CN203792330U - Self-adaption mechanical arm - Google Patents
Self-adaption mechanical arm Download PDFInfo
- Publication number
- CN203792330U CN203792330U CN201420200776.3U CN201420200776U CN203792330U CN 203792330 U CN203792330 U CN 203792330U CN 201420200776 U CN201420200776 U CN 201420200776U CN 203792330 U CN203792330 U CN 203792330U
- Authority
- CN
- China
- Prior art keywords
- arm
- connecting rod
- link
- drive motors
- speed reducing
- 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
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a self-adaption mechanical arm, which comprises a rotary base and an arm assembly, wherein the arm assembly comprises a lower arm assembly, an upper arm assembly and a mechanical pawl mounting assembly; the upper arm assembly comprises an upper arm body and an upper arm driving mechanism; a lower connecting rod of the upper arm driving mechanism is driven to rotate by a driving motor I along a vertical horizontal surface; the middle of an upper connecting rod is hinged to an upper end of a lower arm body to form a level structure; and the upper arm body is fixed on the upper connecting rod and is rotated with the upper connecting rod along the vertical horizontal surface. According to the utility model, the self-adaption mechanical arm has relatively high movement flexibility and better rotation adaptability; the level structure not only allows the upper arm body to have higher carrying capacity in the case of smaller driving force so as to obtain the purpose of labor saving, but also allows the activity radius of the upper arm body and the lower arm body to be larger after expansion and the operation space is widely covered; the whole weight of the mechanical arm is greatly decreased and the volume is reduced; and the complicated degree of manufacture, installation and maintenance is lowered.
Description
Technical field
The utility model relates to a kind of automated machine parts, particularly a kind of adaptive mechanical arm.
Background technology
Mechanical arm, as critical equipment comparatively main in important manufacturing equipment, is used widely in heavy duty machine tools, large-scale production line and equipment group.Mechanical arm mainly comprises pedestal, arm body assembly and mechanical wrist, and arm body assembly generally comprises two joints or more piece is passed through the mechanical arm body that similar people's elbow joint structure connects.
In prior art, for improving positioning precision and the load-carrying ability of mechanical arm, many more transmission and parts that are connected of arranging between mechanical arm body, cause driving-chain longer, it is higher that mechanical arm body bears a heavy burden, thereby make the rotation flexibility of each mechanical arm body lower, and the rotation adaptability between arm body and arm body, between arm body and mechanical wrist is lower, and need to provide higher driving force and more power source could meet job requirement, increased manufacturing cost and maintenance cost.
Therefore, need to improve existing machinery arm, reduce overall weight and the volume of mechanical arm body, improve the rotation flexibility of mechanical arm body and rotation adaptability to each other, and reduce and manufacture and maintenance cost.
Utility model content
In view of this, the utility model provides a kind of adaptive mechanical arm, and the overall weight of mechanical arm body is light, small volume, and the rotation flexibility of mechanical arm body and rotation adaptability to each other improve greatly, and manufacture and maintenance cost are reduced.
Adaptive mechanical arm of the present utility model, comprises revolution pedestal and arm assembly, and arm assembly comprises lower arm assembly, upper arm assembly and gripper installation assembly;
Described lower arm assembly comprises underarm body and arm body mount pad, and arm body mount pad is fixedly installed on revolution pedestal, and described underarm body is equipped with in described arm body mount pad with the mode single-degree-of-freedom of rotating along perpendicular;
Described upper arm assembly comprises upper arm body and upper arm driving mechanism, described upper arm driving mechanism comprises hinged successively lower link, intermediate connecting rod I and upper connecting rod, described lower link is driven and is rotated along perpendicular by drive motors I, the hinged described underarm body upper end that is arranged at, described upper connecting rod middle part forms lever construction, and described upper arm body is fixedly installed on described upper connecting rod and can along perpendicular, rotates with described upper connecting rod;
Described gripper installation assembly comprises link and gripper mounting disc, and described gripper mounting disc is installed and is arranged at link in the mode that can rotate around self axis, and described link is connected in described upper arm body front end in the mode of rotating along perpendicular.
Further, described gripper installation assembly also comprises link driving mechanism, described link driving mechanism is hinged front rod, intermediate connecting rod II and back link successively, and described back link lower end is articulated with arm body mount pad, and described front rod front end is articulated with link.
Further, the radius of clean-up of described mechanical arm is 1350mm-3150mm.
Further, described intermediate connecting rod II is inverted triangle structure, and its front and back end is hinged with front rod and back link respectively, the hinged outside, underarm body upper end that is arranged at, lower end.
Further, described intermediate connecting rod II and described upper connecting rod pass through the hinged of same jointed shaft realization and underarm body upper end.
Further, described arm body mount pad is U-shaped structure, the distolateral wall of one arranges described drive motors I, drive motors I drives underarm body to rotate by a speed reducing gear pair I, underarm body is fixedly connected on the driven gear shaft of speed reducing gear pair I, and the driving tooth of speed reducing gear pair I is driven and rotated by described drive motors I; Described arm body mount pad other end sidewall arranges drive motors II, drive motors II drives lower link to rotate by a speed reducing gear pair II, lower link is fixedly connected on the driven gear shaft of speed reducing gear pair II, and the driving tooth of speed reducing gear pair II is driven and rotated by described drive motors II.
Further, described revolution pedestal comprises drive motors III, driving box and rotary disk, described driving box comprises casing and is arranged at the speed reducing gear pair III in casing, described rotary disk is arranged at the driven gear shaft that driving box top is fixedly connected on speed reducing gear pair III, and the driving tooth of speed reducing gear pair III is driven and rotated by drive motors II.
The beneficial effects of the utility model: adaptive mechanical arm of the present utility model, upper arm body forms lever construction by upper connecting rod and underarm body, by motor, drive lower link to drive upper connecting rod to rotate, thereby drive upper arm body to rotate around upper connecting rod and underarm body pin joint, not only there is quite high kinematic dexterity, rotate preferably adaptability, and lever construction can just make upper arm body have higher bearing capacity in the situation that of less driving force, reach labour-saving object, in addition, by revolution pedestal and upper arm driving mechanism and the link driving mechanism of being arranged to bar linkage structure, not only make upper arm body and underarm body radius of action after expansion large, can cover wider operating space, but also simplified largely the overall weight of mechanical arm and reduced volume, reduce and manufacture, the complexity of installation and maintenance, and by driving the single motor of upper arm body to drive, just can make gripper installation assembly produce with upper arm body rotation with around the twofold motion with the rotation of upper arm body front end pin joint, produce synergic rotation effect with upper arm body, without setting up gripper pitch control power source, greatly improved control accuracy, manufacture and maintenance cost have been reduced.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the utility model is further described.
Fig. 1 is the utility model structural representation;
Fig. 2 is Fig. 1 rearview;
Fig. 3 is the utility model structural upright view.
The specific embodiment
Fig. 1 is the utility model structural representation, Fig. 2 is Fig. 1 rearview, and Fig. 3 is the utility model structural upright view, as shown in the figure: the adaptive mechanical arm of the present embodiment, comprise revolution pedestal and arm assembly, arm assembly comprises lower arm assembly, upper arm assembly and gripper installation assembly;
Described lower arm assembly comprises underarm body 1 and arm body mount pad 2, and arm body mount pad 2 is fixedly installed on revolution pedestal, and described underarm body 1 is equipped with in described arm body mount pad 2 with the mode single-degree-of-freedom of rotating along perpendicular;
Described upper arm assembly comprises upper arm body 3 and upper arm driving mechanism, described upper arm driving mechanism comprises hinged successively lower link 4, intermediate connecting rod I 5 and upper connecting rod 6, described lower link 4 is driven and is rotated along perpendicular by drive motors I 17, hinged described underarm body 1 upper end that is arranged at, described upper connecting rod 6 middle parts forms lever construction, and described upper arm body 3 is fixedly installed on described upper connecting rod 6 and can along perpendicular, rotates with described upper connecting rod 6;
Described gripper installation assembly comprises link 7 and gripper mounting disc 8, described gripper mounting disc 8 is installed and is arranged at link 7 in the mode that can rotate around self axis, and described link 7 is connected in described upper arm body 3 front ends in the mode of rotating along perpendicular; Gripper mounting disc is driven and is rotated by a drive motors 16.Described gripper installation assembly also comprises link driving mechanism, described link driving mechanism is hinged front rod 9, intermediate connecting rod II 10 and back link 11 successively, described back link 11 lower ends are articulated with arm body mount pad 2, and described front rod 9 front ends are articulated with link 7; The radius of clean-up of this mechanical arm is 1350mm-3150mm, in the annular region forming, works between the circle that the circle that this mechanical arm front end can be 1350mm at radius and radius are 3150mm, and radius of action is larger, and working range is wider.
In the present embodiment, described intermediate connecting rod II 10 is inverted triangle structure, and its front and back end is hinged with front rod 9 and back link 11 respectively, hinged underarm body 1 outside, upper end that is arranged at, lower end; Described intermediate connecting rod II 10 and described upper connecting rod 6 are hinged by same jointed shaft realization and underarm body 1 upper end; Articulated manner adopts existing jointed shaft structure, belongs to prior art, does not repeat them here; Can form rotating fulcrum to link driving mechanism, provide dynamics to support, reach and stablize smooth-going operation, and simple and compact for structure, installing/dismounting and safeguard simple and convenient.
In the present embodiment, described arm body mount pad 2 is U-shaped structure, the distolateral wall of one arranges described drive motors I 17, drive motors I 17 drives lower link 4 to rotate by a speed reducing gear pair I, lower link 4 is fixedly connected on the driven gear shaft of speed reducing gear pair I, and the driving tooth of speed reducing gear pair I is driven and rotated by described drive motors I 17; Described arm body mount pad 2 other end sidewalls arrange drive motors II 12, drive motors II 12 drives underarm body 1 to rotate by a speed reducing gear pair II, underarm body 1 is fixedly connected on the driven gear shaft of speed reducing gear pair II, and the driving tooth of speed reducing gear pair II is driven and rotated by described drive motors II 12; Described revolution pedestal comprises drive motors III 13, driving box and rotary disk 14, described driving box comprises casing 15 and is arranged at the speed reducing gear pair III in casing, described rotary disk is arranged at the driven gear shaft that driving box top is fixedly connected on speed reducing gear pair III, and the driving tooth of speed reducing gear pair III is driven and rotated by drive motors II; In the confined space on arm body mount pad, realize the installation of two parts of underarm body and lower link and driver part thereof, controlled preferably size and overall weight, make compact conformation, reached running balance; In addition, the gear structure of speed reducing gear pair I, speed reducing gear pair II and speed reducing gear pair III also can by existing RV reductor or harmonic speed reducer gear structure realize, drive motors 16, drive motors I 17, drive motors II 12 and drive motors III 13 are with after the assembling of corresponding speed reducing gear pair, under guaranteeing that assembly precision requires, the repetitive positioning accuracy of mechanical arm can reach 0.05mm, repetitive cycling precision can reach 0.25mm, in addition, can the reach ± rotation of 400 ° of rotary disk and gripper mounting disc.
Finally explanation is, above embodiment is only unrestricted in order to the technical solution of the utility model to be described, although the utility model is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can modify or be equal to replacement the technical solution of the utility model, and not departing from aim and the scope of technical solutions of the utility model, it all should be encompassed in the middle of claim scope of the present utility model.
Claims (7)
1. an adaptive mechanical arm, is characterized in that: comprise revolution pedestal and arm assembly, arm assembly comprises lower arm assembly, upper arm assembly and gripper installation assembly;
Described lower arm assembly comprises underarm body and arm body mount pad, and arm body mount pad is fixedly installed on revolution pedestal, and described underarm body is equipped with in described arm body mount pad with the mode single-degree-of-freedom of rotating along perpendicular;
Described upper arm assembly comprises upper arm body and upper arm driving mechanism, described upper arm driving mechanism comprises hinged successively lower link, intermediate connecting rod I and upper connecting rod, described lower link is driven and is rotated along perpendicular by drive motors I, the hinged described underarm body upper end that is arranged at, described upper connecting rod middle part forms lever construction, and described upper arm body is fixedly installed on described upper connecting rod and can along perpendicular, rotates with described upper connecting rod;
Described gripper installation assembly comprises link and gripper mounting disc, and described gripper mounting disc is installed and is arranged at link in the mode that can rotate around self axis, and described link is connected in described upper arm body front end in the mode of rotating along perpendicular.
2. adaptive mechanical arm according to claim 1, it is characterized in that: described gripper installation assembly also comprises link driving mechanism, described link driving mechanism is hinged front rod, intermediate connecting rod II and back link successively, described back link lower end is articulated with arm body mount pad, and described front rod front end is articulated with link.
3. adaptive mechanical arm according to claim 2, is characterized in that: the radius of clean-up of described mechanical arm is 1350mm-3150mm.
4. adaptive mechanical arm according to claim 3, is characterized in that: described intermediate connecting rod II is inverted triangle structure, and its front and back end is hinged with front rod and back link respectively, the hinged outside, underarm body upper end that is arranged at, lower end.
5. adaptive mechanical arm according to claim 4, is characterized in that: described intermediate connecting rod II and described upper connecting rod are hinged by same jointed shaft realization and underarm body upper end.
6. adaptive mechanical arm according to claim 5, it is characterized in that: described arm body mount pad is U-shaped structure, the distolateral wall of one arranges described drive motors I, drive motors I drives underarm body to rotate by a speed reducing gear pair I, underarm body is fixedly connected on the driven gear shaft of speed reducing gear pair I, and the driving tooth of speed reducing gear pair I is driven and rotated by described drive motors I; Described arm body mount pad other end sidewall arranges drive motors II, drive motors II drives lower link to rotate by a speed reducing gear pair II, lower link is fixedly connected on the driven gear shaft of speed reducing gear pair II, and the driving tooth of speed reducing gear pair II is driven and rotated by described drive motors II.
7. adaptive mechanical arm according to claim 6, it is characterized in that: described revolution pedestal comprises drive motors III, driving box and rotary disk, described driving box comprises casing and is arranged at the speed reducing gear pair III in casing, described rotary disk is arranged at the driven gear shaft that driving box top is fixedly connected on speed reducing gear pair III, and the driving tooth of speed reducing gear pair III is driven and rotated by drive motors II.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420200776.3U CN203792330U (en) | 2014-04-23 | 2014-04-23 | Self-adaption mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420200776.3U CN203792330U (en) | 2014-04-23 | 2014-04-23 | Self-adaption mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203792330U true CN203792330U (en) | 2014-08-27 |
Family
ID=51374595
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420200776.3U Expired - Fee Related CN203792330U (en) | 2014-04-23 | 2014-04-23 | Self-adaption mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203792330U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103921269A (en) * | 2014-04-23 | 2014-07-16 | 重庆社平科技有限公司 | Self-adaption mechanical arm |
| CN104308636A (en) * | 2014-10-24 | 2015-01-28 | 沈阳建筑大学 | Hydraulic three-DOF (degree of freedom) feeding-discharging device for machine tool |
| CN104924291A (en) * | 2015-06-08 | 2015-09-23 | 上海应用技术学院 | Electromagnetically controlled hoisting force arm |
| CN106078715A (en) * | 2016-08-22 | 2016-11-09 | 德奥通用航空股份有限公司 | Point dish machine taking dish mechanical arm and application thereof on point dish machine |
| CN106671133A (en) * | 2016-12-26 | 2017-05-17 | 海宁王骏橡塑制品有限公司 | Mechanical arm for producing sock hook |
| CN108582060A (en) * | 2018-05-14 | 2018-09-28 | 南京蜘蛛侠智能机器人有限公司 | A kind of programmable mechanical arm of desktop |
| CN109079764A (en) * | 2018-10-30 | 2018-12-25 | 珠海格力智能装备有限公司 | The determination method of mechanical arm and its working space |
| CN112757282A (en) * | 2021-01-15 | 2021-05-07 | 赵永杰 | Heavy-load robot driven in parallel |
| WO2022099895A1 (en) * | 2020-11-11 | 2022-05-19 | 深圳市越疆科技有限公司 | Desktop robotic arm joint assembly, desktop robotic arm and robot |
-
2014
- 2014-04-23 CN CN201420200776.3U patent/CN203792330U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103921269A (en) * | 2014-04-23 | 2014-07-16 | 重庆社平科技有限公司 | Self-adaption mechanical arm |
| CN104308636A (en) * | 2014-10-24 | 2015-01-28 | 沈阳建筑大学 | Hydraulic three-DOF (degree of freedom) feeding-discharging device for machine tool |
| CN104308636B (en) * | 2014-10-24 | 2017-05-03 | 沈阳建筑大学 | Hydraulic three-DOF (degree of freedom) feeding-discharging device for machine tool |
| CN104924291A (en) * | 2015-06-08 | 2015-09-23 | 上海应用技术学院 | Electromagnetically controlled hoisting force arm |
| CN106078715A (en) * | 2016-08-22 | 2016-11-09 | 德奥通用航空股份有限公司 | Point dish machine taking dish mechanical arm and application thereof on point dish machine |
| CN106671133A (en) * | 2016-12-26 | 2017-05-17 | 海宁王骏橡塑制品有限公司 | Mechanical arm for producing sock hook |
| CN108582060A (en) * | 2018-05-14 | 2018-09-28 | 南京蜘蛛侠智能机器人有限公司 | A kind of programmable mechanical arm of desktop |
| CN109079764A (en) * | 2018-10-30 | 2018-12-25 | 珠海格力智能装备有限公司 | The determination method of mechanical arm and its working space |
| WO2022099895A1 (en) * | 2020-11-11 | 2022-05-19 | 深圳市越疆科技有限公司 | Desktop robotic arm joint assembly, desktop robotic arm and robot |
| CN112757282A (en) * | 2021-01-15 | 2021-05-07 | 赵永杰 | Heavy-load robot driven in parallel |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203792330U (en) | Self-adaption mechanical arm | |
| CN103921269A (en) | Self-adaption mechanical arm | |
| CN205835337U (en) | A kind of six-joint robot | |
| CN203697006U (en) | Intelligent five-shaft manipulator | |
| CN106737627A (en) | A kind of imitative trunk mechanical arm | |
| CN203592483U (en) | Four-joint robot palletizer | |
| CN203901287U (en) | Joint type mechanism arm | |
| CN104552288A (en) | Flexible six-shaft robot | |
| CN104385296A (en) | Manipulator | |
| CN208914108U (en) | A kind of articulated robot | |
| CN203875678U (en) | Feeding and discharging manipulator | |
| CN103157933B (en) | Vertical-type and connecting-rod-type intersecting line cutting head | |
| CN202336688U (en) | Inclined rotation modification mechanism | |
| CN203656102U (en) | Linear reciprocating mechanism | |
| CN205614701U (en) | High -efficient telescopic manipulator | |
| CN205614702U (en) | High -precision locate mode manipulator | |
| CN104626107A (en) | Four-degree-of-freedom seven-connecting-rod controllable moving operation mechanical arm with sliding plug pin | |
| CN209022101U (en) | A kind of robot wrist structure of motor direct-drive end effector | |
| CN201792339U (en) | Centralized rear transmission multi-joint robot | |
| CN208557483U (en) | A kind of robot base with mechanical arm | |
| CN205798770U (en) | A kind of six axle welding manipulators | |
| CN204036469U (en) | Novel multi-joint mechanical arm | |
| CN208468388U (en) | A kind of horizontal feeding device of manipulator | |
| CN105345840A (en) | Rotary driving joint | |
| CN102605958A (en) | Cantilever crane device and engineering machinery |
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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140827 Termination date: 20210423 |