CN103182714A - Mechanical arm - Google Patents

Mechanical arm Download PDF

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Publication number
CN103182714A
CN103182714A CN2013101011776A CN201310101177A CN103182714A CN 103182714 A CN103182714 A CN 103182714A CN 2013101011776 A CN2013101011776 A CN 2013101011776A CN 201310101177 A CN201310101177 A CN 201310101177A CN 103182714 A CN103182714 A CN 103182714A
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CN
China
Prior art keywords
connecting rod
mechanical arm
motor
hinged
connection block
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.)
Granted
Application number
CN2013101011776A
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Chinese (zh)
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CN103182714B (en
Inventor
罗邦毅
章子泉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hangzhou Youngsun Intelligent Equipment Co Ltd
Original Assignee
Hangzhou Youngsun Intelligent Equipment Co Ltd
Priority date (The priority date 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 date listed.)
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Publication date
Application filed by Hangzhou Youngsun Intelligent Equipment Co Ltd filed Critical Hangzhou Youngsun Intelligent Equipment Co Ltd
Priority to CN201310101177.6A priority Critical patent/CN103182714B/en
Publication of CN103182714A publication Critical patent/CN103182714A/en
Application granted granted Critical
Publication of CN103182714B publication Critical patent/CN103182714B/en
Active legal-status Critical Current
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Abstract

The invention provides a mechanical arm which comprises a first connecting seat and a second connecting seat, wherein the first connecting seat is used for connecting the mechanical arm onto a previous mechanism, and the second connecting seat is used for connecting the mechanical arm onto a next mechanism; the mechanical arm is also provided with a first motor and a second motor; and the first motor and the second motor are respectively arranged on the first connecting seat. The mechanical arm provided by the invention consists of eight connecting rods, and can be assembled by a simple articulated mechanism, thus being simple in structure and low in cost; the mechanical arm utilizes the principles of a parallelogram and a lever, thus being stable and reliable in running; the mechanical arm does not need a complicated joint structure, so that the space needed by the mechanical arm is small; and the lengths of the connecting rod can be adjusted according to the needs, so that the volume of the mechanical arm can be very small, and the mechanical arm can meet the requirements of various workplaces and using aims.

