CN200991896Y - Three-freedom mechanical arm mechanism for detecting operation - Google Patents
Three-freedom mechanical arm mechanism for detecting operation Download PDFInfo
- Publication number
- CN200991896Y CN200991896Y CN 200620168333 CN200620168333U CN200991896Y CN 200991896 Y CN200991896 Y CN 200991896Y CN 200620168333 CN200620168333 CN 200620168333 CN 200620168333 U CN200620168333 U CN 200620168333U CN 200991896 Y CN200991896 Y CN 200991896Y
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- mechanical arm
- underarm
- configuration
- arm mechanism
- motor
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Abstract
The utility model relates to a robot structure, in particular to a 3-DOF machine arm structure for detection operation, comprising a slewing motor installed on the base; the slewing motor shaft is in connection with a gyrator; a lower arm motor is connected with one end of the lower arm through a lower arm connection board; the lower arm motor shaft is linked with the gyrator; a rotating motor is connected to the other end of the lower arm through a rotating motor connection board; the rotating motor shaft is in connection with a rotary column, on which a detecting instrument is installed. The utility model has the advantages of simple structure, multiple functions and can be applied in detection operations.
Description
Technical field
The utility model relates to robot mechanism, specifically a kind of three-freedom mechanical arm mechanism that is used to survey operation.
Background technology
When celestial body surface rock composition is surveyed outside the use robot carries out, require robot to carry the payload instrument that some can finish detection in place, mechanical arm is a kind of capital equipment of these payload instruments of operation.When carrying out panorama observation operation, mast is to carry a kind of capital equipment that video camera is finished panorama observation job task.The three-freedom mechanical arm mechanism that mechanical arm and mast are united two into one yet there are no report.
The utility model content
The purpose of this utility model is to provide a kind of be used to survey operation, simple in structure, multi-functional three-freedom mechanical arm mechanism.
The purpose of this utility model is achieved through the following technical solutions:
Include and be installed in turning motor on the base, the turning motor axle is connected with revolving body; The underarm motor links to each other with underarm one end by the underarm connecting plate, and the underarm motor shaft links to each other with revolving body; Electric rotating machine is connected with the underarm other end by the electric rotating machine connecting plate, and spin motor shaft is connected with capstan head; Detection instrument is installed on the capstan head.
The underarm motor rotates, and mechanical arm launches from folding configuration, adjusts height and position, and turning motor rotates then, adjusts inflection point, and last electric rotating machine rotates, and adjusts the orientation of detection instrument on the capstan head.Mechanical arm is pressed the job task needs, can be in work configuration (folding configuration, lifting observation configuration, detection configuration in place, ground location configuration).
Advantage of the present utility model and good effect are:
1. simple in structure.The utility model adopts three-freedom mechanical arm mechanism, and mechanical arm and mast are united two into one, and the terminal free degree of mechanical arm promptly can be used for changing surveys payload, can be used for adjusting the attitude of surveying payload again.
2. many kinds of work configurations.Mechanical arm of the present utility model has four kinds of groundwork configurations such as folding configuration, lifting observation configuration, detection configuration in place, ground location configuration, has improved the operating efficiency of mechanical arm.
Description of drawings
Fig. 1-1 is a stereoscopic schematic diagram of the present utility model (folding configuration);
Fig. 1-2 is stereoscopic schematic diagram of the present utility model (a lifting observation configuration);
Fig. 1-3 is stereoscopic schematic diagram of the present utility model (a ground location configuration);
Fig. 1-4 is stereoscopic schematic diagram of the present utility model (a detection configuration in place);
Fig. 2 is the three-dimensional exploded view of the utility model internal structure.
The specific embodiment
The utility model is described in further detail below in conjunction with accompanying drawing.
As shown in Figure 2, the utility model comprises base 3 and turning motor 1, and turning motor 1 is installed on the base 3, and turning motor axle 2 is connected with revolving body 4.Underarm motor 8 links to each other with underarm 7 one ends by underarm connecting plate 5, and underarm motor shaft 6 links to each other with revolving body 4.Electric rotating machine 12 is connected with underarm 7 other ends by electric rotating machine connecting plate 11, and spin motor shaft 10 is connected with capstan head 9; Wherein revolving body 4 is a T type structure; On the capstan head 9 detection instrument is installed.
The utility model has three degree of freedom, and one is the rotating revolution free degree of axle of winding perpendicular to base, makes the mechanical arm revolution.Another is the swing free degree, makes down arm swing.Another is a rotary freedom, makes capstan head 9 rotations.The revolution free degree is rotated by turning motor and is realized, the lifting free degree is rotated by the underarm motor and realized that rotary freedom is rotated by electric rotating machine and realizes.
Operation principle of the present utility model is: when mechanical arm was worked, underarm motor 6 rotated, and mechanical arm launches from folding configuration, adjust height and position, turning motor 1 rotates then, adjusts inflection point, last electric rotating machine 12 rotates, and adjusts the orientation of detection instrument on the capstan head 9.When carrying out panorama observation operation, mechanical arm is in lifting observation configuration; When carrying out detection operation in place, mechanical arm is in detection configuration in place; When carrying out the ground location operation, mechanical arm is in ground location configuration (referring to Fig. 1-1,1-2,1-3,1-4).
Claims (4)
1. three-freedom mechanical arm mechanism that is used to survey operation is characterized in that: include and be installed in base (3) and go up turning motor (1), turning motor axle (2) is connected with revolving body (4); Underarm motor (8) links to each other with underarm (7) one ends by underarm connecting plate (5), and underarm motor shaft (6) links to each other with revolving body (4); Electric rotating machine (12) is connected with underarm (7) other end by electric rotating machine connecting plate (11), and spin motor shaft (10) is connected with capstan head (9).
2. by the described three-freedom mechanical arm mechanism that is used to survey operation of claim 1, it is characterized in that: capstan head is equipped with detection instrument on (9).
3. by the described three-freedom mechanical arm mechanism that is used to survey operation of claim 1, it is characterized in that: revolving body (4) is T type structure.
4. by the described three-freedom mechanical arm mechanism that is used to survey operation of claim 1, it is characterized in that: have folding configuration, lifting observation configuration, detection configuration in place, four kinds of groundwork configurations of ground location configuration.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620168333 CN200991896Y (en) | 2006-12-20 | 2006-12-20 | Three-freedom mechanical arm mechanism for detecting operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620168333 CN200991896Y (en) | 2006-12-20 | 2006-12-20 | Three-freedom mechanical arm mechanism for detecting operation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN200991896Y true CN200991896Y (en) | 2007-12-19 |
Family
ID=38944974
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200620168333 Expired - Fee Related CN200991896Y (en) | 2006-12-20 | 2006-12-20 | Three-freedom mechanical arm mechanism for detecting operation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN200991896Y (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102689301A (en) * | 2012-05-25 | 2012-09-26 | 北京卫星制造厂 | Guide rail swinging arm type position mechanism |
-
2006
- 2006-12-20 CN CN 200620168333 patent/CN200991896Y/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102689301A (en) * | 2012-05-25 | 2012-09-26 | 北京卫星制造厂 | Guide rail swinging arm type position mechanism |
| CN102689301B (en) * | 2012-05-25 | 2015-02-11 | 北京卫星制造厂 | Guide rail swinging arm type position mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20071219 Termination date: 20141220 |
|
| EXPY | Termination of patent right or utility model |