CN105751243B - Mechanical arm with adjustable length - Google Patents
Mechanical arm with adjustable length Download PDFInfo
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- CN105751243B CN105751243B CN201410779835.1A CN201410779835A CN105751243B CN 105751243 B CN105751243 B CN 105751243B CN 201410779835 A CN201410779835 A CN 201410779835A CN 105751243 B CN105751243 B CN 105751243B
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 21
- 239000007787 solid Substances 0.000 claims description 14
- 238000010586 diagram Methods 0.000 description 12
- 238000010276 construction Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 210000003857 wrist joint Anatomy 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
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Abstract
The invention discloses a mechanical arm with adjustable length, which comprises a base, a first arm, a stroke adjusting seat and a second arm. The first arm is pivoted to the base by taking a first axis as a rotating shaft. The stroke adjusting seat is arranged on the first arm in a way of adjusting the distance to the first axis. The second arm is pivoted to the stroke adjusting seat by a second axis rotating shaft.
Description
Technical field
The present invention relates to a kind of mechanical arm, more particularly to a kind of length-adjustable mechanical arm.
Background technology
With the evolution of science and technology, automated machine operation gradually substitutes manual work, so that product manufacturing is towards automatically
Manufacture and the direction evolution of assembling, and then avoid quality consistency of the personnel by employment injuries, more likely lifting product.
In recent years, dealer develops a kind of selectivity compliance and put together machines people (Selective Compliance Assembly Robot
Arm, abbreviation SCARA), this robot includes three mechanical arms, and possesses three rotary shafts and a linear axes, and around it
One rotary shaft carries out circular motion, and in other words, this robot can be categorized as cylindrical robot.Specifically, two
The individual X/Y plane of rotary shaft definable one motion, and then wrist joint position is determined, and a rotary shaft and a linear axes (Z axis)
Then turn into a wrist joint, for completing motion of the workpiece in this vertical plane, including workpiece is rotated in place with transporting up and down
Dynamic (Z axis).This robot can be used for assembly work, and a pin such as is inserted into a circular hole, therefore applied to assembling printed circuit board
And electronic component.In addition, it is the member structure connected that such a another feature of robot, which is two arms, the arm of similar people can
Put in and operation and recoverable is carried out in limited space, so being suitable for the carrying of workpiece again and picking and placeing object.
During carrying and picking and placeing workpiece, the position of Chang Yinwei workpiece and the difference of weight, it may occur that mechanical arm
The situation that stroke is insufficient or load is inadequate.However, because the structure length of SCARA mechanical arms is fixation, and can not adjust.
Therefore when there is different strokes or loading demand, it is necessary to change the mechanical arm of different size.Common mechanical arm is fixed
, therefore changed when changing mechanical arm, it is necessary to take a substantial amount of time with cost, while be also required to purchase multiple machines
Tool arm, in response to different demands, so multiple mechanical arms, to be added significantly to equipment cost.
For further, when the stroke of SCARA mechanical arms is longer, motor power that general dealer can be configured
Element watt number increases with reductor in multiple, can increase stroke and extract heavier object.It is however, bigger using horsepower
When motor power element and reductor, its equipment cost can greatly improve.However, working as needs to increase stroke and can mitigate negative
During load, it is still desirable to purchase the mechanical arm of another lengthening, so also increase equipment cost.
Therefore, a kind of mechanical arm robot is needed at present, to solve when needing to change stroke or load, and is needed more
The problem of mechanical arm renewed.
The content of the invention
In view of the above problems, the present invention discloses a kind of length-adjustable mechanical arm, and it is in a manner of detachable
One mechanical arm is arranged on another mechanical arm, for solving when needing to change stroke or load, and needs changing machine
The problem of tool arm.
One embodiment of the invention discloses a kind of length-adjustable mechanical arm, and it includes a pedestal, one first arm, one
Traffic control system seat and one second arm.First arm is hubbed at pedestal using a first axle as rotary shaft.Traffic control system seat is with can
Adjust to the mode of the distance of first axle and be located at the first arm.Second arm is hubbed at Traffic control system with a second axis rotary shaft
Seat.
Another embodiment of the present invention discloses a kind of length-adjustable mechanical arm, its include a pedestal, one first arm,
One second arm, one stroke adjusting seat and one the 3rd arm.First arm is hubbed at pedestal using a first axle as rotary shaft.Second
Arm is hubbed at the first arm with a second axis rotary shaft.Traffic control system seat is set in a manner of the distance that can tune to second axis
In the second arm.3rd arm is hubbed at Traffic control system seat with one the 3rd axis rotary shaft.
Summary, disclosed length-adjustable mechanical arm, passes through Traffic control system seat according to embodiments of the present invention
To be located at the first arm in a manner of the distance that can tune to first axle, to change the position that the second arm is arranged at the first arm, and then
Adjust the overall stroke of length-adjustable mechanical arm.When stroke is reduced, its load is smaller；When stroke increase, it is negative
Carry bigger.In this way, it can not have to change other robotic arms, you can adjustment load and stroke, significantly reduce equipment cost
And assembling replacing construction.
More than on the explanation of present invention and the explanation of following embodiment demonstrating and explain the present invention
Principle, and provide the present invention claim further explain.
Brief description of the drawings
Fig. 1 is the schematic perspective view of a length-adjustable mechanical arm of one embodiment of the invention；
Fig. 2 is the decomposing schematic representation of a length-adjustable mechanical arm of one embodiment of the invention；
Fig. 3 is the upper schematic diagram of one first arm of one embodiment of the invention；
Fig. 4 is the schematic perspective view of the one stroke adjusting seat of one embodiment of the invention；
Fig. 5 is the upper schematic diagram of the Traffic control system seat of one embodiment of the invention；
Fig. 6 is the first start upper schematic diagram of the length-adjustable mechanical arm of one embodiment of the invention；
Fig. 7 is the second start upper schematic diagram of the length-adjustable mechanical arm of one embodiment of the invention；
Fig. 8 is the 3rd start upper schematic diagram of the length-adjustable mechanical arm of one embodiment of the invention；
Fig. 9 is the 4th start upper schematic diagram of the length-adjustable mechanical arm of one embodiment of the invention；
Figure 10 is the schematic perspective view of a length-adjustable mechanical arm of another embodiment of the present invention；
Figure 11 is the illustrative view of the length-adjustable mechanical arm of another embodiment of the present invention；
Figure 12 is the schematic perspective view of a length-adjustable mechanical arm of further embodiment of this invention；
Figure 13 is one second arm of further embodiment of this invention and the close-up schematic view of one stroke adjusting seat；
Figure 14 is one second arm of further embodiment of this invention and the partial exploded view of one stroke adjusting seat；
Figure 15 is the first illustrative view of a length-adjustable mechanical arm of further embodiment of this invention；
Figure 16 is the second illustrative view of a length-adjustable mechanical arm of further embodiment of this invention.
Symbol description
1000th, 2000,3000 length-adjustable mechanical arm
1 pedestal
2 first arms
21 first boards
22 fixed plates
The fixing grooves of 221a first
The fixing grooves of 221b second
The fixing grooves of 221c the 3rd
The fixing grooves of 221d the 4th
The fixing grooves of 221e the 5th
The fixing grooves of 221f the 6th
The fixing grooves of 221g the 7th
The fixing grooves of 221h the 8th
The fixing grooves of 221i the 9th
The fixing grooves of 221j the tenth
The fixing grooves of 221k the 11st
The fixing grooves of 221l the 12nd
222a first positions wears groove
222b second positions wears groove
222c the 3rd positions wears groove
222d the 4th positions wears groove
222e the 5th positions wears groove
222f the 6th positions wears groove
222g the 7th positions wears groove
222h the 8th positions wears groove
23 slide rails
24 dynamical elements
25 annular apertures
3 Traffic control system seats
31 pedestals
32 pivot joint platforms
33 linear mobile modules
The fixing holes of 33a first
The fixing holes of 33b second
The fixing holes of 33c the 3rd
The fixing holes of 33d the 4th
The fixing holes of 34a first
The fixing holes of 34b second
The fixing holes of 34c the 3rd
The fixing holes of 34d the 4th
The fixing holes of 34e the 5th
The fixing holes of 34f the 6th
35a, 35b, 35c, 35d, 35e, 35f positional punch
36 first dynamical element positioning holes
The positional punches of 37a first
The positional punches of 37b second
38a first aids in fixing hole
38b second aids in fixing hole
4 second arms
41 second boards
The fixtures of 41a first
The fixtures of 41b second
The fixtures of 41c the 3rd
The fixtures of 41d the 4th
42 movement rod members
The keepers of 42a first
The keepers of 42b second
43 dynamical elements
The fixing grooves of 43a first
The fixing grooves of 43b second
The fixing grooves of 43c the 3rd
The fixing grooves of 43d the 4th
The fixing grooves of 43e the 5th
The fixing grooves of 43f the 6th
The locating slot of 44a, 44b first
The locating slot of 44c, 44d second
The locating slot of 44e, 44f the 3rd
45 keepers
46 dynamical element fixtures
47a first aids in fixing groove
47b second aids in fixing groove
5 the 3rd arms
6 the 4th arms
7 the 5th arms
8 the 6th arms
9 connecting tubes
A1 first axles
A2 second axis
The axis of A3 the 3rd
A4 four axistyles
The axis of A5 the 5th
The axis of A6 the 6th
B1 axial directions
The line segments of C1 first
C2 second line segments
The line segments of C3 the 3rd
The line segments of C4 the 4th
The line segments of C5 the 5th
The total radius of turn of D1, D2, D3, D4
F1, F2 straight line
The length of G1 first
The length of G2 second
The length of G3 the 3rd
The radius of turn of the arm of H1, H2, H3 second
The radiuss of turn of L1 second
The radius of turn of L2, L3, L4, L5 first
M1, m2 line
Embodiment
The detailed features and advantage of the narration present invention in detail in embodiments below, its content are enough to make any to be familiar with
Art understands the technology contents of the present invention and implemented according to this, and according to content disclosed in this specification, claim
And accompanying drawing, it is any to be familiar with art and be readily understood upon the purpose and advantage of correlation of the invention.Following embodiment enters one
Step describes the viewpoint of the present invention in detail, but non-anyways to limit scope of the invention.
The present invention provides a kind of length-adjustable mechanical arm 1000, to extract and place a workpiece, or to right
One object is processed.
Fig. 1 and Fig. 2 is refer to, wherein Fig. 1 is the length-adjustable mechanical arm according to one embodiment of the invention
1000 schematic perspective view, Fig. 2 are the exploded pictorial according to the length-adjustable mechanical arm 1000 of one embodiment of the invention
Figure.
The present invention discloses a kind of length-adjustable mechanical arm 1000, and it includes a pedestal 1, one first arm 2, one stroke
The arm 4 of adjusting seat 3 and 1 second.First arm 2 is hubbed at pedestal 1 using a first axle A1 as rotary shaft.Traffic control system seat 3 with
The mode that can tune to first axle A1 distance is located at the first arm 2.Second arm 4 is hubbed at a second axis A2 rotary shafts
Traffic control system seat 3.In the present embodiment, length-adjustable mechanical arm 1000 also includes a connecting tube 9, and its both ends connects respectively
Connect the arm 4 of pedestal 1 and second.Electric connection line (not illustrating) can be housed in connecting tube 9, second is given to transmit electric power and signal
Arm 4.In other words, the length-adjustable mechanical arm 1000 of this embodiment is both arms (doublejointed) robot.
The detailed construction of each element introduced below.Pedestal 1 can have one first dynamical element (not illustrate, such as rotate horse
Up to collocation acceleration and deceleration machine), it can be used to drive the first arm 2 to pivot along first axle A1.Fig. 1 to Fig. 3 is refer to, wherein Fig. 3 is
The upper schematic diagram of one first arm 2 according to an embodiment of the invention.First arm 2 includes the first board 21 and a fixed plate
22, the first board 21 has annular aperture 25, and the first board 21 can be connected to be articulated in base by annular aperture 25 with other fixtures
Seat 1, fixed plate 22 is fixedly arranged on the first board 21.Fixed plate 22 has multiple fixing grooves.
Fig. 2, Fig. 4 and Fig. 5 are refer to, wherein Fig. 4 is the solid according to the one stroke adjusting seat 3 of one embodiment of the invention
Schematic diagram, Fig. 5 are the upper schematic diagram according to the Traffic control system seat 3 of one embodiment of the invention.Traffic control system seat 3 has to be connected each other
The pedestal 31 and a pivot joint platform 32, the first board 21 connect is arranged in the fixed plate 22 of the first arm 2 in a movable manner,
To change distance of the Traffic control system seat 3 relative to first axle A1.Second arm 4 includes one second board 41, one movement rod member 42
And a dynamical element 43 (such as rotation motor), mobile rod member 42 and dynamical element 43 are respectively arranged at the second board 41
Opposite end.Pedestal 31 has multiple first dynamical element positioning holes 36, and multiple dynamical element fixtures 46 (as shown in Figure 2) can
Positioning hole 36 is arranged in, and is fixed on dynamical element 43, so that the second arm 4 is hubbed at Traffic control system seat 3.In this way, the second board
41 can pivot along second axis A2 relative to Traffic control system seat 3.In addition, mobile rod member 42 can be relative to the second board 41 along the
Three axis A3 it is in rotary moving and or axially B1 is moved along a straight line, to be processed or extract to workpiece.This processing mode
It is only for example, and is not used to limit the present invention.In the present embodiment, first axle A1 substantially parallel to second axis A2 and
3rd axis A3, but be not used to limit the present invention.
