CN201283573Y - Multifunctional double-drive three-freedom degree mechanical arm - Google Patents

Multifunctional double-drive three-freedom degree mechanical arm Download PDF

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Publication number
CN201283573Y
CN201283573Y CNU2008202026985U CN200820202698U CN201283573Y CN 201283573 Y CN201283573 Y CN 201283573Y CN U2008202026985 U CNU2008202026985 U CN U2008202026985U CN 200820202698 U CN200820202698 U CN 200820202698U CN 201283573 Y CN201283573 Y CN 201283573Y
Authority
CN
China
Prior art keywords
arm
servomotor
master
master arm
mechanical arm
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.)
Expired - Fee Related
Application number
CNU2008202026985U
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Chinese (zh)
Inventor
葛建新
张海乾
黄雷
戴卫军
杨伟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Heyuan Polytechnic
Original Assignee
Heyuan Polytechnic
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Heyuan Polytechnic filed Critical Heyuan Polytechnic
Priority to CNU2008202026985U priority Critical patent/CN201283573Y/en
Application granted granted Critical
Publication of CN201283573Y publication Critical patent/CN201283573Y/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Abstract

The utility model discloses a multifunctional dual drive three degree of freedom mechanical arm, comprising a base (1), a first driving arm (2), a second driving arm (3), a driven arm (4) and a bent lever (5), and is characterized in that a first servomotor (6) with a speed reducer is fixed on the base (1), an output shaft (7) of the first servomotor (6) is fixed with an end of the first driving arm (2), the other end of the first driving arm (2) is fixed with a second servomotor (8), the output shaft (9) of the second servomotor (8) is fixed with one end of the second driving arm (3), the other end of the second driving arm (3) is rotationally connected with one end of the driven arm (4) through a rotational shaft, and two ends of the bent lever (5) are respectively and rotationally connected with the second driving arm (7) and the driven arm (4). The mechanical arm employs two servomotors added with one bent lever, which can achieve the movement of three degree of freedom of the mechanical arm.

Description

Multi-functional two three-freedom mechanical arm that drives
Technical field
The utility model relates to a kind of multi-functional two three-freedom mechanical arm that drive that are used for robot brain device people.
Background technology
At present, the application of robot is very extensive, when robot will carry video camera and carries out environment perception, needs mechanical arm more flexibly to adjust the angle of shooting, height and distance to obtain the better effect of shooting; When robot will sort or carry the logistics workpiece, but mechanical arm needs the swing of multi-angle and to the carrying of different volumes object.At this moment just need both possessed flexible mechanical arm flexibly again.And general relatively flexibly and the flexible mechanical arm of band mostly complex structure, drive motors is many, weight is big and cost is high, controls more loaded down with trivial details.
The utility model content
The purpose of this utility model is to provide a kind of and controls conveniently, simple in structure, volume is little, in light weight, multi-functional two three-freedom mechanical arm that drive that cost is low.
For solving the problems of the technologies described above, the technical solution adopted in the utility model is: multi-functional two three-freedom mechanical arm that drive, comprise pedestal, first master arm, second master arm, slave arm, curved bar, be fixed with first servomotor that has decelerator on the described pedestal, one end of the output shaft of first servomotor and first master arm fixes, the other end of first master arm is fixed with second servomotor that has decelerator, one end of the output shaft of second servomotor and second master arm fixes, the other end of second master arm and slave arm one end are rotationally connected by rotating shaft, and the two ends of curved bar are respectively by the rotating shaft and first master arm, slave arm is rotationally connected.
Described first master arm, second master arm, slave arm are sheet.
Described curved bar is made by elastomeric material.
Owing to adopted above-mentioned structure, the output shaft of first servomotor can drive first master arm and rotate on pedestal; The output shaft of second servomotor can drive second master arm and rotate on first master arm; Slave arm can rotate on second master arm.The rotational orientation of slave arm is decided according to the angle between first master arm and second master arm under the effect of curved bar, by the arbitrary motion angle that can realize 0 to 300 degree between the slave arm and first master arm in angle 0 to the 180 degree motion process.
Advantage of the present utility model and good effect:
1. simple in structure, the utility model adopts two servomotors, adds a curved bar, can realize the motion of mechanical arm Three Degree Of Freedom.
2. volume is little, and is in light weight, and first master arm of the present utility model, second master arm, slave arm adopt firm laminated structure, makes that folding back three arms are overlapping to take up room forr a short time, and collapsible overcomes little job space environment in the health the inside of robot; Laminated structure has alleviated mechanical arm weight greatly simultaneously.
3. have flexible structure, what curved bar was used is restorative better elastic material, makes mechanical arm possess flexible nature, and the protection driving element is not damaged.
Description of drawings
Below in conjunction with accompanying drawing the specific embodiment of the present utility model is described in further detail.
Fig. 1 is multi-functional two stereogram that drives three-freedom mechanical arm;
Fig. 2 is multi-functional two stretching, extension stereogram that drives three-freedom mechanical arm;
Fig. 3 is multi-functional two three-dimensional installation diagram of three-freedom mechanical arm that drives.
The specific embodiment
As shown in Fig. 1 to Fig. 3, described multi-functional two three-freedom mechanical arm that drive comprise pedestal 1, first master arm 2, second master arm 3, slave arm 4, curved bar 5.The output shaft 7 that is installed with first servomotor, 6, the first servomotors 6 that have decelerator on the described pedestal 1 fixes by an end of the pedestal via hole 10 and first master arm 2.The other end of first master arm 2 is installed with second servomotor 8 that has decelerator, the output shaft 9 of second servomotor 8 fixes by an end of the via hole 11 and second master arm 3, the other end of second master arm 3 and slave arm 4 one ends are rotationally connected by rotating shaft 12, and the two ends of curved bar 5 are rotationally connected by rotating shaft 13 and first master arm 2, slave arm 4 respectively.
The output shaft 7 of first servomotor 6 can drive first master arm 2 and rotate on pedestal 1, and the output shaft 9 of second servomotor 8 can drive second master arm 3 and rotate on first master arm 2, and slave arm 4 can rotate on second master arm 3.The rotational orientation of slave arm 4 is decided according to the angle between first master arm 2 and second master arm 3 under the effect of curved bar 5, by the arbitrary motion angle that can realize 0 to 300 degree between the slave arm and first master arm in angle 0 to the 180 degree motion process.
When mechanical arm is worked, first servomotor 6 rotates, mechanical arm is shown first master arm 2 from folding configuration shown in Figure 1, adjust the arms swing angle, second servomotor 8 rotates then, launch second master arm 3 and slave arm 4, thereby the orientation of adjusting slave arm 4 stretches the structure shown in formation Fig. 2.By first servomotor 6 and first master arm 2 of second servomotor, 8 controls and the cooperative motion of second master arm 3, can realize folding and the multi-angle stretching, extension, finish when shooting angle, highly, the adjusting of distance, finish stirring of lateral symmetry both arms and pick, encircle the carrying action.
As mentioned above, the utility model structure has three degree of freedom, when vertically using, and the active swing arm free degree about, another free degree of initiatively cranking arm, another is the driven free degree of cranking arm.About initiatively the swing arm free degree realize that by the motion of first master arm 2 free degree of initiatively cranking arm and the driven free degree of cranking arm cooperate realizations by second master arm 3 and slave arm 4.When laterally using, encircle action and workpiece is promoted and letter sorting, cooperate with the action of two mechanical arm configurations of symmetry by each free degree and realize.
Described first master arm 2, second master arm 3, slave arm 4 are sheet.Make that folding back three arms are overlapping to take up room forr a short time, collapsible overcomes little job space environment in the health the inside of robot; Laminated structure has alleviated mechanical arm weight greatly simultaneously.
Described curved bar 5 can select for use restorative better elastic material to make, and makes mechanical arm possess flexible nature, and the protection driving element is not damaged.
In a word; though the utility model has exemplified above-mentioned preferred implementation; but should illustrate; though those skilled in the art can carry out various variations and remodeling; unless such variation and remodeling have departed from scope of the present utility model, otherwise all should be included in the protection domain of the present utility model.

Claims (3)

1. one kind multi-functional pair drives three-freedom mechanical arm, it is characterized in that: comprise pedestal (1), first master arm (2), second master arm (3), slave arm (4), curved bar (5), be fixed with first servomotor (6) that has decelerator on the described pedestal (1), the output shaft (7) of first servomotor (6) fixes with an end of first master arm (2), the other end of first master arm (2) is fixed with second servomotor (8) that has decelerator, the output shaft (9) of second servomotor (8) fixes with an end of second master arm (3), the other end of second master arm (3) and slave arm (4) one ends are rotationally connected by rotating shaft, and the two ends of curved bar (5) are respectively by rotating shaft and first master arm (2), slave arm (4) is rotationally connected.
2. according to the described multi-functional two three-freedom mechanical arm that drive of claim 1, it is characterized in that: described first master arm (2), second master arm (3), slave arm (4) are sheet.
3. according to claim 1 or 2 described multi-functional two three-freedom mechanical arm that drive, it is characterized in that: described curved bar (5) is made by elastomeric material.
CNU2008202026985U 2008-10-31 2008-10-31 Multifunctional double-drive three-freedom degree mechanical arm Expired - Fee Related CN201283573Y (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CNU2008202026985U CN201283573Y (en) 2008-10-31 2008-10-31 Multifunctional double-drive three-freedom degree mechanical arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CNU2008202026985U CN201283573Y (en) 2008-10-31 2008-10-31 Multifunctional double-drive three-freedom degree mechanical arm

Publications (1)

Publication Number Publication Date
CN201283573Y true CN201283573Y (en) 2009-08-05

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Family Applications (1)

Application Number Title Priority Date Filing Date
CNU2008202026985U Expired - Fee Related CN201283573Y (en) 2008-10-31 2008-10-31 Multifunctional double-drive three-freedom degree mechanical arm

Country Status (1)

Country Link
CN (1) CN201283573Y (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104476047A (en) * 2014-12-08 2015-04-01 青田新机电器有限公司 Welding robot
CN107186703A (en) * 2017-07-06 2017-09-22 南通大力锻压机床有限公司 A kind of epoxy resin pressure gel-forming machine manipulator
CN108000510A (en) * 2017-11-30 2018-05-08 宁波德深机械设备有限公司 A kind of mechanical arm

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104476047A (en) * 2014-12-08 2015-04-01 青田新机电器有限公司 Welding robot
CN107186703A (en) * 2017-07-06 2017-09-22 南通大力锻压机床有限公司 A kind of epoxy resin pressure gel-forming machine manipulator
CN108000510A (en) * 2017-11-30 2018-05-08 宁波德深机械设备有限公司 A kind of mechanical arm
CN108000510B (en) * 2017-11-30 2019-11-08 宁波德深机械设备有限公司 A kind of mechanical arm

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Date Code Title Description
GR01 Patent grant
C14 Grant of patent or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20090805

Termination date: 20111031

C17 Cessation of patent right