CN106346460B - A kind of universal mechanical arm of three-dimensional - Google Patents
A kind of universal mechanical arm of three-dimensional Download PDFInfo
- Publication number
- CN106346460B CN106346460B CN201611001596.2A CN201611001596A CN106346460B CN 106346460 B CN106346460 B CN 106346460B CN 201611001596 A CN201611001596 A CN 201611001596A CN 106346460 B CN106346460 B CN 106346460B
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- arm
- rotation axis
- vertical rotation
- main jib
- pull rod
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- 238000009987 spinning Methods 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000000203 mixture Substances 0.000 description 3
- 206010052804 Drug tolerance Diseases 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000026781 habituation Effects 0.000 description 1
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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Jib Cranes (AREA)
Abstract
A kind of universal mechanical arm of three-dimensional, it is related to a kind of medical mechanism arm.The present invention is to solve the problems, such as that the mechanical arm degree of freedom of existing medical instrument is low, precision is low and of high cost.A kind of universal mechanical arm of three-dimensional includes master arm, horizontal pivoted arm, vertical legs, oblique pull support arm, push-and-pull rod, main jib, spring, sliding block, mobile pull rod, moving arm and strut, one end of main jib is rotatablely connected by the first vertical rotation axis in the middle part of oblique pull support arm with oblique pull support arm, one end of strut is rotatablely connected by the first vertical rotation axis of oblique pull support arm lower end with oblique pull support arm, one end of mobile pull rod is rotatablely connected by the second vertical rotation axis and push-and-pull rod, the other end of mobile pull rod is rotatablely connected by third vertical rotation axis and main jib, sliding block is arranged on main jib, spring is equipped between sliding block and the other end of main jib, the other end of strut is rotatablely connected with sliding block, one end of moving arm is connect with third vertical rotation axis.The present invention is used for medical instrument.
Description
Technical field
The present invention relates to a kind of medical mechanism arms, and in particular to a kind of universal mechanical arm of three-dimensional.
Background technology
Every profession and trade all replaces the hand labour of transmission, the works such as a large amount of mechanical arm by mechanical work in modern society
Industry machine applications and give birth to, precision is high, efficiency is fast, by it is commonly used in market.In existing mechanical arm, degree of freedom is got over
Height, precision are higher, and corresponding cost of manufacture is also higher.In medical instrument, all kinds of precision instruments need cooperative mechanical mostly
Arm uses, and degree of freedom is high, mechanical arm with high accuracy, and cost also improves therewith, and existing lower-cost mechanical arm,
Degree of freedom and precision all cannot be satisfied the use demand of precision instrument.Therefore, it is next to be badly in need of a kind of high mechanical arm at low cost of precision
Meet the use demand of Medical Device Market.
Invention content
The present invention is in order to solve the problems, such as that the mechanical arm degree of freedom of existing medical instrument is low, precision is low and of high cost, in turn
It is proposed a kind of universal mechanical arm of three-dimensional.
The present invention adopts the technical scheme that solve above-mentioned technical problem：
A kind of universal mechanical arm of three-dimensional includes master arm, horizontal pivoted arm, vertical legs, oblique pull support arm, push-and-pull rod, master
Spiral arm, spring, sliding block, mobile pull rod, moving arm and strut, horizontal pivoted arm is horizontally disposed, and the lower section of horizontal pivoted arm one end is along perpendicular
Histogram is in axial direction equipped with first level shaft to the top equipped with master arm, master arm, and one end of horizontal pivoted arm is logical
First level shaft to be crossed to be rotatablely connected with master arm, the top of the horizontal pivoted arm other end is vertically equipped with vertical legs,
The bottom end of vertical legs is equipped with the second horizontal rotating shaft in an axial direction, and the other end of horizontal pivoted arm passes through the second horizontal rotating shaft and vertical branch
Arm is rotatablely connected, and oblique pull support arm is arranged in the top of vertical legs, and the upper and lower ends of oblique pull support arm and middle part are radially square respectively
To first vertical rotation axis is respectively provided with, one end of push-and-pull rod passes through the first vertical rotation axis and oblique pull branch of oblique pull support arm upper end
Arm is rotatablely connected, and one end of main jib is rotatablely connected by the first vertical rotation axis in the middle part of oblique pull support arm with oblique pull support arm, strut
One end be rotatablely connected by the first vertical rotation axis of oblique pull support arm lower end and oblique pull support arm, the other end of push-and-pull rod is radially
Direction is equipped with the second vertical rotation axis, and one end of mobile pull rod is rotatablely connected by the second vertical rotation axis and push-and-pull rod, main jib
The other end be radially equipped with third vertical rotation axis, the other end of mobile pull rod passes through third vertical rotation axis and turns with main jib
Dynamic connection, sliding block are arranged on main jib, and sliding block slides along main jib length direction, between sliding block and the other end of main jib
Equipped with spring, the other end and the sliding block of strut are rotatablely connected, and one end of moving arm is connect with third vertical rotation axis.
The advantageous effect that the present invention includes compared with prior art is：
The structure of the present invention is simple, and easy to operate, production cost is low, and multi-angle, multi-faceted rotation may be implemented, mobile
Freely, accurate positioning, mechanical arm zero shake after positioning, zero offset.Bullet can be adjusted according to the flexible in size of load when in use
The elastic force of spring is widely used in the use demand of all kinds of precision instruments.
Invention applies base of principle of human engineering, fully take into account the ease for operation of operator, the habituation of people and make
Comfort.It can precise positioning by simply moving branch arm head during use." switch " and " locking " are not needed
Operation.It is easy to use, freely.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention.
Specific implementation mode
Specific implementation mode one：Embodiment is described with reference to Fig. 1, a kind of universal mechanical arm of three-dimensional described in present embodiment
Including master arm 1, horizontal pivoted arm 2, vertical legs 3, oblique pull support arm 4, push-and-pull rod 5, main jib 6, spring 7, sliding block 8, move
Dynamic pull rod 10, moving arm 11 and strut 12, horizontal pivoted arm 2 is horizontally disposed, and the lower section of 2 one end of horizontal pivoted arm is vertically equipped with
The top of master arm 1, master arm 1 is in axial direction equipped with first level shaft 13, and one end of horizontal pivoted arm 2 passes through first
Horizontal rotating shaft 13 is rotatablely connected with master arm 1, and the top of 2 other end of horizontal pivoted arm is vertically equipped with vertical legs 3, hangs down
The bottom end of allotment arm 3 is equipped with the second horizontal rotating shaft 14 in an axial direction, and the other end of horizontal pivoted arm 2 by the second horizontal rotating shaft 14 and hangs down
Allotment arm 3 is rotatablely connected, and oblique pull support arm 4 is arranged in the top of vertical legs 3, the upper and lower ends of oblique pull support arm 4 and middle part difference
Radially it is respectively provided with first vertical rotation axis 15, one end of push-and-pull rod 5 is first vertical by 4 upper end of oblique pull support arm
Shaft 15 and oblique pull support arm 4 are rotatablely connected, one end of main jib 6 by first vertical rotation axis 15 at 4 middle part of oblique pull support arm with tiltedly
Support arm 4 is drawn to be rotatablely connected, one end of strut 12 is rotated by the first vertical rotation axis 15 of 4 lower end of oblique pull support arm with oblique pull support arm 4
The other end of connection, push-and-pull rod 5 is radially equipped with the second vertical rotation axis 16, and one end of mobile pull rod 10 is hung down by second
Straight shaft 16 is rotatablely connected with push-and-pull rod 5, and the other end of main jib 6 is radially equipped with third vertical rotation axis 17, mobile
The other end of pull rod 10 is rotatablely connected by third vertical rotation axis 17 and main jib 6, and sliding block 8 is arranged on main jib 6, sliding block 8
Slided along 6 length direction of main jib, between sliding block 8 and the other end of main jib 6 be equipped with spring 7, the other end of strut 12 with
Sliding block 8 is rotatablely connected, and one end of moving arm 11 is connect with third vertical rotation axis 17.
So design realizes the dynamic balancing of entire mechanical arm, ensures the position of mechanical arm by the cooperation of spring 7 and sliding block 8
Precision is set, prevent to deviate and is vibrated.By the setting of first level shaft 13, mechanical arm big model in the front-back direction is realized
The movement enclosed；By the setting of the second horizontal rotating shaft 14, mechanical arm small-scale movement in the front-back direction is realized；Pass through three
The setting of first vertical rotation axis 15, the second vertical rotation axis 16 and third vertical rotation axis 17 realizes mechanical arm or more and right and left
To movement, to realize movement of the entire mechanical arm in spatial dimension.
Specific implementation mode two：Embodiment is described with reference to Fig. 1, push-and-pull rod 5 and main jib 6 described in present embodiment
Length it is identical, the distance between first vertical rotation axis of upper end 15 and the first vertical rotation axis of middle part 15 of oblique pull support arm 4 and mobile
The length of pull rod 10 is identical.Other compositions and connection type are same as the specific embodiment one.
So design makes push-and-pull rod 5, main jib 6, brace 4 and mobile pull rod 10 form a four-bar mechanism, with reality
Existing mechanical arm is in the movement up and down and on left and right directions.
Specific implementation mode three：Embodiment is described with reference to Fig. 1, and the other end of main jib 6 described in present embodiment is set
Elastic adjustment bar 9, the middle part that elastic force adjusts bar 9 are equipped with screw rod, and the both ends spinning of screw rod is on elastic force adjustment bar 9, elastic force tune
One end of whole bar 9 and one end of spring 7 are affixed, and the other end and sliding block 8 of spring 7 are affixed, and elastic force adjusts the other end and the master of bar 9
The other end of spiral arm 6 is affixed.Other compositions and connection type are the same as one or two specific embodiments.
So design is according to the size of load, the length of rotary screw, to change between elastic force adjustment bar 9 and sliding block 8
Distance, realize 7 elastic force of spring adjustment, so that load is rested on any position that can be moved up and down.
Specific implementation mode four：Embodiment is described with reference to Fig. 1, under first level shaft 13 described in present embodiment
End face and the top end face of master arm 1 are affixed, and the upper surface of the second horizontal rotating shaft 14 and the bottom face of vertical legs 3 are affixed.Its
It is formed is the same as the specific implementation mode 3 with connection type.
It is designed so that production and processing is convenient, is easily installed simultaneously.
Specific implementation mode five：Embodiment is described with reference to Fig. 1, one end of moving arm 11 described in present embodiment and the
Three vertical rotation axis, 17 affixed connection, the other end of moving arm 11 are connected with lever arm 18.It is other composition and connection type with specifically
Embodiment four is identical.
So design can make moving arm 11 keep horizontally disposed, and load is acted on lever arm 18, realize lever arm
18 movement.
Rotation may be implemented in lever arm 18 in present embodiment, to meet the adjustment of load self-view.
Claims (5)
1. a kind of universal mechanical arm of three-dimensional, it is characterised in that：A kind of universal mechanical arm of three-dimensional includes master arm (1), water
Flat turn arm (2), vertical legs (3), oblique pull support arm (4), push-and-pull rod (5), main jib (6), spring (7), sliding block (8), movement
Pull rod (10), moving arm (11) and strut (12), horizontal pivoted arm (2) is horizontally disposed, and the lower section of horizontal pivoted arm (2) one end is along vertical
Direction is equipped with master arm (1), and the top of master arm (1) is in axial direction equipped with first level shaft (13), horizontal pivoted arm
(2) one end is rotatablely connected by first level shaft (13) and master arm (1), the top edge of horizontal pivoted arm (2) other end
Vertical direction is equipped with vertical legs (3), and the bottom end of vertical legs (3) is equipped with the second horizontal rotating shaft (14), horizontal pivoted arm in an axial direction
(2) the other end is rotatablely connected by the second horizontal rotating shaft (14) and vertical legs (3), and oblique pull support arm (4) setting is vertically being propped up
The top of arm (3), the upper and lower ends of oblique pull support arm (4) and middle part are radially respectively provided with first vertical rotation axis respectively
(15), one end of push-and-pull rod (5) is rotated by first vertical rotation axis (15) of oblique pull support arm (4) upper end with oblique pull support arm (4)
One end of connection, main jib (6) is connected by the first vertical rotation axis (15) in the middle part of oblique pull support arm (4) with oblique pull support arm (4) rotation
It connecing, one end of strut (12) is rotatablely connected by first vertical rotation axis (15) of oblique pull support arm (4) lower end with oblique pull support arm (4),
The other end of push-and-pull rod (5) is radially equipped with the second vertical rotation axis (16), and one end of mobile pull rod (10) passes through second
Vertical rotation axis (16) is rotatablely connected with push-and-pull rod (5), and the other end of main jib (6) is radially equipped with third vertical rotation axis
(17), the other end of mobile pull rod (10) is rotatablely connected by third vertical rotation axis (17) and main jib (6), sliding block (8) setting
On main jib (6), sliding block (8) slides along main jib (6) length direction, between sliding block (8) and the other end of main jib (6)
Equipped with spring (7), the other end and the sliding block (8) of strut (12) are rotatablely connected, one end and the third vertical rotation axis of moving arm (11)
(17) it connects.
2. a kind of universal mechanical arm of three-dimensional according to claim 1, it is characterised in that：The push-and-pull rod (5) and main jib
(6) length is identical, between the first vertical rotation axis of upper end (15) and the first vertical rotation axis of middle part (15) of oblique pull support arm (4) away from
It is identical from the mobile length of pull rod (10).
3. a kind of universal mechanical arm of three-dimensional according to claim 1 or claim 2, it is characterised in that：The other end of the main jib (6)
Equipped with elastic force adjustment bar (9), the middle part that elastic force adjusts bar (9) is equipped with screw rod, and the both ends spinning of screw rod is in elastic force adjustment bar (9)
On, one end and one end of spring (7) of elastic force adjustment bar (9) are affixed, and the other end and sliding block (8) of spring (7) are affixed, elastic force tune
The other end of the other end and main jib (6) of whole bar (9) is affixed.
4. a kind of universal mechanical arm of three-dimensional according to claim 3, it is characterised in that：Under the first level shaft (13)
The top end face of end face and master arm (1) is affixed, and the upper surface of the second horizontal rotating shaft (14) is solid with the bottom face of vertical legs (3)
It connects.
5. a kind of universal mechanical arm of three-dimensional according to claim 4, it is characterised in that：One end of the moving arm (11) and the
The other end of three vertical rotation axis (17) affixed connection, moving arm (11) is connected with lever arm (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611001596.2A CN106346460B (en) | 2016-11-14 | 2016-11-14 | A kind of universal mechanical arm of three-dimensional |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611001596.2A CN106346460B (en) | 2016-11-14 | 2016-11-14 | A kind of universal mechanical arm of three-dimensional |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106346460A CN106346460A (en) | 2017-01-25 |
| CN106346460B true CN106346460B (en) | 2018-08-21 |
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ID=57862431
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611001596.2A Active CN106346460B (en) | 2016-11-14 | 2016-11-14 | A kind of universal mechanical arm of three-dimensional |
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| Country | Link |
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| CN (1) | CN106346460B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4482288A (en) * | 1981-09-07 | 1984-11-13 | Alfa Romeo Auto S.P.A. | Mechanical arm |
| CN2933742Y (en) * | 2006-07-04 | 2007-08-15 | 上海西重所重型机械成套有限公司 | Ladle air brick replacing manipulator |
| CN201143680Y (en) * | 2008-01-25 | 2008-11-05 | 常熟理工学院 | Four-freedom degree complete decoupling linear transmission column co-ordinate-type mechanical arm |
| CN105522556A (en) * | 2016-01-25 | 2016-04-27 | 佛山市南海区广工大数控装备协同创新研究院 | Four-degree-of-freedom multi-loop series-parallel mechanical arm |
| CN206140502U (en) * | 2016-11-14 | 2017-05-03 | 哈尔滨海鸿基业科技发展有限公司 | Three -dimensional universal arm |
-
2016
- 2016-11-14 CN CN201611001596.2A patent/CN106346460B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4482288A (en) * | 1981-09-07 | 1984-11-13 | Alfa Romeo Auto S.P.A. | Mechanical arm |
| CN2933742Y (en) * | 2006-07-04 | 2007-08-15 | 上海西重所重型机械成套有限公司 | Ladle air brick replacing manipulator |
| CN201143680Y (en) * | 2008-01-25 | 2008-11-05 | 常熟理工学院 | Four-freedom degree complete decoupling linear transmission column co-ordinate-type mechanical arm |
| CN105522556A (en) * | 2016-01-25 | 2016-04-27 | 佛山市南海区广工大数控装备协同创新研究院 | Four-degree-of-freedom multi-loop series-parallel mechanical arm |
| CN206140502U (en) * | 2016-11-14 | 2017-05-03 | 哈尔滨海鸿基业科技发展有限公司 | Three -dimensional universal arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106346460A (en) | 2017-01-25 |
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Denomination of invention: A three-dimensional universal robotic arm Granted publication date: 20180821 Pledgee: Harbin Kechuang Financing Guarantee Co.,Ltd. Pledgor: HARBIN HAIHONG JIYE TECHNOLOGY DEVELOPMENT Co.,Ltd. Registration number: Y2024230000027 |