CN110303486A - It is a kind of can multi-angle rotary mechanical arm - Google Patents
It is a kind of can multi-angle rotary mechanical arm Download PDFInfo
- Publication number
- CN110303486A CN110303486A CN201910709358.4A CN201910709358A CN110303486A CN 110303486 A CN110303486 A CN 110303486A CN 201910709358 A CN201910709358 A CN 201910709358A CN 110303486 A CN110303486 A CN 110303486A
- Authority
- CN
- China
- Prior art keywords
- motor
- fixed
- mechanical arm
- telescoping mechanism
- hollow out
- 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.)
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Abstract
The invention belongs to mechanical arm technical fields, in particular it is a kind of can multi-angle rotary mechanical arm, it is a kind of can multi-angle rotary mechanical arm, including pedestal, column and telescopic rod, sliding slot is reserved at the top of the pedestal, and movable block is provided on the inside of sliding slot, the column is fixed on the avris of pedestal, and the avris of column is fixed with the first telescoping mechanism, the end of first telescoping mechanism is fixed with bracket, and first motor is fixed in the middle part of bracket, the end linking of the first motor has hollow out pipe, and the end of hollow out pipe is provided with first bearing, the avris of the hollow out pipe is provided with the second telescoping mechanism, and second the end of telescoping mechanism be fixed with the second motor, the end of second motor is fixed with large arm, and the first manipulator is provided at the top of large arm.This can multi-angle rotary mechanical arm structure flexible adjustment it is good, structure is simple, rotation angle it is wide, scope of activities is wide, and working efficiency is efficient.
Description
Technical field
The present invention relates to mechanical arm technical field, specially it is a kind of can multi-angle rotary mechanical arm.
Background technique
Mechanical arm refer to high-precision, multiple-input and multiple-output, nonlinearity, close coupling complication system, because its is unique
Operating flexibility, in industry assembling, the fields such as safety anti-explosive are used widely, and mechanical arm is a complication system, are existed
The uncertainties such as Parameter Perturbation, external interference and Unmarried pregnancy, thus there is also uncertain for the modeler model of mechanical arm
Property, it for different tasks, needs to plan the motion profile in joint of mechanical arm space, constitutes end pose to cascade.
There are structure flexible adjustment is poor, structure is complicated, rotates limited angle, movable model for mechanical arm on the market now
It is with limit, it is good that the disadvantages of working efficiency is general, it is necessary to have structure flexible adjustments, and structure is simple, and rotation angle is wide, movable model
Enclose wide, the efficient novel mechanical arm of working efficiency, for this purpose, it is proposed that it is a kind of can multi-angle rotary mechanical arm.
In view of the above-mentioned problems, being badly in need of carrying out innovative design on the basis of original mechanical arm.
Summary of the invention
The purpose of the present invention is to provide it is a kind of can multi-angle rotary mechanical arm, to solve to mention in above-mentioned background technique
Similar product structure flexible adjustment out is poor, and structure is complicated, rotates limited angle, scope of activities is limited, and working efficiency is general
The problem of.
To achieve the above object, the invention provides the following technical scheme: it is a kind of can multi-angle rotary mechanical arm, including
Pedestal, column and telescopic rod are reserved with sliding slot at the top of the pedestal, and are provided with movable block on the inside of sliding slot, the column
It is fixed on the avris of pedestal, and the avris of column is fixed with the first telescoping mechanism, the end of first telescoping mechanism is fixed with
Bracket, and first motor is fixed in the middle part of bracket, the end linking of the first motor has hollow out pipe, and the end of hollow out pipe
It is provided with first bearing, the avris of the hollow out pipe is provided with the second telescoping mechanism, and the end of the second telescoping mechanism is fixed with
The end of second motor, second motor is fixed with large arm, and the first manipulator is provided at the top of large arm, the large arm
Bottom is provided with the second manipulator, and the inside of the second manipulator, through there is screw, the telescopic rod is connected in the inside of bracket,
And the end of telescopic rod is provided with second bearing.
Preferably, the movable block constitutes slide construction by sliding slot and pedestal, and the central axes of movable block and pedestal
Central axes are perpendicular.
Preferably, the bracket constitutes stretching structure, and bracket and the first telescopic machine by the first telescoping mechanism and column
It is integrated between structure.
Preferably, the hollow out pipe constitutes rotational structure by first motor and bracket, and hollow out pipe and first bearing it
Between for interference connect.
Preferably, the large arm constitutes rotational structure by the second motor and hollow out pipe, and the second motor is stretched by second
Contracting mechanism and hollow out pipe constitute lifting structure.
Preferably, first manipulator and the second manipulator are symmetrical arranged about large arm, and the second manipulator passes through spiral shell
Nail constitutes detachable structure with large arm.
Compared with prior art, the beneficial effects of the present invention are: this can multi-angle rotary mechanical arm structure adjust spirit
Activity is good, and structure is simple, and rotation angle is wide, and scope of activities is wide, and working efficiency is efficient；
1, this can the mechanical arm of multi-angle rotary level side is carried out to bracket by the first telescoping mechanism of column avris
To flexible, while movable block is slided on pedestal by sliding slot, and first motor drives hollow out pipe to rotate on the inside of first bearing, the
Two telescoping mechanisms drive the second motor and large arm in the inside oscilaltion of hollow out pipe, and structure flexible adjustment is good, and structure is simple,
Rotation angle is wide, and scope of activities is wide；
2, this can multi-angle rotary mechanical arm it is mechanical to the first manipulator and second by screw in the end of large arm
Hand is fixed, and facilitates installation and repair demolition of the user to device, is provided with large arm on the inside of the second bearing on the inside of telescopic rod,
Be conducive to the stability of lifting device, two being provided with for manipulator are conducive to promote working efficiency.
Detailed description of the invention
Fig. 1 is whole front cross-sectional structural schematic diagram of the invention；
Fig. 2 is large arm and second bearing attachment structure schematic diagram of the invention；
Fig. 3 is sliding slot and movable block attachment structure schematic diagram of the invention.
In figure: 1, pedestal；2, sliding slot；3, movable block；4, column；5, the first telescoping mechanism；6, bracket；7, first motor；
8, hollow out pipe；9, first bearing；10, the second telescoping mechanism；11, the second motor；12, large arm；13, the first manipulator；14, second
Manipulator；15, screw；16, telescopic rod；17, second bearing.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Please refer to Fig. 1-3, the present invention provides a kind of technical solution: it is a kind of can multi-angle rotary mechanical arm, including bottom
Seat 1, sliding slot 2, movable block 3, column 4, the first telescoping mechanism 5, bracket 6, first motor 7, hollow out pipe 8, first bearing 9, second
Telescoping mechanism 10, the second motor 11, large arm 12, the first manipulator 13, the second manipulator 14, screw 15, telescopic rod 16 and second
Bearing 17, the top of pedestal 1 is reserved with sliding slot 2, and the inside of sliding slot 2 is provided with movable block 3, and column 4 is fixed on the side of pedestal 1
Side, and the avris of column 4 is fixed with the first telescoping mechanism 5, the end of the first telescoping mechanism 5 are fixed with bracket 6, and bracket 6
Middle part is fixed with first motor 7, and the end linking of first motor 7 has hollow out pipe 8, and the end of hollow out pipe 8 is provided with first axle
9 are held, the avris of hollow out pipe 8 is provided with the second telescoping mechanism 10, and the end of the second telescoping mechanism 10 is fixed with the second motor 11,
The end of second motor 11 is fixed with large arm 12, and the top of large arm 12 is provided with the first manipulator 13, and the bottom of large arm 12 is set
It is equipped with the second manipulator 14, and the inside of the second manipulator 14, through there is screw 15, telescopic rod 16 is connected in the inside of bracket 6,
And the end of telescopic rod 16 is provided with second bearing 17.
Further, movable block 3 constitutes slide construction, and the central axes of movable block 3 and pedestal 1 by sliding slot 2 and pedestal 1
Central axes it is perpendicular, movable block 3 is slided on pedestal 1 by sliding slot 2, and the weight pair of machine components on bracket 6 can be decomposed
The pressure of first telescoping mechanism 5 also can assist in the flexible of the horizontal direction of large arm 12；
Further, bracket 6 constitutes stretching structure by the first telescoping mechanism 5 and column 4, and bracket 6 and first stretches
It is integrated between mechanism 5, the first telescoping mechanism 5 of 4 avris of column carries out horizontal direction to bracket 6 and stretches, and expands
The telescopic extensions of 12 horizontal direction of large arm；
Further, hollow out pipe 8 constitutes rotational structure, and hollow out pipe 8 and first bearing 9 by first motor 7 and bracket 6
Between for interference connect, first motor 7 drive hollow out pipe 8 rotated on the inside of first bearing 9, expand 12 horizontal direction of large arm
Circular motion range；
Further, large arm 12 constitutes rotational structure by the second motor 11 and hollow out pipe 8, and the second motor 11 passes through the
Two telescoping mechanisms 10 constitute lifting structure with hollow out pipe 8, and the second telescoping mechanism 10 drives the second motor 11 and large arm 12 in hollow out
The inside oscilaltion of pipe 8, structure flexible adjustment is good, and structure is simple, and rotation angle is wide, and scope of activities is wide；
Further, the first manipulator 13 and the second manipulator 14 are symmetrical arranged about large arm 12, and the second manipulator 14
Detachable structure is constituted by screw 15 and large arm 12, in the end of large arm 12 by screw 15 to the first manipulator 13 and second
Manipulator 14 is fixed, and facilitates installation and repair demolition of the user to device, 17 inside of second bearing of 16 inside of telescopic rod
It is provided with large arm 12, is conducive to the stability of lifting device, two being provided with for manipulator are conducive to promote working efficiency.
Working principle: this can the use principle of mechanical arm of multi-angle rotary be, it is flexible by the first of 4 avris of column
Mechanism 5 carries out horizontal direction to bracket 6 and stretches, and expands the telescopic extensions of 12 horizontal direction of large arm, while movable block 3 passes through cunning
Slot 2 slides on pedestal 1, can decompose the weight of machine components on bracket 6 to the pressure of the first telescoping mechanism 5, can also assist
The flexible of the horizontal direction of large arm 12 is helped, first motor 7 drives hollow out pipe 8 to rotate on the inside of first bearing 9, expands large arm 12
The circular motion range of horizontal direction, the second telescoping mechanism 10 drive the second motor 11 and large arm 12 on the inside of hollow out pipe 8
Lower lifting, structure flexible adjustment is good, and structure is simple, and rotation angle is wide, and scope of activities is wide, passes through screw in the end of large arm 12
15 pair of first manipulator 13 and the second manipulator 14 are fixed, and facilitate installation and repair demolition of the user to device, telescopic rod
It is provided with large arm 12 on the inside of the second bearing 17 of 16 insides, is conducive to the stability of lifting device, two manipulators are provided with
Conducive to promotion working efficiency.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (6)
1. one kind can multi-angle rotary mechanical arm, including pedestal (1), column (4) and telescopic rod (16), it is characterised in that:
It is reserved with sliding slot (2) at the top of the pedestal (1), and is provided with movable block (3) on the inside of sliding slot (2), the column (4) is fixed
Avris in pedestal (1), and the avris of column (4) is fixed with the first telescoping mechanism (5), the end of first telescoping mechanism (5)
Portion is fixed with bracket (6), and first motor (7) are fixed in the middle part of bracket (6), and the end linking of the first motor (7) has
Hollow out pipe (8), and the end of hollow out pipe (8) is provided with first bearing (9), the avris of the hollow out pipe (8) is provided with second and stretches
Contracting mechanism (10), and the end of the second telescoping mechanism (10) is fixed with the second motor (11), the end of second motor (11)
It is fixed with large arm (12), and is provided with the first manipulator (13) at the top of large arm (12), the bottom of the large arm (12) is provided with
Second manipulator (14), and the inside of the second manipulator (14), through having screw (15), telescopic rod (16) linking is in bracket
(6) inside, and the end of telescopic rod (16) is provided with second bearing (17).
2. one kind according to claim 1 can multi-angle rotary mechanical arm, it is characterised in that: the movable block (3)
Slide construction is constituted by sliding slot (2) and pedestal (1), and the central axes of movable block (3) and the central axes of pedestal (1) are perpendicular.
3. one kind according to claim 1 can multi-angle rotary mechanical arm, it is characterised in that: the bracket (6) is logical
It crosses the first telescoping mechanism (5) and column (4) and constitutes stretching structure, and be integrated between bracket (6) and the first telescoping mechanism (5)
Structure.
4. one kind according to claim 1 can multi-angle rotary mechanical arm, it is characterised in that: the hollow out pipe (8)
Rotational structure is constituted by first motor (7) and bracket (6), and is connect between hollow out pipe (8) and first bearing (9) for interference.
5. one kind according to claim 1 can multi-angle rotary mechanical arm, it is characterised in that: the large arm (12) is logical
It crosses the second motor (11) and hollow out pipe (8) and constitutes rotational structure, and the second motor (11) passes through the second telescoping mechanism (10) and engraves
Blank pipe (8) constitutes lifting structure.
6. one kind according to claim 1 can multi-angle rotary mechanical arm, it is characterised in that: first manipulator
(13) it is symmetrical arranged with the second manipulator (14) about large arm (12), and the second manipulator (14) passes through screw (15) and large arm
(12) detachable structure is constituted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910709358.4A CN110303486A (en) | 2019-07-26 | 2019-07-26 | It is a kind of can multi-angle rotary mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910709358.4A CN110303486A (en) | 2019-07-26 | 2019-07-26 | It is a kind of can multi-angle rotary mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110303486A true CN110303486A (en) | 2019-10-08 |
Family
ID=68082809
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910709358.4A Pending CN110303486A (en) | 2019-07-26 | 2019-07-26 | It is a kind of can multi-angle rotary mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110303486A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN114987868A (en) * | 2022-06-30 | 2022-09-02 | 山东小鸭集团洗涤机械有限公司 | Folding device is used in sheet production |
-
2019
- 2019-07-26 CN CN201910709358.4A patent/CN110303486A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN114987868A (en) * | 2022-06-30 | 2022-09-02 | 山东小鸭集团洗涤机械有限公司 | Folding device is used in sheet production |
| CN114987868B (en) * | 2022-06-30 | 2023-08-15 | 山东小鸭集团洗涤机械有限公司 | Folding device is used in sheet production |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20191008 |
|
| WD01 | Invention patent application deemed withdrawn after publication |