CN205009213U - Mechanical arm device - Google Patents
Mechanical arm device Download PDFInfo
- Publication number
- CN205009213U CN205009213U CN201520521919.5U CN201520521919U CN205009213U CN 205009213 U CN205009213 U CN 205009213U CN 201520521919 U CN201520521919 U CN 201520521919U CN 205009213 U CN205009213 U CN 205009213U
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- CN
- China
- Prior art keywords
- connecting rod
- mechanical arm
- drive motors
- mount pad
- quadric chain
- 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.)
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Abstract
The utility model provides a mechanical arm device, including manipulator mount pad, actuating mechanism mount pad, by a driving motor driven link mechanism with by the 2nd driving motor driven the 2nd link mechanism, a link mechanism is rotated first arm and second arm and is formed by connecting, and first arm and second arm are four link mechanism, just four connecting axles of four -bar linkage are in four summits of parallelogram, the 2nd link mechanism's the terminal and terminal rotation connection of second arm. The utility model discloses can fast enough speed adjusting whole manipulator actuating mechanism operating position can make actuating mechanism remain the working angle and the attitude stabilization of its settlement throughout again, in addition the utility model provides a manipulator simple structure, light in weight, energy consumption are hanged down, can realize that intelligent article shift, and arrangement range and so on is used.
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, always expect to provide fast, structure is simple, weight is light and handy 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 robot device, and its speed is fast, stable working state.For this reason, the utility model is by the following technical solutions:
A kind of robot device, comprises manipulator mount pad, executing agency's mount pad, manipulator mount pad is installed the first drive motors and the second drive motors; Described manipulator is provided with the first connecting rod mechanism driven by the first drive motors and the second connecting rod mechanism driven by the second drive motors, it is characterized in that:
Described first connecting rod mechanism is rotationally connected by the first mechanical arm and the second mechanical arm and forms, first drive motors is connected with the first mechanical arm, first mechanical arm and the second mechanical arm are quadric chain, and four of described quadric chain connecting axles are in four summits of parallelogram, the front end of described second connecting rod mechanism is connected with the second drive motors, and end and second mechanical arm tail end of described second connecting rod mechanism are rotationally connected;
A wherein side rod in the quadric chain of the first mechanical arm is fixed bar, and beyond being fixedly connected with executing agency mount pad in the quadric chain of the second mechanical arm, the angle of connecting rod and described fixed bar is fixed.
On the basis adopting technique scheme, the utility model also can adopt following further technical scheme:
L-shaped connecting rod is provided with in described first connecting rod mechanism; Described L shape connecting rod while as connecting rod on one side in the first mechanical arm quadric chain, be described fixed bar with the connecting rod of its opposite side in the first mechanical arm quadric chain; The another side of described L shape connecting rod is as connecting rod on one side in the second mechanical arm quadric chain; Described executing agency mount pad is fixedly connected with the connecting rod over there of the another side opposite side with described L shape connecting rod; One side of described L shape connecting rod and another side coaxial rotation.
Described second connecting rod mechanism is rotationally connected by first connecting rod and third connecting rod and forms, and the second drive motors is connected with first connecting rod, and the end connecting axle of third connecting rod and the connecting axle of the second mechanical arm tail end are same axis or coaxial line.
Be arranged in juxtaposition about the connecting axle of first connecting rod mechanism and the first drive motors and the connecting axle of second connecting rod mechanism and the second drive motors.
Owing to adopting the technical solution of the utility model, the driving of the utility model by two power set and the cooperation of two cover linkages, manipulator executing agency can either be made directly to carry out oblique movement in the two-dimensional direction, shorten mobile route, rapid adjustment manipulator executing agency operating position, executing agency's mount pad and the executing agency that is installed on it can be made again to remain its operating angle set and attitude stabilization, and robot manipulator structure provided by the utility model is simple, lightweight, energy consumption is low, intelligent article displacement can be realized, arrange arrangement etc. application.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of embodiment provided by the utility model from an angle views.
Fig. 2 is the schematic diagram of embodiment provided by the utility model from another angle views.
Fig. 3 is the front view of embodiment provided by the utility model.
Detailed description of the invention
With reference to accompanying drawing.A kind of robot device provided by the utility model, comprises manipulator mount pad 1, executing agency's mount pad 2, and manipulator mount pad is installed the first drive motors 11 and the second drive motors 12; Described manipulator is provided with the first connecting rod mechanism driving 11 by the first drive motors and the second connecting rod mechanism driven by the second drive motors 12.
Described first connecting rod mechanism is rotationally connected by the first mechanical arm and the second mechanical arm and forms, first mechanical arm and the second mechanical arm are quadric chain, four connecting axles 202,205,206,207 of the quadric chain of the first mechanical arm are in four summits of parallelogram, and four connecting axles 207,204,208,209 of the quadric chain of the second mechanical arm are also in four summits of parallelogram.
First mechanical arm by second connecting rod 102, six-bar linkage 106, the 5th connecting rod 105, and manipulator mount pad 1 second connecting rod 102 and the connecting axle 202 of the first drive motors 11 and this four side rod of part between the 5th connecting rod and the connecting axle 205 of manipulator mount pad 1 be rotationally connected composition quadric chain.First drive motors 11 drives second connecting rod 102 to rotate.The part of manipulator mount pad 1 between connecting axle 202 and connecting axle 205 is as the wherein side rod in this quadric chain, and it is fixed bar, is also that this side rod in the first mechanical arm quadric chain keeps motionless relative to manipulator mount pad 1.