In this way, because the second arm 4 is hubbed on Traffic control system seat 3, and Traffic control system seat 3 is arranged in a movable manner
On first arm 2, so when Traffic control system seat 3 change with first axle A1 apart from when, second arm 4 can be changed simultaneously relative to the
One axis A1 distance, and then change the overall stroke (i.e. radius of turn) of length-adjustable mechanical arm 1000.
How adjusting seat is arranged at the knot of the fixed plate 22 of the first arm 2 in a movable manner in the present embodiment introduced below
Structure and mode, refer to Fig. 3 first, the fixed plate 22 of the first arm 2 have multiple fixing grooves, such as one first fixing groove 221a with
And one second fixing groove 221b, wherein the first fixing groove 221a to first axle A1 of fixed plate 22 distance are more than second and fixed
Groove 221b to first axle A1 distance.
Fig. 4 is refer to, the board 21 of Traffic control system seat 3 first has one first fixing hole 33a, one second fixing hole 33b, one
3rd fixing hole 33c and one the 4th fixing hole 33d.Wherein, the first fixing hole 33a alternatively corresponds to the first fixing groove
221a or the second fixing groove 221b so that Traffic control system seat 3 relative to the first arm 2 and with a first position (as shown in fig. 6,
It is the first start upper schematic diagram according to the length-adjustable mechanical arm 1000 of one embodiment of the invention) and one second
Position (as shown in figure 8, in the 3rd start according to the length-adjustable mechanical arm 1000 of one embodiment of the invention depending on showing
It is intended to).
Length-adjustable mechanical arm 1000 is also fixed comprising one first fixture 41a, the second fixture 41b, the 3rd
Part 41c, the 4th fixture 41d, the first fixture 41a can be arranged in the first fixing hole 33a, and the second fixture 41b can be arranged in
Second fixing hole 33b, the 3rd fixture 41c can be arranged in the 3rd fixing hole 33c, and it is solid that the 4th fixture 41d can be arranged in the 4th
Determine hole 33d.By taking the first fixture 41a as an example, after the first fixture 41a is arranged in the first fixing hole 33a, it is solid to be securable to first
Determine in groove 221a or the second fixing groove 221b, so that Traffic control system seat 3 can be firmly fixed to first position or the second place.More
Specifically, at first position (as shown in Figure 6), the first arm 2 has the first radius of turn L2 (first axle A1 to the second axle
Line A2 distance), the second arm 4 has the second radius of turn L1 (second axis A2 to the 3rd axis A3 distance), its first rotation
The totalling for turning radius L2 and the second radius of turn L1 is total radius of turn D1 of length-adjustable mechanical arm 1000.
During the second place (as shown in Figure 8), the first arm 2 have the first radius of turn L4 (first axle A1 to second axis A2 away from
From), the second arm 4 has the second radius of turn L1 (second axis A2 to the 3rd axis A3 distance), its first radius of turn L4
And second radius of turn L1 totalling be length-adjustable mechanical arm 1000 total radius of turn D3.Due to second
Total radius of turn D3 of length-adjustable mechanical arm 1000 is less than the length-adjustable manipulator at first position when putting
Total radius of turn D1 of arm 1000, passes through above-mentioned structure, you can by adjusting Traffic control system seat 3 in the fixed plate of the first arm 2
22 position, and change the stroke of length-adjustable mechanical arm 1000 easily.Further, since stroke during the second place compared with
Small (total radius of turn D3 is less than total radius of turn D1), when radius is smaller and in the case that moment of torsion is constant, load can be increased, and
The overall operation of length-adjustable mechanical arm 1000 is not influenceed simultaneously.
Fig. 5 and Fig. 6 is refer to, in the present embodiment, the first fixing hole 33a, the second fixing hole of Traffic control system seat 3
33b, the 3rd fixing hole 33c and the 4th fixing hole 33d are located at relative four corners of Traffic control system seat 3, and the first fixing hole 33a
Line m2 to the 4th fixing hole 33d line m1 and the second fixing hole 33b to the 3rd fixing hole 33c intersects at second axis A2
On.Fig. 3 is refer to, there is the fixed plate 22 of the first arm 2 one the 3rd fixing groove 221c, one the 4th fixing groove 221d, one the 5th to consolidate
Determine groove 221e and one the 6th fixing groove 221f.In the present embodiment and section Example, the 3rd fixing groove 221c to first
Axis A1 distance is more than the 4th fixing groove 221d to first axle A1 distance, and the 6th fixing groove 221f is to first axle A1's
Distance is more than the 3rd fixing groove 221c to first axle A1 distance, and the 5th fixing groove 221e to first axle A1 distance is more than
First fixing groove 221a to first axle A1 distance.Fig. 6 is refer to, at first position, the first fixture 41a, second are consolidated
Determine part 41b, the 3rd fixture 41c and the 4th fixture 41d be arranged in respectively the first fixing hole 33a, the second fixing hole 33b,
3rd fixing hole 33c and the 4th fixing hole 33d, to be individually fixed in the first fixing groove 221a, the 5th fixing groove 221e, the 3rd
In fixing groove 221c and the 6th fixing groove 221f.At the second place, the first fixture 41a, the second fixture 41b, the 3rd
Fixture 41c and the 4th fixture 41d is arranged in the first fixing hole 33a, the second fixing hole 33b, the 3rd fixing hole 33c respectively
And the 4th fixing hole 33d, to be fixed on the second fixing groove 221b, the first fixing groove 221a, the 4th fixing groove 221d and
In three fixing groove 221c.
In this way, due to the first fixing hole 33a, the second fixing hole 33b, the 3rd fixing hole 33c and the 4th fixing hole 33d positions
In four corners, and the first fixing hole 33a to the 4th fixing hole 33d line m1 and the second fixing hole relatively of Traffic control system seat 3
33b to the 3rd fixing hole 33c line m2 are intersected on second axis A2, Traffic control system seat 3 can be made more stably to be arranged at solid
On fixed board 22, with stability when lifting overall setting and running.
However, above-mentioned fixing piece and the number of fixing hole are not used to limit the present invention, in other embodiments, also can be only
With one first fixture 41a, the Traffic control system seat 3 that so also can reach this case is fixed on the effect of fixed plate 22.
In other embodiments, also can only have the first fixture 41a and the second fixture 41b.At the second place
(as shown in Figure 8), the first fixing hole 33a correspond to the first fixing groove corresponding to the second fixing groove 221b, the second fixing hole 33b
221a.In this way, the first fixture 41a, which is fixed on the first fixing hole 33a, corresponds to the second fixing groove 221b, and the second fixture
41b is fixed in the second fixing hole 33b and the first fixing groove 221a.Compared to only the first fixture 41a, when increase by second is solid
(have two fixtures) when determining part 41b, can lift stroke adjusting seat 3 be fixed on the steadiness of the first arm 2.
Further, since at first position and the second place, the first fixture 41a and the second fixture 41b difference
It is securable in the first fixing groove 221a, in this way, repeatable utilize identical fixing groove (the first fixing groove 221a) in different positions
(first position and the second place) is put, the setting of fixing groove can be reduced, with simple cost-saving, and increases positioning accuracy.
Above-mentioned first fixture 41a, the second fixture 41b, the 3rd fixture 41c and the 4th fixture 41d can be one
Screw, and the first fixing hole 33a, the second fixing hole 33b, the 3rd fixing hole 33c and the 4th fixing hole 33d can be corresponding
Screw, but above-mentioned citing is not used to limit the present invention.
Refer to Fig. 2, Fig. 5 and Fig. 6, length-adjustable mechanical arm 1000 also comprising one first keeper 42a with
And one second keeper 42b, Traffic control system seat 3 have an one first positional punch 37a and one second positional punch 37b, first
Positional punch 37a is adjacent to the first fixing hole 33a, the second positional punch 37b and is adjacent to the 4th fixing hole 33d.Fixed plate 22 is also
With the first positioning wears groove 222a, the second positioning wears groove 222b, the 3rd positioning wears groove 222c and the 4th positioning wears groove 222d, divide
The first fixing groove 221a, the 6th fixing groove 221f, the second fixing groove 221b and the 3rd fixing groove 221c are not adjacent to.In this way,
At first position, the first keeper 42a and the second keeper 42b are arranged in the first positional punch 37a and second respectively
Positional punch 37b, to be respectively positioned in the positioning wears grooves of the first positioning wears groove 222a and second 222b.At the second place,
First keeper 42a and the second keeper 42b is arranged in the first positional punch 37a and the second positional punch 37b respectively, with
It is respectively positioned in the 3rd positioning wears groove 222c and the 4th positioning wears groove 222d.Thus, when Traffic control system seat 3 is fixed on first
, can the accuracy that positions of lift stroke adjusting seat 3 by the first keeper 42a and the second keeper 42b setting after arm 2.
In addition, the first positional punch 37a and the second positional punch 37b of the present embodiment are located at the diagonal of the first board 21, only increase
The setting of two keepers (the first keeper 42a and the second keeper 42b), you can strengthen Traffic control system seat 3 in second axis
The steadiness in A2 sagittal plane direction.In the present embodiment, the first keeper 42a and the second keeper 42b is latch
(Pin), but it is not used to limit the present invention.
In addition to above-mentioned Traffic control system seat 3 can be located in first position and the second place, the Traffic control system of the present embodiment
Seat 3 can also be located in the other positions on the first arm 2, and then adjust the stroke of length-adjustable mechanical arm 1000.
Fig. 3 is refer to, in the present embodiment and other embodiment, the fixed plate 22 of the first arm 2 also has the 7th to fix
Groove 221g, the 8th fixing groove 221h, the 9th fixing groove 221i, the tenth fixing groove 221j, the 11st fixing groove 221k and the tenth
Two fixing groove 221l.In the present embodiment, the 5th fixing groove 221e, the 8th fixing groove 221h, the first fixing groove 221a, the 7th consolidate
Determine groove 221g, the second fixing groove 221b and the 11st fixing groove 221k and sequentially connect F1 in line, the 6th fixing groove 221f,
Ten fixing groove 221j, the 3rd fixing groove 221c, the 9th fixing groove 221i, the 4th fixing groove 221d and the 12nd fixing groove 221l
Sequentially connect F2 in line.In addition, straight line F1 is substantial parallel in the present embodiment with straight line F2.Furthermore the 5th fixing groove
221e to first axle A1 distance is more than the 11st fixing groove 221k to first axle A1 distance, and the 6th fixing groove 221f
Distance to first axle A1 is more than the 9th fixing groove 221i to first axle A1 distance.In addition, the 3rd fixing groove 221c with
And the tenth there is the first line segment C1, the 9th fixing groove 221i and the 3rd fixing groove 221c to have the second line between fixing groove 221j
Section C2, the 4th fixing groove 221d and the 9th fixing groove 221i have the 3rd line segment C3, the 12nd fixing groove 221l and the 4th
Fixing groove 221d has the 4th line segment C4, and the 12nd fixing groove 221l and first axle A1 is along straight line F1 and with the 5th
Line segment C5.In addition, fixed plate 22 also has the 5th positioning wears groove 222e, the 6th positioning wears groove 222f, the 7th positioning wears groove 222g
And the 8th positioning wears groove 222h, be respectively adjacent in the 7th fixing groove 221g, the tenth fixing groove 221j, the 11st fixing groove 221k
And the 9th fixing groove 221i.
Traffic control system seat 3 is relative to the first arm 2 and with one the 3rd position (as shown in fig. 7, it is real according to the present invention one
Apply the second start upper schematic diagram of the length-adjustable mechanical arm 1000 of example) and one the 4th position (as shown in figure 9, being
4th start upper schematic diagram of length-adjustable mechanical arm 1000 according to an embodiment of the invention).Shown in Fig. 7, OK
The first fixture 41a, the second fixture 41b, the 3rd fixture 41c and the 4th fixture 41d of journey adjusting seat 3 are worn respectively
In the first fixing hole 33a, the second fixing hole 33b, the 3rd fixing hole 33c and the 4th fixing hole 33d, to be individually fixed in the 7th
In fixing groove 221g, the 8th fixing groove 221h, the 9th fixing groove 221i and the tenth fixing groove 221j.Now, Traffic control system seat 3
Cover the first fixing groove 221a and the 3rd fixing groove 221c.Furthermore the first keeper 42a and the second keeper 42b difference
The first positional punch 37a and the second positional punch 37b is arranged in, to be respectively positioned in the 5th positioning wears groove 222e and the 6th
Position in wears groove 222f.
Shown in Fig. 9, at four positions, the first fixture 41a, the second fixture 41b, the 3rd fixture 41c and
Four fixture 41d are arranged in the first fixing hole 33a, the second fixing hole 33b, the 3rd fixing hole 33c and the 4th fixing hole respectively
33d, to be fixed on the 11st fixing groove 221k, the 7th fixing groove 221g, the 12nd fixing groove 221l and the 9th fixing groove
In 221i.Now, Traffic control system seat 3 covers the second fixing groove 221b and the 4th fixing groove 221d.Furthermore the first keeper
42a and the second keeper 42b is arranged in the first positional punch 37a and the second positional punch 37b respectively, to be respectively positioned in
In 7th positioning wears groove 222g and the 8th positioning wears groove 222h.
Therefore at first position (as shown in Fig. 3 and Fig. 6), total rotation of length-adjustable mechanical arm 1000
Radius D1 is the first radius of turn L2 and the second radius of turn L1 sums, and the first radius of turn L2 be the first line segment C1,
Second line segment C2, the 3rd line segment C3, the 4th line segment C4 and the 5th line segment C5 sums.
