CN107378911A - A kind of new mechanical arm - Google Patents
A kind of new mechanical arm Download PDFInfo
- Publication number
- CN107378911A CN107378911A CN201710653375.1A CN201710653375A CN107378911A CN 107378911 A CN107378911 A CN 107378911A CN 201710653375 A CN201710653375 A CN 201710653375A CN 107378911 A CN107378911 A CN 107378911A
- Authority
- CN
- China
- Prior art keywords
- rotating shaft
- arc
- motor
- shaft set
- intermediate plate
- 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
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
Abstract
The present invention discloses a kind of new mechanical arm, described cylindrical slide（11）It is opened in support column I（12）Inner side, described support column I（12）Bottom connection rotating shaft set II（13）, described rotating shaft set II（13）It is enclosed on rotating shaft II（14）On, described support column I（12）Top connection rotating shaft set III（15）, described rotating shaft set III（15）Pass through rotating shaft III with rotating shaft set IV（17）It is connected, support column II is connected in described rotating shaft set IV（18）One end, described support column II（18）Other end connection rotating shaft set V, described rotating shaft set V and rotating shaft set VI（19）Pass through rotating shaft IV（16）It is connected；The present invention can adjust the gripping height of whole manipulator with gripping angle, easy to use.
Description
Technical field
The invention belongs to mechanical manufacturing field, is a kind of new mechanical arm specifically.
Background technology
When entering the higher workpiece of trip temperature and taking be very easy to scald worker, even if having on thick gloves, also without
Method ensures absolute safety, and being operated for a long time under the higher environment of temperature also makes worker very painful, and
It can easily make worker injuries because workpiece is heavier when fetching the higher workpiece in position.
The content of the invention
The present invention provides a kind of new mechanical arm, and it is each electronic to can effectively solve the problem that sealing above mentioned problem can be controlled individually
Machine, it is easy to use so as to adjust the gripping of whole manipulator height with gripping angle.
To reach above-mentioned purpose, technological means that the present invention uses for：
A kind of new mechanical arm, its composition include：Sweep 1, linear electric motors, the bottom of described sweep 1 sets wheel 3, described
The front end of the top surface of sweep 1 tracks 2 of linear electric motors, the machine of sliding straight motor on the track 2 of described linear electric motors are set
Body 4, support limit piece 5 is set on the fuselage 4 of described linear electric motors, the right side of described support limit piece 5 sets rotating shaft I 6,
Rotating shaft set I 7 is set in described rotating shaft I 6, connection support bar 8 in described rotating shaft set I 7, the top post of described support bar 8
Shape sliding block 11 slides in chute 9, and the bottom of described chute 9 sets arc positioning groove 10, and described arc positioning groove 10 is matched somebody with somebody
Close cylindrical slide 11 to use, described cylindrical slide 11 is opened in the inner side of support column I 12, and the bottom of described support column I 12 connects
Switch through shaft sleeve II 13, described rotating shaft set II 13 is enclosed in rotating shaft II 14, and described rotating shaft II 14 is arranged on the rear end of sweep 1,
The top connection rotating shaft set III 15 of described support column I 12, described rotating shaft set III 15 passes through the phase of rotating shaft III 17 with rotating shaft set IV
Connect, one end of support column II 18, the other end connection rotating shaft set of described support column II 18 are connected in described rotating shaft set IV
V, described rotating shaft set V is connected with rotating shaft set VI 19 by rotating shaft IV 16, and the bottom of described rotating shaft set VI 19, which is set, stretches
Contracting overcoat 20, the described internal thread connection expansion link 21 of flexible overcoat 20, the lower section of described expansion link 21 set fixing axle 22,
Described fixing axle 22 coordinates clamping bar 23 to use, and tong 24 is connected on described clamping bar 23,
Described tong 24 includes vertical transiting rod 25, and the bottom of described vertical transiting rod 25 sets the outer intermediate plate of arc, described
The outer intermediate plate of arc the inner surface setting arc slide bar 27 of left side intermediate plate 26, described arc slide bar 27 is in arc hollow stem 28
Slide, described arc hollow stem 28 is connected to the inner surface of right side intermediate plate 29 of the outer intermediate plate of arc, described arc slide bar 27
Slide bar slideway 30 is set below outer surface, left side arc inner clamp piece 31 is slided on described slide bar slideway 30, described arc is empty
Hollow stem slideway 32 is set below the outer surface of core bar 28, right side arc inner clamp piece 33 is slided on described hollow stem slideway 32.
Further, the bottom of described left side arc inner clamp piece 31 and the bottom phase of the left side intermediate plate 26 of the outer intermediate plate of arc
Even, the bottom of described right side arc inner clamp piece 33 is connected with the bottom of the right side intermediate plate 29 of the outer intermediate plate of arc.
Further, motor I, described motor I control support column II 18 are set in described rotating shaft set IV；It is described
Rotating shaft set V motor II, the flexible overcoat 20 of described motor II control are set.
Further, motor III 34 is set on described expansion link 21, set on the described output shaft of motor III 34
Spool 35, set on described spool 35 and pull line 36, the outer end of described pulling line 36 connects the interior of clamping bar 23 respectively
Surface.
Further, described motor I, motor II and motor III 34 are controlled by single-chip microcomputer, described monolithic
Machine receives the control signal of wireless receiving module, and described wireless receiving module receives the control signal of remote control；Described is straight
The fuselage 4 of line motor is controlled by single-chip microcomputer；Described single-chip microcomputer also sends signal, the driving of described motor to motor drive module
Module controls motor IV, the described driving moment 3 of motor IV.
Beneficial effects of the present invention are as follows：
1. the cylindrical slide of the support bar outer end of the present invention coordinates the arc positioning groove on chute to use, support column I can be adjusted
Angle and height, convenient use is applied widely；
2. the left side arc inner clamp piece of the present invention coordinates slide bar slideway to use, right side arc inner clamp piece coordinates hollow stem slideway to make
With chucking power can be increased；
3. the fuselage of the linear electric motors of the present invention slides on the track of linear electric motors, can be with the height of remote control adjustment support column I.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention.
Fig. 2 is Fig. 1 close-up schematic view.
Fig. 3 is the enlarged diagram of the tong of the present invention.
Fig. 4 is control signal flow chart of the present invention.
The structure of the present invention is further described in detail below in conjunction with the drawings and specific embodiments, in this specification
Front, rear, left and right be consistent with the direction in accompanying drawing.
Embodiment
As shown in figure 1, a kind of new mechanical arm, its composition includes：Sweep 1, linear electric motors, the bottom of described sweep 1
Wheel 3 is set, and the front end of the top surface of described sweep 1 sets the track 2 of linear electric motors, slided on the track 2 of described linear electric motors
The fuselage 4 of linear electric motors is moved, support limit piece 5 is set on the fuselage 4 of described linear electric motors, described support limit piece 5
Right side sets rotating shaft I 6, sets rotating shaft set I 7 in described rotating shaft I 6, connection support bar 8 in described rotating shaft set I 7, described
The top cylindrical slide 11 of support bar 8 slides in chute 9, and the bottom of described chute 9 sets arc positioning groove 10, described
Arc positioning groove 10 coordinates cylindrical slide 11 to use, and described cylindrical slide 11 is opened in the inner side of support column I 12, described support
The bottom connection rotating shaft set II 13 of post I 12, described rotating shaft set II 13 is enclosed in rotating shaft II 14, and described rotating shaft II 14 is arranged on
The rear end of sweep 1, the top connection rotating shaft set III 15 of described support column I 12, described rotating shaft set III 15 is logical with rotating shaft set IV
Rotating shaft III 17 is crossed to be connected, in described rotating shaft set IV connect support column II 18 one end, described support column II 18 it is another
Connection rotating shaft set V is held, described rotating shaft set V is connected with rotating shaft set VI 19 by rotating shaft IV 16, described rotating shaft set VI 19
Bottom flexible overcoat 20, the described internal thread connection expansion link 21 of flexible overcoat 20, the lower section of described expansion link 21 are set
Fixing axle 22 is set, and described fixing axle 22 coordinates clamping bar 23 to use, and tong 24, described tong are connected on described clamping bar 23
24 include vertical transiting rod 25, and the bottom of described vertical transiting rod 25 sets the outer intermediate plate of arc, the outer intermediate plate of described arc
The inner surface setting arc slide bar 27 of left side intermediate plate 26, described arc slide bar 27 slide in arc hollow stem 28, described arc
Shape hollow stem 28 is connected to the inner surface of right side intermediate plate 29 of the outer intermediate plate of arc, is set below the outer surface of described arc slide bar 27
Slide bar slideway 30, left side arc inner clamp piece 31, the outer surface of described arc hollow stem 28 are slided on described slide bar slideway 30
Lower section sets hollow stem slideway 32, and right side arc inner clamp piece 33 is slided on described hollow stem slideway 32.
Further, the bottom of described left side arc inner clamp piece 31 and the bottom phase of the left side intermediate plate 26 of the outer intermediate plate of arc
Even, the bottom of described right side arc inner clamp piece 33 is connected with the bottom of the right side intermediate plate 29 of the outer intermediate plate of arc.
Further, motor I, described motor I control support column II 18 are set in described rotating shaft set IV；It is described
Rotating shaft set V motor II, the flexible overcoat 20 of described motor II control are set.
Further, motor III 34 is set on described expansion link 21, set on the described output shaft of motor III 34
Spool 35, set on described spool 35 and pull line 36, the outer end of described pulling line 36 connects the interior of clamping bar 23 respectively
Surface.
Further, described motor I, motor II and motor III 34 are controlled by single-chip microcomputer, described monolithic
Machine receives the control signal of wireless receiving module, and described wireless receiving module receives the control signal of remote control；Described is straight
The fuselage 4 of line motor is controlled by single-chip microcomputer；Described single-chip microcomputer also sends signal, the driving of described motor to motor drive module
Module controls motor IV, the described driving moment 3 of motor IV.
Schematically the present invention and embodiments thereof are described above, this describes no restricted, institute in accompanying drawing
What is shown is also one of embodiments of the present invention, and actual structure is not limited thereto.So if common skill of this area
Art personnel are enlightened by it, without departing from the spirit of the invention, without designing and the technical scheme for creativeness
Similar frame mode and embodiment, protection scope of the present invention all should be belonged to.
Claims (5)
1. a kind of new mechanical arm, its composition includes：Sweep（1）, linear electric motors, it is characterised in that：Described sweep（1）Bottom
End sets wheel（3）, described sweep（1）Front end of the top surface set linear electric motors track（2）, the rail of described linear electric motors
Road（2）The fuselage of upper sliding straight motor（4）, the fuselage of described linear electric motors（4）Upper setting support limit piece（5）, it is described
Support limit piece（5）Right side set rotating shaft I（6）, described rotating shaft I（6）Upper setting rotating shaft set I（7）, described rotating shaft set
Ⅰ（7）Upper connection support bar（8）, described support bar（8）Top cylindrical slide（11）In chute（9）Interior slip, described cunning
Groove（9）Bottom set arc positioning groove（10）, described arc positioning groove（10）Coordinate cylindrical slide（11）Use, it is described
Cylindrical slide（11）It is opened in support column I（12）Inner side, described support column I（12）Bottom connection rotating shaft set II（13）, institute
The rotating shaft set II stated（13）It is enclosed on rotating shaft II（14）On, described rotating shaft II（14）It is arranged on sweep（1）Rear end, described branch
Dagger I（12）Top connection rotating shaft set III（15）, described rotating shaft set III（15）Pass through rotating shaft III with rotating shaft set IV（17）Phase
Connect, support column II is connected in described rotating shaft set IV（18）One end, described support column II（18）The other end connection turn
Axle sleeve V, described rotating shaft set V and rotating shaft set VI（19）Pass through rotating shaft IV（16）It is connected, described rotating shaft set VI（19）'s
Bottom sets flexible overcoat（20）, described flexible overcoat（20）Internal thread connection expansion link（21）, described expansion link（21）
Lower section set fixing axle（22）, described fixing axle（22）Coordinate clamping bar（23）Use, described clamping bar（23）Upper connection clip
Hand（24）, described tong（24）Including vertical transiting rod（25）, described vertical transiting rod（25）Bottom set arc outside
Intermediate plate, the left side intermediate plate of the outer intermediate plate of described arc（26）Inner surface setting arc slide bar（27）, described arc slide bar（27）
In arc hollow stem（28）Interior slip, described arc hollow stem（28）It is connected to the right side intermediate plate of the outer intermediate plate of arc（29）Interior table
Face, described arc slide bar（27）Outer surface below set slide bar slideway（30）, described slide bar slideway（30）It is upper to slide a left side
Side arc inner clamp piece（31）, described arc hollow stem（28）Outer surface below set hollow stem slideway（32）, described sky
Core bar slideway（32）Arc inner clamp piece on the right side of upper slip（33）.
A kind of 2. new mechanical arm according to claim 1, it is characterised in that：Described left side arc inner clamp piece（31）'s
Bottom and the left side intermediate plate of the outer intermediate plate of arc（26）Bottom be connected, described right side arc inner clamp piece（33）Bottom and arc
The right side intermediate plate of outer intermediate plate（29）Bottom be connected.
A kind of 3. new mechanical arm according to claim 1, it is characterised in that：Motor is set in described rotating shaft set IV
I, described motor I control support column II（18）；Described rotating shaft set V sets motor II, and described motor II controls
Flexible overcoat（20）.
A kind of 4. new mechanical arm according to claim 1, it is characterised in that：Described expansion link（21）Upper setting is electronic
Machine III（34）, described motor III（34）Spool is set on output shaft（35）, described spool（35）Upper set pulls
Line（36）, described pulling line（36）Outer end connect clamping bar respectively（23）Inner surface.
A kind of 5. new mechanical arm according to claim 3, it is characterised in that：Described motor I, motor II and electricity
Motivation III（34）Controlled by single-chip microcomputer, described single-chip microcomputer receives the control signal of wireless receiving module, and described wirelessly connects
Receive the control signal that module receives remote control；The fuselage of described linear electric motors（4）Controlled by single-chip microcomputer；Described single-chip microcomputer is also
Signal, described motor drive module control motor IV, the described driving moment of motor IV are sent to motor drive module
（3）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710653375.1A CN107378911B (en) | 2017-08-02 | 2017-08-02 | Novel manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710653375.1A CN107378911B (en) | 2017-08-02 | 2017-08-02 | Novel manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107378911A true CN107378911A (en) | 2017-11-24 |
| CN107378911B CN107378911B (en) | 2020-07-10 |
Family
ID=60344025
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710653375.1A Active CN107378911B (en) | 2017-08-02 | 2017-08-02 | Novel manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107378911B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108621114A (en) * | 2018-04-11 | 2018-10-09 | 清华大学 | A kind of mobile robot towards large-sized structural parts processing |
Citations (8)
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|---|---|---|---|---|
| CN203523387U (en) * | 2013-11-07 | 2014-04-09 | 四川农业大学 | Device for turning over watermelon |
| US20150107075A1 (en) * | 2013-10-21 | 2015-04-23 | Esco Corporation | Wear assembly removal and installation |
| CN205134401U (en) * | 2015-11-10 | 2016-04-06 | 覃煦 | Multi freedom connecting rod formula pile up neatly arm |
| CN205213957U (en) * | 2015-10-30 | 2016-05-11 | 重庆康乐制药有限公司 | Laboratory mouse presss from both sides and gets ware |
| CN205497518U (en) * | 2016-04-11 | 2016-08-24 | 胡彬 | Electric industrial manipulator |
| CN105881507A (en) * | 2016-05-19 | 2016-08-24 | 黄宗经 | Intelligent manipulator control device |
| CN105945974A (en) * | 2016-05-10 | 2016-09-21 | 安徽坤昌家具有限公司 | Mechanical claw for timber grabbing frame |
| CN205651369U (en) * | 2016-04-26 | 2016-10-19 | 上海为彪汽配制造有限公司 | Device is got to clamping jaw, chuck and clamp |
-
2017
- 2017-08-02 CN CN201710653375.1A patent/CN107378911B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150107075A1 (en) * | 2013-10-21 | 2015-04-23 | Esco Corporation | Wear assembly removal and installation |
| CN203523387U (en) * | 2013-11-07 | 2014-04-09 | 四川农业大学 | Device for turning over watermelon |
| CN205213957U (en) * | 2015-10-30 | 2016-05-11 | 重庆康乐制药有限公司 | Laboratory mouse presss from both sides and gets ware |
| CN205134401U (en) * | 2015-11-10 | 2016-04-06 | 覃煦 | Multi freedom connecting rod formula pile up neatly arm |
| CN205497518U (en) * | 2016-04-11 | 2016-08-24 | 胡彬 | Electric industrial manipulator |
| CN205651369U (en) * | 2016-04-26 | 2016-10-19 | 上海为彪汽配制造有限公司 | Device is got to clamping jaw, chuck and clamp |
| CN105945974A (en) * | 2016-05-10 | 2016-09-21 | 安徽坤昌家具有限公司 | Mechanical claw for timber grabbing frame |
| CN105881507A (en) * | 2016-05-19 | 2016-08-24 | 黄宗经 | Intelligent manipulator control device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108621114A (en) * | 2018-04-11 | 2018-10-09 | 清华大学 | A kind of mobile robot towards large-sized structural parts processing |
| CN108621114B (en) * | 2018-04-11 | 2020-12-01 | 清华大学 | Mobile robot for processing large-scale structural member |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107378911B (en) | 2020-07-10 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Fu Deya Inventor after: Liu Yihua Inventor after: Guo Yongqiang Inventor after: Lu Kai Inventor before: Lu Kai |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20200616 Address after: 417000 No.3, Taihe Road, Industrial Park 1, Loudi Economic Development Zone, Hunan Province Applicant after: Loudi Jingming New Material Co., Ltd Address before: 241081 Chunxiao 591 # Building 10, Chunxiao Cuidi, Biguiyuan, Sanshan District, Wuhu City, Anhui Province Applicant before: WUHU TINGYOU ELECTROMECHANICAL TECHNOLOGY Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |