 is the schematic diagram that the second depression bar of the utility model the second cylinder pressure is retracted;
Fig. 6 is the schematic diagram that the second depression bar of the utility model the second cylinder pressure stretches out;
Fig. 7 is the schematic diagram that the 3rd depression bar of the utility model the 3rd cylinder pressure is retracted;
Fig. 8 is the schematic diagram that the 3rd depression bar of the utility model the 3rd cylinder pressure stretches out;
Fig. 9 is the schematic diagram that the 4th depression bar of the utility model the 4th cylinder pressure is retracted;
Figure 10 is the schematic diagram that the 4th depression bar of the utility model the 4th cylinder pressure stretches out;
Figure 11 is the structural representation of the utility model rotating seat;
Figure 12 is the schematic diagram that the utility model power motor driven rotary seat rotates.
The main element symbol description
1 pedestal 2 first socket joint 3 first connecting rod groups
31 first connecting rod 32 second connecting rod 33 first cylinder pressures
34 first depression bar 4 second joint seat 5 second connecting rod groups
51 third connecting rod 52 the 4th connecting rod 53 second cylinder pressures
54 second depression bar 6 the 3rd socket joint 7 rotating seats
71 the 3rd cylinder pressure 72 the 3rd depression bar 73 swing arms
74 power motor 75 gear train 8 grip slippers
81 the 4th cylinder pressure 82 the 4th depression bar 83 first jaws
84 second jaw 85 trace 9 consoles
91 control module 92 perceptron A weights.
The specific embodiment
In order further to explain the technical solution of the utility model, the utility model is elaborated below by specific embodiment.
At first, see also Figure 1 and Figure 2, the utility model embodiment includes pedestal 1, the first socket joint 2, first connecting rod group 3, second joint seat 4, second connecting rod group 5, the 3rd socket joint 6, rotating seat 7, grip slipper 8 and console 9, wherein:
Pedestal 1, it is established, and to be a fixed or portable pedestal.
The first socket joint 2, it is arranged on this pedestal 1, and can rotate with respect to this pedestal 1.
First connecting rod group 3, as shown in Figure 3, it is provided with first connecting rod 31 and the second connecting rod 32 of two relative parallels, one end of this first connecting rod 31 and second connecting rod 32 is articulated on this first socket joint 2, be pivoted with one first cylinder pressure 33 on this first connecting rod 31 again, 33 of this first cylinder pressures are provided with the first depression bar 34 of a Telescopic movable, and an end of this first depression bar 34 is articulated on this second connecting rod 32.
Second connecting rod group 5, as shown in Figure 5, it is provided with third connecting rod 51 and the 4th connecting rod 52 of two relative parallels, one end of this third connecting rod 51 and the 4th connecting rod 52 is articulated on this second joint seat 4, be pivoted with one second cylinder pressure 53 on this third connecting rod 51 again, 53 of this second cylinder pressures are provided with the second depression bar 54 of a Telescopic movable, and an end of this second depression bar 54 is articulated on the 4th connecting rod 52.
The 3rd socket joint 6, it is articulated in the third connecting rod 51 of this second connecting rod group 5 and the other end of the 4th connecting rod 52, forms the structure of another four connection rod set so as to making this second joint seat 4, third connecting rod 51, the 4th connecting rod 52 and the 3rd socket joint 6.
Rotating seat 7, as shown in Figure 7, it is respectively equipped with one the 3rd cylinder pressure 71 and a swing arm 73, the 3rd cylinder pressure 71 is provided with the 3rd depression bar 72 of a Telescopic movable, the 3rd cylinder pressure 71 and this swing arm 73 are articulated in respectively on the 3rd socket joint 6 again, and an end of the 3rd depression bar 72 is pivoted to an end of this swing arm 73 again, separately are provided with a power motor 74 on this rotating seat 7, this power motor 74 engagement one gear train 75(are as shown in figure 11), can 360 degree rotations so as to controlling this rotating seat 7.
during use, as shown in Figures 1 and 2, the operator can enter to this console 9 and carry out the operation of gripping weight A for the first time, can be by this control module 91 of operation, first control this first cylinder pressure 33 and begin action (as shown in Figure 4), when the first depression bar 34 of this first cylinder pressure 33 begins to stretch out, can promote this second connecting rod 32, due to this first socket joint 2, first connecting rod 31, second connecting rod 32 and second joint seat 4 form the structure of one or four connection rod set, so this first connecting rod 31, second connecting rod 32 can move relative to staggering, so as to this first connecting rod group 3 is upwards risen, and when this first depression bar 34 is retracted, this first connecting rod group 3 can be to descending (as shown in Figure 3), so as to making this second connecting rod group 5, rotating seat 7, the weight A of grip slipper 8 and institute's gripping thereof, can permanently keep horizontal direction to move.
again when this second cylinder pressure 53 of control begins to move, as shown in Figure 6, when the second depression bar 54 of this second cylinder pressure 53 begins to stretch out, can promote this third connecting rod 51, due to this second joint seat 4, third connecting rod 51, the 4th connecting rod 52 and the 3rd socket joint 6 form the structure of one or four connection rod set, so this third connecting rod 51, the 4th connecting rod 52 can move relative to staggering, so as to this second connecting rod group 5 is upwards risen, and when this second depression bar 54 is retracted (as shown in Figure 5), this second connecting rod group 5 can be to decline, so as to making this rotating seat 7, the weight A of grip slipper 8 and institute's gripping thereof, can permanently keep horizontal direction to move.
And when control the 3rd cylinder pressure 71 begins to move, as shown in Figure 8, when the 3rd depression bar 72 of the 3rd cylinder pressure 71 begins to stretch out, can promote this swing arm 73 to swing, be rocked to suitable position so as to controlling grip slipper 8, grip or lay down weight A to utilize this grip slipper 8.
when needs are controlled this grip slipper 8 beginning gripping weight A, as shown in figure 10, can control the 4th cylinder pressure 81 and begin action, when the 4th depression bar 82 of the 4th cylinder pressure 81 stretches out, can promote this first jaw 83 in the inside pivotable of grip slipper 8, and this first jaw 83 is when moving, and can promote this trace 85, recycle this trace 85 and promote the second jaw 84 pivotables, this second jaw 84 is drawn close with respect to this first jaw 83, so as to gripping weight A smoothly, again when the 4th depression bar 82 is retracted (as shown in Figure 9), can control this first jaw 83 and the second jaw 84 opens relatively, and put down weight A.
Can relend in addition the rotation (as shown in figure 11) by this power motor 74, do 360 degree rotations (as shown in figure 12) and can drive this rotating seat 7 via this gear train 75, when making this grip slipper 8 turn to suitable angle, in the time of can making it put down weight A, can be positioned at the best direction of putting down, be beneficial to this weight A following process and process conveniently, and need not remove to move weight A with manpower again, be adjusted to suitable machine direction.
So, utilize the action of above-mentioned this first cylinder pressure 33, the second cylinder pressure 53, the 3rd cylinder pressure 71, power motor 74 and the 4th cylinder pressure 81, can reach the effect of controlling gripping and putting down weight A, and when operating for the first time, this perceptron 92 can be detected the mobile route of the gripping weight A of this first connecting rod group 3, second connecting rod group 5, rotating seat 7 and grip slipper 8, and remembered by this control module 91, for when operating for the second time, can be controlled by these control module 71 whole-course automation fully, carry to save manpower.
Above-described embodiment and accompanying drawing and non-limiting product form of the present utility model and style, any person of an ordinary skill in the technical field all should be considered as not breaking away from patent category of the present utility model to its suitable variation or modification of doing.
Claims (4)
1. a robotic arm structure, is characterized in that, includes:
One pedestal;
One first socket joint is arranged on described pedestal;
One first connecting rod group, it is provided with a first connecting rod and a second connecting rod, described first connecting rod and described second connecting rod are articulated in described the first socket joint, described first connecting rod is pivoted with one first cylinder pressure again, described the first cylinder pressure is provided with one first depression bar, and described the first depression bar is articulated in described second connecting rod;
One second joint seat, it is articulated in first connecting rod and the second connecting rod of described first connecting rod group, and described the first socket joint, described first connecting rod, described second connecting rod and described second joint seat form one or four connection rod set;
One second connecting rod group, it is provided with a third connecting rod and one the 4th connecting rod, and described third connecting rod and the 4th connecting rod are articulated in described second joint seat, and described third connecting rod is pivoted with one second cylinder pressure again, described the second cylinder pressure is provided with one second depression bar, and described the second depression bar is articulated in described the 4th connecting rod;
One the 3rd socket joint, it is articulated in third connecting rod and the 4th connecting rod of described second connecting rod group, and described second joint seat, described third connecting rod, described the 4th connecting rod and described the 3rd socket joint form another four connection rod set;
One rotating seat, it is respectively equipped with one the 3rd cylinder pressure and a swing arm, and described the 3rd cylinder pressure is provided with one the 3rd depression bar, and described the 3rd cylinder pressure and described swing arm are articulated in respectively described the 3rd socket joint again, described the 3rd depression bar is pivoted to described swing arm, separately is provided with a power motor on described rotating seat;
One grip slipper, it is connected on described rotating seat, be articulated with one the 4th cylinder pressure on described grip slipper, described the 4th cylinder pressure is provided with one the 4th depression bar, described grip slipper is articulated with one first jaw and one second jaw relatively again, described the 4th depression bar is articulated in described the first jaw, is articulated with a trace between described the first jaw and described the second jaw again;
One console, it is arranged at described the first socket joint, is provided with a control module in described console, and described control module is electrically connected to described the first cylinder pressure, described the second cylinder pressure, described the 3rd cylinder pressure, described power motor and described the 4th cylinder pressure.
2. robotic arm structure as claimed in claim 1, it is characterized in that: described control module is electrically connected with the perceptron of at least one, detect respectively the mobile route of described first connecting rod group, described second connecting rod group, described rotating seat and described grip slipper, and remembered by described control module.
3. robotic arm structure as claimed in claim 2, it is characterized in that: described perceptron is arranged at described first connecting rod group.
4. robotic arm structure as claimed in claim 1, is characterized in that: described power motor engagement one gear train.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW101203834U TWM434665U (en) | 2012-03-03 | 2012-03-03 | Robot arm structure |
| TW101203834 | 2012-03-03 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202985557U true CN202985557U (en) | 2013-06-12 |
Family
ID=47047207
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220585721 Expired - Fee Related CN202985557U (en) | 2012-03-03 | 2012-11-08 | Robot arm structure |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN202985557U (en) |
| TW (1) | TWM434665U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117569242A (en) * | 2023-12-29 | 2024-02-20 | 中煤科工开采研究院有限公司 | Dust flushing operation arm and dust flushing equipment |
-
2012
- 2012-03-03 TW TW101203834U patent/TWM434665U/en not_active IP Right Cessation
- 2012-11-08 CN CN 201220585721 patent/CN202985557U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117569242A (en) * | 2023-12-29 | 2024-02-20 | 中煤科工开采研究院有限公司 | Dust flushing operation arm and dust flushing equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| TWM434665U (en) | 2012-08-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208100378U (en) | A kind of industrial robot | |
| CN202107270U (en) | Pneumatic tower type glass station assisting mechanical arm | |
| CN103978477B (en) | A kind of articulated robot | |
| CN103192366B (en) | Manipulator capable of rotating continuously | |
| CN109318211A (en) | A kind of industrial robot with pickup function | |
| CN106628392B (en) | A kind of rotative mechanism arrangement supportting sack automatically for feed field | |
| CN203653099U (en) | Cantilever crane | |
| CN102848379A (en) | Automatic manipulator of caster support press line | |
| CN208007465U (en) | A kind of overturning mechanical hand | |
| CN106271359B (en) | A kind of reinforcement welding device with gripping function | |
| CN105128976B (en) | A kind of drive lacking running gear and its Servo Control method | |
| CN110101208A (en) | A kind of Art Design workbench can be improved working efficiency | |
| CN202985557U (en) | Robot arm structure | |
| CN205969029U (en) | Fixed point aversion robotic arm mechanism | |
| CN206288927U (en) | A kind of small electric jack | |
| CN214604383U (en) | Horizontal multi-joint industrial manipulator | |
| CN201999652U (en) | Direct current electric crane | |
| CN210025362U (en) | Auxiliary supporting device for robot | |
| CN108466993A (en) | One kind is novel to follow lifting machine and its system certainly | |
| CN208249721U (en) | Template lifts table system | |
| CN210504630U (en) | Gear rack 90-degree uniform-speed overturning mechanism | |
| CN206854516U (en) | A kind of electric tin seamer | |
| CN204397897U (en) | A kind of transfer robot | |
| CN204108872U (en) | A kind of explosion-proof boosting manipulator | |
| CN206938133U (en) | Abutted equipment Fan Song mechanisms in bend glass vacuum |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130612 Termination date: 20151108 |
|
| EXPY | Termination of patent right or utility model |