CN203901298U - Mechanical arm structure of robot - Google Patents
Mechanical arm structure of robot Download PDFInfo
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- CN203901298U CN203901298U CN201420294640.3U CN201420294640U CN203901298U CN 203901298 U CN203901298 U CN 203901298U CN 201420294640 U CN201420294640 U CN 201420294640U CN 203901298 U CN203901298 U CN 203901298U
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- arm
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- clamping plate
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Abstract
The utility model provides a mechanical arm structure of a robot, and belongs to the technical field of mechanical equipment. The mechanical arm structure comprises a base. A rotating pillar capable of axially rotating around the rotating pillar is arranged on the base, the lower end of the rotating pillar is connected with the base, and the upper end of the rotating pillar is fixedly connected with an installation base. A first arm is arranged on the installation base, one end of the first arm is hinged to the installation base, the other end of the first arm is further provided with a second arm in a hinged mode, the inner end of the second arm is hinged to the first arm, both the first arm and the second arm can swing upwards and downwards, and the outer end of the second arm is fixedly provided with a fixture capable of clamping materials. A first power device capable of driving the rotating pillar to rotate is fixedly arranged on the base, a second power device capable of driving the first arm to swing is fixedly arranged on the installation base and a third power device capable of driving the second arm to swing is fixedly arranged on the first arm. The mechanical arm structure is moved, assembled and disassembled conveniently, easy to control, capable of cutting the number of workers and improving work efficiency, and high in safety.
Description
Technical field
The utility model belongs to automated machine equipment technical field, relates to a kind of robot manipulator structure of robot.
Background technology
Industrial robot is in order to enhance productivity and to reduce the instrument of labor strength in production environment; it can replace people's heavy work to realize mechanization and the automation of producing; can under hostile environment, operate with protection personal safety, thereby be widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.For example, first-generation industrial robot is for change nuclear fuel rod in nuclear power station, if people does this work, will suffer the radiation of harm ray.Industrial robot also can be operated on assembly line small components is assembled together, and electronic component is placed in to circuit printing plate, and the accurate error rate of moving is low, workman can be freed from this dull routine work like this; Robot can also require to be used for disarming a bomb by follow procedure, and auxiliary disabled person etc. exercise the function under a lot of application scenarios of society.
Robot manipulator structure is the executive component of robot, is a pith of robot.Welding, when sealing, machine charging, dismounting and assembly work etc., all by robot manipulator structure, come complete, the sharpest edges of manipulator are recursive to be done same action and can not feel forever under normal circumstances tired at machinery, the application of manipulator is more and more extensive, manipulator is a kind of high-tech automatic producing device growing up nearly decades, the ability fulfiling assignment in the accuracy of operation and environment.Along with scientific and technological progress, manipulator is towards lightness, intellectuality and diversified future development.For different demands, conventionally need different manipulators to complete corresponding action.
China's patent (CN202572387U) discloses a kind of bionic mechanical hand, comprise main body and group of motors, in main body, be provided with the first mechanical finger, the second mechanical finger, the 3rd mechanical finger, the 4th mechanical finger and the 5th mechanical finger, the first mechanical finger, the second mechanical finger, the 3rd mechanical finger, the 4th mechanical finger and the 5th mechanical finger are all installed together with main body, and group of motors is controlled the first mechanical finger, the second mechanical finger, the 3rd mechanical finger, the 4th mechanical finger and the 5th mechanical finger and moved.
It is complicated that above-mentioned patent is announced robot manipulator structure, and volume is large and heavy, versatility and poor mobility.
Summary of the invention
The purpose of this utility model is the problems referred to above that exist for existing technology, a kind of robot manipulator structure of robot is provided, and technical problem to be solved in the utility model is how a kind of small and exquisite robot manipulator structure is flexibly provided and improves its mobility and versatility.
The purpose of this utility model can realize by following technical proposal:
A kind of robot manipulator structure of robot, described robot manipulator structure comprises base, it is characterized in that, on described base, being provided with can be around the column spinner of self axial rotation, described column spinner lower end is connected with described base, described column spinner upper end is fixed with mount pad, described mount pad is provided with the first arm, described first arm one end and described mount pad are hinged, on the other end of described the first arm, be also hinged with the second arm, the inner of described the second arm is hinged on described the first arm, described the first arm and the second arm all can swing up and down, the outer end of described the second arm is installed with fixture that can gripping material, on described base, be installed with the power set one that can drive described column spinner to rotate, on described mount pad, be installed with the power set two that can drive described first-hand arm swing, on described the first arm, be installed with the power set three that can drive described second-hand's arm swing.
Operation principle of the present utility model is: the base of this robot manipulator structure plays main supporting role, column spinner can be around self axis rotation under the drive of power set one, power set two can drive the first arm to swing up and down on mount pad, the inner of the second arm is hinged on the first arm, can swing up and down the outer end at the first arm by power set three, on the second arm, be also provided with can gripping material fixture, be used for grasping at or unloading materials, this robot manipulator structure is very flexible, by column spinner, control the free degree of the horizontal plane of fixture, by the first arm and the second arm, control the free degree on vertical direction, this robot manipulator structure can, take operation in the border circular areas that the first arm and the second arm total length be radius, can also be transferred to certain height by material by the first arm and the second arms swing up downward.By power set one, power set two and power set three, control respectively rotation, swinging up and down of the first arm and the swinging up and down of the second arm of rotating shaft, reaching assigned address captures by fixture or discharges material, thereby reach transfer material object, improved automaticity; Utilize robot manipulator structure have simple in structure, cost is lower, the advantage such as easy to maintenance, convenient mobile, installation and removal, control also simple, greatly economization workman, raise the efficiency, reduce production costs, improve product quality, security performance is high.
In the robot manipulator structure of above-mentioned robot, described power set one are rotary cylinder, and described rotary cylinder is installed on described base, and described column spinner is installed on the output shaft of described rotary cylinder.In this manipulator mechanism, column spinner can carry out by rotary cylinder the rotation of positive and negative 360 °, thereby drives the rotation of positive and negative 360 ° of fixture to arrive different regions, carries out transfer or loading, and 360 ° without dead angle, and operating radius is large.
In the robot manipulator structure of above-mentioned robot, described power set two and power set three are respectively motor one and motor two, the output shaft of described motor one is connected mutually with the jointed shaft of described the first arm, and the output shaft of described motor two is connected mutually with the jointed shaft of described the second arm.Positive and negative transferring by motor one and motor two drives swinging up and down of the first arm or the second arm, controls the position of fixture, can adopt stepper motor to reach accurate operation, and accuracy rate is high.
In the robot manipulator structure of above-mentioned robot, described fixture comprises cylinder one and cylinder two, on the output shaft of described cylinder one, be installed with clamping plate one, the outer side edges of described clamping plate one has outside flanging one, on the output shaft of described cylinder two, be installed with clamping plate two, the outer side edges of described clamping plate two has outside flanging two, and the inner side edge of the inner side edge of described clamping plate one and described clamping plate two is hinged.When cylinder one and cylinder two air inlet, the output shaft of the output shaft of cylinder one and cylinder two is protruding, promoting clamping plate one and clamping plate two moves ahead, clamping plate one and clamping plate two inwardly can clamp material, otherwise, can unloading materials, utilize solenoid control cylinder one and cylinder two very convenient, convenient operation.
Compared with prior art, the utlity model has following advantage:
1, this robot manipulator structure, by controlling rotation, swinging up and down of the first arm and the swinging up and down of the second arm of rotating shaft, reaches assigned address and by fixture, captures or discharge material, thus reach transfer material object, improved automaticity; Utilize robot manipulator structure have simple in structure, cost is lower, the advantage such as easy to maintenance, convenient mobile, installation and removal, control also simple, greatly economization workman, raise the efficiency, reduce production costs, improve product quality, security performance is high.
Accompanying drawing explanation
Fig. 1 is the perspective view of this robot manipulator structure;
Fig. 2 is the fixture perspective view of this robot manipulator structure;
In figure, 1, base; 2, column spinner; 3, mount pad; 4, the first arm; 5, the second arm; 6, rotary cylinder; 7, motor one; 8, motor two; 9, cylinder one; 10, cylinder two; 11, clamping plate one; 12, clamping plate two; 13, flanging one; 14, flanging two; 15, fixture.
The specific embodiment
Be below specific embodiment of the utility model by reference to the accompanying drawings, the technical solution of the utility model is further described, but the utility model be not limited to these embodiment.
As shown in Figure 1, robot manipulator structure comprises base 1, on base 1, being provided with can be around the column spinner 2 of self axial rotation, column spinner 2 lower ends are connected with base 1, column spinner 2 upper ends are fixed with mount pad 3, mount pad 3 is provided with the first arm 4, first arm 4 one end and mount pad 3 are hinged, on the other end of the first arm 4, be also hinged with the second arm 5, the inner of the second arm 5 is hinged on the first arm 4, the first arm 4 and the second arm 5 all can swing up and down, the outer end of the second arm 5 is installed with fixture 15 that can gripping material, on base 1, be installed with can driven rotary post 2 power set one that rotate, on mount pad 3, be installed with the power set two that can drive the first arm 4 to swing, on the first arm 4, be installed with the power set three that can drive the second arm 5 to swing, power set one are rotary cylinder 6, and rotary cylinder 6 is installed on base 1, and column spinner 2 is installed on the output shaft of rotary cylinder 6.In this manipulator mechanism, column spinner 2 can carry out the rotation of positive and negative 360 ° by rotary cylinder 6, thereby drives the rotation of positive and negative 360 ° of fixture 15 to arrive different regions, carries out transfer or loading, and 360 ° without dead angle, and operating radius is large; Power set two and power set three are respectively motor 1 and motor 28, and the output shaft of motor 1 is connected mutually with the jointed shaft of the first arm 4, and the output shaft of motor 28 is connected mutually with the jointed shaft of the second arm 5.Positive and negative transferring by motor 1 and motor 28 drives swinging up and down of the first arm 4 or the second arm 5, controls the position of fixture 15, can adopt stepper motor to reach accurate operation, and accuracy rate is high.
Operation principle of the present utility model is: 1 main supporting role of base of this robot manipulator structure, column spinner 2 can be around self axis rotation under the drive of power set one, power set two can drive the first arm 4 to swing up and down on mount pad 3, the inner of the second arm 5 is hinged on the first arm 4, can swing up and down the outer end at the first arm 4 by power set three, on the second arm 5, be also provided with can gripping material fixture 15, be used for grasping at or unloading materials, this robot manipulator structure is very flexible, by column spinner 2, control the free degree of the horizontal plane of fixture 15, the free degree of controlling on vertical direction by the first arm 4 and the second arm 5, this robot manipulator structure can, take operation in the border circular areas that the first arm 4 and the second arm 5 total lengths are radius, can also be swung up and down material is transferred to certain height by the first arm 4 and the second arm 5.By power set one, power set two and power set three, control respectively rotation, swinging up and down of the first arm 4 and the swinging up and down of the second arm 5 of rotating shaft, reaching assigned address captures by fixture 15 or discharges material, thereby reach transfer material object, improved automaticity; Utilize robot manipulator structure have simple in structure, cost is lower, the advantage such as easy to maintenance, convenient mobile, installation and removal, control also simple, greatly economization workman, raise the efficiency, reduce production costs, improve product quality, security performance is high.
As shown in Figure 2, fixture 15 comprises cylinder 1 and cylinder 2 10, on the output shaft of cylinder 1, be installed with clamping plate 1, the outer side edges of clamping plate 1 has outside flanging 1, on the output shaft of cylinder 2 10, be installed with clamping plate 2 12, the outer side edges of clamping plate 2 12 has outside flanging 2 14, the inner side edge of the inner side edge of clamping plate 1 and clamping plate 2 12 is hinged, when cylinder 1 and cylinder 2 10 air inlet, the output shaft of the output shaft of cylinder 1 and cylinder 2 10 is protruding, promoting clamping plate 1 and clamping plate 2 12 moves ahead, clamping plate 1 and clamping plate 2 12 inwardly can clamp material, otherwise, can unloading materials, utilize solenoid control cylinder 1 and cylinder 2 10 very convenient, convenient operation.
Specific embodiment described herein is only to the explanation for example of the utility model spirit.The utility model person of ordinary skill in the field can make various modifications or supplements or adopt similar mode to substitute described specific embodiment, but can't depart from spirit of the present utility model or surmount the defined scope of appended claims.