Second mechanical arm is rotationally connected by seven-link assembly 107, double leval jib 104, the 9th connecting rod 109 and this four side rod of the tenth connecting rod 110 and forms quadric chain, and wherein, the tenth connecting rod 110 and the 9th connecting rod 109 are end-to-end relation.
9th connecting rod 109 and six-bar linkage 106 are the different edge on L shape connecting rod, they all with connecting axle 207 for axle rotate, second connecting rod 102 is rotationally connected by this axle and six-bar linkage.Angle between 9th connecting rod 109 and six-bar linkage 106 is fixing, and the line in line between the two ends connecting axle of six-bar linkage 106 and the first mechanical arm quadric chain between the connecting axle of fixed bar two ends is parallel, tenth connecting rod 110 is fixed with the angle of described fixed bar thus, executing agency's mount pad adopts integral type or assembled to be fixedly connected with the tenth connecting rod 110, in the operation process of manipulator, the angle of executing agency's mount pad 2 all can not become.
Described second connecting rod mechanism is rotationally connected by first connecting rod 101 and third connecting rod 103 and forms, second drive motors 12 is connected with first connecting rod 101 by the first axle 201, drive it to rotate, the end connecting axle of third connecting rod 103 and the connecting axle of the second mechanical arm tail end are same axises, also i.e. connecting axle 204, or the end connecting axle of third connecting rod and the connecting axle of the second mechanical arm tail end are coaxial lines.
The connecting axle of first connecting rod mechanism and the first drive motors also namely the connecting axle of connecting axle 202 and second connecting rod mechanism and the second drive motors be also that connecting axle about 201 is arranged in juxtaposition.
Manipulator mount pad 1 can make whole manipulator be suspended on support or in various frame, applied range, can realize capturing arrangement arrangement etc. function, and accurately, efficiency is high.
Executing agency's mount pad 2 can install various grappling fixture, the various executing agency needed for action, and range of application is large, and drawing reference numeral 21 is drive motors or the cylinder of executing agency.
Drawing reference numeral 203 is the connecting axle between first connecting rod 101 and third connecting rod 103;
Drawing reference numeral 206 is the connecting axle between the 5th connecting rod 105 and six-bar linkage 106;
Drawing reference numeral 208 is the connecting axle between seven-link assembly 107 and the 9th connecting rod 109;
Drawing reference numeral 209 is the connecting axle between seven-link assembly 107 and the 10th connecting rod 110.
Claims (4)
1. a robot device, comprises manipulator mount pad, executing agency's mount pad, and manipulator mount pad is installed the first drive motors and the second drive motors; Described manipulator is provided with the first connecting rod mechanism driven by the first drive motors and the second connecting rod mechanism driven by the second drive motors, it is characterized in that:
Described first connecting rod mechanism is rotationally connected by the first mechanical arm and the second mechanical arm and forms, first drive motors is connected with the first mechanical arm, first mechanical arm and the second mechanical arm are quadric chain, and four of described quadric chain connecting axles are in four summits of parallelogram, the front end of described second connecting rod mechanism is connected with the second drive motors, and end and second mechanical arm tail end of described second connecting rod mechanism are rotationally connected;
A wherein side rod in the quadric chain of the first mechanical arm is fixed bar, and beyond being fixedly connected with executing agency mount pad in the quadric chain of the second mechanical arm, the angle of connecting rod and described fixed bar is fixed.
2. a kind of robot device as claimed in claim 1, is characterized in that: be provided with L-shaped connecting rod in described first connecting rod mechanism;
L shape connecting rod while as connecting rod on one side in the first mechanical arm quadric chain, be described fixed bar with the connecting rod of its opposite side in the first mechanical arm quadric chain; The another side of L shape connecting rod is as connecting rod on one side in the second mechanical arm quadric chain; Described executing agency mount pad is fixedly connected with the connecting rod over there of the another side opposite side with L shape connecting rod; One side of L shape connecting rod and another side coaxial rotation.
3. a kind of robot device as claimed in claim 1, it is characterized in that: described second connecting rod mechanism is rotationally connected by first connecting rod and third connecting rod and forms, second drive motors is connected with first connecting rod, and the end connecting axle of third connecting rod and the connecting axle of the second mechanical arm tail end are same axis or coaxial line.
4. a kind of robot device as claimed in claim 3, is characterized in that: be arranged in juxtaposition about the connecting axle of first connecting rod mechanism and the first drive motors and the connecting axle of second connecting rod mechanism and the second drive motors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520521919.5U CN205009213U (en) | 2015-07-17 | 2015-07-17 | Mechanical arm device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520521919.5U CN205009213U (en) | 2015-07-17 | 2015-07-17 | Mechanical arm device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205009213U true CN205009213U (en) | 2016-02-03 |
Family
ID=55207840
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520521919.5U Active CN205009213U (en) | 2015-07-17 | 2015-07-17 | Mechanical arm device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205009213U (en) |
-
2015
- 2015-07-17 CN CN201520521919.5U patent/CN205009213U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |