CN205201507U - Six -degree -of -freedom manipulator - Google Patents
Six -degree -of -freedom manipulator Download PDFInfo
- Publication number
- CN205201507U CN205201507U CN201520611596.9U CN201520611596U CN205201507U CN 205201507 U CN205201507 U CN 205201507U CN 201520611596 U CN201520611596 U CN 201520611596U CN 205201507 U CN205201507 U CN 205201507U
- Authority
- CN
- China
- Prior art keywords
- linking arm
- connecting rod
- arm
- connector
- power
- 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
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Abstract
The utility model discloses a rotating electrical machines of six -degree -of -freedom manipulator arm install in on the base case, the lower extreme rigid coupling of first linking arm on the rotary disk, the upper end tilt up of first linking arm with the lower extreme of second linking arm is articulated mutually, and the upper end of second linking arm is articulated mutually with the bottom of the rear end of third linking arm, the rear end of connector with the front end of the 3rd linking arm is articulated mutually, and the front end of connector is equipped with general fixed head, the lower extreme of first helping hand connecting rod with the lower extreme of second linking arm is articulated mutually, the upper end of first helping hand connecting rod with the lower extreme of second helping hand connecting rod is articulated mutually, the upper end of second helping hand connecting rod with the rear end of third linking arm is articulated mutually, and left rocking arm motor and right rocking arm motor are installed in the both sides of the upper end of first linking arm, the connector CD -ROM drive motor install in the rear end of third linking arm for the drive connector teeters. This six -degree -of -freedom manipulator arm accounts for empty fewly, and power is pure.
Description
Technical field
The utility model relates to mechanical field, particularly relates to a kind of six degree of freedom mechanical arm.
Background technology
Manipulator is the instrument of moving article conventional in current machinery production.Current manipulator generally bears dynamics deficiency, is difficult to meet in producing the demand of carrying large heavy object; In addition, this kind of manipulator volume is comparatively large, and duty is many.
Utility model content
The purpose of this utility model is to provide a kind of power foot, the smart little six degree of freedom manipulator of structure, thus meets the needs carrying large heavy object in production, and reduces duty, saves the area.
To achieve these goals, the technical solution of the utility model is: provide a kind of six degree of freedom mechanical arm, comprise base member case, rotating disc, electric rotating machine, first linking arm, second linking arm, 3rd linking arm, left rocking arm motor, right rocking arm motor, first power-assisted connecting rod, second power-assisted connecting rod, connector and at least two connector CD-ROM drive motors, described electric rotating machine is installed in described base member case, rotate for driving described rotating disc, the lower end of described first linking arm is fixed on described rotating disc, the upper end of described first linking arm is inclined upwardly mutually hinged with the lower end of described second linking arm, the bottom of the upper end of described second linking arm and the rear end of described 3rd linking arm is mutually hinged, the rear end of described connector and the front end of described 3rd linking arm mutually hinged, the front end of described connector is provided with general gland, the lower end of described first power-assisted connecting rod and the lower end of described second linking arm mutually hinged, the upper end of described first power-assisted connecting rod and the lower end of described second power-assisted connecting rod mutually hinged, the upper end of described second power-assisted connecting rod and the rear end of described 3rd linking arm mutually hinged, described left rocking arm motor and described right rocking arm motor are installed on the both sides of the upper end of described first linking arm, wave for driving described first power-assisted connecting rod, described connector CD-ROM drive motor is installed on the rear end of described 3rd linking arm, teeter for driving described connector.
Described six degree of freedom mechanical arm also comprises worm and gear and travelling gear, the bottom of described rotating disc is connected with disk shaft, described disk shaft rotary insertion is connected in described base member case, described travelling gear to be placed in described base member case and to be admittedly placed on described disk shaft, the output shaft of described electric rotating machine puts in described base member case and connects with one end of described worm and gear, and the other end of described worm and gear is meshed with described travelling gear.
Described connector CD-ROM drive motor is planetary reduction gear servo motor.
Compared with prior art, the utility model six degree of freedom mechanical arm structure essence is little, and duty is few, and driven the first power-assisted connecting rod simultaneously by left rocking arm motor and right rocking arm motor, swung by least two connector drive motor connectors, power is pure.
By following description also by reference to the accompanying drawings, the utility model will become more clear, and these accompanying drawings are for explaining embodiment of the present utility model.
Accompanying drawing explanation
Fig. 1 is the structural representation of the utility model six degree of freedom mechanical arm angle.
Fig. 2 is the cross-sectional schematic of the utility model six degree of freedom mechanical arm.
Detailed description of the invention
With reference to figure 1, the utility model six degree of freedom mechanical arm 100 comprises base member case 10, rotating disc 15, electric rotating machine 20, first linking arm 25, second linking arm 30, the 3rd linking arm 35, left rocking arm motor 40, right rocking arm motor 45, first power-assisted connecting rod 50, second power-assisted connecting rod 55, connector 60 and at least two connector CD-ROM drive motors 65, in the present embodiment, the quantity of described connection Ei head CD-ROM drive motor 65 is two.
Described electric rotating machine 20 is installed in described base member case 10, rotates for driving described rotating disc 15.The lower end of described first linking arm 25 is fixed on described rotating disc 15, and the upper end of described first linking arm 25 is inclined upwardly mutually hinged with the lower end of described second linking arm 30.The bottom of the upper end of described second linking arm 30 and the rear end of described 3rd linking arm 35 is mutually hinged.The rear end of described connector 60 and the front end of described 3rd linking arm 35 mutually hinged.The front end of described connector 60 is provided with general gland 61.The lower end of described first power-assisted connecting rod 50 and the lower end of described second linking arm 30 mutually hinged, the upper end of described first power-assisted connecting rod 50 and the lower end of described second power-assisted connecting rod 55 mutually hinged.The upper end of described second power-assisted connecting rod 55 and the rear end of described 3rd linking arm 35 mutually hinged.Described left rocking arm motor 40 and described right rocking arm motor 45 are installed on the both sides of the upper end of described first linking arm 25 respectively, wave for driving described first power-assisted connecting rod 50.Described connector CD-ROM drive motor 65 is installed on the rear end of described 3rd linking arm 35, teeter for driving described connector 60, in the present embodiment, described connector CD-ROM drive motor 65 is planetary reduction gear servo motor, and the quantity of described connector CD-ROM drive motor 65 is two.
Particularly, described six degree of freedom mechanical arm 100 also comprises worm and gear (not shown) and travelling gear 70.The bottom of described rotating disc 15 is connected with disk shaft 151, and described disk shaft 151 rotary insertion is connected in described base member case 10, and described travelling gear 70 to be placed in described base member case 10 and to be admittedly placed on described disk shaft 151.The output shaft of described electric rotating machine 20 puts in described base member case 10 and connects with one end of described worm and gear, and the other end of described worm and gear is meshed with described travelling gear 70.
The utility model six degree of freedom mechanical arm structure essence is little, duty is few; In addition, driven the first power-assisted connecting rod simultaneously by left rocking arm motor and right rocking arm motor, swung by least two connector drive motor connectors, power is pure.
More than in conjunction with most preferred embodiment, the utility model is described, but the utility model is not limited to the embodiment of above announcement, and amendment that the various essence according to the present embodiment carries out, equivalent combinations should be contained.
Claims (3)
1. a six degree of freedom mechanical arm, it is characterized in that: comprise base member case, rotating disc, electric rotating machine, first linking arm, second linking arm, 3rd linking arm, left rocking arm motor, right rocking arm motor, first power-assisted connecting rod, second power-assisted connecting rod, connector and at least two connector CD-ROM drive motors, described electric rotating machine is installed in described base member case, rotate for driving described rotating disc, the lower end of described first linking arm is fixed on described rotating disc, the upper end of described first linking arm is inclined upwardly mutually hinged with the lower end of described second linking arm, the bottom of the upper end of described second linking arm and the rear end of described 3rd linking arm is mutually hinged, the rear end of described connector and the front end of described 3rd linking arm mutually hinged, the front end of described connector is provided with general gland, the lower end of described first power-assisted connecting rod and the lower end of described second linking arm mutually hinged, the upper end of described first power-assisted connecting rod and the lower end of described second power-assisted connecting rod mutually hinged, the upper end of described second power-assisted connecting rod and the rear end of described 3rd linking arm mutually hinged, described left rocking arm motor and described right rocking arm motor are installed on the both sides of the upper end of described first linking arm, wave for driving described first power-assisted connecting rod, described connector CD-ROM drive motor is installed on the rear end of described 3rd linking arm, teeter for driving described connector.
2. six degree of freedom mechanical arm as claimed in claim 1, it is characterized in that: also comprise worm and gear and travelling gear, the bottom of described rotating disc is connected with disk shaft, described disk shaft rotary insertion is connected in described base member case, described travelling gear to be placed in described base member case and to be admittedly placed on described disk shaft, the output shaft of described electric rotating machine puts in described base member case and connects with one end of described worm and gear, and the other end of described worm and gear is meshed with described travelling gear.
3. six degree of freedom mechanical arm as claimed in claim 1, is characterized in that: described connector CD-ROM drive motor is planetary reduction gear servo motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520611596.9U CN205201507U (en) | 2015-08-14 | 2015-08-14 | Six -degree -of -freedom manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520611596.9U CN205201507U (en) | 2015-08-14 | 2015-08-14 | Six -degree -of -freedom manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205201507U true CN205201507U (en) | 2016-05-04 |
Family
ID=55839247
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520611596.9U Expired - Fee Related CN205201507U (en) | 2015-08-14 | 2015-08-14 | Six -degree -of -freedom manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205201507U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105903880A (en) * | 2016-05-20 | 2016-08-31 | 吴传涛 | Automatic mechanical arm clamping blank during forging |
| CN108393901A (en) * | 2018-04-28 | 2018-08-14 | 沈阳建筑大学 | A kind of five degree of freedom multi-functional mechanical process equipment |
| CN110899600A (en) * | 2019-10-14 | 2020-03-24 | 珠海华德力电气有限公司 | Feeding manipulator for riveting production line rivets |
-
2015
- 2015-08-14 CN CN201520611596.9U patent/CN205201507U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105903880A (en) * | 2016-05-20 | 2016-08-31 | 吴传涛 | Automatic mechanical arm clamping blank during forging |
| CN108393901A (en) * | 2018-04-28 | 2018-08-14 | 沈阳建筑大学 | A kind of five degree of freedom multi-functional mechanical process equipment |
| CN110899600A (en) * | 2019-10-14 | 2020-03-24 | 珠海华德力电气有限公司 | Feeding manipulator for riveting production line rivets |
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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: 20160504 Termination date: 20160814 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |