CN207841318U - A kind of portable mechanism arm - Google Patents
A kind of portable mechanism arm Download PDFInfo
- Publication number
- CN207841318U CN207841318U CN201721435736.7U CN201721435736U CN207841318U CN 207841318 U CN207841318 U CN 207841318U CN 201721435736 U CN201721435736 U CN 201721435736U CN 207841318 U CN207841318 U CN 207841318U
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- CN
- China
- Prior art keywords
- arm
- motor
- robot body
- pedestal
- turntable
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- 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 is related to machinery fields, and in particular to a kind of portable mechanism arm.A kind of portable mechanism arm, including pedestal, turntable and robot body, the turntable is set on the base, the robot body is installed in rotation on turntable in the vertical direction, the turntable includes power gear and tooth sector, and the power gear and tooth sector engagement, the tooth sector horizontally rotate on the surface of pedestal, the robot body is mounted on tooth sector, and the power gear is driven by power plant.Solve the problems, such as that mechanical arm existing in the prior art is inconvenient to carry.
Description
Technical field
The utility model is related to machinery fields, and in particular to a kind of portable mechanism arm.
Background technology
With the rapid development of science and technology, automation becomes a trend.Many enterprises and delivery industry all start to make
It is worked with robot to save cost.Mechanical arm is to obtain most broad practice in robot technical field at present
Automated machine device, in necks such as industrial manufacture, therapeutic treatment, entertainment service, military affairs, semiconductor manufacturing and space probations
Domain can see its figure.Although their form is had nothing in common with each other, all there are one common features for they, are to connect
It is instructed, navigates to the certain point of three-dimensional (or two dimension) spatially and carry out operation.
But existing mechanical arm has that volume is excessive mostly, not readily portable problem.Also occurring some at present can roll over
Folded mechanical arm is attempted to solve the above problems.Application No. is the patent of CN201510169611.3 disclose it is a kind of foldable
Mechanical arm, and specifically disclose：A kind of folding mechanical arm includes vertically disposed installation chassis and pedestal, base
Seat upper end is hinged with mechanical arm one by joint one, and one other end of mechanical arm is hinged with mechanical arm two, mechanical arm by joint two
Two other ends are equipped with surface plate, and electric pushrod one is equipped on installation chassis, electric pushrod two, machine are equipped on mechanical arm one
Two interlude of tool arm is equipped with electric pushrod three, and one external part of electric pushrod is separately connected pedestal, mechanical arm one by hinge one,
Two external part of electric pushrod is separately connected mechanical arm one, mechanical arm two by hinge two, and three external part of electric pushrod is articulated with flat
The other end of panel.Although the folding to mechanical arm may be implemented in above structure, reduce volume to a certain extent, but its
It still reaches to less than the degree being convenient for carrying.
Utility model content
In order to solve the problems, such as that mechanical arm existing in the prior art is inconvenient to carry, the utility model proposes one kind just
Formula mechanical arm is taken, above-mentioned technical problem is solved.The technical solution of the utility model is：
A kind of portable mechanism arm, including pedestal, turntable and robot body, the turntable are set on the base,
The robot body is installed in rotation on turntable in the vertical direction, and the turntable includes power gear and steering tooth
Wheel, the power gear and tooth sector engagement, the tooth sector horizontally rotate on the upper surface of pedestal, the machine
Tool arm ontology is mounted on tooth sector, and the power gear is driven by power plant.
By above-mentioned setting, robot body can carry out motion positions work in three dimensions, and turntable uses tooth
Wheel construction, it is simple in structure, facilitate mechanical arm to rotate in the horizontal direction, such mechanical arm can be relative to pedestal in water
Square rotated to vertical direction, mechanical arm facilitated to be folded close to pedestal, save space, realize it is portable, and outside two gears
Dew setting, facilitates the maintenance in later stage.
Further, the mounting portion for installing the robot body, manipulator are provided on the tooth sector
Arm body is connected by the first revolute pair with the mounting portion.
Further, first motor, the output end of the first motor and the machine are fixedly installed on the mounting portion
One end of tool arm ontology connects, and the first motor drives the robot body to rotate in the vertical direction.
By the connection structure being rationally arranged between mechanical arm and turntable, manipulator is realized by common electric machine structure
Arm body is installed in rotation on turntable in the vertical direction, facilitates work and the folding storage of mechanical arm.
Further, the robot body includes the first arm, the second arm and third arm, first arm
It being connected with the mounting portion by the first revolute pair, second arm is connected by the second revolute pair with first arm,
The third arm is connected by third revolute pair with second arm.
Further, the output end of the first motor is connect with one end of first arm, first arm
The other end is fixedly installed the second motor, and the output end of second motor is connect with one end of second arm, and described
The other end of two arms is fixedly installed third motor, and the output end of the third motor is connect with the third arm.
Rationally the structure and connection relation of setting robot body are so that it is convenient to which mechanical arm carries out in three dimensions
Positioning and work, control is conveniently operated using electric machine structure also very simple.
Further, the power plant is the 4th motor, and the 4th motor drives the power gear rotation, described
4th motor is fixed on the base by motor fixed column.Rationally setting power plant, and power plant is fixed on the base,
Facilitate and store power plant together, realizes portable purpose.
Further, first arm, the second arm and third arm can be located at parallel with susceptor surface by rotation
Same plane on.
Further, the portable mechanism arm further includes box cover, and accommodation space is collectively formed in the box cover and pedestal.
By setting pedestal size and box cover, facilitates and the mechanical arm after folding is placed in box body, it can be to machinery
Arm plays a protective role, and is also convenient for transporting and carry.
In conjunction with above-mentioned technical solution, the attainable technique effect of the utility model institute is：
1. the portable mechanism arm of the utility model may be implemented in the horizontal direction with the rotation on vertical direction, convenient
Mechanical arm is positioned in any position of three dimensions, and mechanical arm is facilitated to work；
2. the portable mechanism arm of the utility model is during transport by rotating in the same plane, volume
It reduces；It is convenient that mechanical arm is stored and protected in conjunction with pedestal and box cover structure, convenience in transport；
3. the portable mechanism arm of the utility model is using gear structure as turntable, simple in structure, accuracy is high, and
Gear is exposed, maintains easily.
Description of the drawings
Fig. 1 is the structural schematic diagram of the portable mechanism arm of the utility model；
Fig. 2 is the structural schematic diagram after the portable mechanism arm of the utility model folds；
Fig. 3 is that the portable mechanism arm of the utility model adds the structural schematic diagram after box cover；
In figure：1- pedestals；2- turntables；21- power gears；22- tooth sectors；221- mounting portions；2211- first motors；
3- robot bodies；The first arms of 31-；The second motors of 311-；The second arms of 32-；321- third motors；33- third arms；
The 5th motors of 331-；The 4th motors of 4-；5- motor fixed columns；6- box covers.
Specific implementation mode
The content of the utility model is further described with reference to the accompanying drawings of the specification.
Referring to Fig. 1, a kind of portable mechanism arm, including pedestal 1, turntable 2 and robot body 3, the turntable 2 are set
It sets on pedestal 1, the robot body 3 is installed in rotation in the vertical direction on turntable 2, the mechanical arm sheet
Body 3 can be rotated in the horizontal direction by turntable 2, and the robot body 3 can also be relative to turntable 2 in the vertical direction
Rotation facilitates robot body 3 to work so that it is convenient to robot body 3 can be located in any position of three dimensions.
The turntable 2 is arranged on the upper surface of the pedestal 1, and can in the horizontal direction be rotated relative to pedestal 1, institute
It can be a variety of structures that can be rotated relative to pedestal 1 to state turntable 2, and the preferably described turntable 2 is gear structure, the turntable 2
Including power gear 21 and tooth sector 22, the power gear 21 and the tooth sector 22 engage, the power gear 21
It drives the tooth sector 22 to be rotated on the horizontal plane on surface for being parallel to pedestal 1, and then drives robot body 3 in water
It being rotated in plane, the power gear 21 is driven by power plant, and the power plant is preferably the 4th motor 4, and the described 4th
The output end of motor 4 connects the power gear 21, and the 4th motor 4 is fixed at pedestal 1 by motor fixed column 5
On.Mounting portion 221 is provided on the tooth sector 22 for connecting the robot body 3.21 He of the power gear
The exposed setting of the tooth sector 22.
The robot body 3 includes the first arm 31, the second arm 32 and third arm 33, first arm 31
Connected by the mounting portion 221 of the first revolute pair of vertical direction and turntable 2, second arm 32 pass through vertical direction the
Two revolute pairs and the connection of the first arm 31, third revolute pair and second arm of the third arm 33 by vertical direction
21 connections.Concrete structure is：First motor 2211, the output end of the first motor 2211 are fixedly installed on mounting portion 221
It is connect with one end of first arm 31, the first motor 2211 drives the first arm 31 to rotate or put in the vertical direction
It is dynamic；The other end of first arm 31 is fixedly installed the second motor 311, the output end of second motor 311 with it is described
One end of second arm 32 connects, and second motor 311 drives second arm 32 relative to the first arm 31 vertical
Side is rotated up or swings；The other end of second arm 32 is fixedly installed third motor 321, the third motor 321
Output end connect with the third arm, the third motor 321 drives the third arm 33 relative to the second arm 32
It rotates or swings in the vertical direction；The 5th motor 331 for driving 33 work of third arm is provided on the third arm 33.
Variation of the mechanical arm in the horizontal direction with vertical direction position may be implemented by above-mentioned structure, make manipulator
Arm can work in any position of three dimensions.Above structure can also realize the folding storage to mechanical arm.Such as Fig. 2 institutes
Show, the robot body 3 can be driven by the rotation of tooth sector 22 and motor, and fold it is in the same plane,
In order to facilitate storage, the turntable 2 is set and is located at close to the position on 1 a side edge of the pedestal, the robot body 3 leans on
The position of the nearly opposite other side of the pedestal 1, the robot body 3 being generally aligned in the same plane after folding in this way can be with pedestal
1 surface is parallel, and fold after robot body 3 and the turntable 2 without departing from the edge of pedestal 1.Such manipulator
The center of gravity of arm leans on centre as much as possible, ensures entire mechanical arm gravity balance.
In order to facilitate carrying, as shown in figure 3, the portable mechanism arm is additionally provided with box cover 6, the box cover 6 and institute
It states pedestal 1 to match, accommodation space is collectively formed in the box cover 6 and pedestal 1, and the accommodation space is for accommodating turntable 2, passing through
Rotation is located at conplane robot body 3 parallel with 1 surface of pedestal, the 4th motor 4 and motor fixed column 5, this model machine
The shape of tool arm is neat, conveniently stacks and amount transport.
The portable mechanism arm of the utility model folds robot body in transportational process, is located at same flat
On face, box cover, convenience in transport are covered；In use, opening the lid, tooth sector rotation is driven by power gear, and then drive
Robot body rotates in the horizontal direction, then drives the mechanical arm sheet by first motor, the second motor, third motor
Body rotates in the vertical direction, reaches required operating position, and the 5th motor drives the work of third arm.
General automatically working, and convenient for collecting and carrying are met using above-mentioned portable mechanism arm, for production
Work brings facility.
The embodiment of the utility model is explained in detail above in conjunction with attached drawing, but the utility model is not limited to
The above embodiment can also not depart from the utility model within the knowledge of a person skilled in the art
Objective under the premise of make a variety of changes.
Claims (8)
1. a kind of portable mechanism arm, including pedestal (1), turntable (2) and robot body (3), turntable (2) setting
On pedestal (1), the robot body (3) is installed in rotation in the vertical direction on turntable (2), and feature exists
In, the turntable (2) include power gear (21) and tooth sector (22), the power gear (21) and the tooth sector
(22) it engages, the tooth sector (22) horizontally rotates on the surface of pedestal (1), and the robot body (3) is mounted on
On tooth sector (22), the power gear (21) is driven by power plant.
2. a kind of portable mechanism arm as described in claim 1, which is characterized in that be provided on the tooth sector (22)
Mounting portion (221) for installing the robot body (3), robot body (3) pass through the first revolute pair and described
Mounting portion (221) connects.
3. a kind of portable mechanism arm as claimed in claim 2, which is characterized in that fixation is set on the mounting portion (221)
It is equipped with first motor (2211), the output end of the first motor (2211) is connect with one end of the robot body (3),
The first motor (2211) drives the robot body (3) to rotate in the vertical direction.
4. a kind of portable mechanism arm as claimed in claim 3, which is characterized in that the robot body (3) includes
First arm (31), the second arm (32) and third arm (33), first arm (31) pass through the first revolute pair and described
Mounting portion (221) connects, and second arm (32) is connected by the second revolute pair and first arm (31), the third
Arm (33) is connected by third revolute pair and second arm (32).
5. a kind of portable mechanism arm as claimed in claim 4, which is characterized in that the output of the first motor (2211)
End is connect with one end of first arm (31), and the other end of first arm (31) is fixedly installed the second motor
(311), the output end of second motor (311) is connect with one end of second arm (32), second arm (32)
The other end be fixedly installed third motor (321), the output end of the third motor (321) with the third arm (33) even
It connects.
6. a kind of portable mechanism arm as claimed in claim 5, which is characterized in that the power plant is the 4th motor
(4), the 4th motor (4) is fixed on by motor fixed column (5) on pedestal (1).
7. a kind of portable mechanism arm as claimed in claim 6, which is characterized in that first arm (31), second-hand
Arm (32) and third arm (33) can be located on the same plane parallel with pedestal (1) surface by rotation.
8. a kind of portable mechanism arm as claimed in claim 7, which is characterized in that the portable mechanism arm further includes
Accommodation space is collectively formed in box cover (6), the box cover (6) and pedestal (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721435736.7U CN207841318U (en) | 2017-10-31 | 2017-10-31 | A kind of portable mechanism arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721435736.7U CN207841318U (en) | 2017-10-31 | 2017-10-31 | A kind of portable mechanism arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207841318U true CN207841318U (en) | 2018-09-11 |
Family
ID=63426137
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721435736.7U Expired - Fee Related CN207841318U (en) | 2017-10-31 | 2017-10-31 | A kind of portable mechanism arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207841318U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110774257A (en) * | 2019-11-08 | 2020-02-11 | 苏州罗克韦格自动化有限公司 | Portable pneumatic power-assisted mechanical arm |
| TWI730252B (en) * | 2018-09-12 | 2021-06-11 | 達明機器人股份有限公司 | Container unit of a robot arm |
| CN114683415A (en) * | 2020-12-29 | 2022-07-01 | 力山工业股份有限公司 | Ceramic tile cutting machine with folding function |
| CN114683413A (en) * | 2020-12-29 | 2022-07-01 | 力山工业股份有限公司 | Ceramic tile cutting machine capable of reducing folding volume |
| CN115890732A (en) * | 2022-12-13 | 2023-04-04 | 陈潇平 | Mechanical arm for disabled-assisting wheelchair |
-
2017
- 2017-10-31 CN CN201721435736.7U patent/CN207841318U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI730252B (en) * | 2018-09-12 | 2021-06-11 | 達明機器人股份有限公司 | Container unit of a robot arm |
| CN110774257A (en) * | 2019-11-08 | 2020-02-11 | 苏州罗克韦格自动化有限公司 | Portable pneumatic power-assisted mechanical arm |
| CN114683415A (en) * | 2020-12-29 | 2022-07-01 | 力山工业股份有限公司 | Ceramic tile cutting machine with folding function |
| CN114683413A (en) * | 2020-12-29 | 2022-07-01 | 力山工业股份有限公司 | Ceramic tile cutting machine capable of reducing folding volume |
| CN115890732A (en) * | 2022-12-13 | 2023-04-04 | 陈潇平 | Mechanical arm for disabled-assisting wheelchair |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20180911 Termination date: 20201031 |