CN204622050U - A kind of manipulator - Google Patents
A kind of manipulator Download PDFInfo
- Publication number
- CN204622050U CN204622050U CN201520154242.6U CN201520154242U CN204622050U CN 204622050 U CN204622050 U CN 204622050U CN 201520154242 U CN201520154242 U CN 201520154242U CN 204622050 U CN204622050 U CN 204622050U
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- China
- Prior art keywords
- mechanical arm
- manipulator
- drive motors
- mounting base
- crank
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Abstract
The utility model provides a kind of manipulator, first, second, and third mechanical arm that comprise mounting base, independently can rotate; The pivot center of first, second, and third mechanical arm is parallel, and first, second, and third mechanical arm has its respective drive motors first mechanical arm can rotate relative to described mounting base under the driving of its drive motors respectively; Second mechanical arm is rotatably connected to the end of the first mechanical arm, and three-mechanical arm is rotatably connected to the end of the second mechanical arm.The utility model passes through the rotation of the first mechanical arm and the second mechanical arm, in conjunction with the 3rd manipulator to the angle adjustment of executing agency, article can be carried quickly with the shortest path, and setting angle of the present utility model freely, the angle of getting article and putting article freely, structure is simply lightweight, can adapt to the article delivery requirement under various occasion.
Description
Technical field
The utility model relates to a kind of manipulator.
Background technology
At present, in commercial Application, to the application adopting manipulator mobile article, more and more higher to the requirement of its speed, further expand in order to what respond manipulator application the operation automation that conventional manual is performed, expect to provide that a kind of structure is simple, weight lightly and possess the manipulator of enough proper properties.
Summary of the invention
Technical problem to be solved in the utility model is to provide a kind of light structure, setting angle is adjustable, operating angle is free and carry the manipulator of article sooner.For this reason, the utility model is by the following technical solutions:
A kind of manipulator, is characterized in that it comprises mounting base, first mechanical arm that can independently rotate, second mechanical arm that can independently rotate and the three-mechanical arm that can independently rotate;
First mechanical arm, the second mechanical arm are parallel with the pivot center of three-mechanical arm, and described first mechanical arm, the second mechanical arm and three-mechanical arm have its respective drive motors respectively;
The drive motors of the first mechanical arm is arranged on described mounting base, and the first mechanical arm can be rotated relative to described mounting base under the driving of its drive motors;
Second mechanical arm is rotatably connected to the end of the first mechanical arm, three-mechanical arm is rotatably connected to the end of the second mechanical arm, the drive motors of the second mechanical arm is arranged on described mounting base, and the drive motors of three-mechanical arm is arranged on the second mechanical arm.
On the basis adopting technique scheme, the utility model also can adopt following further technical scheme:
The drive motors of the second mechanical arm drives the second mechanical arm to rotate by linkage, described linkage is made up of crank and connecting rod, the pivot center of described crank and the pivot center of the first mechanical arm are point-blank, one end of connecting rod and the other end of crank are rotationally connected, the other end of connecting rod and the middle part of the second mechanical arm are rotationally connected, first mechanical arm, connecting rod, crank, second mechanical arm forms parallelogram lindage at the second mechanical arm and the first mechanical arm rotatable connecting portion to this section of the rotatable connecting portion of the second mechanical arm and connecting rod, second mechanical arm is driven by described linkage by the drive motors driving crank of the second mechanical arm and rotates.
The drive motors of described three-mechanical arm drives three-mechanical arm to rotate by Timing Belt.
Described three-mechanical arm is arm structure, and the two arms in both arms is in the both sides of the second mechanical arm respectively and is linked together by axle.
Described three-mechanical arm is arm structure, two arms in both arms is in the both sides of the second mechanical arm respectively and is linked together by the follower shaft of Timing Belt, described follower shaft is as the rotating shaft of three-mechanical arm, and the driven pulley of Timing Belt is fixedly connected with the follower shaft of Timing Belt.
Two groups of linkages that described linkage adopts connecting axle to link together, comprise two cranks arranged side by side and arranged side by side two connecting rods.
Described three-mechanical arm is provided with the connecting portion of installation manipulator executing agency.
Owing to adopting the technical solution of the utility model, the utility model passes through the rotation of the first mechanical arm and the second mechanical arm, in conjunction with the 3rd manipulator to the angle adjustment of executing agency, article can be carried quickly with the shortest path, and setting angle of the present utility model freely, the angle of getting article and putting article freely, structure is simply lightweight, can adapt to the article delivery requirement under various occasion.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of a kind of embodiment of the utility model.
Fig. 2 is rearview embodiment illustrated in fig. 1.
Fig. 3 is the schematic diagram from another angle views embodiment illustrated in fig. 1.
Fig. 4 is the schematic diagram after setting angle embodiment illustrated in fig. 1 adjustment.
Detailed description of the invention
With reference to accompanying drawing.Manipulator provided by the utility model, comprises mounting base 100, first mechanical arm 1 that can independently rotate, second mechanical arm 2 that can independently rotate and the three-mechanical arm 3 that can independently rotate; Described mounting base 100 is provided with the connecting portion of suspended fixing, and this connecting portion can be several installing holes 101.First mechanical arm 1, second mechanical arm 2 is parallel with the pivot center of three-mechanical arm 3, and described first mechanical arm, the second mechanical arm and three-mechanical arm have its respective drive motors respectively.
The drive motors 11 of the first mechanical arm is arranged on described mounting base 100, first mechanical arm 1 can be rotated relative to described mounting base under the driving of its drive motors 11, simultaneously, with reference to Fig. 1 and 4, when Hoisting Position changes, by the setting to the first mechanical arm initial angle, also namely can regulate arbitrarily mounting base suspended fixing angle to the setting of drive motors 11 initialization angle, thus adapt to different workplaces and machine.
Second mechanical arm 2 is rotatably connected to the end being arranged on the first mechanical arm 1, three-mechanical arm 3 is rotatably connected to the end of the second mechanical arm 2, the drive motors 21 of the second mechanical arm is arranged on described mounting base 100, and the drive motors 31 of three-mechanical arm is arranged on the second mechanical arm 2.
The drive motors 21 of the second mechanical arm drives the second mechanical arm 2 to rotate by linkage, described linkage is made up of crank 41 and connecting rod 42, the pivot center of crank 41 and the pivot center of the first mechanical arm 1 are point-blank, one end of connecting rod 42 and the other end of crank 41 are rotationally connected, the other end of connecting rod 42 and the middle part of the second mechanical arm 2 are rotationally connected, first mechanical arm 1, connecting rod 42, crank 41, second mechanical arm 2 forms parallelogram lindage in this section of the second mechanical arm and the first mechanical arm rotatable connecting portion, second mechanical arm 2 is driven by described linkage by drive motors 21 driving crank 41 of the second mechanical arm and rotates.
The drive motors 31 of described three-mechanical arm drives three-mechanical arm to rotate by Timing Belt 51.Described three-mechanical arm 3 is arm structure, this two arms in both arms is in the both sides of the second mechanical arm 2 respectively and is linked together by the follower shaft of Timing Belt, described follower shaft is as the rotating shaft 30 of three-mechanical arm, and the driven pulley 52 of Timing Belt is fixedly connected with the follower shaft of Timing Belt.
Described Timing Belt can be deceleration synchronization band, and the diameter of driving wheel is less than the diameter of driven pulley, and configurable regulating wheel 53.
Two groups of toggles that described linkage adopts connecting axle 43 to link together, comprise two cranks arranged side by side and arranged side by side two connecting rods.
Described three-mechanical arm 3 is provided with the connecting portion of installation manipulator executing agency, and this connecting portion can be several installing holes 32.
Claims (7)
1. a manipulator, is characterized in that it comprises mounting base, first mechanical arm that can independently rotate, second mechanical arm that can independently rotate and the three-mechanical arm that can independently rotate;
First mechanical arm, the second mechanical arm are parallel with the pivot center of three-mechanical arm, and described first mechanical arm, the second mechanical arm and three-mechanical arm have its respective drive motors respectively;
The drive motors of the first mechanical arm is arranged on described mounting base, and the first mechanical arm can be rotated relative to described mounting base under the driving of its drive motors;
Second mechanical arm is rotatably connected to the end of the first mechanical arm, three-mechanical arm is rotatably connected to the end of the second mechanical arm, the drive motors of the second mechanical arm is arranged on described mounting base, and the drive motors of three-mechanical arm is arranged on the second mechanical arm.
2. a kind of manipulator as claimed in claim 1, it is characterized in that the drive motors of the second mechanical arm drives the second mechanical arm to rotate by linkage, described linkage is made up of crank and connecting rod, the pivot center of described crank and the pivot center of the first mechanical arm are point-blank, one end of connecting rod and the other end of crank are rotationally connected, the other end of connecting rod and the middle part of the second mechanical arm are rotationally connected, first mechanical arm, connecting rod, crank, second mechanical arm forms parallelogram lindage at the second mechanical arm and the first mechanical arm rotatable connecting portion to this section of the rotatable connecting portion of the second mechanical arm and connecting rod, second mechanical arm is driven by described linkage by the drive motors driving crank of the second mechanical arm and rotates.
3. a kind of manipulator as claimed in claim 1, is characterized in that the drive motors of described three-mechanical arm drives three-mechanical arm to rotate by Timing Belt.
4. a kind of manipulator as claimed in claim 1, it is characterized in that described three-mechanical arm is arm structure, the two arms in both arms is in the both sides of the second mechanical arm respectively and is linked together by axle.
5. a kind of manipulator as claimed in claim 3, it is characterized in that described three-mechanical arm is arm structure, two arms in both arms is in the both sides of the second mechanical arm respectively and is linked together by the follower shaft of Timing Belt, described follower shaft is as the rotating shaft of three-mechanical arm, and the driven pulley of Timing Belt is fixedly connected with the follower shaft of Timing Belt.
6. a kind of manipulator as claimed in claim 2, is characterized in that comprising two cranks arranged side by side and arranged side by side two connecting rods by two groups of linkages that described linkage employing connecting axle links together.
7. a kind of manipulator as claimed in claim 1, is characterized in that described three-mechanical arm is provided with the connecting portion of installation manipulator executing agency.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520154242.6U CN204622050U (en) | 2015-03-18 | 2015-03-18 | A kind of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520154242.6U CN204622050U (en) | 2015-03-18 | 2015-03-18 | A kind of manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204622050U true CN204622050U (en) | 2015-09-09 |
Family
ID=54041109
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520154242.6U Active CN204622050U (en) | 2015-03-18 | 2015-03-18 | A kind of manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204622050U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106078715A (en) * | 2016-08-22 | 2016-11-09 | 德奥通用航空股份有限公司 | Point dish machine taking dish mechanical arm and application thereof on point dish machine |
-
2015
- 2015-03-18 CN CN201520154242.6U patent/CN204622050U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106078715A (en) * | 2016-08-22 | 2016-11-09 | 德奥通用航空股份有限公司 | Point dish machine taking dish mechanical arm and application thereof on point dish machine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |