CN106346447A - Manipulator - Google Patents
Manipulator Download PDFInfo
- Publication number
- CN106346447A CN106346447A CN201610776509.4A CN201610776509A CN106346447A CN 106346447 A CN106346447 A CN 106346447A CN 201610776509 A CN201610776509 A CN 201610776509A CN 106346447 A CN106346447 A CN 106346447A
- Authority
- CN
- China
- Prior art keywords
- hole
- arm
- base
- mechanical hand
- axis
- 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
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Pivots And Pivotal Connections (AREA)
Abstract
The invention discloses a manipulator, belongs to the technical field of manipulators and solves the problem that a bolt of a current manipulator is inconveniently arranged. The manipulator comprises a base and an arm rotatably arranged on the upper side of the base by taking a first axis as a center. The manipulator is characterized in that the arm is provided with a vertically through first hole which is vertically formed, the base is provided with a second hole which is vertically formed, the second hole is positioned under the arm, and the vertical distance between the first hole and the first axis is approximately equal to that between the second hole and the first axis. According to the manipulator, as the first hole corresponding to the second hole in the base is formed in the arm, a bolt on the base is conveniently arranged.
Description
Technical field
The invention belongs to mechanical hand technical field.
Background technology
Chinese patent (publication number cn205129842u, publication date 20160406) discloses a kind of horizontal articulated mechanism,
Including pedestal, the first cantilever and the second cantilever, the first cantilever energy opposite base is centered on first axle rotatably located at pedestal
On, centered on second axis rotatably on the first cantilever, the second cantilever is provided with energy to second cantilever energy the first cantilever relatively
Along the splined shaft of the 3rd axial-movement, the second cantilever is provided with the ball screw parallel with splined shaft, ball spiral shell to second cantilever relatively
The upper end of bar is arranged with nut, and nut is connected with the upper end of splined shaft by connecting plate, and the lower end of ball screw is connected with first
Electric rotating machine, first axle, second axis, the 3rd axis are parallel to each other, and the lower end of splined shaft is socketed with hollow motor, hollow electricity
The outfan of machine is connected with wrist axis by shaft coupling.
In this mechanical hand, the first cantilever is connected on pedestal, and the bolt on pedestal is located at the outside of the first cantilever.Position
On pedestal on the downside of the first cantilever cannot installation bolt so that bolt setting inconvenience.
Content of the invention
The present invention is directed to above-mentioned literary composition problem it is proposed that a kind of bolt arranges conveniently mechanical hand, can be by following skills
Art scheme is realizing:
Mechanical hand, be rotatably arranged on arm base on the upside of it is characterised in that institute including base with centered on axis one
The hole one run through up and down and be vertically arranged is had on the arm stated, described base has the hole two being vertically arranged, described
Hole two is located at the underface of arm, and the vertical dimension that the vertical dimension of axis one arrives axis one with hole two is arrived substantially in described hole one
Equal.
When using, base is used for being arranged on other parts or work top mechanical hand.Hole two is located at immediately below arm
The meaning be, in the vertical direction, the part of arm is located at the surface in hole two and shelters from hole two, but due on arm
There is hole one, after arm is with respect to base rotation certain angle, make Kong Yiyu hole two just right, when being arranged on bolt on hole two
When, instrument can pass through hole one, and the bolt in device to hole two is fastened or dismantles.Therefore, bolt sets this mechanical hand when mounted
Put more convenient.
In above-mentioned mechanical hand, the quantity in hole two is multiple and distribution is arranged on base, and the quantity in described hole one is
One.
In the structure shown here, the corresponding multiple holes two in hole one are arranged, on the one hand, both made perforate on arm less so that
Arm structure problem, also makes the bolt of setting on base more, improves the fixing stability on other components of base.
In above-mentioned mechanical hand, described arm has cover lid, described hole one is located at cover lid inner side.
Cover lid device to hole one serve covering and protective effect, it is to avoid debris access aperture one so that the structure of mechanical hand more
Overall, it is easy to clean.
In above-mentioned mechanical hand, between described arm and base, it is provided with rotating shaft, described rotating shaft is hollow structure, institute
Cable-through hole is had on the arm stated, described mechanical hand includes distribution, described distribution passes through rotating shaft and passes through cable-through hole, and rotating shaft
It is located in cover lid, and the part being located between rotating shaft and cable-through hole on distribution is located in cover lid.
In the structure shown here, on the one hand cover lid serves covering protective effect to distribution, on the other hand, using this structure, with
When also play cover and protection hole one effect.
In this mechanical hand, due to hole one corresponding with hole on base two being provided with arm so that spiral shell on base
Bolt setting is more convenient.
Brief description
Fig. 1 is a kind of structural representation of embodiment of mechanical hand；
Fig. 2 is a kind of explosive view of embodiment of mechanical hand；
Fig. 3 is the structural representation of mechanical hand another embodiment；
In figure, 1, base；1a, hole two；1b, base plate；1c, fixed seat；1d, hole three；2nd, arm；2a, Kong Yi；2b, excessively line
Hole；3rd, rotating shaft；4th, cover lid；5th, forearm.
Specific embodiment
Embodiment one
As depicted in figs. 1 and 2, this mechanical hands is included base 1 and is rotatably arranged on base 1 upside centered on axis one
Arm 2.One end of arm 2 is arranged on base 1, and the other end of arm 2 is connected with forearm 5, and forearm 5 is rotatably arranged on arm
On 2.
In the present embodiment, base 1 includes base plate 1b and fixed seat 1c, and arm 2 is connected on base plate 1b, and hole two 1a opens up
On base plate 1b, base plate 1b is bolted in fixed seat 1c.During use, fixed seat 1c is fixed on work top.
About one hole run through and be vertically arranged 2a is had on arm 2, base 1 has multiple holes being vertically arranged
Two 1a.Hole two 1a be located at arm 2 underface, the vertical dimension of hole one 2a to axis one vertical with hole two 1a to axis one away from
From roughly equal.
In the structure shown here, hole one 2a corresponds to multiple hole two 1a settings, on the one hand, both made perforate on arm 2 less,
Make arm 2 structure problem, also make on base 1 bolt of setting more, improve fixing the stablizing on other components of base 1
Property.
Except hole two 1a, base plate 1b is additionally provided with multiple hole three 1d, bolt is fixed in fixed seat 1c through hole three 1d, makes
The structure obtaining base 1 is more firm.
Cover lid 4 is had on arm 2, hole one 2a is located at cover lid 4 inner side.It is provided with rotating shaft 3, rotating shaft between arm 2 and base 1
3 is hollow structure, arm 2 has cable-through hole 2b, mechanical hand includes distribution, and distribution passes through rotating shaft 3 and passes through cable-through hole 2b, and
Rotating shaft 3 is located in cover lid 4, and the part being located between rotating shaft 3 and cable-through hole 2b on distribution is located in cover lid 4.In the structure shown here,
Cover lid 4 one aspects serve covering protective effect to distribution, on the other hand, using this structure, also play covering simultaneously and protect
The effect of guard aperture one 2a.
When using, base 1 is used for being arranged on other parts or work top mechanical hand.Hole two 1a is just being located at arm 2
The meaning of lower section is, in the vertical direction, and the part of arm 2 is located at the surface of hole two 1a and shelters from hole two 1a, but
Due to hole one 2a being had on arm 2, after arm 2 turns an angle with respect to base 1, make hole one 2a just right with hole two 1a, when
When bolt is arranged on the 1a of hole two, instrument can pass through hole one 2a, and the bolt on device to hole two 1a is fastened or dismantles.Cause
This, the bolt setting when mounted of this mechanical hand is more convenient.
Embodiment two
The present embodiment is roughly the same with embodiment one, and different places is, in the present embodiment, as shown in figure 3, base
1 is plate-shaped base plate 1b, and hole two 1a is arranged on base plate 1b.During use, base plate 1b is fixed on through hole two 1a by bolt
On work top.
Claims (4)
1. mechanical hand, be rotatably arranged on arm (2) base (1) on the upside of including base (1) with centered on axis one, its feature
It is that the hole one (2a) run through up and down and be vertically arranged is had on described arm (2), described base (1) has vertically
The hole two (1a) of setting, described hole two (1a) is located at the underface of arm (2), and the vertical of axis one is arrived in described hole one (2a)
The vertical dimension that distance arrives axis one with hole two (1a) is roughly equal.
2. mechanical hand according to claim 1 is it is characterised in that the quantity in hole two (1a) is multiple and distribution is arranged on bottom
On seat (1), the quantity of described hole one (2a) is one.
3. mechanical hand according to claim 1 is it is characterised in that having cover lid (4) on described arm (2), described
Hole one (2a) is located to be located inside cover lid (4).
4. mechanical hand according to claim 3 is it is characterised in that be provided with rotating shaft between described arm (2) and base (1)
(3), described rotating shaft (3) is hollow structure, described arm (2) has cable-through hole (2b), described mechanical hand includes joining
Line, described distribution pass through rotating shaft (3) and pass through cable-through hole (2b), and rotating shaft (3) be located at cover lid (4) in, and on distribution be located at turn
Part between axle (3) and cable-through hole (2b) is located in cover lid (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610776509.4A CN106346447B (en) | 2016-08-30 | 2016-08-30 | Manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610776509.4A CN106346447B (en) | 2016-08-30 | 2016-08-30 | Manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106346447A true CN106346447A (en) | 2017-01-25 |
| CN106346447B CN106346447B (en) | 2018-08-14 |
Family
ID=57857089
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610776509.4A Active CN106346447B (en) | 2016-08-30 | 2016-08-30 | Manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106346447B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4547119A (en) * | 1981-10-23 | 1985-10-15 | United States Robots, Inc. | Robotic manipulator arm |
| DE20003638U1 (en) * | 2000-02-29 | 2000-05-25 | D & T Engineering Gmbh | Robot cell for handling devices |
| CN203031254U (en) * | 2012-12-31 | 2013-07-03 | 深圳先进技术研究院 | Automatic screw-locking device and system |
| CN204868867U (en) * | 2015-07-17 | 2015-12-16 | 厦门利茗精密机电有限公司 | Robotic arm closes pitch plane mobile device |
| CN105522563A (en) * | 2016-01-21 | 2016-04-27 | 珠海格力电器股份有限公司 | Multi-joint robot |
| CN206029886U (en) * | 2016-08-30 | 2017-03-22 | 浙江琦星电子有限公司 | Manipulator |
-
2016
- 2016-08-30 CN CN201610776509.4A patent/CN106346447B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4547119A (en) * | 1981-10-23 | 1985-10-15 | United States Robots, Inc. | Robotic manipulator arm |
| DE20003638U1 (en) * | 2000-02-29 | 2000-05-25 | D & T Engineering Gmbh | Robot cell for handling devices |
| CN203031254U (en) * | 2012-12-31 | 2013-07-03 | 深圳先进技术研究院 | Automatic screw-locking device and system |
| CN204868867U (en) * | 2015-07-17 | 2015-12-16 | 厦门利茗精密机电有限公司 | Robotic arm closes pitch plane mobile device |
| CN105522563A (en) * | 2016-01-21 | 2016-04-27 | 珠海格力电器股份有限公司 | Multi-joint robot |
| CN206029886U (en) * | 2016-08-30 | 2017-03-22 | 浙江琦星电子有限公司 | Manipulator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106346447B (en) | 2018-08-14 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 317604 Nanyou Industrial Zone, Damaiyu Development Zone, Yuhuan County, Taizhou City, Zhejiang Province Patentee after: Qixing Intelligent Technology Co., Ltd. Address before: 317604 Nanyou Industrial Zone, Damaiyu Development Zone, Yuhuan County, Taizhou City, Zhejiang Province Patentee before: ZHEJIANG QIXING ELECTRONICS CO., LTD. |
|
| CP01 | Change in the name or title of a patent holder |