CN205291003U - Mechanical arm - Google Patents
Mechanical arm Download PDFInfo
- Publication number
- CN205291003U CN205291003U CN201620023763.2U CN201620023763U CN205291003U CN 205291003 U CN205291003 U CN 205291003U CN 201620023763 U CN201620023763 U CN 201620023763U CN 205291003 U CN205291003 U CN 205291003U
- Authority
- CN
- China
- Prior art keywords
- arm body
- driving device
- arm
- mechanical arm
- installing
- 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.)
- Withdrawn - After Issue
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model provides a mechanical arm, include: base (10), operating portion (20), the arm body (30) sets up between base (10) and operating portion (20), and base (10) are personally experienced sth. Part of the body with the arm and are connected through a joint structure (41) between (30), and operating portion (20) are personally experienced sth. Part of the body with the arm and are connected through the 2nd joint structure (42) between (30), a drive arrangement (51) are connected in order to drive a joint structure (41) motion with a joint structure (41), the 2nd drive arrangement (52) are connected in order to drive the 2nd joint structure (42) motion with the 2nd joint structure (42), the arm body (30) has the chamber of holding, and a drive arrangement (51) and the 2nd drive arrangement (52) set up and are holding the intracavity. The technical scheme of the utility model the joint drive ware that can solve the mechanical arm among the prior art effectively place the position not good, easily cause away line complicacy or the complicated problem of joint structure.
Description
Technical field
This utility model relates to mechanical arm technical field, in particular to a kind of mechanical arm.
Background technology
At present, lightweight robot architecture is widely used in multiple occasion (being such as applied on air-conditioning production line). In existing 6 axle lightweight robot architectures, the motor driver in each joint generally has two kinds of modes of emplacements. A kind of is be positioned in the switch board outside robot by motor driver, so can cause that robot interior cabling quantity is too much, increase the difficulty of intra articular cabling. Another kind is the inside that motor driver is positioned over each joint, although so making the quantity of robot interior cabling reduce, but can increase the volume in each joint, and makes articulation structure complicated.
Utility model content
Main purpose of the present utility model is in that to provide a kind of mechanical arm, the problem that the joint driver placement location to solve mechanical arm of the prior art is not good, it is complicated to easily cause cabling or articulation structure is complicated.
To achieve these goals, this utility model provides a kind of mechanical arm, including: pedestal; Operating portion; Arm body, is arranged between pedestal and operating portion, is connected by the first articulation structure between pedestal with arm body, is connected by second joint structure between operating portion with arm body; First driving device, is connected with the first articulation structure to drive the first articulation structure motion; Second driving device, is connected to drive second joint structure motion with second joint structure; Arm body has accommodation chamber, and the first driving device and the second driving device are arranged on accommodation intracavity.
Further, mechanical arm also includes for installing the first driving device and/or the installing rack of the second driving device, and installing rack is at least partially disposed at accommodation intracavity.
Further, installing rack includes: fixing plate, is connected in the circumferential side wall of arm body; Installing plate, is connected on fixing plate and is positioned at accommodation intracavity.
Further, installing plate is multiple, and multiple installing plates are arranged along the axial direction interval of arm body.
Further, fixing plate is arc, and the circumferential side wall of arc and arm body fits.
Further, arm body being provided with installing port, fixing plate is connected to installing port place and is connected with the outer circumferential side wall of arm body, and installing plate stretches to accommodation intracavity from installing port.
Further, installing rack also includes for connecting fixing plate and the securing member of arm body.
Further, arm body includes the first arm body and the second arm body, being connected by the 3rd articulation structure between first arm body and the second arm body, mechanical arm also includes being connected with the 3rd articulation structure to drive the 3rd driving device of the 3rd articulation structure motion, and the 3rd driving device is positioned at accommodation intracavity.
Further, installing rack is multiple, a part in multiple installing racks is arranged on the first arm body, another part in multiple installing racks is arranged on the second arm body, first driving device is arranged on the installing rack of corresponding first arm body, second driving device is arranged on the installing rack of corresponding second arm body, and the 3rd driving device is arranged on the installing rack of corresponding first arm body or on the installing rack of corresponding second arm body.
Further, the first arm body and the second arm body in the vertical direction shift to install.
Application the technical solution of the utility model, the first driving device of the first articulation structure motion will be driven and drive the second driving device of second joint structure motion to be arranged on the accommodation intracavity of arm body, the first driving device and the second driving device so can be made to be positioned at the inside of mechanical arm, thus avoiding the cabling within mechanical arm excessively complicated, internal cabling is made to be more easily implemented. Simultaneously, above-mentioned first driving device and the second driving device are arranged on the accommodation intracavity of arm body, and it is not arranged in the first articulation structure and second joint structure, so can simplify the internal structure of the first articulation structure and second joint structure, make it compacter, reduce the first articulation structure and the size of second joint structure, reduce production cost, be more beneficial for the miniaturization of mechanical arm, lightweight.
Accompanying drawing explanation
The Figure of description constituting the part of the application is used for providing being further appreciated by of the present utility model, and schematic description and description of the present utility model is used for explaining this utility model, is not intended that improper restriction of the present utility model. In the accompanying drawings:
Fig. 1 illustrates the structural representation of the embodiment according to mechanical arm of the present utility model;
Fig. 2 illustrates the installing rack of the mechanical arm of Fig. 1 and the structural representation of the first driving device, the 3rd driving device;
Fig. 3 illustrates the cross-sectional schematic of the first arm body of the mechanical arm of Fig. 1; And
Fig. 4 illustrates the cross-sectional schematic of the second arm body of the mechanical arm of Fig. 1.
Wherein, above-mentioned accompanying drawing includes the following drawings labelling:
10, pedestal; 20, operating portion; 30, arm body; 31, the first arm body; 32, the second arm body; 41, the first articulation structure; 42, second joint structure; 43, the 3rd articulation structure; 51, the first driving device; 52, the second driving device; 53, the 3rd driving device; 60, installing rack; 61, fixing plate; 62, installing plate; 70, securing member.
Detailed description of the invention
It should be noted that when not conflicting, the embodiment in the application and the feature in embodiment can be mutually combined. Describe this utility model below with reference to the accompanying drawings and in conjunction with the embodiments in detail.
As shown in Fig. 1, Fig. 3 and Fig. 4, the mechanical arm of the present embodiment includes pedestal 10, operating portion 20, arm body the 30, first driving device 51 and the second driving device 52. Wherein, arm body 30 is arranged between pedestal 10 and operating portion 20, is connected by the first articulation structure 41 between pedestal 10 with arm body 30, is connected by second joint structure 42 between operating portion 20 with arm body 30.First driving device 51 is connected with the first articulation structure 41 to drive the first articulation structure 41 to move. Second driving device 52 is connected with second joint structure 42 to drive second joint structure 42 to move. Arm body 30 has accommodation chamber, and the first driving device 51 and the second driving device 52 are arranged on accommodation intracavity.
The mechanical arm of application the present embodiment, the second driving device 52 that the first driving device 51 driving the first articulation structure 41 to move and driving second joint structure 42 move is arranged on the accommodation intracavity of arm body 30, the first driving device 51 and the second driving device 52 so can be made to be positioned at the inside of mechanical arm, thus avoiding the cabling within mechanical arm excessively complicated, internal cabling is made to be more easily implemented. Simultaneously, above-mentioned first driving device 51 and the second driving device 52 are arranged on the accommodation intracavity of arm body 30, and it is not arranged in the first articulation structure 41 and second joint structure 42, so can simplify the internal structure of the first articulation structure 41 and second joint structure 42, make it compacter, reduce the size of the first articulation structure 41 and second joint structure 42, reduce production cost, be more beneficial for the miniaturization of mechanical arm, lightweight.
As shown in Figures 1 to 4, in the mechanical arm of the present embodiment, mechanical arm also includes the installing rack 60 for installing the first driving device 51 and the second driving device 52. In the present embodiment, installing rack 60 includes fixing plate 61 and installing plate 62. Wherein, fixing plate 61 is connected in the circumferential side wall of arm body 30, and installing plate 62 is connected on fixing plate 61 and is positioned at accommodation intracavity. Arm body 30 is the tubular structure of hollow, the fixing plate 61 of above-mentioned installing rack 60 is connected on the sidewall of arm body 30, installing plate 62 is positioned at the accommodation intracavity of arm body 30, so can relatively easily realize the installation to the first driving device 51 and the second driving device 52 and simple in construction. Certainly, the structure of mechanical arm is not limited to this, in other embodiments unshowned in the drawings, it is also possible to be not provided with installing rack, first driving device and the second driving device are directly placed at the accommodation intracavity of arm body, but this situation needs to ensure that holding chamber has diapire.
As depicted in figs. 1 and 2, in the mechanical arm of the present embodiment, fixing plate 61 is arc. The circumferential side wall of arc and arm body 30 fits. Said structure is fixing in the circumferential side wall of fixing plate 61 and arm body 30 advantageously. In the present embodiment, arm body 30 being provided with installing port, fixing plate 61 is connected to installing port place and is connected with the outer circumferential side wall of arm body 30, and installing plate 62 stretches to accommodation intracavity from installing port. Installing rack 60 also includes the securing member 70 for connecting fixing plate 61 and arm body 30, and this securing member 70 is screw. Fixing plate 61 is connected in the outer circumferential side wall of arm body 30, and is fixed by screw, operation so more convenient to install. Certainly, the structure of installing rack 60 and the connected mode of fixing plate 61 and arm body 30 are not limited to this, in other embodiments unshowned in the drawings, the fixing plate of installing rack can be connected on the inner circumferential sidewall of arm body, together with fixing plate can also be glued directly to the circumferential side wall of arm body.
As it is shown in figure 1, in the mechanical arm of the present embodiment, arm body 30 includes the first arm body 31 and the second arm body 32. First arm body 31 and the second arm body 32 in the vertical direction shift to install. It is connected by the 3rd articulation structure 43 between first arm body 31 with the second arm body 32.Mechanical arm also includes the 3rd driving device 53 being connected to drive the 3rd articulation structure 43 motion with the 3rd articulation structure 43. 3rd driving device 53 is positioned at accommodation intracavity. Said structure makes mechanical arm have the first arm body 31 and 32 two arm bodies of the second arm body, and the motion mode of mechanical arm is more diversified. In the present embodiment, first articulation structure 41 includes two the first joints, second joint structure 42 includes three second joints, 3rd articulation structure 43 includes the 3rd joint, accordingly, first driving device 51 includes two the first drivers being connected respectively with two the first joints, and the second driving device 52 includes three the second drivers being connected respectively with three second joints, and the 3rd driving device 53 includes the 3rd driver being connected with the 3rd joint. Said structure can make the corresponding driver in each joint, it is achieved the independence in each joint controls, and enhances the use motility of mechanical arm.
As shown in Figures 2 to 4, in the mechanical arm of the present embodiment, installing plate 62 is three. Three installing plates 62 are arranged along the axial direction interval of arm body 30, spacing between each two installing plate 62 is equal, each installing plate 62 is arranged along the radial direction of arm body 30, installing plate 62 be shaped as rectangle, the size (first driver of the present embodiment, the second driver and the 3rd driver equivalently-sized) being slightly larger in dimension than the first driver of installing plate 62. It should be noted that the quantity of installing plate 62 is not limited to this, in other embodiments unshowned in the drawings, the quantity of installing plate can be designed as required.
As shown in Fig. 1, Fig. 3 and Fig. 4, in the mechanical arm of the present embodiment, installing rack 60 is two. In two installing racks 60 one is arranged on the first arm body 31, and another is arranged on the second arm body 32. First driving device 51 and the 3rd driving device 53 are arranged on the installing rack 60 of corresponding first arm body 31, and the second driving device 52 is arranged on the installing rack 60 of corresponding second arm body 32. Specifically, two the first drivers of the first driving device 51 lay respectively on the bottom two-layer installing plate 62 of the installing rack 60 of corresponding first arm body 31, and are fixed by screw with installing plate 62. One the 3rd driver of the 3rd driving device 53 is positioned on the superiors' installing plate 62 of the installing rack 60 of corresponding first arm body 31, and is fixed by screw with installing plate 62. Three the second drivers of the second driving device 52 lay respectively on the three layers installing plate 62 of the installing rack 60 of corresponding second arm body 32, and are fixed by screw with installing plate 62.
The foregoing is only preferred embodiment of the present utility model, be not limited to this utility model, for a person skilled in the art, this utility model can have various modifications and variations. All within spirit of the present utility model and principle, any amendment of making, equivalent replacement, improvement etc., should be included within protection domain of the present utility model.
Claims (10)
1. a mechanical arm, including:
Pedestal (10);
Operating portion (20);
Arm body (30), it is arranged between described pedestal (10) and described operating portion (20), it is connected by the first articulation structure (41) between described pedestal (10) with described arm body (30), is connected by second joint structure (42) between described operating portion (20) with described arm body (30);
First driving device (51), is connected with described first articulation structure (41) to drive described first articulation structure (41) to move;
Second driving device (52), is connected with described second joint structure (42) to drive described second joint structure (42) to move;
It is characterized in that,
Described arm body (30) has accommodation chamber, and described first driving device (51) and described second driving device (52) are arranged on described accommodation intracavity.
2. mechanical arm according to claim 1, it is characterized in that, described mechanical arm also includes the installing rack (60) for installing described first driving device (51) and/or described second driving device (52), and described installing rack (60) is at least partially disposed at described accommodation intracavity.
3. mechanical arm according to claim 2, it is characterised in that described installing rack (60) including:
Fixing plate (61), is connected in the circumferential side wall of described arm body (30);
Installing plate (62), is connected to described fixing plate (61) and above and is positioned at described accommodation intracavity.
4. mechanical arm according to claim 3, it is characterised in that described installing plate (62) is for multiple, and multiple described installing plates (62) are arranged along the axial direction interval of described arm body (30).
5. the circumferential side wall of the mechanical arm according to claim 3 or 4, it is characterised in that described fixing plate (61) is arc, described arc and described arm body (30) fits.
6. the mechanical arm according to claim 3 or 4, it is characterized in that, described arm body (30) is provided with installing port, described fixing plate (61) is connected to described installing port place and the outer circumferential side wall with described arm body (30) is connected, and described installing plate (62) stretches to described accommodation intracavity from described installing port.
7. mechanical arm according to claim 3, it is characterised in that described installing rack (60) also includes the securing member (70) for connecting described fixing plate (61) and described arm body (30).
8. mechanical arm according to claim 2, it is characterized in that, described arm body (30) includes the first arm body (31) and the second arm body (32), it is connected by the 3rd articulation structure (43) between described first arm body (31) with described second arm body (32), described mechanical arm also includes the 3rd driving device (53) being connected to drive described 3rd articulation structure (43) to move with described 3rd articulation structure (43), and described 3rd driving device (53) is positioned at described accommodation intracavity.
9. mechanical arm according to claim 8, it is characterized in that, described installing rack (60) is for multiple, a part in multiple described installing racks (60) is arranged on described first arm body (31), another part in multiple described installing racks (60) is arranged on described second arm body (32), described first driving device (51) is arranged on the described installing rack (60) of corresponding described first arm body (31), described second driving device (52) is arranged on the described installing rack (60) of corresponding described second arm body (32), described 3rd driving device (53) is arranged on the described installing rack (60) of the upper or corresponding described second arm body (32) of described installing rack (60) of corresponding described first arm body (31).
10. mechanical arm according to claim 8, it is characterised in that described first arm body (31) and described second arm body (32) in the vertical direction shift to install.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620023763.2U CN205291003U (en) | 2016-01-08 | 2016-01-08 | Mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620023763.2U CN205291003U (en) | 2016-01-08 | 2016-01-08 | Mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205291003U true CN205291003U (en) | 2016-06-08 |
Family
ID=56475642
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620023763.2U Withdrawn - After Issue CN205291003U (en) | 2016-01-08 | 2016-01-08 | Mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205291003U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105437257A (en) * | 2016-01-08 | 2016-03-30 | 珠海格力电器股份有限公司 | Mechanical arm |
-
2016
- 2016-01-08 CN CN201620023763.2U patent/CN205291003U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105437257A (en) * | 2016-01-08 | 2016-03-30 | 珠海格力电器股份有限公司 | Mechanical arm |
| CN105437257B (en) * | 2016-01-08 | 2017-12-19 | 珠海格力电器股份有限公司 | Mechanical arm |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105437257A (en) | Mechanical arm | |
| CN203906259U (en) | Charging valve mechanism and valve pump applying same | |
| CN205291003U (en) | Mechanical arm | |
| CN101961869B (en) | Three-translational-degree-of-freedom robot mechanism | |
| CN205327268U (en) | Electrodynamic balance swing car high integration circuit structure | |
| CN208311854U (en) | A kind of support construction easy to remove | |
| CN204717140U (en) | Piezoelectric anisotropy pipe isolation mounting | |
| CN205301782U (en) | Telescopic link, from rapping bar | |
| CN101219637A (en) | Apparatus for mounting engine of vehicle and method for manufacturing the same | |
| CN109318827B (en) | Plugging device, cab and engineering vehicle | |
| CN202598995U (en) | Refrigerator door shelf | |
| CN207902149U (en) | Suspension system and vehicle with it | |
| CN209415264U (en) | A kind of LED hanging lamp | |
| CN202520809U (en) | Improved driving shaft assembly | |
| CN207902313U (en) | One kind moving car plate | |
| CN202938459U (en) | Automobile air-conditioning controller knob central zone display structure | |
| CN207251662U (en) | The network switch | |
| CN106224528A (en) | A kind of automobile gear shift governor motion | |
| CN103751890A (en) | Compression type atomizer | |
| CN209955900U (en) | Control screen in multi-media | |
| CN108426146A (en) | A kind of support construction easy to remove | |
| CN209600197U (en) | Damping, steering wheel group and wheeled mobile robot | |
| CN207671267U (en) | High-precision promotes and realizes the gripping body of turnover | |
| CN103958229B (en) | Vibroshock for motor vehicles | |
| CN206759882U (en) | A kind of panel assembly for Mobile portable formula electric automobile charging pile |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160608 Effective date of abandoning: 20171219 |