CN204622046U - A kind of mobile mechanical arm of eight degrees of freedom - Google Patents
A kind of mobile mechanical arm of eight degrees of freedom Download PDFInfo
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- CN204622046U CN204622046U CN201520313120.7U CN201520313120U CN204622046U CN 204622046 U CN204622046 U CN 204622046U CN 201520313120 U CN201520313120 U CN 201520313120U CN 204622046 U CN204622046 U CN 204622046U
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- mechanical arm
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- freedom
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Abstract
The utility model discloses a kind of mobile mechanical arm of eight degrees of freedom, comprise six shaft mechanical arm systems, this six shaft mechanicals arm system comprises six shaft mechanical arm and end effector mechanisms.Six shaft mechanical arms comprise mechanical arm base, uniaxial joints, an arm, the second axle joint, two arms, the 3rd axle joint, the 4th axle joint, the 5th axle joint and the 6th axle joint.The mobile mechanical arm of a kind of eight degrees of freedom of the present utility model also comprises the first mobile platform and is placed in the second mobile platform on the first mobile platform, this first mobile platform is mutually vertical with this second mobile platform, this six shaft mechanicals arm system is placed on the second mobile platform, can relative level vertically mobile control.The utility model has the following advantages compared to existing technology: the mobile mechanical arm of a kind of eight degrees of freedom of the present utility model is on the basis of six shaft mechanical arms, add horizontal and vertical two displacement freedom, add the scope of application of mechanical arm, improve the service efficiency of mobile mechanical arm.
Description
Technical field
The utility model relates to robotics, in particular a kind of mobile mechanical arm of eight degrees of freedom.
Background technology
At present, industrial robot has been widely used in the field such as automobile and auto parts and components manufacturing industry, mechanical processing industry, electric industry, rubber and plastics industry, food industry, timber and furniture manufacturing industry.In the industrial production, the industrial robot such as arc welding robot, spot welding robot, assembly robot, paint-spray robot and transfer robot is adopted all in a large number.Due to robot cost intensive, in order to allow equipment play maximum function, urgently developing a kind of multivariant mobile mechanical arm, meeting different demand.
Utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art, provide a kind of mobile mechanical arm of eight degrees of freedom, on the basis of six shaft mechanical arms, add the double-layer track that six shaft mechanical arms run, under the guiding of high-precision servo-drive system, improve the service efficiency of mobile mechanical arm.
The utility model is achieved through the following technical solutions: a kind of mobile mechanical arm of eight degrees of freedom, comprise six shaft mechanical arm systems (3), this six shaft mechanicals arm system comprises six shaft mechanical arm and end effector mechanisms, and this six shaft mechanicals arm comprises mechanical arm base, uniaxial joints, an arm, the second axle joint, two arms, the 3rd axle joint, the 4th axle joint, the 5th axle joint and the 6th axle joint.The mobile mechanical arm of this eight degrees of freedom also comprises the first mobile platform (1) and is placed in the second mobile platform (2) on the first mobile platform (1), this first mobile platform (1) is mutually vertical with this second mobile platform (2), and this six shaft mechanicals arm system (3) is placed on the second mobile platform (2).
Described first mobile platform (1) comprising: the first gripper shoe (11), be located at this first gripper shoe (11) to go up and the first track runner (12) being positioned at the right and left, first movable plate (13), first servomotor (14) and the first direct current decelerator (15), the left and right sides of the below of this first movable plate (13) is respectively equipped with the first slide block (131) that cooperation first track runner (12) slides, this first servomotor and this first direct current decelerator control this first slide block (131) by driven gear running and reciprocatingly slide before and after this first track runner (12) is upper.
Described second mobile platform (2) comprising: the second gripper shoe (21), be located at this second gripper shoe (21) to go up and the second track runner (22) being positioned at both sides, front and back, second movable plate (23), second servomotor (24) and the second direct current decelerator (25), the both sides, front and back of the below of this second movable plate (23) are respectively equipped with the second slide block (231) that cooperation second track runner (22) slides, this second servomotor (24) and this second direct current decelerator (25) control this second slide block (231) by driven gear running and reciprocatingly slide in the upper left and right of this second track runner (22).
As the further optimization of such scheme, this first gripper shoe (11) comprises at least two sections of gripper shoes, and at least two sections of gripper shoes are spliced into and are integrated.
As the further optimization of such scheme, the below of this first gripper shoe (11) is provided with at least two base for supporting, and at least two these base for supporting spacing are distributed in the below of this first gripper shoe (11).
As the further optimization of such scheme, the height between this first gripper shoe (11) and ground is 100cm.
The utility model has the following advantages compared to existing technology: the mobile mechanical arm of a kind of eight degrees of freedom of the present utility model, there is following significant advantage: a kind of mobile mechanical arm of eight degrees of freedom is on the basis of six shaft mechanical arms, add horizontal and vertical two displacement freedom, add the scope of application of mechanical arm, improve the service efficiency of mobile mechanical arm.The base of the mobile mechanical arm of a kind of eight degrees of freedom of the present utility model is sliceable base, improves process velocity and installation rate, and the height of base can utilize fork truck to adjust position base, easy for installation.
Accompanying drawing explanation
Fig. 1 is the structural representation of the mobile mechanical arm of a kind of eight degrees of freedom of the present utility model.
Fig. 2 is the structural representation of the first mobile platform of the mobile mechanical arm of a kind of eight degrees of freedom of the present utility model.
Fig. 3 is the structural representation of the second mobile platform of the mobile mechanical arm of a kind of eight degrees of freedom of the present utility model.
Detailed description of the invention
Below embodiment of the present utility model is elaborated; the present embodiment is implemented under premised on technical solutions of the utility model; give detailed embodiment and concrete operating process, but protection domain of the present utility model is not limited to following embodiment.
As shown in Figure 1, be the structural representation of the mobile mechanical arm of a kind of eight degrees of freedom of the present utility model.A mobile mechanical arm for eight degrees of freedom, comprises six shaft mechanical arm systems 3, and this six shaft mechanicals arm system comprises six shaft mechanical arm and end effector mechanisms.Six shaft mechanical arms comprise mechanical arm base, uniaxial joints 31, arm, the second axle joint 32, two arm, the 3rd axle joint 33, the 4th axle joint 34, the 5th axle joint 35 and the 6th axle joint 36, and this six shaft mechanicals arm has the control of six-freedom degree.Optimize, the mobile mechanical arm of a kind of eight degrees of freedom of the present utility model also comprise the first mobile platform 1 and the second mobile platform 2, first mobile platform 1 of being placed on the first mobile platform 1 mutual vertical with this second mobile platform 2.Six shaft mechanical arm systems 3 are placed on the second mobile platform 2.
See Fig. 2, it is the structural representation of the first mobile platform of preferred embodiment of the present utility model.First mobile platform 1 comprises the first gripper shoe 11, be located in this first gripper shoe 11 and be positioned at first track runner 12, first movable plate 13, first servomotor 14 and the first direct current decelerator 15 of the right and left, the left and right sides of the below of this first movable plate 13 is respectively equipped with the first slide block 131 of cooperation first track runner 12 slip, and this first servomotor and this first direct current decelerator control this first slide block 131 front and back on this first track runner 12 by the running of drive first gear 16 and reciprocatingly slide.Second mobile platform 2 is fixed on this first movable plate 13, and the first movable plate 13 reciprocatingly slides before and after slide block 131 is on this first track runner 12.The second mobile platform 2 is driven to reciprocatingly slide before and after the first mobile platform 1.
See Fig. 3, it is the structural representation of the second mobile platform of the present utility model.Described second mobile platform 2 comprises the second gripper shoe 21, be located in this second gripper shoe 21 and be positioned at second track runner 22, second movable plate 23, second servomotor 24 and the second direct current decelerator 25 on both sides, front and back, the both sides, front and back of the below of this second movable plate 23 are respectively equipped with the second slide block 231 of cooperation second track runner 22 slip, and this second servomotor 24 and this second direct current decelerator 25 control this second slide block 231 left and right on this second track runner 22 by the running of drive second gear 26 and reciprocatingly slide.Six shaft mechanical arm systems 3 are fixed on this second movable plate 23, along with slide block left and right on this second track runner 22 reciprocatingly slides on the second movable plate 23.Six shaft mechanical arms 3 are driven to reciprocatingly slide before and after the second mobile platform 2.
The mobile mechanical arm of a kind of eight degrees of freedom of the present utility model drives the first pinion rotation by the first servomotor 14 and the first direct current decelerator 15, first gear is fixed on the second mobile platform, form gear rack straight walking mechanism with the tooth bar be located on the first mobile platform, complete horizontal motion.By controlling the horizontal movement relative to the first mobile platform, mobile platform can stretch out laboratory, and experimental facilities is put on a mobile platform by laboratory technician, under the drive of robot, moves to each station, conveniently assemble and disassemble.Six shaft mechanical arm systems 3 are installed on the first mobile platform by the utility model, the second pinion rotation is driven by the second servomotor and the second direct current decelerator, second gear is fixed on the base of six shaft mechanical arm systems 3, form gear rack straight walking mechanism with the tooth bar be located on the second mobile platform, complete movement in vertical direction.
Optimize, the first mobile platform comprises multistage gripper shoe, and it is integrally the first mobile platform that multistage gripper shoe is spliced into, and experimentally the length of room, conveniently installs and safeguard, have employed modularized design, by splicing, adapts to the laboratory of different length.
The below of the first gripper shoe 11 is provided with multiple base for supporting, and base for supporting is equally distributed in the below of the first gripper shoe 11, for supporting the first mobile platform.Height between first gripper shoe 11 and ground is 100cm.The design of this height conveniently utilizes fork truck to adjust position base.
The mobile mechanical arm of a kind of eight degrees of freedom of the present utility model, there is following significant advantage: a kind of mobile mechanical arm of eight degrees of freedom is on the basis of six shaft mechanical arms, add horizontal and vertical two displacement freedom, realize eight degrees of freedom and move control, add the scope of application of mechanical arm, improve the service efficiency of mobile mechanical arm.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all do within spirit of the present utility model and principle any amendment, equivalent to replace and improvement etc., all should be included within protection domain of the present utility model.
Claims (4)
1. the mobile mechanical arm of an eight degrees of freedom, comprise six shaft mechanical arm systems (3), this six shaft mechanicals arm system comprises six shaft mechanical arm and end effector mechanisms, this six shaft mechanicals arm comprises mechanical arm base, uniaxial joints, one arm, second axle joint, two arms, 3rd axle joint, 4th axle joint, 5th axle joint and the 6th axle joint, it is characterized in that: also comprise the first mobile platform (1) and be placed in the second mobile platform (2) on the first mobile platform (1), this first mobile platform (1) is mutually vertical with this second mobile platform (2), this six shaft mechanicals arm system (3) is placed on the second mobile platform (2),
Described first mobile platform (1) comprising: the first gripper shoe (11), be located at this first gripper shoe (11) to go up and the first track runner (12) being positioned at the right and left, first movable plate (13), first servomotor (14) and the first direct current decelerator (15), the left and right sides of the below of this first movable plate (13) is respectively equipped with the first slide block (131) that cooperation first track runner (12) slides, this first servomotor and this first direct current decelerator control this first slide block (131) by driven gear running and reciprocatingly slide before and after this first track runner (12) is upper,
Described second mobile platform (2) comprising: the second gripper shoe (21), be located at this second gripper shoe (21) to go up and the second track runner (22) being positioned at both sides, front and back, second movable plate (23), second servomotor (24) and the second direct current decelerator (25), the both sides, front and back of the below of this second movable plate (23) are respectively equipped with the second slide block (231) that cooperation second track runner (22) slides, this second servomotor (24) and this second direct current decelerator (25) control this second slide block (231) by driven gear running and reciprocatingly slide in the upper left and right of this second track runner (22).
2. the mobile mechanical arm of a kind of eight degrees of freedom according to claim 1, is characterized in that: this first gripper shoe (11) comprises at least two sections of gripper shoes, and at least two sections of gripper shoes are spliced into and are integrated.
3. the mobile mechanical arm of a kind of eight degrees of freedom according to claim 1, it is characterized in that: the below of this first gripper shoe (11) is provided with at least two base for supporting, at least two these base for supporting spacing are distributed in the below of this first gripper shoe (11).
4. the mobile mechanical arm of a kind of eight degrees of freedom according to claim 1, is characterized in that: the height between this first gripper shoe (11) and ground is 100cm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520313120.7U CN204622046U (en) | 2015-05-14 | 2015-05-14 | A kind of mobile mechanical arm of eight degrees of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520313120.7U CN204622046U (en) | 2015-05-14 | 2015-05-14 | A kind of mobile mechanical arm of eight degrees of freedom |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204622046U true CN204622046U (en) | 2015-09-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520313120.7U Expired - Fee Related CN204622046U (en) | 2015-05-14 | 2015-05-14 | A kind of mobile mechanical arm of eight degrees of freedom |
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| CN (1) | CN204622046U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104816293A (en) * | 2015-05-14 | 2015-08-05 | 安徽中家智锐科技有限公司 | Movable mechanism arm having eight free degrees |
| CN105479456A (en) * | 2016-01-11 | 2016-04-13 | 安徽工业大学 | Movable four-axis robot |
| US10214926B2 (en) | 2016-03-29 | 2019-02-26 | Elid Technology International Pte Ltd | System and method for cleaning external walls of building |
| US10213801B2 (en) | 2016-03-29 | 2019-02-26 | Elid Technology International Pte Ltd | System and method for spray painting external walls of building |
-
2015
- 2015-05-14 CN CN201520313120.7U patent/CN204622046U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104816293A (en) * | 2015-05-14 | 2015-08-05 | 安徽中家智锐科技有限公司 | Movable mechanism arm having eight free degrees |
| CN105479456A (en) * | 2016-01-11 | 2016-04-13 | 安徽工业大学 | Movable four-axis robot |
| US10214926B2 (en) | 2016-03-29 | 2019-02-26 | Elid Technology International Pte Ltd | System and method for cleaning external walls of building |
| US10213801B2 (en) | 2016-03-29 | 2019-02-26 | Elid Technology International Pte Ltd | System and method for spray painting external walls of building |
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Legal Events
| Date | Code | Title | Description |
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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: 20150909 Termination date: 20180514 |
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| CF01 | Termination of patent right due to non-payment of annual fee |