CN106737601A - Crawl type mechanical arm - Google Patents
Crawl type mechanical arm Download PDFInfo
- Publication number
- CN106737601A CN106737601A CN201710042075.XA CN201710042075A CN106737601A CN 106737601 A CN106737601 A CN 106737601A CN 201710042075 A CN201710042075 A CN 201710042075A CN 106737601 A CN106737601 A CN 106737601A
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- mechanical arm
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- hinged
- reductor
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- 210000000245 forearm Anatomy 0.000 claims description 10
- 230000005611 electricity Effects 0.000 claims description 8
- 239000006096 absorbing agent Substances 0.000 claims 1
- 239000000463 material Substances 0.000 abstract description 4
- 238000001179 sorption measurement Methods 0.000 description 3
- 150000001875 compounds Chemical class 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 238000012938 design process Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000001225 therapeutic effect 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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- 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
- B25J9/0021—All motors in base
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Crawl type mechanical arm, it is characterised in that including rotation console, the mechanical arm on rotation console herein is set, the mechanical gripper in this mechanical arm front end is set, be arranged on the air-control device on the mechanical arm.Crawl type mechanical arm compact conformation of the invention, light and handy flexible, small volume can carry out the operation in small space, be not take up space；The principal arm of mechanical arm is driven using bi-motor, each armed lever structure setting compact and reasonable effectively increases integral rigidity and stability, the operability for meeting the accuracy of material crawl and carrying；Existing horizontal rotation, vertical rotary, gradient rotation etc. can be realized to complete the demand of various feature angles.
Description
Technical field
The invention belongs to robot equipment technical field, more particularly, to a kind of crawl type mechanical arm.
Background technology
Mechanical arm is the automated machine device that most broad practice is obtained in robot technical field, is made in industry
Make, therapeutic treatment, entertainment service, military affairs, the field such as semiconductor manufacturing and space probation can see its figure.Although it
Form have nothing in common with each other, but they have one it is common the characteristics of, can exactly receive instruction, be precisely positioned to three-dimensional
（Or two dimension）Certain point spatially carries out operation.
Mechanical arm is divided into multi-joint manipulator arm according to the difference of structure type, and rectangular coordinate system mechanical arm, ball is sat
Mark system mechanical arm, polar coordinates mechanical arm, cylindrical coordinates mechanical arm etc..Most common six degree of freedom mechanical arm can be realized
X is moved, and Y movements, Z movements, X is rotated, and Y is rotated, and Z is rotated, to meet the flexible of mechanical arm, rotation and elevating function.
In the design process of mechanical arm, the basic role of arm is most importantly considered, will be needed for paw moves to
Position and the maximum weight of pawl grabbing workpiece is born, and arm weight in itself, this requires that arm answers large carrying capacity, just
Property is good, from heavy and light.The rigidity of arm directly influences stationarity, the speed of motion and the positioning accurate acted during arm grabbing workpiece
Degree.Lateral torsional deflection in arm flexural deformation in vertical plane and horizontal plane can be caused if poor rigidity, arm will
Workpiece is stuck when producing and vibrate, or acting cannot work.Therefore, in addition to from the good preferable material of rigidity, the structure of arm
Design and the driving force size provided arm also directly affects the stationarity of arm crawl work.Secondly, the knot of arm
Structure wants compact compact, can just do arm motion brisk, flexible.Especially for cantilevered mechanical arm, it is also contemplated that part exists
Arrangement on arm, to avoid gravity torque to the adverse effect of arm motion, gravity torque is bigger, can cause the vibration of arm
It is bigger.At present, in the structure design of crawl type mechanical arm, often there are problems that a lot, such as poor rigidity, arm operation is uneven
Surely；Arm volume is excessive, take up an area wide, complex structure, heaviness；Equipment failure rate is high, increases maintenance cost, and reduction equipment uses the longevity
Life.
The content of the invention
It is an object of the invention to provide a kind of small volume, delicate structure is compact, and rigidity is strong, good stability, captures positioning accurate
Accurate crawl type mechanical arm.
The purpose of the present invention is realized by following technical proposals：
Crawl type mechanical arm of the invention, it is characterised in that including rotation console, the machine on rotation console herein is set
Tool arm, sets the mechanical gripper in this mechanical arm front end, is arranged on the air-control device on the mechanical arm,
Described rotation console includes underframe, sets the rotating base on this underframe, the electricity being connected with this rotating base
Machine I,
Described mechanical arm includes drive device and the mechanical armed lever being connected with this drive device, and described drive device includes
It is set in parallel in motor II and motor III on the rotating base, the reductor I being connected with the motor II, with the electricity
The reductor II that machine III is connected,
Described mechanical armed lever includes the principal arm that is connected with the output shaft of the reductor I and reductor II respectively, and described
The swing rod I that the output shaft of reductor I is connected, the swing rod II being connected with the output shaft of the reductor II, with the swing rod I
The postbrachium I being hinged by axle I, the postbrachium II being hinged by axle II with the swing rod II passes through the phase of axle III with the principal arm
The auxiliary I being hinged, the small armed lever being hinged by axle IV with this other end of auxiliary I, the axle V being connected with this small armed lever, with this axle
V forearm being hinged, the triangular connecting plate being hinged by axle VI with the other end of this forearm, connect this triangular connecting plate and
The axle VII of the postbrachium II, the auxiliary II being hinged with described postbrachium I by axle VIII,
Described forearm is hinged with the angle I of described triangular connecting plate
The angle II of described triangular connecting plate is hinged by axle VII with described postbrachium II,
The angle III of described triangular connecting plate is hinged with described axle III.
Described mechanical gripper includes the link being fixedly connected with the small armed lever, sets the stepping on this link
Motor, the reductor III being connected with this stepper motor, the grappling fixture being connected with this reductor III.
Described air-control device includes gas supply device, and control device is arranged on the pipe support on the mechanical armed lever, Gu
It is scheduled on the tracheae on the pipe support or the mechanical armed lever, the geometrical clamp of the fixation tracheae.
Described grappling fixture includes the gas folder being connected with the reductor III, the clamping jaw being connected with this gas folder.
Described grappling fixture is electricity folder, sucker or electromagnetic adsorption device.
Advantages of the present invention：
Crawl type mechanical arm compact conformation of the invention, light and handy flexible, small volume can carry out the operation in small space, not account for
Use space；The principal arm of mechanical arm is driven using bi-motor, each armed lever structure setting compact and reasonable is effectively increased
Integral rigidity and stability, the operability for meeting the accuracy of material crawl and carrying；Existing horizontal rotation can be realized, hung down
Direct rotary turns, gradient rotation etc. is completing the demand of various feature angles.
Brief description of the drawings
Fig. 1 is the structural representation of invention.
Fig. 2 is the front view of inventing type Fig. 1.
Specific embodiment
Specific embodiment of the invention is further illustrated below in conjunction with the accompanying drawings.
As shown in Figure 1, 2, crawl type mechanical arm of the invention, it is characterised in that including rotation console, set herein
Mechanical arm on rotation console, sets the mechanical gripper in this mechanical arm front end, is arranged on the gas control dress on the mechanical arm
Put,
Described rotation console includes underframe 14, the rotating base 13 on this underframe 14 is set, with this phase of rotating base 13
The motor I of connection,
Described mechanical arm includes drive device and the mechanical armed lever being connected with this drive device, and described drive device includes
It is set in parallel in motor II 17 and motor III 18 on the rotating base 13, the reductor I being connected with the motor II 17
15, the reductor II 30 being connected with the motor III 18,
Described mechanical armed lever includes the principal arm 11 being connected with the output shaft of the reductor I 15 and reductor II 30 respectively,
The swing rod I 16 being connected with the output shaft of the reductor I 15, the swing rod being connected with the output shaft of the reductor II 30
II, the postbrachium I 19 being hinged by axle I 22 with the swing rod I 16, the postbrachium II being hinged by axle II 23 with the swing rod II
20, the auxiliary I 9 being hinged by axle III 24 with the principal arm 11, with this other end of auxiliary I 9 by axle IV 25 be hinged it is small
Armed lever 6, the axle V 26 being connected with this small armed lever 6, the forearm 12 being hinged with this axle V 26, the other end with this forearm 12 passes through
The triangular connecting plate 10 that axle VI 27 is hinged, connects the axle VII 28 of this triangular connecting plate 10 and the postbrachium II 20, by axle VIII
29 auxiliarys II 21 being hinged with described postbrachium I 19,
Described forearm 12 is hinged with the angle I of described triangular connecting plate 10
The angle II of described triangular connecting plate 10 is hinged by axle VII 28 with described postbrachium II 20,
The angle III of described triangular connecting plate 10 is hinged with described axle III 24.
Described mechanical gripper includes the link 3 being fixedly connected with the small armed lever 6, sets on this link 3
Stepper motor 5, the reductor III 4 being connected with this stepper motor 5, the grappling fixture being connected with this reductor III 4.
Described air-control device includes gas supply device, and control device is arranged on the pipe support 7 on the mechanical armed lever,
It is fixed on the tracheae 8 on the pipe support 7 or the mechanical armed lever, the geometrical clamp of the fixation tracheae 8.
Described grappling fixture includes the gas folder 2 being connected with the reductor III 4, the clamping jaw 1 being connected with this gas folder 2, institute
The gas folder 2 stated is connected with the described output end of tracheae 8.
Described grappling fixture is electricity folder, sucker or electromagnetic adsorption device.
Crawl type mechanical arm of the invention, is capable of achieving space（Horizontal 180 degree）Any point is moved freely, and mechanical arm is
On rotation console, rotation console is controlled by motor I to be realized being moved at any angle in horizontal 180 degree,
Rotation console top is made up of three parallelogram mechanical shafts perpendicular to horizontal plane, as shown in Fig. 2 passing through connecting shaft
The 26- forearm 12- axles VI 27 of III 24- auxiliarys, I 9- axles, IV 25- axles V, obtain a front end parallelogram；The 24- pairs of connecting shaft III
I 19- axles of arm II 21- axles, VIII 29- postbrachiums I, I output shaft of 22- reductors-principal arm 11, obtains a parallelogram I；Connecting shaft III
VII 28- postbrachiums of 24- axles, II 20- axles II, II output shaft of 23- reductors-principal arm 11, obtains a parallelogram II；The two by
The parallelogram armed lever perpendicular to horizontal plane that motor drives does mutually parallel motion, by two groups of mechanical armed levers of motor control
I.e. two parallelogram of vertical movement are connected by axle and triangular connecting plate 10 with front end parallelogram, triangular connecting plate
It is respectively two sides of parallelogram that 10 two equilateral；Mechanical gripper is arranged on the end of front end parallelogram, and two by electricity
The compound motion of the parallelogram of the vertical level that machine drives, completes vertical（Z-direction）With it is front and rear（Y-direction）It is mobile, rotation
Turntable rotate and（Y-direction）Compound motion completes left and right（X-direction）It is mobile；As a result of three perpendicular to the parallel of horizontal plane
Quadrangle completes space movement, makes mechanical gripper（That is mechanical arm tail end）No matter always it is to maintain in any position in space horizontal
State；Mechanical gripper can install motor as needed, be capable of achieving horizontal rotation, vertical rotary, gradient rotation etc. to complete certain
The demand of angle, the gripping tool that the various functions such as gas folder, sucker, electromagnetic adsorption can be installed on manipulator motor completes any
The tasks such as crawl, the placement of article.
Crawl type mechanical arm compact conformation of the invention, it is light and handy that flexibly small volume can carry out the operation in small space,
It is not take up space；The principal arm of mechanical arm is driven using bi-motor, each armed lever structure setting compact and reasonable is effectively carried
High integral rigidity and stability, the operability for meeting the accuracy of material crawl and carrying；Existing level rotation can be realized
Turn, vertical rotary, gradient rotation etc. to be to complete the demand of various feature angles.
Claims (5)
1. a kind of crawl type mechanical arm, it is characterised in that including rotation console, the machinery on rotation console herein is set
Arm, sets the mechanical gripper in this mechanical arm front end, is arranged on the air-control device on the mechanical arm,
Described rotation console includes underframe, sets the rotating base on this underframe, the electricity being connected with this rotating base
Machine I,
Described mechanical arm includes drive device and the mechanical armed lever being connected with this drive device, and described drive device includes
It is set in parallel in motor II and motor III on the rotating base, the reductor I being connected with the motor II, with the electricity
The reductor II that machine III is connected,
Described mechanical armed lever includes the principal arm that is connected with the output shaft of the reductor I and reductor II respectively, and described
The swing rod I that the output shaft of reductor I is connected, the swing rod II being connected with the output shaft of the reductor II, with the swing rod I
The postbrachium I being hinged by axle I, the postbrachium II being hinged by axle II with the swing rod II passes through the phase of axle III with the principal arm
The auxiliary I being hinged, the small armed lever being hinged by axle IV with this other end of auxiliary I, the axle V being connected with this small armed lever, with this axle
V forearm being hinged, the triangular connecting plate being hinged by axle VI with the other end of this forearm, connect this triangular connecting plate and
The axle VII of the postbrachium II, the auxiliary II being hinged with described postbrachium I by axle VIII,
Described forearm is hinged with the angle I of described triangular connecting plate
The angle II of described triangular connecting plate is hinged by axle VII with described postbrachium II,
The angle III of described triangular connecting plate is hinged with described axle III.
2. crawl type mechanical arm according to claim 1, it is characterised in that described mechanical gripper includes small with described
The link that armed lever is fixedly connected, stepper motor of the setting on this link, the reductor III being connected with this stepper motor,
The grappling fixture being connected with this reductor III.
3. crawl type mechanical arm according to claim 1, it is characterised in that described air-control device includes gas supply
Device, control device is arranged on the pipe support on the mechanical armed lever, is fixed on the gas on the pipe support or the mechanical armed lever
Pipe, the geometrical clamp of the fixation tracheae.
4. crawl type mechanical arm according to claim 2, it is characterised in that described grappling fixture includes and the reductor
The III gas folder being connected, the clamping jaw being connected with this gas folder.
5. crawl type mechanical arm according to claim 2, it is characterised in that described grappling fixture is electricity folder, sucker or electromagnetism
Absorber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710042075.XA CN106737601A (en) | 2017-01-20 | 2017-01-20 | Crawl type mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710042075.XA CN106737601A (en) | 2017-01-20 | 2017-01-20 | Crawl type mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106737601A true CN106737601A (en) | 2017-05-31 |
Family
ID=58943510
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710042075.XA Pending CN106737601A (en) | 2017-01-20 | 2017-01-20 | Crawl type mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106737601A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107538472A (en) * | 2017-10-12 | 2018-01-05 | 王磊 | A kind of mechanical arm and robot and robot experimental system |
| CN108405374A (en) * | 2018-02-01 | 2018-08-17 | 上海建桥学院 | A kind of mechanical arm picking up system of automatic discrimination different colours |
| CN108582060A (en) * | 2018-05-14 | 2018-09-28 | 南京蜘蛛侠智能机器人有限公司 | A kind of programmable mechanical arm of desktop |
| CN109159145A (en) * | 2018-11-08 | 2019-01-08 | 浙江希望机械有限公司 | A kind of tracking mode bubble cap tray transfer robot arm |
| CN112008709A (en) * | 2020-09-01 | 2020-12-01 | 四川朗迪新材料有限公司 | Rotary mechanical arm of hydraulic mechanical arm |
| EP3846973A4 (en) * | 2018-09-06 | 2022-10-26 | Université Laval | Movement assistance apparatus, e.g., for feeding, writing |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07124877A (en) * | 1993-10-29 | 1995-05-16 | Meidensha Corp | Slave arm of master slave type manipulator |
| CN103787080A (en) * | 2014-02-14 | 2014-05-14 | 江南大学 | Light-load high-speed conveying mechanical arm |
| CN105082107A (en) * | 2015-08-31 | 2015-11-25 | 河南科技大学 | Heavy-load carrying manipulator for forging |
| CN205835415U (en) * | 2016-08-03 | 2016-12-28 | 福州达益丰机械制造有限公司 | A kind of palletizing mechanical arm |
| CN206383132U (en) * | 2017-01-20 | 2017-08-08 | 鞍山市庆隆机电有限公司 | Crawl type mechanical arm |
-
2017
- 2017-01-20 CN CN201710042075.XA patent/CN106737601A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07124877A (en) * | 1993-10-29 | 1995-05-16 | Meidensha Corp | Slave arm of master slave type manipulator |
| CN103787080A (en) * | 2014-02-14 | 2014-05-14 | 江南大学 | Light-load high-speed conveying mechanical arm |
| CN105082107A (en) * | 2015-08-31 | 2015-11-25 | 河南科技大学 | Heavy-load carrying manipulator for forging |
| CN205835415U (en) * | 2016-08-03 | 2016-12-28 | 福州达益丰机械制造有限公司 | A kind of palletizing mechanical arm |
| CN206383132U (en) * | 2017-01-20 | 2017-08-08 | 鞍山市庆隆机电有限公司 | Crawl type mechanical arm |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107538472A (en) * | 2017-10-12 | 2018-01-05 | 王磊 | A kind of mechanical arm and robot and robot experimental system |
| CN108405374A (en) * | 2018-02-01 | 2018-08-17 | 上海建桥学院 | A kind of mechanical arm picking up system of automatic discrimination different colours |
| CN108405374B (en) * | 2018-02-01 | 2024-04-23 | 上海建桥学院 | Automatic distinguish arm pickup system of different colours |
| CN108582060A (en) * | 2018-05-14 | 2018-09-28 | 南京蜘蛛侠智能机器人有限公司 | A kind of programmable mechanical arm of desktop |
| EP3846973A4 (en) * | 2018-09-06 | 2022-10-26 | Université Laval | Movement assistance apparatus, e.g., for feeding, writing |
| CN109159145A (en) * | 2018-11-08 | 2019-01-08 | 浙江希望机械有限公司 | A kind of tracking mode bubble cap tray transfer robot arm |
| EP3674041A4 (en) * | 2018-11-08 | 2020-07-01 | Zhejiang Hoping Machinery Co., Ltd. | Tracking-type blister pack transferring manipulator |
| CN112008709A (en) * | 2020-09-01 | 2020-12-01 | 四川朗迪新材料有限公司 | Rotary mechanical arm of hydraulic mechanical arm |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20171124 Address after: No. 100, hi tech Development Zone, Anshan, Liaoning Province Applicant after: ANSHAN QINGLONG ELECTROMECHANICAL CO.,LTD. Applicant after: University of Science and Technology Liaoning Address before: 114001 100 science and technology road, hi tech Development Zone, Liaoning, Anshan Applicant before: ANSHAN QINGLONG ELECTROMECHANICAL CO.,LTD. |
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| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20191129 Address after: 114000 Liaoning city of Anshan province high tech Zone Mountain Road No. 262 Applicant after: Anshan Qinglong electromechanical Co.,Ltd. Address before: No. 100, hi tech Development Zone, Anshan, Liaoning Province Applicant before: ANSHAN QINGLONG ELECTROMECHANICAL CO.,LTD. Applicant before: University of Science and Technology Liaoning |
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Application publication date: 20170531 |