Claims (4)
- The robot manipulator structure of 1.Yi Zhong robot, described robot manipulator structure comprises base (1), it is characterized in that, on described base (1), being provided with can be around the column spinner (2) of self axial rotation, described column spinner (2) lower end is connected with described base (1), described column spinner (2) upper end is fixed with mount pad (3), described mount pad (3) is provided with the first arm (4), described the first arm (4) one end and described mount pad (3) are hinged, on the other end of described the first arm (4), be also hinged with the second arm (5), the inner of described the second arm (5) is hinged on described the first arm (4), described the first arm (4) and the second arm (5) all can swing up and down, the outer end of described the second arm (5) is installed with fixture (15) that can gripping material, on described base (1), be installed with the power set one that can drive described column spinner (2) to rotate, on described mount pad (3), be installed with the power set two that can drive described the first arm (4) to swing, on described the first arm (4), be installed with the power set three that can drive described the second arm (5) to swing.
- 2. the robot manipulator structure of robot according to claim 1, it is characterized in that, described power set one are rotary cylinder (6), it is upper that described rotary cylinder (6) is installed in described base (1), and described column spinner (2) is installed on the output shaft of described rotary cylinder (6).
- 3. the robot manipulator structure of robot according to claim 1 and 2, it is characterized in that, described power set two and power set three are respectively motor one (7) and motor two (8), the output shaft of described motor one (7) is connected mutually with the jointed shaft of described the first arm (4), and the output shaft of described motor two (8) is connected mutually with the jointed shaft of described the second arm (5).
- 4. the robot manipulator structure of robot according to claim 1 and 2, it is characterized in that, described fixture (15) comprises cylinder one (9) and cylinder two (10), on the output shaft of described cylinder one (9), be installed with clamping plate one (11), the outer side edges of described clamping plate one (11) has outside flanging one (13), on the output shaft of described cylinder two (10), be installed with clamping plate two (12), the outer side edges of described clamping plate two (12) has outside flanging two (14), and the inner side edge of the inner side edge of described clamping plate one (11) and described clamping plate two (12) is hinged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420294640.3U CN203901298U (en) | 2014-06-04 | 2014-06-04 | Mechanical arm structure of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420294640.3U CN203901298U (en) | 2014-06-04 | 2014-06-04 | Mechanical arm structure of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203901298U true CN203901298U (en) | 2014-10-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420294640.3U Expired - Fee Related CN203901298U (en) | 2014-06-04 | 2014-06-04 | Mechanical arm structure of robot |
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| Country | Link |
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| CN (1) | CN203901298U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105014664A (en) * | 2015-08-26 | 2015-11-04 | 北京航空航天大学 | Light modular mechanical arm applicable to narrow space |
| CN105033148A (en) * | 2015-08-19 | 2015-11-11 | 浙江博雷重型机床制造有限公司 | Forging loading robot |
| CN105253585A (en) * | 2015-10-10 | 2016-01-20 | 浙江立博生物技术有限公司 | Automatic transfer pipette feeding device |
| CN107310062A (en) * | 2017-08-10 | 2017-11-03 | 安庆市凯立金刚石科技有限公司 | A kind of processing workpiece erecting device for processing of stone |
| CN108527349A (en) * | 2018-06-19 | 2018-09-14 | 太仓望虞机械科技有限公司 | A kind of industrial machinery arm easy to use |
-
2014
- 2014-06-04 CN CN201420294640.3U patent/CN203901298U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105033148A (en) * | 2015-08-19 | 2015-11-11 | 浙江博雷重型机床制造有限公司 | Forging loading robot |
| CN105033148B (en) * | 2015-08-19 | 2017-01-04 | 浙江博雷重型机床制造有限公司 | A kind of forging feeding robot |
| CN105014664A (en) * | 2015-08-26 | 2015-11-04 | 北京航空航天大学 | Light modular mechanical arm applicable to narrow space |
| CN105253585A (en) * | 2015-10-10 | 2016-01-20 | 浙江立博生物技术有限公司 | Automatic transfer pipette feeding device |
| CN107310062A (en) * | 2017-08-10 | 2017-11-03 | 安庆市凯立金刚石科技有限公司 | A kind of processing workpiece erecting device for processing of stone |
| CN108527349A (en) * | 2018-06-19 | 2018-09-14 | 太仓望虞机械科技有限公司 | A kind of industrial machinery arm easy to use |
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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: 20141029 Termination date: 20150604 |
|
| EXPY | Termination of patent right or utility model |