CN202592385U - Numerical control flexible mechanical arm device with six degrees of freedom - Google Patents

Numerical control flexible mechanical arm device with six degrees of freedom Download PDF

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Publication number
CN202592385U
CN202592385U CN 201220143475 CN201220143475U CN202592385U CN 202592385 U CN202592385 U CN 202592385U CN 201220143475 CN201220143475 CN 201220143475 CN 201220143475 U CN201220143475 U CN 201220143475U CN 202592385 U CN202592385 U CN 202592385U
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CN
China
Prior art keywords
arm
horizontal plane
numerical control
horizontal
freedom
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
CN 201220143475
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Chinese (zh)
Inventor
钟静荣
宋新田
黄剑豪
郭仁知
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.)
ZHUZHOU ZHONGCHENG MACHINERY MANUFACTURING Co Ltd
Original Assignee
ZHUZHOU ZHONGCHENG MACHINERY MANUFACTURING Co Ltd
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 ZHUZHOU ZHONGCHENG MACHINERY MANUFACTURING Co Ltd filed Critical ZHUZHOU ZHONGCHENG MACHINERY MANUFACTURING Co Ltd
Priority to CN 201220143475 priority Critical patent/CN202592385U/en
Application granted granted Critical
Publication of CN202592385U publication Critical patent/CN202592385U/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Abstract

The utility model relates to a numerical control flexible mechanical arm device with six degrees of freedom. The mechanical arm device comprises a base, an electrical appliance controlling and operating system, a hydro-pneumatic system, and a rotating arm seat which is arranged on the base and provided with a horizontal plane rotating arm. The mechanical arm device is characterized in that the horizontal plane rotating arm is provided with a telescopic arm, a vertical oscillating arm and a horizontal oscillating arm which are connected through a joint shaft; the horizontal arm is provided with a self-rotating arm with a universal flexible arm; and the horizontal plane rotating arm, the telescopic arm, the vertical oscillating arm, the horizontal oscillating arm and the self-rotating arm are provided with a servo motor and a worm and gear pair respectively. The numerical control flexible mechanical arm device with six degrees of freedom disclosed by the utility model is simple in structure and convenient for operation; the horizontal plane rotating arm, the telescopic arm, the vertical oscillating arm, the horizontal oscillating arm and the self-rotating arm are operated in a combined manner, so that the universal flexible arm is driven to move linearly, curvedly and rotationally automatically, and grabs, discharges and carries materials through a paw; in this way, time and efforts are saved, and efficiency is improved; and the numerical control flexible mechanical arm device is especially fit for batch operation, heavy carriage or disaster relief and rescue operation, and has high reliability and safety.

Description

Numerical control six-degree-of-freedom flexible mechanical arm device
Technical field
The utility model relates to a kind of manipulator equipment, is specifically related to a kind of numerical control six-degree-of-freedom flexible mechanical arm device.
Background technology
At present, manipulator is very wide in the application of industry-by-industry: have medical manipulator, engineering to insert manipulator or the like with manipulator, welding with manipulator and electronic original part.The important effect of they play more and more in national economy, manipulator will replace people's work aspect a lot, obtain bigger development.But present all kinds of manipulators also come with some shortcomings.The one, can not be implemented in the three dimensions along any straight line and carry out arresting of orthoscopic and discharge; The 2nd, the barrier that can not dodge in the three dimensions is realized arresting and discharging; Thereby seriously restricted the manipulator scope of application, the 3rd, can not realize same article are aloft transmitted.Because when a manipulator connects the article on another manipulator; Two skyborne mutual location of manipulator (on position and direction) can be very inaccurate; If while manipulator is firmly grasped another manipulator and loosed one's grip, article will produce mobile and cause accident to take place in the gap of degree of tightness; If manipulator promptly another manipulator of back is just loosed one's grip, two manipulators aloft form to rob and grab the article phenomenon and cause accident to take place.And for same a kind of article of same batch, its size, length, thickness have difference again, have then more increased the difficulty of arresting and discharging.
Summary of the invention
The purpose of the utility model is to overcome the shortcoming of above-mentioned technology, provides a kind of simple in structure, processing ease, and accurate positioning, numerical control six-degree-of-freedom flexible mechanical arm device flexibly moves.
The numerical control six-degree-of-freedom flexible mechanical arm device of the utility model; Comprise base, electrical equipment control operating system, hydropneumatic system and be arranged on the rotation arm seat that has the horizontal plane turning arm on the base; It is characterized in that: described horizontal plane turning arm is provided with main telescopic arm, secondary telescopic arm, the swing arm of pumping arm action peace, and horizontal plane turning arm, main telescopic arm, secondary telescopic arm, the swing arm of pumping arm action peace are connected by joint shaft successively; Described flat swing arm is provided with the spin pivoted arm with universal flexible arm; Be respectively equipped with servomotor and worm couple on described horizontal plane turning arm, main telescopic arm, secondary telescopic arm, pumping arm action, flat swing arm and the spin pivoted arm.
In order better to realize above-mentioned purpose, described spin pivoted arm is provided with hand-controlled regulator.
Described universal flexible arm is provided with paw.
The numerical control six-degree-of-freedom flexible mechanical arm device of the utility model, simple in structure, easy to operate, have six-freedom degree, motion is flexibly in three-dimensional space; The worm couple of hydropneumatic system and six driven by servomotor; The Union Movement of control horizontal plane turning arm, main telescopic arm, secondary telescopic arm, pumping arm action, flat swing arm and spin pivoted arm; Universal flexible arm carries out straight line, curve automatically and rotatablely moves; Accomplish arresting, discharge and carrying of article through paw, time saving and energy saving efficient is high; Especially be fit to batch jobs, dangerous goods carrying or disaster relief rescue work, reliability and security are good.
Description of drawings
Fig. 1 is the structural representation of the utility model.
Among the figure: 1, horizontal plane turning arm, 2, main telescopic arm, 3, secondary telescopic arm, 4, pumping arm action; 5, flat swing arm, 6, the spin pivoted arm, 7, hand-controlled regulator, 8, universal flexible arm; 9, electrical equipment control operating system, 10, hydropneumatic system, 11, base, 12, the rotation arm seat; 13, joint shaft, 14, paw, 15, servomotor, 16, worm couple.
The specific embodiment
The numerical control six-degree-of-freedom flexible mechanical arm device of the utility model comprises base 11, electrical equipment control operating system 9, hydropneumatic system 10 and is arranged on the rotation arm seat 12 that has horizontal plane turning arm 1 on the base 11.Horizontal plane turning arm 1 is provided with main telescopic arm 2, secondary telescopic arm 3, pumping arm action 4 peaceful swing arms 5, and horizontal plane turning arm 1 and main telescopic arm 2, main telescopic arm 2 are connected by joint shaft 13 with flat swing arm 5 with pumping arm action 4, pumping arm action 4 with secondary telescopic arm 3, secondary telescopic arm 3 successively.Flat swing arm 5 is provided with the spin pivoted arm 6 with universal flexible arm 8, also is provided with paw 14 on the universal flexible arm 8, and spin pivoted arm 6 is provided with hand-controlled regulator 7.Be respectively equipped with servomotor 15 and worm couple 16 on horizontal plane turning arm 1, main telescopic arm 2, secondary telescopic arm 3, pumping arm action 4, flat swing arm 5 and the spin pivoted arm 6.
The numerical control six-degree-of-freedom flexible mechanical arm device of the utility model is like this work: according to the characteristics of job task, design paw 14 and be installed on the universal flexible arm 8, on electrical equipment control operating system 9, configure operation procedure.Start robot device; Drive the Union Movement of doing that corresponding worm couple 16 drives horizontal plane turning arm 1, main telescopic arm 2, secondary telescopic arm 3, pumping arm action 4, flat swing arm 5 and spin pivoted arm 6 by operation procedure through hydropneumatic system and six servomotors 15; Universal flexible arm 8 carries out straight line, curve automatically and rotatablely moves; Through paw 14, accomplish arresting, discharge and carrying of article.
Also can manually-operated on electrical equipment control operating system 9, accomplish arresting, discharge and carrying of article.

Claims (3)

1. numerical control six-degree-of-freedom flexible mechanical arm device; Comprise base (11), electrical equipment control operating system (9), hydropneumatic system (10) and be arranged on the rotation arm seat (12) that has horizontal plane turning arm (1) on the base (11); It is characterized in that: described horizontal plane turning arm (1) is provided with main telescopic arm (2), secondary telescopic arm (3), the peaceful swing arm of pumping arm action (4) (5), and horizontal plane turning arm (1), main telescopic arm (2), secondary telescopic arm (3), the peaceful swing arm of pumping arm action (4) (5) are connected by joint shaft (13) successively; Described flat swing arm (5) is provided with the spin pivoted arm (6) with universal flexible arm (8); Be respectively equipped with servomotor (15) and worm couple (16) on described horizontal plane turning arm (1), main telescopic arm (2), secondary telescopic arm (3), pumping arm action (4), flat swing arm (5) and the spin pivoted arm (6).
2. robot device according to claim 1 is characterized in that: described spin pivoted arm (6) is provided with hand-controlled regulator (7).
3. robot device according to claim 1 is characterized in that: described universal flexible arm (8) is provided with paw (14).
CN 201220143475 2012-04-09 2012-04-09 Numerical control flexible mechanical arm device with six degrees of freedom Expired - Fee Related CN202592385U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201220143475 CN202592385U (en) 2012-04-09 2012-04-09 Numerical control flexible mechanical arm device with six degrees of freedom

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201220143475 CN202592385U (en) 2012-04-09 2012-04-09 Numerical control flexible mechanical arm device with six degrees of freedom

Publications (1)

Publication Number Publication Date
CN202592385U true CN202592385U (en) 2012-12-12

Family

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Family Applications (1)

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CN 201220143475 Expired - Fee Related CN202592385U (en) 2012-04-09 2012-04-09 Numerical control flexible mechanical arm device with six degrees of freedom

Country Status (1)

Country Link
CN (1) CN202592385U (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104742121A (en) * 2015-04-26 2015-07-01 姬爱书 Robot for production line
CN105695985A (en) * 2016-02-15 2016-06-22 河北南车环保科技有限公司 Multi-purpose metal powder repair machine
CN107961075A (en) * 2017-12-13 2018-04-27 四川知创空间孵化器管理有限公司 A kind of surgery mechanical arm with antibacterial functions
CN109130085A (en) * 2018-09-21 2019-01-04 太仓市天丝利塑化有限公司 A kind of high intensity extension type mechanical arm beam
CN109702767A (en) * 2018-12-14 2019-05-03 佛山市鑫锦龙机械科技有限公司 A kind of portable mechanism arm

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104742121A (en) * 2015-04-26 2015-07-01 姬爱书 Robot for production line
CN105695985A (en) * 2016-02-15 2016-06-22 河北南车环保科技有限公司 Multi-purpose metal powder repair machine
CN107961075A (en) * 2017-12-13 2018-04-27 四川知创空间孵化器管理有限公司 A kind of surgery mechanical arm with antibacterial functions
CN109130085A (en) * 2018-09-21 2019-01-04 太仓市天丝利塑化有限公司 A kind of high intensity extension type mechanical arm beam
CN109702767A (en) * 2018-12-14 2019-05-03 佛山市鑫锦龙机械科技有限公司 A kind of portable mechanism arm

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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: 20121212

Termination date: 20150409

EXPY Termination of patent right or utility model