At three positions (as shown in Fig. 3 and Fig. 7), total radius of turn D2 of length-adjustable mechanical arm 1000
For the first radius of turn L3 and the second radius of turn L1 sums, and the first radius of turn L3 is second line segment C2, the 3rd line
Section C3, the 4th line segment C4 and the 5th line segment C5 sums (reducing the first line segment C1 relative to first position).
At the second place (as shown in Fig. 3 and Fig. 8), total radius of turn D3 of length-adjustable mechanical arm 1000
For the first radius of turn L4 and the second radius of turn L1 sums, and the first radius of turn L4 is the 3rd line segment C3, the 4th line
Section C4 and the 5th line segment C5 sums (reducing second line segment C2 relative to the 3rd position).
At four positions (as shown in Fig. 3 and Fig. 9), total radius of turn D4 of length-adjustable mechanical arm 1000
For the first radius of turn L5 and the second radius of turn L1 sums, and the first radius of turn L5 is the 4th line segment C4 and the 5th
Line segment C5 sums (reduce the 3rd line segment C3) relative to the second place.
Summary, by setting multiple fixing holes on the first arm 2, Traffic control system seat 3 is by fixture and alternative
Ground is fixed on the fixing hole of part, to adjust the overall stroke of length-adjustable mechanical arm 1000 (total radius of turn).This
Outside, when selecting diverse location, part identical fixing hole can also be used, and fixture is adjusted located at fixing hole and fixed journey system
Bed rearrangement 3, it can so save the setting of fixing hole.Furthermore it may also set up keeper and be inserted in corresponding positional punch and determine
Position groove, for increasing the accuracy and stability of positioning.
In other embodiments, also there is different structures and Traffic control system seat 3 is fixed on first in a movable manner
On arm 2, and then the distance of Traffic control system seat 3 to first axle A1 is adjusted, referring to Fig. 10, it is according to another implementation of the present invention
The schematic perspective view of one length-adjustable mechanical arm 2000 of example.The present embodiment is similar with the above embodiments, therefore identical
Part repeats no more.
In the present embodiment, the first arm 2 includes a slide rail 23 and one first board 21, slide rail 23 are fixedly installed on first
On board 21, Traffic control system seat 3 includes the pedestal 31, one being connected to each other and is pivotally connected 32 and one linear mobile module 33 of platform, pivot joint
Platform 32 is fixed on pedestal 31, and the second arm 4 is hubbed on pivot joint platform 32.Linear mobile module 33 is arranged in a movable manner
On slide rail 23, to adjust Traffic control system seat 3 to first axle A1 distance.Wherein, linear mobile module 33 can include power member
Part (such as linear motor or stepper motor) and brake, dynamical element is driving the first board 21 and the second arm 4 to move
Dynamic, brake to motor providing resistance to brake.In this way, Traffic control system seat 3 can move relative to the first arm 2, with
Change the stroke of length-adjustable mechanical arm 2000, such as Figure 11, it is the adjustable length according to another embodiment of the present invention
The illustrative view of the mechanical arm 2000 of degree.
Except the mechanical arm of above-mentioned Dual-arm, it is can also be applied to the mechanical arm of other multi-arm types.Refer to
Figure 12 to Figure 14, Figure 12 are to be illustrated according to the three-dimensional of a length-adjustable mechanical arm 2000 of further embodiment of this invention
Figure.Figure 13 is according to one second arm 4 of further embodiment of this invention and the close-up schematic view of one stroke adjusting seat 3.Figure
14 be according to one second arm 4 of further embodiment of this invention and the partial exploded view of one stroke adjusting seat 3.
In the present embodiment and other embodiments, a kind of length-adjustable mechanical arm 3000 is disclosed, it is included
One pedestal 1, one first arm 2, one second arm 4, the arm 5 of one stroke adjusting seat 3 and 1 the 3rd.First arm 2 is with a first axle A1
Pedestal 1 is hubbed at for rotary shaft.Second arm 4 is hubbed at the first arm 2 by rotary shaft of a second axis A2.Traffic control system seat
3 to be located at the second arm 4 in a manner of can tune to second axis A2 distance.3rd arm 5 using one the 3rd axis A3 as rotary shaft and
It is hubbed at Traffic control system seat 3.First arm 2 includes a dynamical element 24, to drive the second arm 4 to pivot.In the present embodiment, it is adjustable
The mechanical arm 3000 of whole length also includes one the 4th arm 6, one the 5th arm 7 and one the 6th arm 8.4th arm 6 is with one the 4th axle
Line A4 is hubbed at the 3rd arm 5 for rotary shaft, and the 5th arm 7 is hubbed at the 4th arm 6 using one the 5th axis A5 as rotary shaft.6th
Arm 8 is hubbed at the 5th arm 7 using one the 6th axis A6 as rotary shaft.First axle A1 and second axis A2 substantially hangs down each other
Directly, the substantial parallel 3rd axis A3 of second axis A2, but be not used to limit the present invention.
Figure 13 and Figure 14 is referred to, length-adjustable mechanical arm 3000 also includes one first fixture 41a, stroke
Adjusting seat 3 has one first fixing hole 34a, and the second arm 4 has one first fixing groove 43a and one second fixing groove 43b.Its
In, the first fixing groove 43a to second axis A2 distance is more than the second fixing groove 43b to second axis A2 distance, and first is solid
Determine hole 34a and alternatively correspond to the first fixing groove 43a or the second fixing groove 43b, so that Traffic control system seat 3 is relative to second
Arm 4 and with a first position (as shown in Figure 12 and Figure 13) and the second place (as shown in figure 15, its be according to it is of the invention again
First illustrative view of the length-adjustable mechanical arm 3000 of one embodiment).Therefore at first position, first is solid
Determine part 41a to be fixed in the first fixing hole 34a and the first fixing groove 43a；At the second place, the first fixture 41a is fixed
In in the first fixing hole 34a and the second fixing groove 43b.
In the present embodiment and other embodiments, Traffic control system seat 3 can include multiple fixing holes.Go back to Figure 13 with
And Figure 14, length-adjustable mechanical arm 3000 also include one second fixture 41b, Traffic control system seat 3 has one second to consolidate
Determine hole 34b and one the 3rd fixing hole 34c, the second arm 4 has one the 3rd fixing groove 43c, and the first fixing hole 34a is optionally
Corresponding to the 3rd fixing groove 43c, so that (as shown in figure 16, Traffic control system seat 3 has one the 3rd position relative to the second arm 4
It is the second illustrative view according to a length-adjustable mechanical arm 3000 of further embodiment of this invention), second is solid
Groove 43b is determined between the first fixing groove 43a and the 3rd fixing groove 43c.Wherein, (such as Figure 14 and figure at the second place
Shown in 15), the second fixture 41b is fixed in the second fixing hole 34b and the first fixing groove 43a；At three positions (as schemed
Shown in 14 and Figure 16), the first fixture 41a is fixed in the first fixing hole 34a and the 3rd fixing groove 43c, and second fixes
Part 41b is fixed in the 3rd fixing hole 34c and the first fixing groove 43a.
In the present embodiment and other embodiments, Traffic control system seat 3 also have one first auxiliary fixing hole 38a and
One second auxiliary fixing hole 38b, the second arm 4 also have one first auxiliary fixing groove 47a, one second auxiliary fixing groove 47b and
One the 4th fixing groove 43d.Traffic control system seat 3 has one the 4th fixing hole 34d, the first auxiliary fixing groove 47a and the second auxiliary
Fixing groove 47b is between the first fixing groove 43a and the 4th fixing groove 43d, with shape in line.At first position (such as
Shown in Figure 12 to Figure 14), the second fixture 41b is fixed in the auxiliary fixing grooves of the first auxiliary fixing hole 38a and first 47a.
Furthermore at first position, and one the 4th fixture 41d can be arranged in the second auxiliary fixing hole 38b is fixed on the second auxiliary and consolidates
Determine groove 47b.
In the present embodiment and other embodiments, as shown in Figure 13 and Figure 14, also comprising one the 3rd fixture 41c
And the 4th fixture 41d, Traffic control system seat 3 have one the 5th fixing hole 34e and one the 6th fixing hole 34f, the second arm 4 has
There are one the 4th fixing groove 43d, one the 5th fixing groove 43e and one the 6th fixing groove 43f, the 5th fixing groove 43e consolidates between the 4th
Determine between groove 43d and the 6th fixing groove 43f, and the 4th fixing groove 43d puts to second axis A2 distance and is more than the 6th fixation
Groove 43f to second axis A2 distance.In this way, the 4th fixing groove 43d, the 5th fixing groove 43e and the 6th fixing groove 43f essence
Upper shape in line, and is formed substantially parallel to the first fixing groove 43a, the second fixing groove 43b and the 3rd fixing groove 43b
Straight line.In more detail, the first fixing groove 43a, the second fixing groove 43b and the 3rd fixing groove 43c line substantially hang down
Directly in the 4th fixing groove 43d, the 5th fixing groove 43e and the 6th fixing groove 43f line.
Summary, at first position, the first fixture 41a is fixed on the first fixing hole 34a and the first fixing groove
In 43a, the second fixture 41b is fixed in the auxiliary fixing grooves of the first auxiliary fixing hole 38a and first 47a, the 3rd fixture
41c is fixed in the 4th fixing hole 34d and the 4th fixing groove 43d, and the 4th fixture 41d is fixed on the second auxiliary fixing hole
In the auxiliary fixing grooves of 38b and second 47b.Because Traffic control system seat 3 only has the first fixing hole 34a, the 4th fixing hole 34d, the
One auxiliary fixing hole 38a and the second auxiliary fixing hole 38b are overlapped in the second arm 4, therefore are locked using four fixtures, are gone improving
Journey adjusting seat 3 is arranged at the steadiness of the second arm 4.Now, the first fixing hole 34a to second axis A2 distance is the first length
G1, the second length G2 and the 3rd length G3 sums, so that the second arm 4 has radius of turn H1.
At the second place (as shown in Figure 14 and Figure 15), the first fixture 41a be fixed on the first fixing hole 34a and
In second fixing groove 43b, the second fixture 41b is fixed in the second fixing hole 34b and the first fixing groove 43a, and the 3rd fixes
Part 41c is fixed in the 4th fixing hole 34d and the 5th fixing groove 43e, and the 4th fixture 41d is fixed on the 5th fixing hole
In 34e and the 4th fixing groove 43d.Due to the first fixing hole 34a, the second fixing hole 34b, the 4th fixing hole 34d and the 5th
Fixing hole 34e forms overlapping area now maximum between the arm 4 of Traffic control system seat 3 and second, therefore institute can carry in this four fixing hole
High-stroke adjusting seat 3 is arranged at the steadiness of the second arm 4.Now, the first fixing hole 34a to second axis A2 distance is second
Length G2 and the 3rd length G3 sums.When the radius of turn H2 of the second arm 4 is less than first position when so representing the second place
The radius of turn H1 of second arm 4.
At three positions (as shown in Figure 14 and Figure 16), the first fixture 41a be fixed on the first fixing hole 34a and
In 3rd fixing groove 43c, the second fixture 41b is fixed in the 3rd fixing hole 34c and the first fixing groove 43a, and the 3rd fixes
Part 41c is fixed in the 4th fixing hole 34d and the 6th fixing groove 43f, and the 4th fixture 41d is fixed on the 6th fixing hole 34f
And the 4th in fixing groove 43d.Because the first fixing hole 34a, the second fixing hole 34b, the 4th fixing hole 34d and the 6th fix
Hole 34f forms overlapping area now maximum between the arm 4 of Traffic control system seat 3 and second, therefore locks in this four fixing hole, can improve row
Journey adjusting seat 3 is arranged at the steadiness of the second arm 4.Now, the first fixing hole 34a to second axis A2 distance is the 3rd length
G3.The radius of turn H2 of second arm 4 when the radius of turn H3 of the second arm 4 is less than the second place when so representing three positions.
In addition, also comprising multiple keepers 45, (Figure 14 is with a keeper for length-adjustable mechanical arm 3000
Exemplified by 45), Traffic control system seat 3 also has positional punch 35a, 35b, 35c, 35d, 35e, 35f, and the second arm 4 has the first positioning
Groove 44a, 44b, second locating slot 44c, 44d and the 3rd locating slot 44e, 44f, at first position, positional punch 35a, 35b
Corresponding to first locating slot 44a, 44b, and keeper 45 is arranged at positional punch 35a, 35b and first locating slot 44a, 44b
Interior, at the second place, positional punch 35a, 35b, 35c, 35d correspond to second locating slot 44c, 44d and the first locating slot
44a, 44b, and keeper 45 is arranged at positional punch 35a, 35b, 35c, 35d and first locating slot 44a, 44b and second is fixed
In position groove 44c, 44d, at three positions, positional punch 35a, 35b, 35c, 35d, 35e, 35f correspond to the 3rd locating slot
44e, 44f, second locating slot 44c, 44d and first locating slot 44a, 44b, and keeper 45 be arranged at positional punch 35a,
35b, 35c, 35d, 35e, 35f and first locating slot 44a, 44b, second locating slot 44a, 44b and the 3rd locating slot 44e,
In 44f.Positional punch 35a, 35b, 35c, 35d, 35e, 35f are arranged at by keeper 45, with selectivity when the diverse location
It is positioned in first locating slot 44a, 44b, second locating slot 44c, 44d and the 3rd locating slot 44e, 44f, to strengthen positioning
Effect.
Therefore by setting multiple fixing holes on the first arm 2, Traffic control system seat 3 is by fixture and optionally solid
Due to the fixing hole of part, to adjust the overall stroke of length-adjustable mechanical arm 3000 (total radius of turn).In addition, work as
When selecting diverse location, part identical fixing hole can also be used, and make fixture located at fixing hole and fixed journey system adjusting seat
3, it can so save the setting of fixing hole.
Summary, disclosed length-adjustable mechanical arm, passes through Traffic control system seat according to embodiments of the present invention
To be located at the first arm in a manner of the distance that can tune to first axle, to change the position that the second arm is arranged at the first arm, and then
Adjust the overall stroke of length-adjustable mechanical arm.When stroke is reduced, its load is smaller；When stroke increase, it is negative
Carry bigger.In this way, it can not have to change other robotic arms, you can adjustment load and stroke, significantly reduce equipment cost
And assembling replacing construction.
In some embodiments, by setting multiple fixing holes on the first arm, Traffic control system seat is by fixture and optional
The fixing hole of part is fixed on to selecting property, to adjust the overall stroke of length-adjustable mechanical arm.Determine in addition, may also set up
Position part and be inserted in corresponding positional punch and locating slot, for increase positioning accuracy and stability.
In another part embodiment, the linear mobile module of Traffic control system seat bag is arranged at first in a movable manner
On the slide rail of arm, to adjust Traffic control system seat to the distance of first axle.In this way, Traffic control system seat can move relative to the first arm
It is dynamic, to change the stroke of length-adjustable mechanical arm.
Claims (15)
1. a kind of length-adjustable mechanical arm, it is included：
Pedestal；
First arm, the pedestal is hubbed at by rotary shaft of a first axle；
Traffic control system seat, to be located at first arm in a manner of the distance that can tune to the first axle；
Second arm, the trip adjusting seat is hubbed at by rotary shaft of a second axis；And
First fixture,
Wherein, the trip adjusting seat has the first fixing hole, and first arm has the first fixing groove and the second fixing groove, wherein
First fixing groove to the distance of the first axle is more than second fixing groove to the distance of the first axle, first fixing hole
First fixing groove or second fixing groove are alternatively corresponded to, so that the trip adjusting seat has relative to first arm
There are first position and the second place；
Wherein, when the trip adjusting seat is located at the first position, first fixture is fixed on first fixing hole and should
In first fixing groove；And
When the trip adjusting seat is located at the second place, first fixture is fixed on first fixing hole and this is second solid
Determine in groove.
2. length-adjustable mechanical arm as claimed in claim 1, also also has comprising the second fixture, the trip adjusting seat
There is the second fixing hole, when the trip adjusting seat is located at the second place, first fixing hole corresponds to second fixing groove, should
Second fixing hole corresponds to first fixing groove, so that first fixture is fixed on first fixing hole and second fixation
Groove, and second fixture are fixed in second fixing hole and first fixing groove.
3. length-adjustable mechanical arm as claimed in claim 2, should also comprising the 3rd fixture and the 4th fixture
First arm has the 3rd fixing groove, the 4th fixing groove, the 5th fixing groove and the 6th fixing groove, and the trip adjusting seat also has the
Three fixing holes and the 4th fixing hole, first fixing hole of the trip adjusting seat, second fixing hole, the 3rd fixing hole with
And the 4th fixed hole position be more than in relative four corners of the trip adjusting seat, the 3rd fixing groove to the distance of the first axle
For 4th fixing groove to the distance of the first axle, the distance of the 6th fixing groove to the first axle is more than the 3rd fixing groove
To the distance of the first axle, the distance of the 5th fixing groove to the first axle is more than first fixing groove to the first axle
Distance；
Wherein, when the trip adjusting seat is located at the first position, first fixture, second fixture, the 3rd fix
Part and the 4th fixture are arranged in first fixing hole, second fixing hole, the 3rd fixing hole and the 4th respectively
Fixing hole, and be individually fixed in first fixing groove, the 5th fixing groove, the 3rd fixing groove and the 6th fixing groove；
And
When the trip adjusting seat is located at the second place, first fixture, second fixture, the 3rd fixture and
4th fixture is arranged in first fixing hole, second fixing hole, the 3rd fixing hole and the 4th fixing hole respectively,
And it is individually fixed in second fixing groove, first fixing groove, the 4th fixing groove and the 3rd fixing groove.
4. length-adjustable mechanical arm as claimed in claim 3, wherein first fixing hole to the 4th fixing hole
The line of line and the second fixing hole to the 3rd fixing hole is intersected in the second axis.
5. length-adjustable mechanical arm as claimed in claim 3, wherein the 5th fixing groove, first fixing groove and
The line structure of second fixing groove in line, the line of the 6th fixing groove, the 3rd fixing groove and the 4th fixing groove
Form another straight line.
6. length-adjustable mechanical arm as claimed in claim 3, should also comprising the first keeper and the second keeper
Traffic control system seat also has the first positional punch and the second positional punch, and first arm also has the first positioning wears groove, second
Positioning wears groove, the 3rd positioning wears groove and the 4th positioning wears groove, the first positioning wears groove, the second positioning wears groove, the 3rd determine
Position wears groove and the 4th positioning wears groove be respectively adjacent in first fixing groove, the 6th fixing groove, second fixing groove and
3rd fixing groove；
Wherein, when the trip adjusting seat is located at the first position, first keeper and second keeper are worn respectively
In first positional punch and second positional punch, and be respectively positioned in this first positioning wears groove and this second positioning wear
In groove；And
When the trip adjusting seat is located at the second place, first keeper and second keeper be arranged in respectively this
One positional punch and second positional punch, and be respectively positioned in the 3rd positioning wears groove and the 4th positioning wears groove.
7. a kind of length-adjustable mechanical arm, it is included：
Pedestal；
First arm, the pedestal is hubbed at by rotary shaft of a first axle；
Traffic control system seat, to be located at first arm in a manner of the distance that can tune to the first axle；And
Second arm, the trip adjusting seat is hubbed at by rotary shaft of a second axis,
Wherein first arm includes slide rail and the first board, and the slide rail is fixedly installed on first board, the trip adjustment
Seat is fixed on the linear mobile module comprising the linear mobile module being connected to each other and a pivot joint platform, the pivot joint platform, should
Second arm is hubbed on the pivot joint platform, and the linear mobile module is arranged on the slide rail in a movable manner, to adjust the row
Journey adjusting seat to the first axle distance.
8. a kind of length-adjustable mechanical arm, it is included：
Pedestal；
First arm, the pedestal is hubbed at by rotary shaft of a first axle；
Second arm, first arm is hubbed at by rotary shaft of a second axis；
Traffic control system seat, to be located at second arm in a manner of the distance that can tune to the second axis；
3rd arm, the trip adjusting seat is hubbed at using one the 3rd axis as rotary shaft；And
First fixture,
Wherein, the trip adjusting seat has the first fixing hole, and second arm has the first fixing groove and the second fixing groove, wherein
The distance of first fixing groove to the second axis is more than second fixing groove to the distance of the second axis, first fixing hole
First fixing groove or second fixing groove are alternatively corresponded to, so that the trip adjusting seat has relative to second arm
There are first position and the second place；
Wherein, when the trip adjusting seat is located at the first position, first fixture is fixed on first fixing hole and should
In first fixing groove；And
At the second place, first fixture is fixed in first fixing hole and second fixing groove.
9. length-adjustable mechanical arm as claimed in claim 8, also also has comprising the second fixture, the trip adjusting seat
There are the second fixing hole and the 3rd fixing hole, second arm has the 3rd fixing groove, and first fixing hole optionally corresponds to
In the 3rd fixing groove so that the trip adjusting seat has the 3rd position relative to second arm, second fixing groove between
Between first fixing groove and the 3rd fixing groove；
Wherein, when the trip adjusting seat is located at the second place, second fixture is fixed on second fixing hole and should
In first fixing groove；And
When the trip adjusting seat is located at three positions, first fixture is fixed on first fixing hole and the 3rd solid
Determine in groove, second fixture is fixed in the 3rd fixing hole and first fixing groove.
10. length-adjustable mechanical arm as claimed in claim 9, wherein the trip adjusting seat also have the first auxiliary solid
Determine hole, second arm also has the first auxiliary fixing groove, when the trip adjusting seat is located at the first position, second fixture
It is fixed in the first auxiliary fixing hole and the first auxiliary fixing groove.
11. length-adjustable mechanical arm as claimed in claim 10, also comprising the 3rd fixture and the 4th fixture,
The trip adjusting seat also has the 4th fixing hole, the 5th fixing hole and the 6th fixing hole, and second arm also has the 4th to fix
Groove, the 5th fixing groove and the 6th fixing groove, the 5th fixing groove are somebody's turn to do between the 4th fixing groove and the 6th fixing groove
4th fixing groove, which is put to the distance of second axis, is more than the 6th fixing groove to the distance of the second axis；
Wherein, when the trip adjusting seat is located at the first position, the 3rd fixture is fixed on the 4th fixing hole and should
In 4th fixing groove；
When the trip adjusting seat is located at the second place, the 3rd fixture is fixed on the 4th fixing hole and the 5th solid
Determine in groove, and the 4th fixture is fixed in the 5th fixing hole and the 4th fixing groove；And
When the trip adjusting seat is located at three positions, the 3rd fixture is fixed on the 4th fixing hole and the 6th solid
Determine in groove, the 4th fixture is fixed in the 6th fixing hole and the 4th fixing groove.
12. length-adjustable mechanical arm as claimed in claim 11, wherein the trip adjusting seat also have the second auxiliary
Fixing hole, second arm also have second auxiliary fixing groove, this first auxiliary fixing groove and this second auxiliary fixing groove between
Between first fixing hole and the 4th fixing hole, when the trip adjusting seat is located at the first position, the 4th fixture
It is arranged in the second auxiliary fixing hole and is fixed on the second auxiliary fixing groove.
13. length-adjustable mechanical arm as claimed in claim 8, also have fixed comprising keeper, the trip adjusting seat
Position perforation, second arm has the first locating slot and the second locating slot, should when the trip adjusting seat is located at the first position
Positional punch corresponds to first locating slot, and the keeper is arranged in the positional punch and first locating slot, when this
When Traffic control system seat is located at the second place, the positional punch corresponds to second locating slot, and the keeper is arranged at this and determined
In position perforation and second locating slot.
14. length-adjustable mechanical arm as claimed in claim 8, is also included：
4th arm, the 3rd arm is hubbed at using a four axistyle as rotary shaft；
5th arm, the 4th arm is hubbed at using one the 5th axis as rotary shaft；And
6th arm, the 5th arm is hubbed at using one the 6th axis as rotary shaft.
15. length-adjustable mechanical arm as claimed in claim 8, wherein first axle and the second axis are substantial
Vertically, the second axis is substantially parallel to each other with the 3rd axis.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW103140528A TWI558524B (en) | 2014-11-21 | 2014-11-21 | Articulated robot having adjustable-length arm |
| TW103140528 | 2014-11-21 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105751243A CN105751243A (en) | 2016-07-13 |
| CN105751243B true CN105751243B (en) | 2017-11-10 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410779835.1A Active CN105751243B (en) | 2014-11-21 | 2014-12-16 | Mechanical arm with adjustable length |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN105751243B (en) |
| TW (1) | TWI558524B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6506324B2 (en) | 2017-02-16 | 2019-04-24 | ファナック株式会社 | Horizontal articulated robot and its installation method |
| CN107457771B (en) * | 2017-08-17 | 2020-11-17 | 临沂大学 | Heavy manipulator device of assembly line processing |
| TWI668541B (en) | 2017-09-29 | 2019-08-11 | 財團法人工業技術研究院 | System and method for calibrating tool center point of robot |
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|---|---|---|---|---|
| US6324444B1 (en) * | 1998-07-29 | 2001-11-27 | Janome Sewing Machine Co., Ltd. | Robot with multi-joint arms movable in horizontal plane |
| CN201792335U (en) * | 2010-02-08 | 2011-04-13 | 大同铸石工业（集团）有限责任公司 | Stripping manipulator for cast stone production lines |
| CN102050330A (en) * | 2010-11-05 | 2011-05-11 | 深圳市华星光电技术有限公司 | Mechanical arm and transport device provided with same |
| EP2551068A1 (en) * | 2011-07-25 | 2013-01-30 | Yamaha Hatsudoki Kabushiki Kaisha | SCARA robot with a hollow spindle which moves vertically |
| CN202967537U (en) * | 2012-11-23 | 2013-06-05 | 李莉 | Expandable mechanical hand |
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2014
- 2014-11-21 TW TW103140528A patent/TWI558524B/en active
- 2014-12-16 CN CN201410779835.1A patent/CN105751243B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6324444B1 (en) * | 1998-07-29 | 2001-11-27 | Janome Sewing Machine Co., Ltd. | Robot with multi-joint arms movable in horizontal plane |
| CN201792335U (en) * | 2010-02-08 | 2011-04-13 | 大同铸石工业（集团）有限责任公司 | Stripping manipulator for cast stone production lines |
| CN102050330A (en) * | 2010-11-05 | 2011-05-11 | 深圳市华星光电技术有限公司 | Mechanical arm and transport device provided with same |
| EP2551068A1 (en) * | 2011-07-25 | 2013-01-30 | Yamaha Hatsudoki Kabushiki Kaisha | SCARA robot with a hollow spindle which moves vertically |
| CN202967537U (en) * | 2012-11-23 | 2013-06-05 | 李莉 | Expandable mechanical hand |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105751243A (en) | 2016-07-13 |
| TWI558524B (en) | 2016-11-21 |
| TW201618910A (en) | 2016-06-01 |
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