CN203752143U - Multi-degree-of-freedom mechanical arm - Google Patents
Multi-degree-of-freedom mechanical arm Download PDFInfo
- Publication number
- CN203752143U CN203752143U CN201420155668.9U CN201420155668U CN203752143U CN 203752143 U CN203752143 U CN 203752143U CN 201420155668 U CN201420155668 U CN 201420155668U CN 203752143 U CN203752143 U CN 203752143U
- Authority
- CN
- China
- Prior art keywords
- arm
- steel wire
- elevating lever
- mechanical arm
- wire rope
- 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 - Lifetime
Links
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 21
- 239000010959 steel Substances 0.000 claims abstract description 21
- 230000003028 elevating effect Effects 0.000 claims description 26
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 11
- 238000004804 winding Methods 0.000 claims description 10
- 238000005096 rolling process Methods 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 238000013461 design Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009776 industrial production Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000010338 mechanical breakdown Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a multi-degree-of-freedom mechanism arm. The multi-degree-of-freedom mechanism arm comprises a base with driving wheels, a lifting rod is mounted above the base, a picking arm is arranged at the top end of the lifting rod and provided with a mechanical hand and a slide rail, the mechanical hand is mounted on a slider disposed in the slide rail which is drawn by a steel wire, the steel wire is reeled on steel wire reel disposed at the joint of the lifting rod and the picking arm, the steel wire reel is driven by a motor disposed at the upper end of the lifting rod, one end, distant from the lifting rod, of the slider is provided with a reset spring, and the other end of the reset spring is detachably fixed on an end portion of the picking arm. The multi-degree-of-freedom mechanism arm is capable of meeting requirements of taking and placing parts in normal industries and is simple in structure, easy to repair and maintain and low in manufacturing and maintaining cost.
Description
Technical field
The utility model relates to a kind of mechanical arm, especially a kind of multi freedom degree mechanical arm.
Background technology
Along with the raising of industrial production automation degree, increasing mechanical arm is put in actual production and goes.In prior art, for how Design and optimization mechanical arm is also made large quantity research, various mechanical arm structures are proposed.Such as Shao Yan ring waits (machine design and manufacture, the 10th phase in 2011) to disclose a kind of seven freedom mechanical arm; Guo Jun etc. (the mechanics problem scientific seminar collection of thesis in First Nationwide aerospace field, volume two, pp.51-54) make research to Two link Flexible Manipulators manipulator motion planning and emulation.
But in actual industrial production, the part, the instrument etc. that need mechanical arm to take, be often fitly thrown in storage, mechanical arm only needs to make simple action can realize picking and placeing of part etc.In prior art, how many instructions design the mechanical arm of high-freedom degree, have directly caused the complicated of its structure and have manufactured maintenance cost and improve.
Utility model content
The technical problems to be solved in the utility model is to provide a kind of multi freedom degree mechanical arm, and it is with the universal original paper manufacture that is easy on market buy, can by operating personnel scene mechanical breakdown is checked to eliminating, renewal part even; Simplify as far as possible mechanical arm structure, to improve its functional reliability.
For solving the problems of the technologies described above, technical solution adopted in the utility model is as follows.
A kind of multi freedom degree mechanical arm, comprises the pedestal with driving wheel, and pedestal top is provided with elevating lever, and the top of elevating lever has pick-up arm,
Described pick-up arm has manipulator and slide rail, and manipulator is installed on slide block, and slide block is positioned in slide rail,
Described slide block is by rope traction, and steel wire rope rolling is in being positioned on the steel wire rope winding wheel of elevating lever and pick-up arm junction, and steel wire rope winding wheel is driven by the motor that is positioned at elevating lever upper end,
One end away from elevating lever of described slide block has back-moving spring, and the other end of back-moving spring is removably fixed on pick-up arm end.
As preferably, after described elevating lever stretches, full-height is 2-2.5m, and described pick-up arm length is 1.5-2m.
As preferably, described steel wire rope winding wheel is removably installed.
As preferably, described manipulator is according to installing perpendicular to the mode in ground, sensing, and manipulator has symmetrical 2-4 root mechanical finger, and mechanical finger can be realized the action of opening with clamping.
As preferably, described elevating lever be installed on can the The Cloud Terrace of 360 ° of rotations on, between elevating lever and The Cloud Terrace, also there is hydraulic jack.
As preferably, described back-moving spring is two.
The beneficial effect that adopts technique scheme to bring is: mechanical arm is installed on any self-driven pedestal, has higher flexibility.Mechanical arm according to storage height can vertically adjust oneself height, according to part apart from the far and near horizontal adjusting position of manipulator of pedestal, only need two frees degree can complete picking up of part, greatly simplified the structure of mechanical arm, reduced production cost.Meanwhile, mechanical arm uses rope traction as power-transmitting part, compare gear, belt or chain drive production cost and reduce, and simple in structure, the parts of rope traction is easy to buy and change, and has reduced the use and maintenance cost of mechanical arm.
Brief description of the drawings
Fig. 1 is the schematic diagram of the utility model mechanical arm.
Fig. 2 is the side view of the utility model mechanical arm.
Fig. 3 is the top view of the pick-up arm of the utility model mechanical arm.
In figure:
1, pedestal; 2, driving wheel; 3, The Cloud Terrace; 4, hydraulic jack; 5, elevating lever; 6, part pickup arm; 7, steel wire rope winding wheel; 8, motor; 9, back-moving spring; 10, steel wire rope; 11, slide block; 12, manipulator.
Detailed description of the invention
As shown in Figure 1, in a detailed description of the invention of the present utility model, mechanical arm has 3 frees degree, i.e. moving horizontally of the vertical telescopic of elevating lever and rotation and manipulator.For the object further reducing costs, the rotary freedom of elevating lever can also be cancelled.
As Figure 2-3, have on the pedestal 1 of driving wheel 2 elevating lever 5 is installed, between elevating lever 5 and pedestal 1, there is successively hydraulic jack 4 and can 360 ° of rotary heads 3.
The top of elevating lever 5 has pick-up arm 6, and pick-up arm 6 has manipulator 12 and slide rail, and manipulator 12 is installed on slide block 11, and slide block is positioned in slide rail.Described slide block 11 is drawn by steel wire rope 10, and steel wire rope 10 rollings are in being positioned on the steel wire rope winding wheel 7 of elevating lever 5 and pick-up arm 6 junctions, and steel wire rope winding wheel 7 is removably installed and driven by the motor 8 that is positioned at elevating lever 5 upper ends.So design, has greatly alleviated the weight of pick-up arm, avoided the weight of equipment of rear single-degree-of-freedom cumulative with front single-degree-of-freedom on.Meanwhile, manipulator 12 move distances can be weighed by steel wire rope 10 rolling length, and the latter can be recorded by the rotating cycle of steel wire rope winding wheel 7, thereby have realized with the simplest part the function that is enough to satisfy the demand.
One end away from elevating lever 5 of described slide block 11 has two back-moving springs 9, and the other end of back-moving spring 9 is removably fixed on the end of pick-up arm 6.
Elevating lever full-height is 2m, picks up brachium 1.5m.
More than show and described general principle of the present utility model and principal character and advantage of the present utility model.The technical staff of the industry should understand; the utility model is not restricted to the described embodiments; that in above-described embodiment and description, describes just illustrates principle of the present utility model; do not departing under the prerequisite of the utility model spirit and scope; the utility model also has various changes and modifications, and these changes and improvements all fall within the scope of claimed the utility model.The claimed scope of the utility model is defined by appending claims and equivalent thereof.
Claims (5)
1. a multi freedom degree mechanical arm, it is characterized in that, it comprises the have driving wheel pedestal (1) of (2), pedestal (1) top is provided with elevating lever (5), the top of elevating lever (5) has pick-up arm (6), described pick-up arm (6) has manipulator (12) and slide rail, manipulator (12) is installed on slide block (11), slide block (11) is positioned in slide rail, described slide block (11) is drawn by steel wire rope (10), steel wire rope (10) rolling is in being positioned on the steel wire rope winding wheel (7) of elevating lever (5) and pick-up arm (6) junction, steel wire rope winding wheel (7) is driven by the motor (8) that is positioned at elevating lever (5) upper end, one end away from elevating lever (5) of described slide block (11) has back-moving spring (9), the other end of back-moving spring (9) is removably fixed on pick-up arm (6) end.
2. multi freedom degree mechanical arm as claimed in claim 1, is characterized in that, after described elevating lever (5) stretches, full-height is 2-2.5m, and described pick-up arm (6) length is 1.5-2m.
3. multi freedom degree mechanical arm as claimed in claim 1, is characterized in that, described steel wire rope winding wheel (7) is removably installed.
4. multi freedom degree mechanical arm as claimed in claim 1, is characterized in that, described elevating lever (5) be installed on can the The Cloud Terrace (3) of 360 ° of rotations on.
5. multi freedom degree mechanical arm as claimed in claim 4, is characterized in that, described elevating lever (5) and can also have hydraulic jack (4) between the The Cloud Terrace (3) of 360 ° of rotations.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420155668.9U CN203752143U (en) | 2014-04-02 | 2014-04-02 | Multi-degree-of-freedom mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420155668.9U CN203752143U (en) | 2014-04-02 | 2014-04-02 | Multi-degree-of-freedom mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203752143U true CN203752143U (en) | 2014-08-06 |
Family
ID=51247451
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420155668.9U Expired - Lifetime CN203752143U (en) | 2014-04-02 | 2014-04-02 | Multi-degree-of-freedom mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203752143U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104972479A (en) * | 2014-04-02 | 2015-10-14 | 宁夏巨能机器人系统有限公司 | Multi-degree of freedom machinery arm |
| CN108386806A (en) * | 2018-02-10 | 2018-08-10 | 赵小波 | A kind of energy-saving lifting street lamp of self-power generation type based on ejector principle |
-
2014
- 2014-04-02 CN CN201420155668.9U patent/CN203752143U/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104972479A (en) * | 2014-04-02 | 2015-10-14 | 宁夏巨能机器人系统有限公司 | Multi-degree of freedom machinery arm |
| CN104972479B (en) * | 2014-04-02 | 2017-07-21 | 宁夏巨能机器人系统有限公司 | A kind of multi-degree-of-freemechanical mechanical arm |
| CN108386806A (en) * | 2018-02-10 | 2018-08-10 | 赵小波 | A kind of energy-saving lifting street lamp of self-power generation type based on ejector principle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 750021 the Ningxia Hui Autonomous Region concentric Yinchuan City Development Zone, No. 296 South Street Patentee after: NINGXIA JUNENG ROBOT Co.,Ltd. Address before: 750021 the Ningxia Hui Autonomous Region concentric Yinchuan City Development Zone, No. 296 South Street Patentee before: NINGXIA JUNENG ROBOT SYSTEM Co.,Ltd. |
|
| CX01 | Expiry of patent term |
Granted publication date: 20140806 |
|
| CX01 | Expiry of patent term |