Description

A kind of mechanical arm
Technical field
The present invention relates to a kind of mechanical arm, be used for robot.
Background technology
The mechanical arm of robot philtrum, connected and composed by a plurality of joints as the mechanical device of mobile executing agency in the past, its structure more complicated, and element precision and processing request are higher, and be expensive.
Summary of the invention
Technical problem to be solved by this invention provides a kind of simple in structure, mechanical arm that cost is lower, reliable.For this reason, the present invention is by the following technical solutions:
It comprises first Connection Block and second Connection Block, and first Connection Block is used for described mechanical arm is connected its parent body, and second Connection Block is used for connecting the Lower Establishment of described mechanical arm;
Described mechanical arm also is provided with first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod, the 5th connecting rod, the 6th connecting rod, seven-link assembly, the 8th connecting rod;
Described mechanical arm also is provided with first motor, second motor, and described first motor, second motor are installed on first Connection Block;
First end of first connecting rod is connected by its driving with first motor and rotates;
First end of third connecting rod is connected by its driving with second motor with first end of the 5th connecting rod and rotates synchronously;
The rotating shaft of first connecting rod, third connecting rod and the 5th connecting rod is on same straight line;
Second end of second connecting rod first end and third connecting rod is hinged;
Second end of first end of the 4th connecting rod and second end of first connecting rod and the 5th connecting rod and the middle part of seven-link assembly are coaxial hinged;
Second end of the middle part of the 4th connecting rod and second connecting rod is hinged;
Second end and second Connection Block of the 4th connecting rod are hinged,
First end and first Connection Block of the 6th connecting rod are hinged, and second end of the 6th connecting rod and first end of seven-link assembly are hinged, and second end of seven-link assembly and first end of the 8th connecting rod are hinged, and second end and second Connection Block of the 8th connecting rod are hinged.
On the basis of adopting technique scheme, the present invention also can adopt following further technical scheme:
Described Lower Establishment is engine, and described engine connects its executing agency again.
Described parent body is member of translational or rotary part.
Because adopt technical scheme of the present invention, mechanical arm provided by the present invention is made up of 8 connecting rods, adopt simple linkwork can realize the assembling of mechanical arm, simple in structure, cost is lower, the present invention has utilized parallelogram and lever principle, and is stable, reliable; And the present invention does not need complicated articulation structure, and the required space of itself moving is little, and as required, by adjusting the length of connecting rod, volume of the present invention can be done very for a short time, can adapt to various workplaces and application target requirement.
Description of drawings
Fig. 1 is the schematic diagram of the direction of embodiment provided by the present invention.
Fig. 2 is the schematic diagram of another direction of embodiment provided by the present invention.
Fig. 3 is the explosive view of embodiment provided by the present invention.
The specific embodiment
With reference to accompanying drawing.The present invention includes first Connection Block 100 and second Connection Block 200.
First Connection Block 100 is used for described mechanical arm is connected its parent body, and described parent body can be member of translational or rotary part, and perhaps parent body itself is exactly fixing installation basis.
Second Connection Block 200 is used for connecting the Lower Establishment of described mechanical arm; Described Lower Establishment is engine 300, and such as motor, cylinder, described engine connects its executing agency 301 again; Perhaps, Lower Establishment itself is exactly the executing agency that described mechanical arm connects.
Described mechanical arm also is provided with first connecting rod 1, second connecting rod 2, third connecting rod 3, the 4th connecting rod 4, the 5th connecting rod 5, the 6th connecting rod 6, seven-link assembly 7, the 8th connecting rod 8.
Described mechanical arm also is provided with first motor 401, second motor 402, and described first motor 401, second motor 402 are installed on first Connection Block 100;
First end 11 of first connecting rod 1 is connected by its driving with first motor 401 and rotates;
First end 31 of third connecting rod 3 is connected by its driving with second motor 402 with first end 51 of the 5th connecting rod 5 and rotates synchronously;
The rotating shaft 35 of the rotating shaft 92 of first connecting rod 1, third connecting rod 3 and the 5th connecting rod 5 is on same straight line, first end 11 of first connecting rod 1 is connected with first motor 401 by rotating shaft 92, and first end 31 of third connecting rod 3 is connected with second motor 402 by rotating shaft 35 with first end 51 of the 5th connecting rod 5;
Second end 32 of second connecting rod 2 first ends 21 and third connecting rod 3 is hinged;
Second end 52 of first end 41 of the 4th connecting rod 4 and second end 12 of first connecting rod 1 and the 5th connecting rod 5 and the middle part 73 of seven-link assembly 7 are coaxial hinged, and drawing reference numeral 91 is the rotating shaft of these articulated structures;
Second end 22 of the middle part 43 of the 4th connecting rod 4 and second connecting rod 2 is hinged;
Second end 42 and second Connection Block 200 of the 4th connecting rod 4 are hinged,
First end 61 and first Connection Block 100 of the 6th connecting rod 6 are hinged, second end 62 of the 6th connecting rod 6 and first end 71 of seven-link assembly 7 are hinged, second end 72 of seven-link assembly 7 and first end 81 of the 8th connecting rod 8 are hinged, and second end 82 and second Connection Block 200 of the 8th connecting rod 8 are hinged.

Claims (3)

1. a mechanical arm is characterized in that it comprises first Connection Block and second Connection Block, and first Connection Block is used for described mechanical arm is connected its parent body, and second Connection Block is used for connecting the Lower Establishment of described mechanical arm;
Described mechanical arm also is provided with first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod, the 5th connecting rod, the 6th connecting rod, seven-link assembly, the 8th connecting rod;
Described mechanical arm also is provided with first motor, second motor, and described first motor, second motor are installed on first Connection Block;
First end of first connecting rod is connected by its driving with first motor and rotates;
First end of third connecting rod is connected by its driving with second motor with first end of the 5th connecting rod and rotates synchronously;
The rotating shaft of first connecting rod, third connecting rod and the 5th connecting rod is on same straight line;
Second end of second connecting rod first end and third connecting rod is hinged;
Second end of first end of the 4th connecting rod and second end of first connecting rod and the 5th connecting rod and the middle part of seven-link assembly are coaxial hinged;
Second end of the middle part of the 4th connecting rod and second connecting rod is hinged;
Second end and second Connection Block of the 4th connecting rod are hinged,
First end and first Connection Block of the 6th connecting rod are hinged, and second end of the 6th connecting rod and first end of seven-link assembly are hinged, and second end of seven-link assembly and first end of the 8th connecting rod are hinged, and second end and second Connection Block of the 8th connecting rod are hinged.
2. a kind of mechanical arm as claimed in claim 1 is characterized in that described Lower Establishment is engine, and described engine connects its executing agency again.
3. a kind of mechanical arm as claimed in claim 1 is characterized in that described parent body is member of translational or rotary part.
CN201310101177.6A 2013-03-27 2013-03-27 A kind of mechanical arm Active CN103182714B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201310101177.6A CN103182714B (en) 2013-03-27 2013-03-27 A kind of mechanical arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201310101177.6A CN103182714B (en) 2013-03-27 2013-03-27 A kind of mechanical arm

Publications (2)

Publication Number Publication Date
CN103182714A true CN103182714A (en) 2013-07-03
CN103182714B CN103182714B (en) 2016-02-10

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201310101177.6A Active CN103182714B (en) 2013-03-27 2013-03-27 A kind of mechanical arm

Country Status (1)

Country Link
CN (1) CN103182714B (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104476305A (en) * 2014-11-11 2015-04-01 沈阳新松机器人自动化股份有限公司 Manipulator
CN106429426A (en) * 2015-08-07 2017-02-22 山东天和绿色包装科技有限公司 Net mold handling device
CN109530171A (en) * 2018-11-12 2019-03-29 山东星宇手套有限公司 A kind of sprinkling particle mechanism

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07214482A (en) * 1994-01-28 1995-08-15 Fujitsu Ltd Articulated arm mechanism
JPH07266265A (en) * 1994-03-24 1995-10-17 Nachi Fujikoshi Corp Industrial robot
JP2003220590A (en) * 2002-01-30 2003-08-05 Nachi Fujikoshi Corp Industrial robot
CN202716271U (en) * 2012-08-04 2013-02-06 合肥泰禾光电科技股份有限公司 Joint-type medium-duty intelligent control palletizing robot
CN203236488U (en) * 2013-03-27 2013-10-16 杭州永创智能设备股份有限公司 Mechanical arm

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07214482A (en) * 1994-01-28 1995-08-15 Fujitsu Ltd Articulated arm mechanism
JPH07266265A (en) * 1994-03-24 1995-10-17 Nachi Fujikoshi Corp Industrial robot
JP2003220590A (en) * 2002-01-30 2003-08-05 Nachi Fujikoshi Corp Industrial robot
CN202716271U (en) * 2012-08-04 2013-02-06 合肥泰禾光电科技股份有限公司 Joint-type medium-duty intelligent control palletizing robot
CN203236488U (en) * 2013-03-27 2013-10-16 杭州永创智能设备股份有限公司 Mechanical arm

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104476305A (en) * 2014-11-11 2015-04-01 沈阳新松机器人自动化股份有限公司 Manipulator
CN106429426A (en) * 2015-08-07 2017-02-22 山东天和绿色包装科技有限公司 Net mold handling device
CN109530171A (en) * 2018-11-12 2019-03-29 山东星宇手套有限公司 A kind of sprinkling particle mechanism
CN109530171B (en) * 2018-11-12 2020-09-29 山东星宇手套有限公司 Particle spraying mechanism

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